Protection structure of patrol robot based on strong magnetic field environment

Abstract

The present invention belongs to the technical field of patrol robot protection, and specifically, is a patrol robot protection structure based on a strong magnetic field environment, including a body, a guide rail is arranged at the bottom of the body, the body can move along the guide rail, a first cavity is opened inside the body, an ice-breaking assembly is arranged in the first cavity, the ice-breaking assembly includes a swinging pendulum, a crushing knife is elastically arranged at the bottom end of the pendulum, and the crushing knife can crush ice on the guide rail; two groups of toggle assemblies are arranged on the lower surface of the body, the two groups of toggle assemblies include arc-shaped plates, the arc openings of the two arc-shaped plates face in opposite directions, and the crushed ice can be pushed outwards. By arranging the ice-breaking assembly and the toggle assembly, the problem that the patrol robot may slip when encountering ice on the guide rail, resulting in unstable movement or deviation from the predetermined path is solved.

Description

Technical Field

[0001] The invention belongs to the technical field of patrol robot protection, and in particular to a patrol robot protection structure based on a strong magnetic field environment. Background Art

[0002] Strong magnetic field environment inspection robots are intelligent devices designed to perform monitoring and maintenance tasks under high-intensity magnetic field conditions. They have strong electromagnetic protection capabilities and precise navigation technology, and can efficiently complete inspection operations in magnetic field environments that are difficult for humans to approach or dangerous, ensuring the safety and stable operation of facilities.

[0003] When the strong magnetic field environment inspection robot is working, it first uses an advanced navigation system to accurately locate itself to ensure stable movement in a complex magnetic field environment. Then, the various sensors it carries begin to collect environmental data, including key indicators such as magnetic field strength, temperature, and humidity. At the same time, high-definition cameras transmit the on-site images to the control center in real time for remote monitoring by operators. Once an abnormality is detected, the robot will immediately record and alarm, and execute preset emergency treatment measures when necessary. The entire process is efficient and safe, greatly improving the efficiency and safety of facility maintenance in a strong magnetic field environment.

[0004] When existing inspection robots in strong magnetic field environments travel along an icy rail, the ice increases the smoothness of the rail surface, and the robot's wheels may slip due to reduced friction, resulting in unstable travel or even deviation from the planned path. In addition, ice may also cause the rail to deform, affecting the robot's navigation accuracy, making it difficult to maintain a straight line or accurately dock. In extreme cases, potential defects under the ice may be fractured by the robot's weight, causing the robot to suddenly sink or get stuck. These problems not only affect inspection efficiency, but may also cause damage to the robot itself.

[0005] To this end, the present invention provides a protective structure for an inspection robot based on a strong magnetic field environment. Summary of the invention

[0006] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0007] The technical solution adopted by the present invention to solve the technical problem is: the protection structure of the inspection robot based on the strong magnetic field environment of the present invention comprises a body, a guide rail is arranged under the body, and the body can move along the guide rail.

[0008] A first cavity is provided inside the body, and an ice-breaking assembly is arranged in the first cavity. The ice-breaking assembly includes a swingable pendulum, and a crushing knife is elastically arranged at the bottom end of the pendulum, and the crushing knife can crush ice on the guide rail;

[0009] Two groups of shifting components are arranged on the lower surface of the machine body. Both groups of the shifting components include arc-shaped plates. The arc openings of the two arc-shaped plates face in opposite directions, so that the broken ice cubes can be shifted outwards.

[0010] Preferably, the ice-breaking assembly also includes a fixed motor arranged on the body, the output end of the fixed motor is fixedly connected to a rotating shaft, the output end of the rotating shaft is fixedly connected to a rotating wheel, the rotating wheel is transmission-connected with a rotating belt, the rotating belt is transmission-connected to an end away from the rotating wheel with a connecting wheel, the middle of the connecting wheel is fixedly connected to a connecting shaft, the circumferential surface of the connecting shaft is also fixedly connected to a connecting rod, one end of the connecting rod is rotatably connected to an insertion shaft, the circumferential surface of the insertion shaft is rotatably connected to a positioning rod, the middle part of the positioning rod is swing-supported by a support member, the positioning rod is rotatably connected to a positioning block at one end away from the connecting rod, one end of the positioning block is rotatably connected to a pendulum, the positioning block is rotatably connected to the middle part of the pendulum, a limiting block is fixedly connected to the bottom surface of the body, the middle of the limiting block is fixedly connected to a limiting shaft, the limiting shaft is rotatably connected to the pendulum, and can limit the pendulum.

[0011] Preferably, after the fixed motor is started, it drives the rotating wheel to drive the rotating belt, and the rotating belt drives the connecting wheel to drive the connecting shaft to rotate. The rotation of the connecting shaft can drive the connecting rod to rotate, and the connecting rod rotates around the connecting shaft, driving the positioning rod that is rotatably connected to one end of the connecting rod through the plug shaft to rotate around the center of a circle around the connecting shaft, so that the connecting rod can drive the positioning block to swing around the center of a circle under the action of the support, and then drive the pendulum to swing around the center of a circle, one end of the positioning block is rotatably connected to the middle part of the pendulum, and the positioning block can drive the pendulum to rotate around the center of a circle with the limiting axis as a circle under the drive of the positioning rod, and during the rotation, the breaking knife at one end of the pendulum will be driven to break ice on the surface of the guide rail.

[0012] Preferably, the support member includes a positioning plate fixedly connected to the inner wall of the first cavity, one end of the positioning plate is rotatably connected to a positioning column, a first torsion spring is sleeved on the circumferential surface of the positioning column, one end of the first torsion spring is fixed to a swing rod, one end of the swing rod is rotatably connected to a positioning shaft, the circumferential surface of the positioning shaft is rotatably connected to the positioning rod, and the swing rod can provide a reset force to the swing of the positioning rod through the torsion of the first torsion spring.

[0013] Preferably, a second cavity is opened at the bottom end of the pendulum, a telescopic rod is fixedly connected to the inner wall of the second cavity, a compression spring is sleeved on the circumferential surface of the telescopic rod, a crushing knife is fixedly connected to one end of the compression spring, and the crushing knife is a multi-blade blade disk, which can better break the ice on the surface of the guide rail.

[0014] Preferably, each group of the toggle assembly includes a built-in motor, the output end of the built-in motor is fixedly connected to a first cam, the first cam is meshed with a second cam, the circumferential surface of the second cam is fixedly connected to an auxiliary plate, one end of the auxiliary plate is fixedly connected to an arc plate, the arc plate can remove crushed ice, the middle part of the second cam is rotatably connected to an auxiliary rod, both ends of the auxiliary rod are fixedly connected to second torsion springs, and the second torsion springs can automatically reset when the second cam is no longer meshed with the first cam.

[0015] Preferably, the two groups of the shifting components are symmetrically arranged, and when the built-in motor is started to work, the two groups of arc plates can simultaneously perform a shifting action toward the outside.

[0016] Preferably, the output end of each built-in motor is also fixedly connected to a transmission wheel, the transmission wheel is connected to a transmission shaft, the circumferential surface of the transmission shaft is fixedly connected to two rotating disks, the circumferential surface of each rotating disk is fixedly connected to a plurality of arc-shaped knives, and the two rotating disks can break ice on the side of the "T"-shaped guide rail.

[0017] Preferably, the bottom end portion of the transmission shaft is fixedly connected with a reciprocating screw, the circumferential surface of the reciprocating screw is slidably connected with a sliding block, the circumferential surface of the sliding block is fixedly connected with a breaking rod, and the breaking rod abuts against the side of the guide rail to perform an ice-pushing action.

[0018] Preferably, during the movement of the inspection robot, the breaking rod can push away the ice that is not completely broken along the side of the guide rail.

[0019] The beneficial effects of the present invention are as follows:

[0020] 1. The protective structure of the inspection robot based on a strong magnetic field environment described in the present invention swings a pendulum in the assembly, and the elastic crushing knife at the bottom thereof accurately hits the ice cubes, and effectively crushes the ice cubes by combining kinetic energy with elastic force. At the same time, two groups of shifting components on the lower surface of the body play a role, and each group includes arc-shaped plates facing opposite directions. They work together to push the crushed ice cubes outward from the guide rail, ensuring that the guide rail is unobstructed, thereby improving the operation stability and reliability of the robot in a strong magnetic field and low-temperature icing environment; secondly, the dual mechanism of ice breaking and ice pushing ensures the rapid cleaning of the guide rail and reduces the downtime caused by icing; it not only ensures the ice breaking efficiency, but also avoids potential damage to other parts of the robot.

[0021] 2. The protection structure of the inspection robot based on a strong magnetic field environment described in the present invention is connected to a reciprocating screw through the bottom of the transmission shaft, so that when the motor drives the transmission shaft to rotate, the reciprocating screw can drive the sliding block thereon to do reciprocating motion, and the breaking rod fixed on the sliding block then performs a continuous ice-pushing action on the side of the guide rail, effectively removing the residual ice layer, which not only enhances the thoroughness of ice breaking, but also reduces the energy consumption and mechanical wear in the ice-breaking process through direct physical pushing action. In addition, the combination of the reciprocating screw and the sliding block ensures the continuity and stability of the ice-pushing action, providing strong support for the rapid recovery of the traffic capacity of the guide rail. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention will be further described below in conjunction with the accompanying drawings.

[0023] Figure 1 is a three-dimensional diagram of the first embodiment of the present invention;

[0024] Figure 2 is a schematic structural diagram of the first cavity of the present invention;

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

[0026] Figure 4 It is a structural schematic diagram of the positioning plate of the present invention;

[0027] Figure 5 It is a schematic diagram of the cross-sectional structure of the pendulum of the present invention;

[0028] Figure 6 It is a structural schematic diagram of the toggle assembly of the present invention;

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

[0030] Figure 8 The present invention Figure 7 The enlarged view of point A in the middle;

[0031] In the figure: 1. body; 2. guide rail;

[0032] 3. First cavity; 31. Rotating shaft; 32. Rotating wheel; 33. Rotating belt; 34. Connecting wheel; 35. Connecting shaft; 36. Connecting rod; 37. Inserting shaft; 38. Positioning rod; 39. Positioning shaft; 310. Positioning plate; 311. Positioning column; 312. First torsion spring; 313. Swinging rod; 314. Positioning block; 315. Limiting shaft; 316. Limiting block; 317. Pendulum; 318. Crushing knife; 319. Second cavity; 320. Telescopic rod; 321. Compression spring;

[0033] 4. Built-in motor; 41. First cam; 42. Second cam; 43. Auxiliary rod; 44. Second torsion spring; 45. Auxiliary plate; 46. Arc plate; 47. Transmission wheel; 48. Transmission shaft; 49. Reciprocating screw; 410. Sliding block; 411. Breaking rod; 412. Rotating disk; 413. Arc knife. DETAILED DESCRIPTION

[0034] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0035] Embodiment 1: Figures 1 to 8 As shown, the protective structure of the inspection robot based on a strong magnetic field environment described in an embodiment of the present invention includes a body 1, a guide rail 2 is arranged at the bottom of the body 1, the body 1 can move along the guide rail 2, a first cavity 3 is opened inside the body 1, an ice-breaking assembly is arranged in the first cavity 3, the ice-breaking assembly includes a swinging pendulum 317, a crushing knife 318 is elastically arranged at the bottom end of the pendulum 317, and the crushing knife 318 can crush the ice on the guide rail 2; two groups of toggle assemblies are arranged on the lower surface of the body 1, and the two groups of toggle assemblies both include arc plates 46, and the arc openings of the two arc plates 46 face in opposite directions, so that the broken ice cubes can be pushed outward.

[0036] Specifically, when an existing inspection robot in a strong magnetic field environment moves along an icy guide rail 2, the ice layer increases the smoothness of the surface of the guide rail 2, and the robot's wheels may slip due to reduced friction, resulting in unstable movement or even deviation from the predetermined path. In addition, ice may also cause the guide rail 2 to deform, affecting the robot's navigation accuracy, making it difficult to maintain a straight line or accurately dock. In extreme cases, potential defects under the ice layer may be fractured due to the weight of the robot, causing the robot to suddenly sink or get stuck. These problems not only affect the inspection efficiency, but may also cause damage to the robot itself;

[0037] Therefore, the present invention solves this problem by setting a certain structure. First, when the robot body 1 moves along the guide rail 2, if the guide rail 2 is frozen, the ice-breaking component set in the first cavity 3 inside the body 1 is immediately started, and the pendulum 317 swings in the component. The elastic crushing knife 318 at its bottom accurately hits the ice cubes, and the ice cubes are effectively broken by combining kinetic energy and elastic force. At the same time, the two groups of toggling components on the lower surface of the body 1 work, and each group includes arc plates 46 facing opposite directions. They work together to push the broken ice cubes outward from the guide rail 2 to ensure that the guide rail 2 is unobstructed, thereby improving the operation stability and reliability of the robot in a strong magnetic field and low-temperature icing environment; secondly, the dual mechanism of ice breaking and ice pushing ensures the rapid cleaning of the guide rail 2 and reduces the downtime caused by icing; it not only ensures the ice breaking efficiency, but also avoids potential damage to other parts of the robot;

[0038] The problem that the inspection robot may slip when the guide rail 2 is iced, causing unstable movement or deviation from the predetermined path is solved.

[0039] like Figure 3 and Figure 4 As shown, the ice breaking assembly of this embodiment also includes a fixed motor arranged on the body 1, and the output end of the fixed motor is fixedly connected to a rotating shaft 31, and the output end of the rotating shaft 31 is fixedly connected to a rotating wheel 32, and the rotating wheel 32 is transmission-connected to a rotating belt 33, and the end of the rotating belt 33 away from the rotating wheel 32 is transmission-connected to a connecting wheel 34, and the middle part of the connecting wheel 34 is fixedly connected to a connecting shaft 35, and the circumferential surface of the connecting shaft 35 is also fixedly connected to a connecting rod 36, and one end of the connecting rod 36 is rotationally connected to an insertion shaft 37, and the circumferential surface of the insertion shaft 37 is rotationally connected to a positioning rod 38, and the middle part of the positioning rod 38 is swing-supported by a support member, and the support member includes a positioning plate 310 fixedly connected to the inner wall of the first cavity 3, and one end of the positioning plate 310 is rotationally connected to a positioning column 311, and the positioning column 311 A first torsion spring 312 is sleeved on the circumferential surface of the body 1, one end of the first torsion spring 312 is fixedly connected to a swing rod 313, one end of the swing rod 313 is rotatably connected to a positioning shaft 39, a positioning rod 38 is rotatably connected to the circumferential surface of the positioning shaft 39, the swing rod 313 can provide a reset force for the swing of the positioning rod 38 through the torsion of the first torsion spring 312, a positioning block 314 is rotatably connected to one end of the positioning rod 38 away from the connecting rod 36, a pendulum 317 is rotatably connected to one end of the positioning block 314, the positioning block 314 is rotatably connected to the middle part of the pendulum 317, a limiting block 316 is fixedly connected to the bottom surface of the body 1, a limiting shaft 315 is fixedly connected to the middle part of the limiting block 316, the limiting shaft 315 is rotatably connected to the pendulum 317, and can limit the pendulum 317;

[0040] First, after the fixed motor is started, the rotating wheel 32 is driven to drive the rotating belt 33, and the rotating belt 33 drives the connecting wheel 34 to drive the connecting shaft 35 to rotate. The rotation of the connecting shaft 35 can drive the connecting rod 36 to rotate, and the connecting rod 36 rotates around the connecting shaft 35. The positioning rod 38 that is rotatably connected to one end of the connecting rod 36 through the plug shaft 37 can rotate around the connecting shaft 35 around the center of the circle, so that the connecting rod 36 can drive the positioning block 314 to swing around the center of the circle under the action of the support, and then drive the pendulum 317 to swing around the center of the circle. One end of the positioning block 314 is rotatably connected to the middle part of the pendulum 317. Driven by the positioning rod 38, the positioning block 314 can make the pendulum 317 rotate around the center of the circle with the limiting shaft 315 as a circle. During the rotation, the crushing knife 318 at one end of the pendulum 317 will be driven to break ice on the surface of the guide rail 2.

[0041] like Figure 5 As shown, a second cavity 319 is provided at the bottom end of the pendulum 317 of the present embodiment, a telescopic rod 320 is fixedly connected to the inner wall of the second cavity 319, a compression spring 321 is sleeved on the circumferential surface of the telescopic rod 320, a crushing knife 318 is fixedly connected to one end of the compression spring 321, and the crushing knife 318 is a multi-blade blade disk, which can better break the ice on the surface of the guide rail 2.

[0042] Specifically, in the second cavity 319 designed at the bottom end of the pendulum 317, the telescopic rod 320 is combined with the compression spring 321 to provide flexible extension and strong elastic support for the crushing knife 318. When the pendulum 317 swings, the crushing knife 318 (multi-blade blade disc) quickly hits the ice surface of the guide rail 2 under the action of the compression spring 321. The multi-blade structure can cut and crush the ice layer more effectively. This improvement not only improves the ice-breaking efficiency, but also ensures the stability and continuity of the ice-breaking process, providing a strong guarantee for the smooth operation of the robot in extreme environments.

[0043] Embodiment 2: Figures 1 to 8 As shown, compared with Example 1, another implementation of the present invention is: each group of toggle components includes a built-in motor 4, the output end of the built-in motor 4 is fixedly connected to a first cam 41, the first cam 41 is meshed with a second cam 42, the circumferential surface of the second cam 42 is fixedly connected to an auxiliary plate 45, one end of the auxiliary plate 45 is fixedly connected to an arc plate 46, the arc plate 46 can remove the crushed ice, the middle part of the second cam 42 is rotatably connected to an auxiliary rod 43, both ends of the auxiliary rod 43 are fixedly connected to a second torsion spring 44, the second torsion spring 44 can automatically reset when the second cam 42 is no longer meshed with the first cam 41.

[0044] Specifically, each set of toggle components is driven by a built-in motor 4, and its core lies in the meshing of the first cam 41 and the second cam 42. After the built-in motor 4 is started, it drives the first cam 41 to rotate, and then drives the second cam 42 meshed with it to rotate, and the auxiliary plate 45 fixed on the circumferential surface of the second cam 42 moves accordingly, and the arc plate 46 at its end efficiently removes the ice crushed by the crushing knife 318. In this process, the design of the arc plate 46 ensures that the ice chips can be smoothly guided to the preset path to avoid accumulation affecting the operation of the equipment. In addition, the auxiliary rod 43 cleverly arranged in the middle of the second cam 42 is combined with the second torsion spring 44 to provide an automatic reset mechanism for the component. When the first cam 41 and the second cam 42 are no longer meshed due to motor stop or reversal, the second torsion spring 44 quickly releases the stored energy to push the second cam 42 and the attached structure back to the initial position, ready for the next toggle action, which not only improves the automation level of the equipment, but also significantly enhances its continuous operation capability and maintenance convenience.

[0045] like Figure 6 As shown, in this embodiment, the two groups of toggling components are symmetrically arranged. When the built-in motor 4 is started to work, the two groups of arc plates 46 can simultaneously perform the toggling action to the outside.

[0046] Specifically, the two groups of toggling components are arranged symmetrically. After the built-in motor 4 is started, the two groups of arc plates 46 synchronously perform a toggling action to the outside, which not only improves the cleaning efficiency after ice breaking, but also ensures the balance of the toggling action, thereby improving the stability and durability of the overall operation.

[0047] like Figure 6 As shown, in this embodiment, the output end of each built-in motor 4 is also fixedly connected to a transmission wheel 47, and the transmission wheel 47 is transmission-connected to a transmission shaft 48. The circumferential surface of the transmission shaft 48 is fixedly connected to two rotating disks 412, and the circumferential surface of each rotating disk 412 is fixedly connected to a plurality of arc-shaped knives 413. The two rotating disks 412 can break ice on the side of the "T"-shaped guide rail 2.

[0048] Specifically, the output end of the built-in motor 4 not only drives the first cam 41, but is also connected to the transmission shaft 48 through the transmission wheel 47, thereby driving the two rotating disks 412 fixedly connected to the transmission shaft 48. The rotating disks 412 each carry a plurality of arc-shaped knives 413. As the motor rotates, the arc-shaped knives 413 accurately break ice on the sides of the "T"-shaped guide rail 2, and the ice-breaking range is expanded to the sides of the guide rail 2, thereby improving the comprehensiveness and efficiency of ice-breaking. At the same time, the structure of the arc-shaped knives 413 reduces the direct friction with the guide rail 2, thereby extending the service life of the equipment and ensuring the safe and stable operation of the "T"-shaped guide rail 2 in extreme weather.

[0049] like Figure 6As shown, the bottom end portion of the transmission shaft 48 of this embodiment is fixedly connected with a reciprocating screw 49, the circumferential surface of the reciprocating screw 49 is slidably connected with a sliding block 410, the circumferential surface of the sliding block 410 is fixedly connected with a breaking rod 411, and the breaking rod 411 abuts against the side of the guide rail 2 to perform an ice-pushing action.

[0050] Specifically, a reciprocating screw 49 is connected to the bottom of the transmission shaft 48, so that when the motor drives the transmission shaft 48 to rotate, the reciprocating screw 49 can drive the sliding block 410 thereon to perform reciprocating motion, and the breaking rod 411 fixed to the sliding block 410 then performs continuous ice-pushing action on the side of the guide rail 2, effectively removing the residual ice layer, which not only enhances the thoroughness of ice breaking, but also reduces energy consumption and mechanical wear in the ice-breaking process through direct physical pushing action. In addition, the combination of the reciprocating screw 49 and the sliding block 410 ensures the continuity and stability of the ice-pushing action, and provides strong support for the rapid recovery of the traffic capacity of the guide rail 2.

[0051] like Figure 6 As shown, during the movement of the inspection robot in this embodiment, the breaking rod 411 can push away the ice that has not been completely broken along the side of the guide rail 2.

[0052] Specifically, during the movement of the inspection robot, the breaker rod 411 fits tightly against the side of the guide rail 2, and uses its characteristic of reciprocating motion with the drive shaft 48 to continuously push away the ice that has not been completely broken, thereby ensuring the thoroughness of the ice removal and reducing the safety hazards caused by residual ice. At the same time, the dynamic ice pushing process is carried out synchronously with the movement of the robot, which improves the operating efficiency and ensures the smooth progress of the inspection task in harsh environments.

[0053] Working principle: first, when the robot body 1 moves along the guide rail 2, if the guide rail 2 is frozen, the ice-breaking component arranged in the first cavity 3 inside the body 1 is started immediately, and the fixed motor of the ice-breaking component is started first. After the fixed motor is started, the rotating wheel 32 is driven to drive the rotating belt 33, and the rotating belt 33 drives the connecting wheel 34 to drive the connecting shaft 35 to rotate. The rotation of the connecting shaft 35 can drive the connecting rod 36 to rotate, and the connecting rod 36 rotates around the connecting shaft 35. The positioning rod 38 that is rotatably connected to one end of the connecting rod 36 through the plug shaft 37 can rotate around the connecting shaft 35 around the center of the circle, so that the connecting rod 36 can drive the positioning block 314 to swing around the center of the circle under the action of the support, and then drive the pendulum 317 to swing around the center of the circle. One end of the positioning block 314 is connected to the middle part of the pendulum 317 for rotation. Next, the positioning block 314, driven by the positioning rod 38, can make the pendulum 317 swing around the limiting axis 315 in the assembly, and the elastic crushing knife 318 at the bottom thereof accurately hits the ice cubes, and effectively crushes the ice cubes by combining kinetic energy and elastic force. At the same time, the two groups of toggling components on the lower surface of the body 1 come into play, each group comprising arc-shaped plates 46 facing in opposite directions, which work together to push the crushed ice cubes outward from the guide rail 2, ensuring that the guide rail 2 is unobstructed, thereby improving the operation stability and reliability of the robot in a strong magnetic field and low-temperature icing environment; secondly, the dual mechanism of ice breaking and ice pushing ensures the rapid cleaning of the guide rail 2 and reduces the downtime caused by icing; it not only ensures the ice breaking efficiency, but also avoids potential damage to other parts of the robot;

[0054] The elastically set crushing is specifically achieved by opening a second cavity 319 at the bottom of the pendulum 317. In the second cavity 319, the telescopic rod 320 is combined with the compression spring 321 to provide flexible expansion and contraction and strong elastic support for the crushing knife 318. When the pendulum 317 swings, the crushing knife 318 (multi-blade knife disc) quickly hits the ice surface of the guide rail 2 under the action of the compression spring 321. The multi-blade structure can cut and crush the ice layer more effectively. This improvement not only improves the ice breaking efficiency, but also ensures the stability and continuity of the ice breaking process, providing a strong guarantee for the smooth operation of the robot in extreme environments.

[0055] In addition, each group of toggle components is driven by a built-in motor 4, and its core lies in the meshing of the first cam 41 and the second cam 42. After the built-in motor 4 is started, the first cam 41 is driven to rotate, and then the second cam 42 meshed therewith is driven to rotate, and the auxiliary plate 45 fixed on the circumferential surface of the second cam 42 moves accordingly, and the arc plate 46 at the end thereof efficiently removes the ice crushed by the crushing knife 318. In this process, the design of the arc plate 46 ensures that the ice chips can be smoothly guided to the preset path to avoid accumulation affecting the operation of the equipment. In addition, the auxiliary rod 43 cleverly arranged in the middle of the second cam 42 is combined with the second torsion spring 44 to provide an automatic reset mechanism for the component. When the first cam 41 and the second cam 42 are no longer meshed due to motor stop or reversal, the second torsion spring 44 quickly releases the stored energy, pushing the second cam 42 and the attached structure back to the initial position, ready for the next toggle action, which not only improves the automation level of the equipment, but also significantly enhances its continuous operation capability and maintenance convenience.

[0056] The output end of the built-in motor 4 not only drives the first cam 41, but is also connected to the transmission shaft 48 through the transmission wheel 47, thereby driving the two rotating disks 412 fixedly connected to the transmission shaft 48. The rotating disks 412 each carry a plurality of arc-shaped knives 413. As the motor rotates, the arc-shaped knives 413 accurately break ice on the side of the "T"-shaped guide rail 2, extending the ice-breaking range to the side of the guide rail 2, thereby improving the comprehensiveness and efficiency of ice-breaking. At the same time, the structure of the arc-shaped knives 413 reduces direct friction with the guide rail 2, prolongs the service life of the equipment, and ensures the safe and stable operation of the "T"-shaped guide rail 2 in extreme weather.

[0057] Finally, a reciprocating screw 49 is connected to the bottom of the transmission shaft 48, so that when the motor drives the transmission shaft 48 to rotate, the reciprocating screw 49 can drive the sliding block 410 thereon to do reciprocating motion, and the breaking rod 411 fixed to the sliding block 410 then performs continuous ice-pushing action on the side of the guide rail 2, effectively removing the residual ice layer, which not only enhances the thoroughness of ice breaking, but also reduces the energy consumption and mechanical wear in the ice-breaking process through direct physical pushing action. In addition, the combination of the reciprocating screw 49 and the sliding block 410 ensures the continuity and stability of the ice-pushing action, and provides strong support for the rapid recovery of the traffic capacity of the guide rail 2.

[0058] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A protective structure for a patrol robot in a strong magnetic field environment, comprising a body (1), a guide rail (2) being arranged below the body (1), and the body (1) being capable of moving along the guide rail (2), characterized in that: A first cavity (3) is provided inside the body (1), an ice-breaking assembly is arranged in the first cavity (3), the ice-breaking assembly comprises a pendulum (317) capable of swinging, a crushing knife (318) is elastically arranged at the bottom end of the pendulum (317), and the crushing knife (318) is capable of crushing ice on the guide rail (2); Two groups of moving assemblies are arranged on the lower surface of the machine body (1), and both groups of the moving assemblies comprise arc-shaped plates (46), wherein the arc openings of the two arc-shaped plates (46) face in opposite directions, and can move the crushed ice cubes outwards; The ice-breaking assembly further comprises a fixed motor arranged on the body (1); the output end of the fixed motor is fixedly connected to a rotating shaft (31); the output end of the rotating shaft (31) is fixedly connected to a rotating wheel (32); the rotating wheel (32) is transmission-connected to a rotating belt (33); one end of the rotating belt (33) away from the rotating wheel (32) is transmission-connected to a connecting wheel (34); a connecting shaft (35) is fixedly connected to the middle of the connecting wheel (34); a connecting rod (36) is further fixedly connected to the circumferential surface of the connecting shaft (35); one end of the connecting rod (36) is rotationally connected to an inserting shaft (37); the circumferential surface of the inserting shaft (37) is rotationally connected to the rotating belt (33); The body (1) is rotatably connected to a positioning rod (38), the middle part of the positioning rod (38) is swingably supported by a support member, one end of the positioning rod (38) away from the connecting rod (36) is rotatably connected to a positioning block (314), one end of the positioning block (314) is rotatably connected to a pendulum (317), the positioning block (314) is rotatably connected to the middle part of the pendulum (317), the bottom surface of the body (1) is fixedly connected to a limiting block (316), the middle part of the limiting block (316) is fixedly connected to a limiting shaft (315), the limiting shaft (315) is rotatably connected to the pendulum (317), and can limit the pendulum (317); After the fixed motor is started, it drives the rotating wheel (32) to drive the rotating belt (33), and the rotating belt (33) drives the connecting wheel (34) to drive the connecting shaft (35) to rotate. The rotation of the connecting shaft (35) can drive the connecting rod (36) to rotate. The connecting rod (36) rotates around the connecting shaft (35), and the positioning rod (38) connected to one end of the connecting rod (36) through the insertion shaft (37) can rotate around the connecting shaft (35) around the center of the circle, so that the connecting rod (36) can be supported on the support. The support member drives the positioning block (314) to swing around the center of the circle, thereby driving the pendulum (317) to swing around the center of the circle. One end of the positioning block (314) is rotatably connected to the middle of the pendulum (317). The positioning block (314) is driven by the positioning rod (38) to enable the pendulum (317) to rotate around the center of the circle with the limiting shaft (315) as the center of the circle. During the rotation, the crushing knife (318) at one end of the pendulum (317) is driven to break ice on the surface of the guide rail (2). The support member comprises a positioning plate (310) fixedly connected to the inner wall of the first cavity (3); one end of the positioning plate (310) is rotatably connected to a positioning column (311); a first torsion spring (312) is sleeved on the circumferential surface of the positioning column (311); one end of the first torsion spring (312) is fixedly connected to a swing rod (313); one end of the swing rod (313) is rotatably connected to a positioning shaft (39); a positioning rod (38) is rotatably connected to the circumferential surface of the positioning shaft (39); the swing rod (313) can provide a restoring force for the swing of the positioning rod (38) through the torsion force of the first torsion spring (312); Each group of the shifting components comprises a built-in motor (4); the output end of the built-in motor (4) is fixedly connected to a first cam (41); the first cam (41) is meshed with a second cam (42); the circumferential surface of the second cam (42) is fixedly connected to an auxiliary plate (45); one end of the auxiliary plate (45) is fixedly connected to an arc plate (46); the arc plate (46) is capable of shifting the crushed ice; the middle part of the second cam (42) is rotatably connected to an auxiliary rod (43); the two ends of the auxiliary rod (43) are fixedly connected to second torsion springs (44); the second torsion springs (44) are capable of automatically resetting when the second cam (42) is no longer meshed with the first cam (41).

2. The strong magnetic field environment inspection robot protection structure according to claim 1 is characterized by: A second cavity (319) is provided at the bottom end of the pendulum (317); a telescopic rod (320) is fixedly connected to the inner wall of the second cavity (319); a compression spring (321) is sleeved on the circumferential surface of the telescopic rod (320); a crushing knife (318) is fixedly connected to one end of the compression spring (321); the crushing knife (318) is a multi-blade blade disk capable of better breaking ice on the surface of the guide rail (2).

3. The protection structure of the inspection robot based on a strong magnetic field environment according to claim 1 is characterized in that: The two groups of the toggling components are symmetrically arranged, and when the built-in motor (4) is started to work, the two groups of arc-shaped plates (46) can simultaneously perform a toggling action toward the outside.

4. The protection structure of the inspection robot based on a strong magnetic field environment according to claim 1 is characterized in that: The output end of each built-in motor (4) is also fixedly connected to a transmission wheel (47), and the transmission wheel (47) is transmission-connected to a transmission shaft (48). The circumferential surface of the transmission shaft (48) is fixedly connected to two rotating disks (412), and the circumferential surface of each rotating disk (412) is fixedly connected to a plurality of arc-shaped knives (413). The two rotating disks (412) can break ice on the side of the "T"-shaped guide rail (2).

5. The protection structure of the inspection robot based on a strong magnetic field environment according to claim 4 is characterized in that: The bottom end portion of the transmission shaft (48) is fixedly connected to a reciprocating screw (49), the circumferential surface of the reciprocating screw (49) is slidably connected to a sliding block (410), the circumferential surface of the sliding block (410) is fixedly connected to a breaking rod (411), and the breaking rod (411) abuts against the side surface of the guide rail (2) to perform an ice pushing action.

6. The protection structure of the inspection robot in a strong magnetic field environment according to claim 5 is characterized in that: During the movement of the inspection robot, the breaking rod (411) can push away the ice that has not been completely broken along the side of the guide rail (2).

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