Inspection robot mother ship split robot folding and unfolding manipulator system

Abstract

The invention relates to the technical field of robots, in particular to an inspection robot mother ship split robot folding and unfolding manipulator system which comprises an inspection vehicle base and a manipulator arranged on the inspection vehicle base. The manipulator comprises a telescopic mechanism; the inspection vehicle base is provided with a folding mechanism; the system further comprises a split robot and a storage bin for containing the split robot. An access channel is arranged above the storage bin; an elastic mechanism is arranged at the bottom of the storage bin; a pressing mechanism is arranged above the access channel; the in-out channel is provided with a retracting opening, and the retracting opening faces the direction opposite to the direction in which the folding mechanism folds the telescopic mechanism. The access channel is further provided with a push-pull mechanism, and the push-pull mechanism is provided with an electric locking device. A Halbach permanent magnetic mechanism is arranged on the front side of the split robot; an electromagnetic induction coil is wound outside the middle permanent magnet and the yoke, and the electromagnetic induction coil generates magnetism opposite to the middle permanent magnet after being electrified. The inspection robot is prevented from rolling over, and the split robot is prevented from falling.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a manipulator. Background Art

[0002] The operation of the substation needs to be inspected regularly to ensure the safety, reliability and effective operation of the substation cabinet. The introduction of the inspection robot mothership during the regular inspection of the substation can significantly improve the inspection efficiency and safety. The inspection robot mothership uses split robots, which can be equipped with different types of sensors (such as temperature, humidity, vibration, etc.) for comprehensive monitoring, so as to obtain detailed status information of multiple substation cabinets. The split robots need to be regularly recovered to the intelligent inspection robot mothership for charging. There are generally multiple split robots, and in order to measure data, the split robots need to be installed at a sufficient height in the substation cabinet. The inspection robot mothership also needs to set components such as cameras at a high enough place to read or measure substation cabinet data.

[0003] In order to set the camera high enough and install the split robot high enough, the center of gravity of the inspection robot mothership will be too high, and the inspection robot mothership is prone to tipping over. When the manipulator installs the split robot on the steel shell of the electrical cabinet or recovers the split robot from the steel shell of the electrical cabinet, the split robot may fall off, and the split robot at a high place is prone to damage. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract of the specification and the title of the invention of this application to avoid blurring the purpose of this section, the abstract of the specification and the title of the invention, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] In view of the above problems existing in the prior art, the present invention is proposed.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: The inspection robot mothership split robot retractable manipulator system includes an inspection vehicle base and a manipulator arranged above the inspection vehicle base; The manipulator comprises a telescopic mechanism; A folding mechanism for folding the telescopic mechanism is provided on the inspection vehicle base; Also included are a split robot and a storage bin for accommodating the split robot; The storage bin has a long channel for accommodating the split robot, the long channel is arranged in the telescopic end of the telescopic mechanism, and the extension direction of the long channel is parallel to the extension direction of the telescopic end; After at least two split robots are loaded into the storage bin, they are arranged in a sequential queue along the long channel; An access channel for receiving and releasing the split robots is provided above the storage bin, and the access channel is communicated with the storage bin; A resilient mechanism for ejecting the split robots is provided at the bottom of the storage bin; A pressing mechanism for pressing the split robots into the long channel is provided above the access channel; The access channel is provided with a receiving and releasing opening, and the distance that the receiving and releasing opening extends outward exceeds the side of the telescopic mechanism, and the orientation of the receiving and releasing opening is opposite to the direction in which the telescopic mechanism folds; Taking the direction from the long channel to the receiving and releasing opening as the front; A pushing and pulling mechanism for pushing and pulling the split robots is further provided in the access channel, and an electric locking device for locking the split robots is provided on the pushing and pulling mechanism; A Halbach permanent magnet mechanism for adsorbing and fixing on the steel shell of the electrical cabinet is provided on the front side of the split robot; The Halbach permanent magnet mechanism includes a middle permanent magnet, two end permanent magnets and a yoke; An electromagnetic induction coil is wound around the middle permanent magnet and the yoke. After the electromagnetic induction coil is energized, it generates a magnetic force opposite to that of the middle permanent magnet, and the magnetic force is not less than that of the middle permanent magnet; The electromagnetic induction coil is provided with a power supply socket; A connector for docking with the power supply socket of the electromagnetic induction coil is provided at the receiving and releasing opening, and the connector is connected to the power supply of the manipulator.

[0007] In the above design, the manipulator includes a telescopic mechanism. The telescopic mechanism can raise the detection device and the split robots to facilitate the inspection robot mother ship to detect the electrical cabinet at a higher position. When the inspection robot mother ship completes the detection and walking position change, the telescopic mechanism can lower the detection device, which can reduce the center of gravity of the inspection robot mother ship and ensure the safe walking and operation of the inspection robot mother ship without tipping over.

[0008] By setting up a storage bin, the split robots can be stored in the storage bin, and the split robots are raised to the corresponding heights in turn. The split robots in the manipulator will not rise together, causing the center of gravity of the manipulator to be too high, so as to prevent the inspection robot mothership from being unstable or overturned due to the high center of gravity. A downward pressure mechanism is provided on the top of the storage bin, and the telescopic end of the downward pressure mechanism is provided above the storage bin, so that multiple split robots can be stored in the storage bin for charging. Finally, through the push-pull mechanism, the push-pull mechanism pushes and pulls the split robot structure and is provided with an electric locking device for locking the split robot, which can lock the split robot to ensure that the robot is stable and reliable when stored or released, and avoid misoperation or falling. The direction of the retractable mechanism is opposite to the direction in which the folding mechanism folds the retractable mechanism. The retractable mechanism faces upward after the retractable mechanism is received in the accommodating cavity, ensuring that the split robot will not fall or be damaged during the inspection of the robot mothership.

[0009] When placing the split robot, the split robot is pushed out of the retractable opening by the push-pull mechanism until the connector is disconnected from the power socket; The split robot is fixed to the steel shell of the electrical cabinet through the strong magnetic attraction force of the Halbach permanent magnet mechanism, achieving firm fixation; When the split robot on the electrical cabinet is stored, after the retractable opening covers the split robot, the connector of the retractable opening is connected to the power socket and energized. After the electromagnetic induction coil is energized, it generates magnetism opposite to that of the middle permanent magnet, releasing the Halbach magnetic field operation mechanism in the Halbach permanent magnet mechanism to reduce the attraction force, but it cannot eliminate the magnetic force of the two end permanent magnets themselves, thereby achieving weak magnetic attraction, which facilitates pulling off and collecting while avoiding falling due to gravity.

[0010] Weaken the magnetism of the split robot adsorbed on the electrical cabinet. Prevent the push-pull mechanism from pulling the split robot too strongly, causing the electrical cabinet to be pulled and damaged, and prevent the split robot from falling off and breaking due to excessive impact when being pulled off.

[0011] The combined magnetic attraction of the two end permanent magnets on the steel shell of the electrical cabinet is greater than the gravity of the split robot.

[0012] The power socket is arranged at the front end of the split robot close to the Halbach permanent magnet mechanism, so as to avoid the split robot falling off due to the weakening of the magnetic force of the Halbach permanent magnet mechanism when the split robot on the electrical cabinet is stored.

[0013] Preferably, the pushing and pulling mechanism is provided with a pushing block for the split robot, and the extreme retracted position of the pushing block is located behind the storage bin; an embedding groove is provided on the rear side surface of the split robot, and the pushing block is provided with an embedding block that can extend into the embedding groove; the electric locking device is arranged on the pushing block, and the electric locking device locks the embedding block in the embedding groove; the opening where the storage bin communicates with the lower side of the access channel is called the storage opening, the lower side of the pushing block is flush with the storage opening, and the upper side of the pushing block is flush with the upper side of the access channel. The embedding block on the pushing block can lock the split robot, ensuring the stability and reliability of the robot during storage or release, and preventing the split robot from falling. The pushing block in the storage bin can extend slightly forward and be stuck at the storage opening, resisting the split robot in the storage bin. The pushing block resisting the robot helps to keep it stable in the storage bin and prevent unstable charging contact caused by shaking.

[0014] Preferably, the folding mechanism includes a support fixed to the base of the inspection vehicle, a rotating mechanism is arranged on the support, and the rotating mechanism is connected to the telescopic mechanism; the folding mechanism further includes a rotating drive motor for driving the rotating mechanism to rotate; a receiving cavity is arranged above the base of the inspection vehicle, and the folding mechanism is arranged on one side of the receiving cavity; the telescopic mechanism is contracted and folded in the receiving cavity through the folding mechanism. By folding the rotating mechanism in the receiving cavity through the folding mechanism, the center of gravity of the inspection robot mother ship can be minimized, ensuring the safe walking and operation of the inspection robot mother ship without tipping over.

[0015] Preferably, at least 5 charging connectors are arranged in the storage bin in an up-and-down arrangement, a pressing spring is arranged on the rear side surface of each charging connector in the storage bin, and each pressing spring is connected with a pressing head, and the size of the pressing head is larger than the size of the embedding groove; a telescopic groove for accommodating the pressing spring is arranged on the side surface of the storage bin at each pressing spring, and the size of the telescopic groove is larger than the size of the pressing head, and an arc chamfer is arranged on the front side of the pressing head. The stability of charging the split robot is further improved through the pressing spring and the pressing head. The arc chamfer of the pressing head prevents the split robot from being stuck by the pressing head when entering the embedding groove, facilitating the smooth storage of the split robot.

[0016] Preferably, a telescopic groove for accommodating the pressing spring is arranged on the side surface of the storage bin at each pressing spring, the size of the telescopic groove is larger than the size of the pressing head, and an arc chamfer is arranged on the front side of the pressing head. The chamfer helps to guide the split robot to enter or exit the storage and release opening smoothly, reducing the risk of the split robot falling due to misalignment of the storage and release opening when storing the split robot.

[0017] Preferably, the telescopic mechanism has at least three hollow cylindrical structures. At least one cylindrical structure is rotatably connected to the base of the inspection vehicle, which is called the rotating cylinder; at least one cylindrical structure is slidably engaged with the rotating cylinder, which is called the intermediate cylinder; and at least one more cylindrical structure is slidably engaged with the intermediate cylinder, which is called the telescopic cylinder. The outer end of the telescopic cylinder serves as the telescopic end of the telescopic mechanism. The long channel is arranged in the cavity of the telescopic cylinder, and the access channel is arranged above the telescopic cylinder. The telescopic mechanism is provided with at least three sections, and the telescopic mechanism can extend high enough to facilitate the detection device and the split robot to rise high enough, so that the inspection robot mother ship can complete the detection of electrical cabinets at a higher height.

[0018] Preferably, a fixing device is provided on the support. The fixing device includes a fixing frame surrounding the rotating cylinder. The fixing frame is provided with a notch for the rotating cylinder to enter. The notch faces the receiving cavity. An electric telescopic head for clamping the erected rotating cylinder is arranged in the fixing frame, and the extending direction of the electric telescopic head faces into the notch. The electric telescopic head is attached to the side surface of the erected rotating cylinder. By means of the fixing frame and the electric telescopic head, when the telescopic mechanism is erected, the position of the rotating cylinder can be clamped, reducing the shaking of the rotating cylinder when installing the split robot or detecting data, ensuring the stable installation of the split robot without falling, and the stability and clarity of the detected data.

[0019] Preferably, when the rotating cylinder is erected, the receiving and releasing opening of the access channel extends at least 5 cm from the side of the base of the inspection vehicle. This prevents the split robot from falling due to excessive clearance with the electrical cabinet during installation.

[0020] Preferably, the depth of the receiving cavity gradually increases from one end where the folding mechanism is installed to the other end. After the telescopic mechanism is received in the receiving cavity, not only can the telescopic mechanism be clamped more tightly, but the split robots are arranged slightly downward, and the elastic mechanism can fix the split robots more tightly by virtue of the self-weight of the split robots.

[0021] In summary, the present invention has the following beneficial effects: 1. Through the telescopic mechanism and the folding mechanism of the manipulator, the detection device and the split robot can be raised and lowered, facilitating the inspection robot mother ship to detect electrical cabinets at a higher level. When the inspection robot mother ship completes the detection and walking position change, the telescopic mechanism and the folding mechanism can lower the detection device, reducing the center of gravity of the inspection robot mother ship and ensuring the safe walking and operation of the inspection robot mother ship without tipping over.

[0022] 2. The Halbach permanent magnet mechanism facilitates the placement and retrieval of the split robot. When placing the split robot, the split robot is fixed on the steel shell of the electrical cabinet through the strong magnetic attraction force of the Halbach permanent magnet mechanism to achieve firm fixation. When retrieving the split robot on the electrical cabinet, the Halbach magnetic field in the Halbach permanent magnet mechanism is released, thereby achieving weak magnetic attraction. While avoiding dropping due to gravity, it is convenient to pull off and retrieve. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings. Among them: Figure 1 is a schematic view of the external structure of the split robot retracting and deploying manipulator system of the inspection robot mother ship of the present invention; Figure 2 is a schematic view of the external structure of the split robot retracting and deploying manipulator system of the inspection robot mother ship of the present invention; Figure 3 is a schematic cross-sectional view of the split robot retracting and deploying manipulator system of the inspection robot mother ship of the present invention; Figure 4 is a schematic cross-sectional view of the storage bin of the split robot retracting and deploying manipulator system of the inspection robot mother ship of the present invention; Figure 5 is a schematic view of the structure of the Halbach permanent magnet mechanism of the split robot retracting and deploying manipulator system of the inspection robot mother ship of the present invention.

[0024] In the figure, 1, inspection vehicle base; 2, telescopic mechanism; 21, rotating cylinder; 22, intermediate cylinder; 23, telescopic cylinder; 3, folding mechanism; 4, split robot; 5, long strip channel; 6, access channel; 61, retracting and deploying port; 7, pushing and pulling mechanism; 71, push block; 72, electric locking device; 8, pressing mechanism; 9, elastic mechanism; 10, top spring; 11, accommodating cavity; 121, intermediate permanent magnet; 122, end permanent magnet; 123, yoke; 124, electromagnetic induction coil. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] In order to make the above objects, features, and advantages of the present invention more understandable, the following will make a detailed description of the specific embodiments of the present invention in conjunction with the accompanying drawings of the specification.

[0026] In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention. However, the present invention may be practiced in other ways different from those described herein. Those skilled in the art can make similar generalizations without departing from the spirit of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0027] Secondly, the present invention will be described in detail in conjunction with the schematic diagrams. When describing the embodiments of the present invention in detail, for the convenience of explanation, the cross-sectional views showing the device structure will be enlarged locally out of the general proportion, and the schematic diagrams are only examples and should not limit the scope of protection of the present invention herein. In addition, in actual production, three-dimensional spatial dimensions including length, width, and depth should be included.

[0028] Furthermore, the so-called "one embodiment" or "embodiment" herein refers to specific features, structures, or characteristics that may be included in less than one implementation manner of the present invention. The appearances of "in one embodiment" in different places in this specification do not all refer to the same embodiment, nor are they separate or selectively exclusive embodiments from other embodiments.

[0029] Embodiment 1, referring to Figures 1-5 , the inspection robot mother ship split robot retracting and deploying manipulator system, including an inspection vehicle base 1 and a manipulator provided on the inspection vehicle base 1.

[0030] The manipulator includes a telescopic mechanism 2, and the telescopic mechanism 2 is arranged above the inspection vehicle base 1; The inspection vehicle base 1 is provided with a folding mechanism 3 for folding the telescopic mechanism 2; It further includes a split robot 4 and a storage bin for accommodating the split robot 4; The storage bin has a long strip channel 5 for placing the split robot 4, the telescopic mechanism 2 has a telescopic end, the long strip channel 5 is arranged in the telescopic end, and the extending direction of the long strip channel 5 is parallel to the extending direction of the telescopic end; At least two split robots 4 are arranged in sequence along the long strip channel 5 after being loaded into the storage bin; An access channel 6 for retracting and deploying the split robot 4 is arranged above the storage bin, the access channel 6 is communicated with the storage bin, and the access channel 6 is arranged above the telescopic end; A elastic mechanism 9 for elastically ejecting the split robot 4 in the long strip channel 5 is arranged at the bottom of the storage bin; A pressing mechanism 8 for pressing the split robot 4 into the long strip channel 5 is arranged above the access channel 6; The access channel 6 is provided with a receiving and discharging opening 61, the distance that the receiving and discharging opening 61 extends outwards exceeds the side of the telescopic mechanism 2, and the orientation of the receiving and discharging opening 61 is opposite to the direction in which the folding mechanism 3 folds the telescopic mechanism 2; Taking the direction from the storage bin to the receiving and discharging opening 61 as the front; A push-pull mechanism 7 of the push-pull split robot 4 is also provided in the access passage 6. An electric locking device 72 for locking the split robot 4 is provided on the structure of the push-pull mechanism 7 for pushing and pulling the split robot 4. In front of the split robot 4, there is a Halbach permanent magnet mechanism for adsorption and fixation on the steel shell of the electrical cabinet. The Halbach permanent magnet mechanism includes an intermediate permanent magnet 121, two end permanent magnets 122, and a yoke 123. An electromagnetic induction coil 124 is wound around the intermediate permanent magnet 121 and the yoke 123. After the electromagnetic induction coil 124 is energized, it generates a magnetic force opposite to that of the intermediate permanent magnet 121, and the magnetic force is not less than that of the intermediate permanent magnet 121. The electromagnetic induction coil 124 is provided with a power supply socket. At the receiving and releasing port, there is a connector that docks with the power supply socket of the electromagnetic induction coil 124, and the connector is connected to the power supply of the manipulator.

[0031] In the above design, the manipulator includes a telescopic mechanism 2. The telescopic mechanism 2 can raise the detection device and the split robot 4 to facilitate the inspection robot mother ship to detect the electrical cabinet at a higher level. When the inspection robot mother ship completes the detection and walking position change, the detection device can be lowered through the telescopic mechanism 2, which can reduce the center of gravity of the inspection robot mother ship and ensure the safe walking operation of the inspection robot mother ship without tipping over.

[0032] By providing a storage bin, the split robot 4 can be stored in the storage bin. The split robot 4 is raised to the corresponding height in sequence. The split robot 4 in the manipulator will not be raised together, resulting in too high a center of gravity of the manipulator, which may cause the inspection robot mother ship to be unstable or overturned. The top of the storage bin is provided with a pressing mechanism 8. The telescopic end of the pressing mechanism 8 is located above the storage bin, and multiple split robots 4 can be stored in the storage bin for charging. Finally, through the push-pull mechanism 7, the electric locking device 72 for locking the split robot 4 is provided on the structure of the push-pull mechanism 7 for pushing and pulling the split robot 4, which can lock the split robot 4 to ensure that the robot is stable and reliable during storage or release, and avoid misoperation or falling. The direction of the receiving and releasing port 61 is opposite to the direction of folding and telescoping the telescopic mechanism 2 of the folding mechanism 3. After the telescopic mechanism 2 is retracted into the accommodating cavity 11, the receiving and releasing port 61 faces upward, ensuring that during the inspection of the robot mother ship, the split robot 4 will not fall and be damaged.

[0033] When placing the split robot 4, the split robot 4 is pushed out of the receiving and releasing port 61 by the push-pull mechanism 7 until the connector is separated from the power supply socket. The split robot 4 is fixed on the steel shell of the electrical cabinet through the strong magnetic attraction force of the Halbach permanent magnet mechanism, achieving firm fixation. When the split robot 4 on the electrical cabinet is stored, after the storage port 61 is covered with the split robot 4, the connector of the storage port 61 is connected to the power socket and energized. After the electromagnetic induction coil 124 is energized, it generates magnetism opposite to the middle permanent magnet 121, and the Halbach magnetic field operation mechanism in the Halbach permanent magnet mechanism is released to reduce the attraction force, but the magnetic force of the two end permanent magnets 122 themselves cannot be eliminated, thereby achieving weak magnetic attraction, which is convenient for pulling off and collecting while avoiding falling due to gravity.

[0034] The magnetic attraction of the split robot 4 on the electrical cabinet is weakened. The push-pull mechanism 7 is prevented from pulling the split robot 4 with excessive magnetic force, which may cause the electrical cabinet to be damaged, and the split robot 4 is prevented from falling off and being damaged due to excessive impact force when being pulled off.

[0035] The combined magnetic attraction force of the two end permanent magnets 122 on the steel shell of the electrical cabinet is greater than the gravity of the split robot 4 .

[0036] The power socket is arranged at the front end of the split robot 4 close to the Halbach permanent magnet mechanism to avoid the split robot 4 falling off due to the weakening of the magnetic force of the Halbach permanent magnet mechanism by the receiving opening 61 without covering the split robot 4 when the split robot 4 is stored on the electrical cabinet.

[0037] The push-pull mechanism 7 is provided with a push block 71 for pushing and pulling the split robot 4, and the extreme retraction position of the push block 71 is located behind the storage bin; an embedding groove is provided on the rear side of the split robot 4, and the push block 71 is provided with an embedding block that can be inserted into the embedding groove; an electric locking device 72 is provided on the push block 71, and the electric locking device 72 locks the embedding block in the embedding groove; the opening that connects the storage bin to the lower side of the access channel 6 is called the storage port, and the lower side of the push block 71 is flush with the storage port, and the upper side of the push block 71 is flush with the upper side of the access channel 6. The embedding block on the push block 71 can lock the split robot 4, ensuring that the robot is stable and reliable when being stored or released, and preventing the split robot 4 from falling. The push block 71 in the storage bin can be slightly extended forward and stuck at the storage port, against the split robot 4 in the storage bin. The push block 71 against the robot helps to keep it stable in the storage bin and prevents shaking from causing unstable charging contact.

[0038] The folding mechanism 3 includes a support fixed to the inspection vehicle base 1, on which a rotating mechanism is arranged, and the rotating mechanism is connected to the telescopic mechanism 2; the folding mechanism 3 also includes a rotating drive motor for driving the rotating mechanism to rotate; a receiving chamber 11 is arranged above the inspection vehicle base, and the folding mechanism 3 is arranged on one side of the receiving chamber 11; the telescopic mechanism 2 is contracted and folded in the receiving chamber 11 through the folding mechanism 3. Finally, the rotating mechanism is folded and stored in the receiving chamber 11 through the folding mechanism 3, which can minimize the center of gravity of the inspection robot mothership and ensure the safe walking and operation of the inspection robot mothership without tipping over.

[0039] There are at least 5 charging connectors arranged vertically in the storage bin. A tightening spring 10 is provided on the rear side of each charging connector in the storage bin. Each tightening spring 10 is connected to a protruding head, and the size of the protruding head is larger than the size of the embedding groove. On the side of the storage bin, a telescopic groove for accommodating the tightening spring 10 is provided at each position of the tightening spring 10. The size of the telescopic groove is larger than the size of the protruding head, and an arc chamfer is provided on the front side of the protruding head. The stability of charging the split robot 4 is further improved by the tightening spring 10 and the protruding head. The arc chamfer of the protruding head prevents the split robot 4 from being stuck by the protruding head when entering the embedding groove, facilitating the smooth storage of the split robot 4.

[0040] On the side of the storage bin, a telescopic groove for accommodating the tightening spring 10 is provided at each position of the tightening spring 10. The size of the telescopic groove is larger than the size of the protruding head, and an arc chamfer is provided on the front side of the protruding head. The chamfer helps to guide the split robot 4 to smoothly enter or exit the receiving and discharging port 61, reducing the risk of the split robot 4 falling due to misalignment of the receiving and discharging port 61 when storing the split robot 4.

[0041] During use, after the inspection robot mother ship runs to the position of the electrical cabinet to be detected, the folding mechanism 3 erects the telescopic mechanism 2, and the telescopic mechanism 2 extends to raise the accommodation bin. When the split robot 4 on the electrical cabinet is received and the receiving and discharging port 61 sleeves the split robot 4, the connector of the receiving and discharging port 61 is energized with the power supply socket. After the electromagnetic induction coil 124 is energized, it generates a magnetic force opposite to that of the middle permanent magnet 121, weakening the magnetism of the split robot adsorbed on the electrical cabinet. The pushing and pulling mechanism 7 is provided with an electric telescopic mechanism 2 with a pushing and pulling block 71. When the split robot 4 is stored, the receiving port sleeves the split robot 4, and the pushing block 71 pushes the embedding block forward into the embedding groove. The electric locking device 72 locks the embedding block in the embedding groove. Then the electric telescopic mechanism 2 drives the pushing block 71 to pull the pushing block 71 to the upper opening of the storage bin, and the electric locking device 72 is unlocked. The telescopic end of the telescopic mechanism 2 presses the pushing block 71 into the storage bin, and then the pushing block 71 moves forward to block the split robot 4. The length of the pushing block 71 is greater than the length of the split robot 4. Thus, it is ensured that when pulling the next split robot 4, the robot in the storage bin will not pop out.

[0042] When the split robot 4 is pushed out by the magnet adsorption power distribution cabinet, the push block 71 moves backward to make way for the position that holds the split robot 4. The elastic mechanism 9 pushes out the split robot 4. The push block 71 moves forward to push out the split robot 4, and the next split robot 4 in the receiving groove is continuously stuck by the bottom of the push block 71. The split robots 4 in the storage bin will not pop out. The split robot 4 is pushed out of the receiving and discharging port 61 by the pushing and pulling mechanism 7 until the connector is separated from the power connection socket, ensuring that the Halbach permanent magnet mechanism generates sufficient suction force to adsorb the electrical cabinet. Using a single receiving and discharging port 61 can significantly simplify the operation process. The user only needs to complete the receiving and discharging of the robot at one receiving and discharging port 61, reducing the complexity of the operation. This not only saves time but also reduces the possibility of operation errors, reduces the risk of accidental collisions or injuries, and enhances safety. After the inspection robot mother ship completes the detection and the arrangement of the split robot 4, the telescopic mechanism 2 retracts to lower the receiving bin, and the folding mechanism 3 moves the telescopic mechanism 2 into the receiving cavity 11, reducing the center of gravity of the inspection robot mother ship and reducing the risk of tipping over during the operation of the inspection robot mother ship.

[0043] Embodiment 2, refer to Figures 2-4 , which is the second embodiment of the present invention. This embodiment is based on the previous embodiment.

[0044] The telescopic mechanism 2 has at least three hollow cylinder structures. At least one cylinder structure is rotatably connected to the inspection vehicle base 1, called the rotating cylinder 21; at least one cylinder structure is slidably matched with the rotating cylinder 21, called the intermediate cylinder 22; at least one more cylinder structure is slidably matched with the intermediate cylinder 22, called the telescopic cylinder 23. The outer end of the telescopic cylinder 23 is used as the telescopic end of the telescopic mechanism 2; a long strip channel 5 is arranged in the cylinder cavity of the telescopic cylinder 23, and an access channel 6 is arranged above the telescopic cylinder 23. The telescopic mechanism 2 is provided with at least three sections, and the telescopic mechanism 2 can extend high enough to facilitate the detection device and the split robot 4 to rise high enough, so that the inspection robot mother ship can complete the detection of electrical cabinets at higher heights.

[0045] A fixing device is arranged on the support. The fixing device includes a fixing frame surrounding the rotating cylinder 21. The fixing frame is provided with a notch for the rotating cylinder 21 to turn into, and the notch faces the receiving cavity 11; an electric telescopic head for clamping the erected rotating cylinder 21 is arranged in the fixing frame, and the extending direction of the electric telescopic head faces into the notch. The electric telescopic head is attached to the side of the erected rotating cylinder 21. Through the fixing frame and the electric telescopic head, when the telescopic mechanism 2 is erected, the position of the rotating cylinder 21 can be clamped, reducing the shaking of the rotating cylinder 21 when setting the split robot 4 or detecting data, ensuring the stable installation of the split robot 4 without falling, and the stability and clarity of the detected data.

[0046] When the rotating cylinder 21 is erected, the receiving and discharging port 61 of the access channel 6 extends at least 5 cm from the side of the inspection vehicle base 1. This prevents the split robot 4 from falling due to excessive clearance with the electrical cabinet during installation.

[0047] The accommodating cavity 11 gradually deepens from one end where the folding mechanism 3 is installed to the other end. After the telescopic mechanism 2 is received in the accommodating cavity 11, not only can the telescopic mechanism 2 be clamped more tightly, but the split robots 4 are slightly arranged downward, and the elastic mechanism 9 can fix the split robots 4 more tightly by virtue of the self-weight of the split robots 4.

[0048] During use, at least three sections are provided for the telescopic mechanism 2, and the telescopic mechanism 2 can extend high enough to facilitate the detection device and the split robots 4 to rise high enough, so that the inspection robot mother ship can complete the detection of electrical cabinets at higher heights. When the telescopic mechanism 2 is erected, the rotating cylinder 21 can be clamped in position through the fixing frame and the electric telescopic head, reducing the shaking of the rotating cylinder 21 when the split robots 4 are set or the detection data is taken, ensuring the stable installation of the split robots 4 without falling off, and the stability and clarity of the detection data. The stability of the charging of the split robots 4 is further improved through the pressing spring 10 and the pressing head. The arc chamfer of the pressing head prevents the split robots 4 from being stuck by the pressing head when entering the embedding groove, facilitating the smooth accommodation of the split robots 4.

[0049] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. The manipulator system for receiving and releasing split robots on the inspection robot mother ship, including the inspection vehicle base (1) and the manipulator arranged above the inspection vehicle base (1), is characterized in that: The manipulator includes a telescopic mechanism (2); A folding mechanism (3) for folding the telescopic mechanism (2) is arranged on the inspection vehicle base (1); It further includes a split robot (4) and a storage bin for accommodating the split robot (4); The storage bin has a long strip channel (5) for placing the split robot (4), and the long strip channel (5) is arranged in the telescopic end of the telescopic mechanism (2), and the extending direction of the long strip channel (5) is parallel to the extending direction of the telescopic end; At least two split robots (4) are arranged in sequence along the long strip channel (5) after being loaded into the storage bin; An access channel (6) for receiving and releasing the split robot (4) is arranged above the storage bin, and the access channel (6) is communicated with the storage bin; A elastic mechanism (9) for ejecting the split robot (4) is arranged at the bottom of the storage bin; A pressing mechanism (8) for pressing the split robot (4) into the long strip channel (5) is arranged above the access channel (6); The access channel (6) is provided with a receiving and releasing opening (61), and the distance that the receiving and releasing opening (61) extends out exceeds the side of the telescopic mechanism (2), and the orientation of the receiving and releasing opening (61) is opposite to the folding direction of the telescopic mechanism (2); Taking the direction from the long strip channel (5) to the receiving and releasing opening (61) as the front; A pushing and pulling mechanism (7) for pushing and pulling the split robot (4) is further arranged in the access channel (6), and an electric locking device (72) for locking the split robot (4) is arranged on the pushing and pulling mechanism (7); A Halbach permanent magnet mechanism for adsorbing and fixing on the steel shell of the electrical cabinet is arranged on the front side of the split robot (4); The Halbach permanent magnet mechanism includes a middle permanent magnet (121), two end permanent magnets (122) and a yoke (123); An electromagnetic induction coil (124) is wound around the middle permanent magnet (121) and the yoke (123), and after the electromagnetic induction coil (124) is energized, it generates a magnetic field opposite to that of the middle permanent magnet (121), and the magnetic force is not less than that of the middle permanent magnet (121); The electromagnetic induction coil (124) is provided with a power supply socket; A connector for docking with the power supply socket of the electromagnetic induction coil (124) is arranged at the receiving and releasing opening (61), and the connector is connected to the power supply of the manipulator; 2. The manipulator system for deploying and retracting the split robot of the inspection robot mother ship according to claim 1, wherein: The pushing and pulling mechanism (7) is provided with a pushing block (71) for pushing and pulling the split robot (4), and the extreme retracted position of the pushing block (71) is located behind the storage bin; An embedding groove is arranged on the rear side surface of the split robot (4), and the pushing block (71) is provided with an embedding block that can extend into the embedding groove; The electric locking device (72) is arranged on the pushing block (71), and the electric locking device (72) locks the embedding block in the embedding groove; The opening where the storage bin is communicated with the lower side of the access channel (6) is called the storage opening, the lower side of the pushing block (71) is flush with the storage opening, and the upper side of the pushing block (71) is flush with the upper side of the access channel (6).

3. The manipulator system for the inspection robot mother ship split robot retraction and deployment according to claim 1, wherein: The folding mechanism (3) comprises a support fixed to the inspection vehicle base (1), a rotating mechanism being arranged on the support, and the rotating mechanism being connected to the telescopic mechanism (2); The folding mechanism (3) further comprises a rotation drive motor for driving the rotation mechanism to rotate; A receiving chamber (11) is provided above the inspection vehicle base (1), and the folding mechanism (3) is provided on one side of the receiving chamber (11); The telescopic mechanism (2) is contracted and folded in the accommodating cavity (11) through the folding mechanism (3).

4. The manipulator system for deploying and retrieving split robots of the inspection robot mother ship according to claim 1, wherein: When placing the split robot (4), the split robot (4) is pushed out of the retractable opening (61) by the push-pull mechanism (7) until the connector is disconnected from the power socket; The split robot (4) is fixed to the steel shell of the electrical cabinet by the strong magnetic attraction force of the Halbach permanent magnet mechanism, thereby achieving a firm fixation; When the split robot (4) on the electrical cabinet is stored, the storage opening (61) is covered with the split robot (4), and the connector of the storage opening (61) is connected to the power socket and energized. After the electromagnetic induction coil (124) is energized, it generates magnetism opposite to that of the middle permanent magnet (121), thereby releasing the Halbach magnetic field operation mechanism in the Halbach permanent magnet mechanism to reduce the attraction force, but cannot eliminate the magnetic force of the two end permanent magnets (122) themselves, thereby achieving weak magnetic attraction, facilitating the pulling and collection while avoiding falling due to gravity.

5. The manipulator system for retracting and deploying the split robot of the inspection robot mother ship according to claim 2, wherein: At least five charging connectors are arranged in an upper and lower arrangement in the storage bin, a tension spring (10) is provided on the rear side of each charging connector in the storage bin, and each tension spring (10) is connected to an ejection head, the size of the ejection head being larger than the size of the embedding groove; A telescopic groove for accommodating the tensioning spring (10) is provided at each tensioning spring (10) on the side surface of the storage bin, the size of the telescopic groove is larger than the size of the ejecting head, and the front side of the ejecting head is provided with an arc chamfer.

6. The manipulator system for retracting and deploying the split robot of the inspection robot mother ship according to claim 3, wherein: The telescopic mechanism (2) has at least three hollow cylinder structures, at least one of which is rotatably connected to the inspection vehicle base (1), and is referred to as a rotating cylinder (21); At least one cylinder structure is slidably matched with the rotating cylinder (21), and is referred to as an intermediate cylinder (22); At least one more cylinder structure is slidably matched with the intermediate cylinder (22), which is called a telescopic cylinder (23), and the outer end of the telescopic cylinder (23) serves as the telescopic end of the telescopic mechanism (2); The long channel (5) is arranged in the cylinder cavity of the telescopic cylinder (23), and the inlet and outlet channel (6) is arranged above the telescopic cylinder (23).

7. The manipulator system for deploying and retracting the split robot of the inspection robot mother ship according to claim 6, wherein: A fixing device is provided on the support, the fixing device comprising a fixing frame surrounding the rotating cylinder (21), the fixing frame being provided with a notch into which the rotating cylinder (21) rotates, the notch facing the accommodating chamber (11); The fixing frame is provided with an electric telescopic head for clamping the erected rotating cylinder (21), and the electric telescopic head extends in a direction toward the notch.

8. The manipulator system for deploying and retracting the split robot of the inspection robot mother ship according to claim 6, characterized in that: When the rotating cylinder (21) is erected, the retractable opening (61) of the inlet and outlet passage (6) protrudes at least 5 cm from the side of the inspection vehicle base (1).

9. The manipulator system for retracting and deploying the split robot of the inspection robot mother ship according to claim 3, wherein: The depth of the accommodating cavity (11) gradually increases from one end where the folding mechanism (3) is installed to the other end.

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