Power inspection robot dog with inspection mechanical arm

Abstract

The application relates to the technical field of electric power inspection, in particular to an electric power inspection robot dog with an inspection mechanical arm, which comprises a robot dog body and a mechanical arm. One end of the mechanical arm is fixedly connected with a chuck, the two side walls of the robot dog body are fixedly connected with a plurality of shells, a counterweight cavity and a detection tool placing cavity are arranged in the shells, a supporting frame is arranged in the detection tool placing cavity, a detection tool limiting hole is arranged in the upper surface of the supporting frame, and a detection tool is arranged in the detection tool limiting hole. The application is provided with a plurality of shells and a chuck and other structures for use in cooperation, a plurality of detection tools can be respectively placed in the corresponding shells, different detection tools can be selected for use according to the needs during use, the limitation of the space of the mechanical arm can be avoided, the device can carry more tools for operation at a time, and the working capacity of the robot dog body can be avoided from being limited by the types of the carried tools.

Description

Technical Field

[0001] This invention relates to the field of power line inspection technology, specifically to a power line inspection robot dog with an inspection robotic arm. Background Technology

[0002] Power inspection robot dogs equipped with inspection arms combine a mobile platform with the operating robot arm to push power inspection from the traditional "human-based, equipment-assisted" model to a new stage of unmanned and intelligent operation with "robots operating on-site and personnel remotely monitoring and making decisions." This can liberate personnel from dangerous environments such as high voltage and strong electromagnetic radiation, effectively preventing personal safety accidents.

[0003] However, in actual inspection operations, common equipment such as grounding resistance testers, insulation resistance testers, and various hardware tools are often required. Due to the limited space of the robotic arm itself, these tools cannot all be integrated onto it, and the types and quantities of tools carried directly limit the robotic dog's working capabilities and range. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention proposes a power inspection robot dog with an inspection robotic arm. Different inspection tools can be selected and used as needed, thus avoiding the space limitations of the robotic arm itself. This allows the device to carry more tools at once for operation, thereby avoiding the problem of limiting the robot dog's working capacity due to the types of tools carried.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a power inspection robot dog with an inspection robotic arm, comprising a robot dog body and a robotic arm, one end of which is fixedly connected to a gripper, and multiple housings are fixedly connected to both side walls of the robot dog body, with a counterweight cavity and a detection tool placement cavity inside the housing, a mounting frame being provided in the detection tool placement cavity, and a detection tool limiting hole being provided on the upper surface of the mounting frame, with a detection tool being placed in the detection tool limiting hole, and a clamping block for gripping by the gripper being fixedly connected to the upper end of the detection tool, a first piston being provided in the counterweight cavity, and a support rod being fixedly connected to one end of the first piston, with one end of the support rod penetrating the counterweight cavity and extending into the detection tool placement cavity, one end of the support rod located in the detection tool placement cavity being fixedly connected to the mounting frame, and a first conduit being connected to the side wall of the counterweight cavity, with one end of the first conduit being connected to an ejection drive assembly.

[0006] Preferably, the ejection drive assembly includes a counterweight liquid container and a push rod fixed to the lower surface of the robot dog body. A second piston is slidably connected to the inner wall of the counterweight liquid container. One end of the push rod passes through the counterweight liquid container and is fixedly connected to the second piston. A main pipe is connected to the outer wall of the counterweight liquid container. A solenoid valve is fixedly connected to one end of the first conduit. A second conduit is fixedly connected to the side wall of the solenoid valve, and one end of the second conduit is connected to the main pipe. The robot dog body can control the activation of the solenoid valve and the push rod.

[0007] Preferably, a compression spring is provided inside the counterweight cavity.

[0008] Preferably, one end of the compression spring is fixedly connected to an adjustment plate, a bolt is provided in the detection tool placement cavity, and one end of the bolt passes through the detection tool placement cavity and extends into the counterweight liquid container shell. The bolt located in the counterweight liquid container shell is rotatably connected to the adjustment plate, and the bolt is threadedly connected to the shell.

[0009] Preferably, a cover plate is provided inside the housing, and a clearance groove is provided on the side wall of the cover plate. A rotating rod is provided in the clearance groove, and a spring is sleeved on the outer wall of the rotating rod. One end of the spring is fixedly connected to the rotating rod, and the other end of the spring is fixedly connected to the cover plate. The end of the rotating rod passes through the cover plate and is fixedly connected to the housing.

[0010] Preferably, one end of the support rod passes through the frame and extends above the frame. The support rod located above the frame has a threaded hole at one end, and a top rod is threadedly connected to the inner wall of the threaded hole.

[0011] Preferably, one end of the top rod has a groove, and a ball bearing is provided in the groove.

[0012] Preferably, the outer wall of the top rod is threaded with a nut, and the side wall of the nut abuts against the support rod.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention uses multiple housings and clamps in conjunction with each other, allowing various detection tools to be placed in their respective housings. When in use, different detection tools can be selected as needed, thus avoiding the space limitations of the robotic arm itself. This allows the device to carry more tools at once, thereby avoiding the problem of limiting the working capacity of the robot dog due to the types of tools carried. 2. This invention uses a counterweight liquid containment shell and a solenoid valve in conjunction with other structures. When selecting a testing tool, the solenoid valve on one side of the selected testing tool is opened, and then the push rod is activated. The activated push rod pushes the second piston to move. The moving second piston pushes the counterweight liquid into the counterweight cavity through the main pipe, the second conduit, and the first conduit. The counterweight liquid entering the counterweight cavity presses the first piston, causing the first piston to move the support rod. The moving support rod moves the frame, the testing tool, and the top rod. After the top rod moves to a certain position, the top rod opens the cover plate. Then the frame and the testing tool continue to move upward until the clamping block above the testing tool moves out of the testing tool placement cavity. Then the robotic arm can move the clamping head to one side of the clamping block, so that the clamping head clamps the clamping block, and then the testing tool is removed. In this way, the clamping block automatically moves out of the testing tool placement cavity, which facilitates the clamping of the clamping head. 3. After the counterweight liquid enters the counterweight cavity, the present invention can increase the weight on one side of the robot dog body, so as to avoid the change in the weight distribution of the robot dog body caused by the removal of the detection tool after the detection tool is removed, thereby improving the stability of the device. 4. This invention can actively balance the robot dog body. When the robot dog body is not being detected but is moving normally, the push-out drive component can also balance the weight on both sides of the robot dog body, making the robot dog body move more stably. When balancing, all the solenoid valves on the side of the robot dog body that needs to increase weight are opened. The push rod is then activated, which causes the push rod to press all the counterweight liquid into the counterweight cavity on one side of the robot dog body through the second piston, thereby increasing the weight on one side of the robot dog body to achieve balance, and the robot dog body can move more stably. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a bottom-view structural diagram of the present invention; Figure 3 This is a cross-sectional view of the counterweight liquid containment shell of the present invention; Figure 4 This is a schematic cross-sectional view of the housing structure of the present invention; Figure 5 for Figure 4 Enlarged structural diagram at point A in the middle; Figure 6 is Figure 4 Enlarged structural diagram at point B; Figure 7 is Figure 4 Enlarged structural diagram at point C.

[0015] In the diagram: 1. Robot dog body; 2. Robotic arm; 3. Gripper; 4. Housing; 5. Counterweight cavity; 6. Detection tool placement cavity; 7. Mounting frame; 8. Detection tool limiting hole; 9. Detection tool; 10. Clamping block; 11. First piston; 12. Support rod; 13. First conduit; 14. Counterweight liquid container shell; 15. Push rod; 16. Second piston; 17. Main pipe; 18. Solenoid valve; 19. Second conduit; 20. Compression spring; 21. Adjusting plate; 22. Bolt; 23. Cover plate; 24. Rotating rod; 25. Spring clockwork; 26. Push rod; 27. Ball bearing; 28. Nut. Detailed Implementation

[0016] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0017] Please see Figures 1 to 7 A power inspection robot dog with an inspection arm includes a robot dog body 1 and a robotic arm 2. A clamp 3 is fixedly connected to one end of the robotic arm 2. Multiple housings 4 are fixedly connected to both side walls of the robot dog body 1. Each housing 4 has a counterweight cavity 5 and a detection tool placement cavity 6. A mounting frame 7 is installed inside the detection tool placement cavity 6, and a detection tool limiting hole 8 is provided on the upper surface of the mounting frame 7. A detection tool 9 is placed inside the detection tool limiting hole 8. The shape and size of the detection tool limiting hole 8 are determined according to the different detection tools 9. As long as the detection tool limiting hole 8 can limit the detection tool 9, and the upper end of the detection tool 9 is fixedly connected to a clamping block 10 for the clamping head 3, a first piston 11 is provided in the counterweight cavity 5, and a support rod 12 is fixedly connected to one end of the first piston 11. One end of the support rod 12 passes through the counterweight cavity 5 and extends into the detection tool placement cavity 6. One end of the support rod 12 located in the detection tool placement cavity 6 is fixedly connected to the frame 7, and a first conduit 13 is connected to the side wall of the counterweight cavity 5. One end of the first conduit 13 is connected to the ejection drive assembly.

[0018] As can be seen from the above structure, by setting multiple housings 4 and chucks 3 and other structures to work together, various detection tools 9 can be placed in their corresponding housings 4. When in use, different detection tools 9 can be selected as needed. This avoids the space limitation of the robotic arm 2 itself, allowing the device to carry more tools at once for operation, thereby avoiding the problem of limiting the working capacity of the robot dog body 1 due to the types of tools carried.

[0019] Furthermore, the ejection drive assembly includes a counterweight liquid container 14 and a push rod 15 fixed to the lower surface of the robot dog body 1. A second piston 16 is slidably connected to the inner wall of the counterweight liquid container 14. One end of the push rod 15 passes through the counterweight liquid container 14 and is fixedly connected to the second piston 16. A main pipe 17 is connected to the outer wall of the counterweight liquid container 14. A solenoid valve 18 is fixedly connected to one end of the first conduit 13. A second conduit 19 is fixedly connected to the side wall of the solenoid valve 18, and one end of the second conduit 19 is connected to the main pipe 17. The robot dog body 1 can control the activation of the solenoid valve 18 and the push rod 15. By setting the counterweight liquid container 14 and the solenoid valve 18 to work together, when the detection tool 9 is selected, the solenoid valve 18 on the side of the selected detection tool 9 is opened, and then the push rod 15 is activated. Rod 15 pushes the second piston 16 to move. The moving second piston 16 presses the counterweight liquid into the counterweight cavity 5 through the main pipe 17, the second conduit 19 and the first conduit 13. The counterweight liquid entering the counterweight cavity 5 presses the first piston 11, causing the first piston 11 to drive the support rod 12 to move. The moving support rod 12 drives the frame 7, the detection tool 9 and the top rod 26 to move. After the top rod 26 moves to a certain position, the top rod 26 pushes open the cover plate 23. Then the frame 7 and the detection tool 9 continue to move upward until the clamping block 10 above the detection tool 9 moves out of the detection tool placement cavity 6. Then the robotic arm 2 can move the clamping head 3 to the side of the clamping block 10, so that the clamping head 3 clamps the clamping block 10, and then the detection tool 9 is taken out. In this way, the clamping block 10 automatically moves out of the detection tool placement cavity 6, which can facilitate the clamping of the clamping head 3. Furthermore, after the counterweight liquid enters the counterweight cavity 5, it can increase the weight on one side of the robot dog body 1, so as to avoid the change in the weight distribution of the robot dog body 1 caused by the removal of the detection tool 9 after the detection tool 9 is removed, thereby improving the stability of the device.

[0020] Furthermore, a compression spring 20 is provided inside the counterweight cavity 5; the compression spring 20 can push the first piston 11 to reset after one end of the first piston 11 loses pressure.

[0021] Furthermore, one end of the compression spring 20 is fixedly connected to an adjusting plate 21, and a bolt 22 is provided in the detection tool placement cavity 6. One end of the bolt 22 passes through the detection tool placement cavity 6 and extends into the counterweight liquid container shell 14. One end of the bolt 22 located in the counterweight liquid container shell 14 is rotatably connected to the adjusting plate 21, and the bolt 22 is threadedly connected to the shell 4. By setting the adjusting plate 21, one end of the compression spring 20 can be compressed, thereby balancing the force required to press multiple first pistons 11 through the compression spring 20. After all the solenoid valves 18 on one side of the robot dog body 1 are opened, the push rod 15 can simultaneously press the counterweight liquid into the counterweight cavity 5 in each shell 4 through the second piston 16.

[0022] Furthermore, a cover plate 23 is provided inside the housing 4, and a clearance groove is provided on the side wall of the cover plate 23. A rotating rod 24 is provided in the clearance groove, and a spring 25 is sleeved on the outer wall of the rotating rod 24. One end of the spring 25 is fixedly connected to the rotating rod 24, and the other end of the spring 25 is fixedly connected to the cover plate 23. The end of the rotating rod 24 passes through the cover plate 23 and is fixedly connected to the housing 4. By providing the cover plate 23, the detection tool 9 inside the housing 4 can be protected.

[0023] Furthermore, one end of the support rod 12 passes through the frame 7 and extends above the frame 7. The support rod 12 located above the frame 7 has a threaded hole at one end, and a push rod 26 is threadedly connected to the inner wall of the threaded hole. By setting the push rod 26, the push rod 26 can push open the cover plate 23 before the detection tool 9 is ejected.

[0024] Furthermore, a groove is provided at one end of the push rod 26, and a ball bearing 27 is provided in the groove; by providing the ball bearing 27, the friction between one end of the push rod 26 and the ball bearing 27 can be reduced.

[0025] Furthermore, the outer wall of the push rod 26 is threaded with a nut 28, and the side wall of the nut 28 abuts against the support rod 12; by setting the nut 28, the push rod 26 can be fixed.

[0026] In this invention, before use, sufficient counterweight liquid is added to the counterweight liquid container 14. Various detection tools 9 can be placed in their corresponding containers 4. When in use, different detection tools 9 can be selected as needed. This avoids the space limitation of the robotic arm 2 itself, allowing the device to carry more tools at once for operation, thereby avoiding the problem of limiting the working capacity of the robot dog body 1 due to the types of tools carried. When selecting the testing tool 9, open the solenoid valve 18 on one side of the selected testing tool 9. Then, the push rod 15 is activated. The activated push rod 15 pushes the second piston 16 to move. The moving second piston 16, through the main pipe 17, the second conduit 19, and the first conduit 13, presses the counterweight liquid into the counterweight cavity 5. The counterweight liquid entering the counterweight cavity 5 presses the first piston 11, causing the first piston 11 to drive the support rod 12 to move. The moving support rod 12 drives the frame 7, the testing tool 9, and the top rod 26 to move. When the top rod 26 moves to... After reaching a certain position, the push rod 26 pushes open the cover plate 23, and then the mounting frame 7 and the detection tool 9 continue to move upward until the clamping block 10 above the detection tool 9 moves out of the detection tool placement cavity 6. Then the robotic arm 2 can move the clamping head 3 to one side of the clamping block 10, so that the clamping head 3 clamps the clamping block 10, and then remove the detection tool 9. In this way, the clamping block 10 automatically moves upward out of the detection tool placement cavity 6, which can facilitate the clamping of the clamping head 3. The push rod 15 is a single power source. When multiple solenoid valves 18 are opened, the counterweight liquid will enter all the corresponding counterweight cavities 5 at the same time.

[0027] After the counterweight liquid enters the counterweight cavity 5, it increases the weight on one side of the robot dog body 1. This prevents changes in the weight distribution of the robot dog body 1 after the detection tool 9 is removed, thus improving the stability of the device. The size of the counterweight cavity 5 in each housing 4 is adjusted according to the weight of the detection tool 9, so that after the clamping block 10 at one end of the detection tool 9 is pressed to the required position, the weight of the counterweight liquid entering the counterweight cavity 5 is the same as the weight of the detection tool 9. That is, the volume of the counterweight cavity 5 in each housing 4 should be set according to the weight of the detection tool 9 inside it. The principle is that when the detection tool 9 is lifted to the working position (i.e., the clamping block 10 is exposed), the weight of the liquid injected into the counterweight cavity 5 should be approximately equal to the weight of the detection tool 9, thereby achieving weight compensation.

[0028] When the robot dog body 1 is not performing detection and is moving normally, the push-out drive assembly can balance the weight on both sides of the robot dog body 1, making the robot dog body 1 move more stably. When balancing, all the solenoid valves 18 on the side of the robot dog body 1 that need to increase weight are opened, and the push rod 15 is then activated. The push rod 15 pushes all the counterweight liquid into the counterweight cavity 5 on one side of the robot dog body 1 through the second piston 16, thereby increasing the weight on one side of the robot dog body 1. In this way, all the counterweight cavities 5 on one side of the robot dog body 1 are used to hold the counterweight liquid. The amount of counterweight liquid in each counterweight cavity 5 is small. Even if the counterweight liquid pushes the first piston 11 to move, the first piston 11 will not move far enough to push open the cover plate 23 through the support rod 12 and the push rod 26, so as to prevent the cover plate 23 from opening when it is not needed, thereby protecting the detection tool 9 inside the cover plate 23. It should be emphasized that in balance mode, the system controls the pressure or volume of the injected liquid so that the thrust generated is insufficient to overcome the force of the spring clock (25) to open the cover plate, but is sufficient to push the piston to produce a counterweight effect.

[0029] The counterweight liquid described in this invention can be water, hydraulic oil, or other liquids with appropriate viscosity and chemical stability.

[0030] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A power inspection robot dog with an inspection robotic arm, comprising a robot dog body (1) and a robotic arm (2), characterized in that, One end of the robotic arm (2) is fixedly connected to a chuck (3). Multiple housings (4) are fixedly connected to both sides of the robot dog body (1). Each housing (4) has a counterweight cavity (5) and a detection tool placement cavity (6). A mounting frame (7) is installed inside the detection tool placement cavity (6). A detection tool limiting hole (8) is opened on the upper surface of the mounting frame (7). A detection tool (9) is installed inside the detection tool limiting hole (8), and a chuck is fixedly connected to the upper end of the detection tool (9). 3) The clamping block (10) has a first piston (11) in the counterweight cavity (5), and a support rod (12) is fixedly connected to one end of the first piston (11). One end of the support rod (12) passes through the counterweight cavity (5) and extends into the detection tool placement cavity (6). One end of the support rod (12) located in the detection tool placement cavity (6) is fixedly connected to the frame (7). The side wall of the counterweight cavity (5) is connected to a first conduit (13), and one end of the first conduit (13) is connected to an ejection drive assembly. The ejection drive assembly includes a counterweight liquid container (14) and a push rod (15) fixed to the lower surface of the robot dog body (1). A second piston (16) is slidably connected to the inner wall of the counterweight liquid container (14). One end of the push rod (15) passes through the counterweight liquid container (14) and is fixedly connected to the second piston (16). A main pipe (17) is connected to the outer wall of the counterweight liquid container (14). A solenoid valve (18) is fixedly connected to one end of the first conduit (13). A second conduit (19) is fixedly connected to the side wall of the solenoid valve (18), and one end of the second conduit (19) is connected to the main pipe (17). The robot dog body (1) can control the start of the solenoid valve (18) and the push rod (15).

2. The power inspection robot dog with an inspection arm according to claim 1, characterized in that, A compression spring (20) is installed inside the counterweight cavity (5).

3. A power inspection robot dog with an inspection robotic arm according to claim 2, characterized in that, One end of the compression spring (20) is fixedly connected to an adjustment plate (21). A bolt (22) is provided in the detection tool placement cavity (6). One end of the bolt (22) passes through the detection tool placement cavity (6) and extends into the counterweight liquid container shell (14). One end of the bolt (22) located in the counterweight liquid container shell (14) is rotatably connected to the adjustment plate (21). The bolt (22) is threadedly connected to the shell (4).

4. A power inspection robot dog with an inspection robotic arm according to claim 3, characterized in that, The housing (4) is provided with a cover plate (23), and the side wall of the cover plate (23) is provided with a clearance groove. A rotating rod (24) is provided in the clearance groove, and a spring (25) is sleeved on the outer wall of the rotating rod (24). One end of the spring (25) is fixedly connected to the rotating rod (24), and the other end of the spring (25) is fixedly connected to the cover plate (23). The end of the rotating rod (24) passes through the cover plate (23) and is fixedly connected to the housing (4).

5. A power inspection robot dog with an inspection robotic arm according to claim 1, 2, 3 or 4, characterized in that, One end of the support rod (12) passes through the frame (7) and extends to the top of the frame (7). The support rod (12) located above the frame (7) has a threaded hole at one end, and a top rod (26) is threadedly connected to the inner wall of the threaded hole.

6. A power inspection robot dog with an inspection robotic arm according to claim 5, characterized in that, One end of the top rod (26) is provided with a slot, and a ball bearing (27) is provided in the slot.

7. A power inspection robot dog with an inspection robotic arm according to claim 5, characterized in that, The outer wall of the top rod (26) is threaded with a nut (28), and the side wall of the nut (28) abuts against the support rod (12).

8. A power inspection robot dog with an inspection robotic arm according to claim 6, characterized in that, The outer wall of the top rod (26) is threaded with a nut (28), and the side wall of the nut (28) abuts against the support rod (12).

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