Inspection robot mothership split robot retractable manipulator system

Abstract

The present invention relates to the field of robotics, and more particularly to a retractable manipulator system for a patrol robot mothership split robot. The system comprises a patrol vehicle base, a manipulator disposed on the patrol vehicle base; the manipulator includes a telescopic mechanism; the patrol vehicle base is provided with a folding mechanism; the system also comprises a split robot and a storage compartment for accommodating the split robot; an access channel is provided above the storage compartment; an elastic mechanism is provided at the bottom of the storage compartment; a downward pressure mechanism is provided above the access channel; the access channel is provided with a retractable opening, the retractable opening facing in the opposite direction of the folding and retracting mechanism; the access channel is also provided with a push-pull mechanism, the push-pull mechanism being provided with an electric locking device; a Halbach permanent magnet mechanism is provided on the front side of the split robot; an electromagnetic induction coil is provided around the middle permanent magnet and the yoke, and when energized, the electromagnetic induction coil generates magnetic field opposite to that of the middle permanent magnet, thereby preventing the patrol robot from tipping over and the split robot from falling.

Description

Technical Field

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

[0002] Substation operations require regular inspections to ensure the safety, reliability, and efficient operation of substation cabinets. Introducing a patrol robot mothership during these regular inspections can significantly improve inspection efficiency and safety. The patrol robot mothership utilizes split robots, each equipped with different types of sensors (such as temperature, humidity, and vibration) for comprehensive monitoring, providing detailed status information on multiple substation cabinets. These split robots need to be regularly reclaimed and recharged within the intelligent patrol robot mothership. Multiple split robots are typically used, and to measure data, they must be mounted at a sufficient height within the substation cabinet. The patrol robot mothership also requires components such as cameras to be positioned at a sufficient height 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 will be prone to tipping over. When the manipulator installs the split robot on the steel shell of the electrical cabinet or reclaims 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 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:

[0007] The inspection robot mothership split robot retractable manipulator system includes an inspection vehicle base and a manipulator arranged above the inspection vehicle base;

[0008] The manipulator includes a telescopic mechanism;

[0009] The inspection vehicle base is provided with a folding mechanism for folding the telescopic mechanism;

[0010] It also includes a split robot and a storage compartment for accommodating the split robot;

[0011] 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;

[0012] At least two split robots are loaded into the storage bin and arranged in a queue along the long channel;

[0013] An access channel for storing and releasing the split robot is provided above the storage bin, and the access channel is connected to the storage bin;

[0014] An elastic mechanism for popping out the split robot is provided at the bottom of the storage bin;

[0015] A pressing mechanism is provided above the entry and exit channel to press the split robot into the long channel;

[0016] The inlet and outlet passage is provided with a retractable opening, the retractable opening extends beyond the side of the telescopic mechanism, and the retractable opening faces in the opposite direction to the folding direction of the telescopic mechanism;

[0017] The direction from the long passage to the opening is the front;

[0018] The entry and exit channel is also provided with a push-pull mechanism for pushing and pulling the split robot, and the push-pull mechanism is provided with an electric locking device for locking the split robot;

[0019] The front side of the split robot is provided with a Halbach permanent magnet mechanism for adsorption and fixation on the steel shell of the electrical cabinet;

[0020] The Halbach permanent magnet mechanism includes a middle permanent magnet, two end permanent magnets and a yoke;

[0021] An electromagnetic induction coil is wound around the middle permanent magnet and the yoke iron, and when energized, the electromagnetic induction coil generates magnetism opposite to that of the middle permanent magnet, and the magnetic force is not less than that of the middle permanent magnet;

[0022] The electromagnetic induction coil is provided with a power socket;

[0023] The retractable opening is provided with a connector that docks with the power socket of the electromagnetic induction coil, and the connector is connected to the power supply of the manipulator.

[0024] In the above design, the manipulator includes a telescopic mechanism, which can raise the detection device and the split robot so that the inspection robot mothership can inspect the electrical cabinet at a higher position. When the inspection robot mothership completes the inspection and walking and changes position, the detection device can be dropped through the telescopic mechanism, which can lower the center of gravity of the inspection robot mothership and ensure the safe walking and operation of the inspection robot mothership without tipping over.

[0025] 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, thereby preventing the inspection robot mothership from being unstable or overturning due to the excessive 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, ensuring that the robot is stable and reliable when stored or released, and avoiding 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 and be damaged during the inspection of the robot mothership.

[0026] 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;

[0027] 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 a firm fixation;

[0028] When storing the split robot on the electrical cabinet, after the retractable opening is put on 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 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 is convenient for pulling off and collecting while avoiding falling due to gravity.

[0029] Weaken the magnetic attraction of the split robot to the electrical cabinet. Prevent the push-pull mechanism from pulling the split robot with excessive magnetism, which may damage the electrical cabinet. Prevent the split robot from falling off and breaking due to excessive impact when being pulled off.

[0030] 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.

[0031] The power socket is provided at the front end of the split robot near the Halbach permanent magnet mechanism to prevent the split robot from falling due to the weakening of the magnetic force of the Halbach permanent magnet mechanism when the split robot is stored in the electrical cabinet.

[0032] Preferably, the push-pull mechanism is provided with a push block for pushing and pulling the split robot, and the extreme retraction position of the push block is located behind the storage bin; an embedding groove is provided on the rear side of the split robot, and the push block is provided with an embedding block that can extend into the embedding groove; the electric locking device is provided on the push block, and the electric locking device locks the embedding block in the embedding groove; the opening of the storage bin that is connected to the lower side of the entry and exit channel is called a storage port, the lower side of the push block is flush with the storage port, and the upper side of the push block is flush with the upper side of the entry and exit channel. The embedding block on the push block can lock the split robot, ensuring that the robot is stable and reliable when being stored or released, and preventing the split robot from falling. The push block in the storage bin can be slightly extended forward to be stuck at the storage port, pressing against the split robot in the storage bin. The push block presses against the robot, which helps to maintain its stability in the storage bin and prevents shaking from causing unstable charging contact.

[0033] Preferably, the folding mechanism includes a support fixed to the inspection vehicle base, with a rotating mechanism disposed on the support, the rotating mechanism connected to the telescopic mechanism; the folding mechanism also includes a rotation drive motor for driving the rotating mechanism; a receiving chamber is disposed above the inspection vehicle base, with the folding mechanism disposed on one side of the receiving chamber; the telescopic mechanism is retracted and folded within the receiving chamber by the folding mechanism. By folding the rotating mechanism within the receiving chamber through the folding mechanism, the center of gravity of the inspection robot mothership can be minimized, ensuring safe movement and preventing the inspection robot mothership from tipping over.

[0034] Preferably, at least five charging connectors are arranged in an upper and lower arrangement in the storage bin. A tensioning spring is provided on the rear side of each charging connector in the storage bin. Each tensioning spring is connected to a protruding head, and the size of the protruding head is larger than the size of the embedding slot. A telescopic slot for accommodating the tensioning spring is provided at each tensioning spring on the side of the storage bin. The size of the telescopic slot is larger than the size of the protruding head, and the front side of the protruding head is provided with a circular chamfer. The tensioning spring and the protruding head further improve the charging stability of the split robot. The circular chamfer of the protruding head prevents the split robot from being stuck by the protruding head when entering the embedding slot, facilitating the smooth storage of the split robot.

[0035] Preferably, a telescopic slot for accommodating the spring is provided on the side of the storage compartment at each tension spring. The slot is larger than the ejector head, and the front side of the ejector head is provided with a circular chamfer. The chamfer helps guide the split robot smoothly into or out of the storage opening, reducing the risk of the split robot falling due to misalignment of the storage opening when the split robot is stored.

[0036] Preferably, the telescopic mechanism comprises at least three hollow cylinder structures, at least one of which is rotatably connected to the inspection vehicle base, referred to as a rotating cylinder; at least one cylinder structure slidably engages with the rotating cylinder, referred to as an intermediate cylinder; and at least one other cylinder structure slidably engages with the intermediate cylinder, referred to as a telescopic cylinder. The outer end of the telescopic cylinder serves as the telescopic end of the telescopic mechanism; the elongated passage is disposed within the cylinder cavity of the telescopic cylinder, and the inlet and outlet passage is disposed above the telescopic cylinder. The telescopic mechanism has at least three sections, allowing it to extend high enough to facilitate the elevation of the inspection device and the split robot, allowing the inspection robot mothership to complete electrical cabinet inspections at higher altitudes.

[0037] Preferably, the support is provided with a fixing device, comprising a fixing frame surrounding the rotating cylinder, the fixing frame being provided with a notch for the rotating cylinder to rotate into, the notch facing the accommodating chamber; the fixing frame being provided with an electric telescopic head for clamping the erected rotating cylinder, the electric telescopic head extending toward the notch. The electric telescopic head is attached to the side of the erected rotating cylinder. The fixing frame and the electric telescopic head can lock the rotating cylinder in place when the telescopic mechanism is erected, reducing shaking of the rotating cylinder when setting up the split robot or detecting data, ensuring that the split robot is stably installed and does not fall, and that the detection data is stable and clear.

[0038] Preferably, when the rotating drum is erected, the opening of the access channel extends at least 5 cm from the side of the inspection vehicle base to prevent the split robot from falling due to a gap between it and the electrical cabinet during installation.

[0039] Preferably, the depth of the accommodating cavity gradually increases from one end where the folding mechanism is installed to the other end. When the telescopic mechanism is accommodated in the accommodating cavity, not only can the telescopic mechanism be more tightly secured, but the split robot can also be arranged slightly downward, and the elastic mechanism can secure the split robot more tightly by utilizing the weight of the split robot.

[0040] In summary, the present invention has the following beneficial effects:

[0041] 1. Through the telescopic mechanism and folding mechanism of the manipulator, the detection device and the split robot can be raised and lowered, so that the inspection robot mothership can inspect the electrical cabinet at a higher level; when the inspection robot mothership completes the inspection and walking transposition, the telescopic mechanism and folding mechanism can be used to lower the detection device, lower the center of gravity of the inspection robot mothership, and ensure the safe walking and operation of the inspection robot mothership without tipping over.

[0042] 2. The Halbach permanent magnet mechanism facilitates the placement and recovery of the split robot. When placing the split robot, the split robot is fixed to the steel shell of the electrical cabinet through the strong magnetic attraction of the Halbach permanent magnet mechanism, achieving firm fixation. When storing the split robot on the electrical cabinet, the Halbach magnetic field in the Halbach permanent magnet mechanism is released, thereby achieving weak magnetic attraction, preventing it from falling due to gravity while facilitating pulling and collection. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be derived from these drawings without inventive work. Among them:

[0044] Figure 1 This is a schematic diagram of the appearance and structure of the inspection robot mothership split robot retractable manipulator system of the present invention;

[0045] Figure 2 This is a schematic diagram of the appearance and structure of the inspection robot mothership split robot retractable manipulator system of the present invention;

[0046] Figure 3 This is a schematic cross-sectional view of the retractable manipulator system of the inspection robot mothership split robot of the present invention;

[0047] Figure 4 This is a schematic cross-sectional view of the storage compartment of the inspection robot mothership split robot retractable manipulator system of the present invention;

[0048] Figure 5 This is a schematic diagram of the Halbach permanent magnet mechanism structure of the inspection robot mothership split robot retractable manipulator system of the present invention.

[0049] 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 channel; 6. Entry and exit channel; 61. Retractable opening; 7. Push-pull mechanism; 71. Push block; 72. Electric locking device; 8. Pressing mechanism; 9. Elastic mechanism; 10. Tightening spring; 11. Accommodating chamber; 121. Intermediate permanent magnet; 122. End permanent magnet; 123. Yoke; 124. Electromagnetic induction coil. DETAILED DESCRIPTION

[0050] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0051] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0052] Next, the present invention is described in detail with reference to schematic diagrams. For ease of illustration, when describing embodiments of the present invention, cross-sectional views illustrating device structures may be partially enlarged and not to scale. Furthermore, these schematic diagrams are merely illustrative and should not limit the scope of protection of the present invention. Furthermore, in actual production, three-dimensional dimensions, including length, width, and depth, should be included.

[0053] Furthermore, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in less than one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it necessarily refer to a single embodiment or a selective embodiment that is mutually exclusive of other embodiments.

[0054] Example 1, reference Figure 1-Figure 5 The inspection robot mothership split robot retractable manipulator system includes an inspection vehicle base 1 and a manipulator arranged on the inspection vehicle base 1.

[0055] The manipulator includes a telescopic mechanism 2, which is arranged above the inspection vehicle base 1;

[0056] The inspection vehicle base 1 is provided with a folding mechanism 3 of a folding and telescopic mechanism 2;

[0057] It also includes a split robot 4 and a storage compartment for accommodating the split robot 4;

[0058] The storage compartment has a long channel 5 for accommodating the split robot 4. The telescopic mechanism 2 has a telescopic end. The long channel 5 is arranged in the telescopic end. The extension direction of the long channel 5 is parallel to the extension direction of the telescopic end.

[0059] After at least two split robots 4 are loaded into the storage bin, they are arranged in a queue along the long channel 5;

[0060] An access channel 6 for retracting and releasing the split robot 4 is provided above the storage bin, and the access channel 6 is connected to the storage bin and is provided above the telescopic end;

[0061] The bottom of the storage bin is provided with an elastic mechanism 9 for elastically ejecting the split robot 4 from the long channel 5;

[0062] A pressing mechanism 8 is provided above the entry and exit channel 6 to press the split robot 4 into the long channel 5;

[0063] The inlet and outlet passage 6 is provided with a retractable opening 61, which extends beyond the side of the telescopic mechanism 2, and faces in the opposite direction to the direction in which the folding mechanism 3 folds the telescopic mechanism 2;

[0064] The direction from the storage compartment to the storage opening 61 is considered the front;

[0065] The inlet and outlet passage 6 is also provided with a push-pull mechanism 7 for pushing and pulling the split robot 4. The push-pull mechanism 7 is provided with an electric locking device 72 for locking the split robot 4.

[0066] A Halbach permanent magnet mechanism is provided in front of the split robot 4 for adsorption and fixation on the steel shell of the electrical cabinet;

[0067] The Halbach permanent magnet mechanism includes a middle permanent magnet 121, two end permanent magnets 122 and a yoke 123;

[0068] An electromagnetic induction coil 124 is wound around the middle permanent magnet 121 and the yoke 123. When the electromagnetic induction coil 124 is energized, it generates a magnetic force opposite to that of the middle permanent magnet 121, and the magnetic force is not less than that of the middle permanent magnet 121.

[0069] The electromagnetic induction coil 124 is provided with a power socket;

[0070] A connector is provided at the retractable opening to connect with the power socket of the electromagnetic induction coil 124 , and the connector is connected to the power supply of the manipulator.

[0071] In the above design, the manipulator includes a telescopic mechanism 2, which can raise the detection device and the split robot 4 so that the inspection robot mothership can inspect the electrical cabinet at a higher position. When the inspection robot mothership completes the inspection and walking and changes position, the detection device can be dropped through the telescopic mechanism 2, which can lower the center of gravity of the inspection robot mothership and ensure the safe walking and operation of the inspection robot mothership without tipping over.

[0072] By setting up a storage bin, the split robots 4 can be stored in the storage bin, and the split robots 4 are raised to the corresponding heights in sequence. The split robots 4 in the manipulator will not rise together, causing the manipulator's center of gravity to be too high. Too high a center of gravity will cause the inspection robot mothership to be unstable or overturn. A downward pressure mechanism 8 is set at the top of the storage bin. The telescopic end of the downward pressure mechanism 8 is set above the storage bin, and multiple split robots 4 can be stored in the storage bin for charging. Finally, the push-pull mechanism 7 is used to push and pull the split robots 4. The push-pull mechanism 7 is provided with an electric locking device 72 that locks the split robots 4. The split robots 4 can be locked to ensure that the robots are stable and reliable when stored or released, and to prevent malfunction or falling. The retractable mechanism 2 is folded by the folding mechanism 3. The retractable mechanism 2 is placed in the accommodating chamber 11. The retractable mechanism 2 is placed in the accommodating chamber 11. The retractable mechanism 2 is placed in the accommodating chamber 11. The retractable mechanism 61 is upward, ensuring that the split robots 4 will not fall or be damaged during the inspection of the robot mothership.

[0073] When placing the split robot 4, the split robot 4 is pushed out of the receiving opening 61 by the push-pull mechanism 7 until the connector is separated from the power socket.

[0074] The split robot 4 is fixed to the steel shell of the electrical cabinet through the strong magnetic attraction force of the Halbach permanent magnet mechanism, achieving a firm fixation;

[0075] When storing the split robot 4 on the electrical cabinet, after the retractable opening 61 is put on the split robot 4, the connector of the retractable opening 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, 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, which is convenient for pulling off and collecting while avoiding falling due to gravity.

[0076] Weaken the magnetic attraction of the split robot 4 to the electrical cabinet. Prevent the push-pull mechanism 7 from pulling the split robot 4 so that the magnetism is too strong and the electrical cabinet is damaged. Prevent the split robot 4 from falling off and breaking due to excessive impact when being pulled off.

[0077] 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 .

[0078] The power socket is provided at the front end of the split robot 4 near the Halbach permanent magnet mechanism to prevent the split robot 4 from falling due to the weakening of the magnetic force of the Halbach permanent magnet mechanism when the split robot 4 is stored on the electrical cabinet.

[0079] The push-pull mechanism 7 is equipped with a push block 71 for pushing and pulling the split robot 4. The push block 71's extreme retraction position is located behind the storage bin. An embedding slot is provided on the rear side of the split robot 4, and the push block 71 is equipped with an embedding block that can extend into the embedding slot. An electric locking device 72 is provided on the push block 71, which locks the embedding block in the embedding slot. The opening connecting the storage bin to the lower side of the access channel 6 is called the storage port. 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 to be stuck in the storage port, pressing against the split robot 4 in the storage bin. The push block 71 presses against the robot, helping to maintain its stability in the storage bin and preventing shaking that may cause unstable charging contact.

[0080] The folding mechanism 3 includes a support fixed to the inspection vehicle base 1, on which a rotating mechanism is provided, which is connected to the telescopic mechanism 2. The folding mechanism 3 also includes a rotation drive motor that drives the rotating mechanism. A accommodating chamber 11 is provided above the inspection vehicle base, and the folding mechanism 3 is disposed on one side of the accommodating chamber 11. The telescopic mechanism 2 is retracted and folded within the accommodating chamber 11 by the folding mechanism 3. Finally, the folding mechanism 3 folds the rotating mechanism into the accommodating chamber 11, which can minimize the center of gravity of the inspection robot mothership and ensure its safe operation without tipping.

[0081] At least five charging connectors are arranged in an upper and lower arrangement in the storage bin. A tensioning spring 10 is provided on the rear side of each charging connector in the storage bin. Each tensioning spring 10 is connected to a protruding head, the size of which is larger than the size of the embedding slot. Each tensioning spring 10 on the side of the storage bin is provided with a telescopic slot for accommodating the tensioning spring 10. The size of the telescopic slot is larger than the size of the protruding head, and the front side of the protruding head is provided with a circular chamfer. The tensioning spring 10 and the protruding head further improve the charging stability of the split robot 4. The circular chamfer of the protruding head prevents the split robot 4 from being stuck by the protruding head when entering the embedding slot, facilitating the smooth storage of the split robot 4.

[0082] Each tensioning spring 10 is provided on the side of the storage compartment with a telescopic slot for accommodating the tensioning spring 10. The slot is larger than the ejector head, and the front of the ejector head is provided with a circular chamfer. The chamfer helps guide the split robot 4 smoothly into or out of the storage opening 61, reducing the risk of the split robot 4 falling due to misalignment of the storage opening 61 when the split robot 4 is stored.

[0083] During use, after the inspection robot mothership reaches the location in the electrical cabinet where inspection is required, the folding mechanism 3 erects the telescopic mechanism 2, which then extends to raise the storage compartment. To accommodate the split robot 4 on the electrical cabinet, the storage opening 61 encloses the split robot 4. The connector of the storage opening 61 and the power socket are energized. The electromagnetic induction coil 124 generates magnetic force opposite to that of the central permanent magnet 121, weakening the split robot's magnetic attraction to the electrical cabinet. The push-pull mechanism 7 includes an electric telescopic mechanism 2 that pushes and pulls a push block 71. To accommodate the split robot 4, the storage opening is enclosed by the split robot 4, and the push block 71 moves forward to push the insertion block into the insertion slot. The electric locking device 72 locks the insertion block in the insertion slot. The electric telescopic mechanism 2 then drives the push block 71 to the upper opening of the storage compartment, unlocking the electric locking device 72. The telescopic end of the telescopic mechanism 2 presses the push block 71 into the storage compartment, whereupon the push block 71 moves forward to engage the split robot 4. The length of the push block 71 is greater than the length of the split robot 4. This ensures that when the split machine pulls the next split robot 4, the robot in the storage bin will not pop out.

[0084] When the split robot 4 pushes out the magnet to attract the transformer cabinet, the push block 71 moves backward to make way for the split robot 4. The elastic mechanism 9 pushes the split robot 4 out. The push block 71 moves forward to push the split robot 4 out, and the next split robot 4 in the receiving slot continues to be stuck at the bottom of the push block 71. The split robot 4 in the storage bin will not pop out. The split robot 4 is pushed out of the retractable port 61 by the push-pull mechanism 7 until the connector is disengaged from the power socket, ensuring that the Halbach permanent magnet mechanism generates sufficient suction to attract the electrical cabinet. Using a single retractable port 61 can significantly simplify the operating process. The user only needs to complete the robot's folding and unfolding at one retractable port 61, reducing the complexity of the operation. This not only saves time, but also reduces the possibility of operational errors, reduces the risk of accidental collisions or injuries, and enhances safety. After the inspection robot mothership completes the arrangement of the detection box split robot 4. The telescopic mechanism 2 retracts to lower the accommodating chamber, and the folding mechanism 3 receives the telescopic mechanism 2 and moves it into the accommodating chamber 11, thereby lowering the center of gravity of the inspection robot mothership and reducing the risk of the inspection robot mothership tipping over during operation.

[0085] Example 2, reference Figure 2-Figure 4 , which is the second embodiment of the present invention, and this embodiment is based on the previous embodiment.

[0086] The telescopic mechanism 2 comprises at least three hollow cylindrical structures. At least one of these cylindrical structures is rotatably connected to the inspection vehicle base 1 and is referred to as the rotating cylinder 21. At least one cylindrical structure slides with the rotating cylinder 21 and is referred to as the intermediate cylinder 22. At least one other cylindrical structure slides with the intermediate cylinder 22 and is referred to as the telescopic cylinder 23. The outer end of the telescopic cylinder 23 serves as the telescopic end of the telescopic mechanism 2. An elongated passage 5 is disposed within the cylinder cavity of the telescopic cylinder 23, and an inlet and outlet passage 6 is disposed above the telescopic cylinder 23. The telescopic mechanism 2 has at least three sections, allowing it to be extended high enough to facilitate the elevation of the inspection device and the split robot 4. This allows the inspection robot mothership to complete electrical cabinet inspections at higher altitudes.

[0087] The support is equipped with a fixing device, which includes a fixed frame surrounding the rotating cylinder 21. The fixed frame is provided with a notch for the rotating cylinder 21 to rotate into, with the notch facing the accommodating chamber 11. The fixed frame is equipped with an electric telescopic head that engages the upright rotating cylinder 21, extending toward the notch. The electric telescopic head is attached to the side of the upright rotating cylinder 21. The fixed frame and the electric telescopic head lock the rotating cylinder 21 in place when the telescopic mechanism 2 is upright, reducing the shaking of the rotating cylinder 21 during the installation of the split robot 4 or data detection, ensuring the stable installation of the split robot 4 and preventing it from falling, and ensuring the stability and clarity of the detection data.

[0088] When the rotating cylinder 21 is erected, the opening 61 of the access channel 6 extends at least 5 cm from the side of the inspection vehicle base 1 to prevent the split robot 4 from falling due to a gap between the split robot 4 and the electrical cabinet during installation.

[0089] The depth of the accommodating cavity 11 gradually increases from one end where the folding mechanism 3 is installed to the other end. After the telescopic mechanism 2 is stored in the accommodating cavity 11, not only can the telescopic mechanism 2 be locked more tightly, but the split robot 4 is also arranged slightly downward, and the elastic mechanism 9 can use the weight of the split robot 4 to fix the split robot 4 more tightly.

[0090] When in use, the telescopic mechanism 2 is provided with at least three sections. The telescopic mechanism 2 can be extended high enough to facilitate the detection device and the split robot 4 to be raised high enough, and the inspection robot mothership can complete the electrical cabinet inspection at a higher height. The fixed frame and the electric telescopic head can lock the rotating cylinder 21 in place when the telescopic mechanism 2 is erected, reducing the shaking of the rotating cylinder 21 when setting the split robot 4 or detecting data, ensuring the stability of the installation of the split robot 4 and preventing it from falling, and the stability and clarity of the detection data. The charging stability of the split robot 4 is further improved by the tightening spring 10 and the ejector head. The arc chamfer of the ejector head prevents the split robot 4 from being stuck by the ejector head when entering the embedded slot, which facilitates the smooth storage of the split robot 4.

[0091] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A patrol robot mothership split robot retractable manipulator system, comprising a patrol vehicle base (1), a manipulator arranged above the patrol vehicle base (1), and characterized by: The manipulator comprises a telescopic mechanism (2); The inspection vehicle base (1) is provided with a folding mechanism (3) for folding the telescopic mechanism (2); It also includes a split robot (4) and a storage bin for accommodating the split robot (4); The storage bin has a long channel (5) for accommodating the split robot (4), the long channel (5) being arranged in the telescopic end of the telescopic mechanism (2), and the extending direction of the long channel (5) being parallel to the extending direction of the telescopic end; After being loaded into the storage bin, at least two split robots (4) are arranged in a queue along the long channel (5); An entry and exit passage (6) for retracting and releasing the split robot (4) is provided above the storage bin, and the entry and exit passage (6) is communicated with the storage bin; An elastic mechanism (9) for ejecting the split robot (4) is provided at the bottom of the storage bin; A pressing mechanism (8) is provided above the entry and exit channel (6) for pressing the split robot (4) into the long channel (5); The inlet and outlet channel (6) is provided with a retractable opening (61), the retractable opening (61) extends beyond the side of the telescopic mechanism (2), and the retractable opening (61) faces in the opposite direction to the folding direction of the telescopic mechanism (2); The direction from the long passage (5) to the retractable opening (61) is considered the front; A push-pull mechanism (7) for pushing and pulling the split robot (4) is also provided in the entry and exit passage (6), and an electric locking device (72) for locking the split robot (4) is provided on the push-pull mechanism (7); The front side of the split robot (4) is provided with a Halbach permanent magnet mechanism for adsorption and fixation on the steel shell of the electrical cabinet; The Halbach permanent magnet mechanism comprises 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 when energized, the electromagnetic induction coil (124) generates magnetism in the opposite direction 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 socket; The retractable opening (61) is provided with a connector that interfaces with the power socket of the electromagnetic induction coil (124), and the connector is connected to the power supply of the manipulator.

2. The inspection robot mothership split robot retractable manipulator system according to claim 1, characterized in that: 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 extend into the embedding groove; The 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 of the storage bin communicating with the lower side of the access channel (6) is called a storage opening. The lower side of the push block (71) is flush with the storage opening, and the upper side of the push block (71) is flush with the upper side of the access channel (6).

3. The inspection robot mothership split robot retractable manipulator system according to claim 1, characterized in that: The folding mechanism (3) comprises a support fixed to the inspection vehicle base (1), a rotating mechanism being provided on the support, and the rotating mechanism being connected to the telescopic mechanism (2); The folding mechanism (3) further includes a rotation drive motor for driving the rotation mechanism to rotate; A receiving cavity (11) is provided above the inspection vehicle base (1), and the folding mechanism (3) is provided on one side of the receiving cavity (11); The telescopic mechanism (2) is contracted and folded in the accommodating cavity (11) by the folding mechanism (3).

4. The inspection robot mothership split robot retractable manipulator system according to claim 1, characterized in that: When the split robot (4) is placed, the split robot (4) is pushed out of the retractable opening (61) by the push-pull mechanism (7) until the connector is disengaged 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 the middle permanent magnet (121), 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, and facilitating the pulling and collection while avoiding falling due to gravity.

5. The inspection robot mothership split robot retractable manipulator system according to claim 2, characterized in that: At least five charging connectors are arranged in an upper and lower arrangement in the storage bin, and a tensioning spring (10) is provided on the rear side of each charging connector in the storage bin, and each tensioning spring (10) is connected to a protruding head, and the size of the protruding head is larger than the size of the embedding slot; A telescopic slot for accommodating the tensioning spring (10) is provided at each tensioning spring (10) on the side of the storage bin, the size of the telescopic slot being larger than the size of the ejecting head, and a circular chamfer is provided on the front side of the ejecting head.

6. The inspection robot mothership split robot retractable manipulator system according to claim 3, characterized in that: 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 called a rotating cylinder (21); At least one cylinder structure is in sliding engagement with the rotating cylinder (21), 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 inspection robot mothership split robot retractable manipulator system according to claim 6, characterized in that: 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 cavity (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 inspection robot mothership split robot retractable manipulator system 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) extends at least 5 cm from the side of the inspection vehicle base (1).

9. The inspection robot mothership split robot retractable manipulator system according to claim 3, characterized in that: 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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