A special terrain inspection robot dog

Abstract

The application discloses a special terrain inspection robot dog, which comprises a robot dog body, a battery box is arranged on the robot dog body, a jacket is arranged on the outer periphery of the battery box, a cavity is arranged in the jacket, a first valve and a second valve for connecting the cavity with the outside are arranged on the jacket, a cooling liquid pump is arranged in the robot dog body, the inlet end of the cooling liquid pump is connected with the first automatic valve, a radiating pipe is arranged above the robot dog body, one end of the radiating pipe is connected with the outlet end of the cooling liquid pump, and the other end of the radiating pipe is connected with the second valve; the cavity is filled with cooling liquid, the cooling liquid in the cavity is pumped out by the cooling liquid pump, is radiated in the radiating pipe, and then is returned to the cavity. The robot dog can automatically switch between the wheel type and the leg type, can adapt to flat road surfaces, steep slopes, steps and other scenes, and solves the core pain point of poor terrain adaptability of traditional equipment.

Description

Technical Field

[0001] This invention relates to a robotic dog for patrolling special terrains, belonging to the technical field of intelligent patrol equipment. Background Technology

[0002] Currently, inspection work mainly relies on traditional manual inspection methods, and related auxiliary equipment is mostly single-function inspection tools, such as handheld rangefinders and simple cameras. This results in problems such as high workload, low inspection efficiency, and untimely feedback of inspection information. In addition, there are personal safety risks for staff entering dangerous areas such as steep slopes and narrow spaces.

[0003] Chinese Patent Application No. 202511056864.X discloses a power inspection robot dog with an inspection robotic arm. The robot dog includes a robot dog body (1), characterized in that: a robotic arm (2) is installed on the top rear side of the robot dog body (1), and an electromagnetic sensor probe assembly is installed on the free end of the robotic arm (2). The electromagnetic sensor probe assembly includes a detection head (3), detection contact pieces (4), a fixing plate (5), a roller (6), a telescopic rod (7), a support spring (8), a U-shaped frame (9), and two cleaning components; a rectangular groove is opened on the top of the detection head (3), and two fixing plates (5) are vertically fixed to the front and rear sides of the bottom of the groove; the two detection contact pieces (4) are hinged to the top edge of the fixing plate (5) by torsion springs; the U-shaped frame (9) is located at the detection contact... The bottom of the plate (4) is perpendicular to the front side of the detection head (3). The roller (6) is horizontally supported on the inside of the U-shaped frame (9) and abuts against the bottom of the two detection contact plates (4). The telescopic rod (7) is vertically connected to the bottom of the U-shaped frame (9) and the groove. The support spring (8) is sleeved on the telescopic rod (7) and its two ends are fixed to the U-shaped frame (9) and the bottom of the groove. Each cleaning component corresponds to one detection contact plate (4). Each cleaning component includes a cleaning rod (10), a cleaning strip (11), a cleaning plate (12) and a driving component. The cleaning strip (11) is fixed to the bottom of the cleaning rod (10) and fits against the top surface of the detection contact plate (4). The cleaning plate (12) is vertically fixed to the top of the cleaning rod (10). The driving component drives the cleaning rod (10) to move the cleaning plate (12) along the cable surface to scrape off the snow.

[0004] The above solution uses a robotic inspection dog to inspect substations, which greatly improves inspection efficiency and reduces labor intensity.

[0005] However, the above solution still has the following technical problems:

[0006] Substations are usually located on flat ground, but they cannot meet the inspection requirements for special terrains such as steps and hillsides. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a patrol robot dog for special terrain, so as to solve the technical problems existing in the prior art.

[0008] The technical solution adopted by this invention is as follows: a patrol robot dog for special terrain, comprising a robot dog body, a battery box on the robot dog body, a sleeve on the outer periphery of the battery box, a cavity inside the sleeve, a first valve and a second valve on the sleeve connecting the cavity to the outside, a coolant pump inside the robot dog body, the inlet end of the coolant pump being connected to the first automatic valve, and a heat dissipation pipe located above the robot dog body, one end of the heat dissipation pipe being connected to the outlet end of the coolant pump, and the other end of the heat dissipation pipe being connected to the second valve; the cavity is filled with coolant, and the coolant pump draws the coolant from the cavity into the heat dissipation pipe for heat dissipation before returning it to the cavity.

[0009] Preferably, a rotary motor is fixed on the robot dog body, the output shaft of the rotary motor is arranged vertically upward, a rotating shaft is coaxially fixed on the output shaft of the rotary motor, an electric push rod with its axis arranged horizontally is fixed at the upper end of the rotating shaft, and the heat dissipation pipe is fixed on the telescopic end of the electric push rod.

[0010] Preferably, the heat dissipation pipe is spring-shaped.

[0011] Preferably, the first valve and the second valve are automatic valves, and the first valve, the second valve, the coolant pump, the motor, and the electric actuator are electrically connected to the same controller.

[0012] Preferably, the robot dog body further includes a thigh servo motor, one side of which is driven to a thigh arm, and one side of the thigh arm is driven to a lower leg servo motor, which is externally fixed to a lower leg arm. A walking wheel is provided on one side of the lower leg arm, and an angle sensor is installed at the connection between the thigh and the lower leg. The robot dog also includes a drive motor for driving the walking wheel to rotate. The thigh servo motor, the lower leg servo motor, the angle sensor, and the drive motor are all electrically connected to the controller.

[0013] Preferably, a camera and a sensor are provided on the upper front side of the robot dog body, and a communication module and a GPS positioning module are provided inside the robot dog body. The camera, the sensor, the controller and the GPS positioning module are all remotely connected to the data management platform on the server through the communication module.

[0014] The beneficial effects of this invention are:

[0015] 1. Compared with the prior art, the present invention achieves intermittent cooling of the battery box by setting up structures such as a jacket, coolant pump, and heat dissipation pipe, avoiding malfunctions caused by excessively high battery box temperature. Furthermore, by setting up structures such as a rotary motor and electric push rod, when the robot dog body is located in special terrain such as steps or slopes, the electric push rod can extend and retract to adjust the position of the heat dissipation pipe as needed, allowing all or part of the coolant to enter the heat dissipation pipe, increasing the weight of the heat dissipation pipe. This is equivalent to adjusting the position and increasing the weight of the weight on a balance scale, thereby increasing the robot dog's balance performance and enabling the robot dog body to better adapt to special terrain such as steps and slopes, preventing the robot dog from tipping over.

[0016] 2. The robot dog in this invention can automatically switch between wheeled and legged modes, and can adapt to various scenarios such as flat roads, steep slopes, and steps, thus solving the core pain point of traditional equipment's "poor terrain adaptability".

[0017] 3. Compared with traditional manual inspection, this invention can greatly improve inspection efficiency, reduce workload, provide timely feedback on inspection information, and upload the collected fault data to the data management platform on the server through the communication module. The platform can locate the fault through the GPS positioning module.

[0018] 4. In this invention, the robot dog can replace workers in entering dangerous areas such as steep slopes and narrow spaces, thus avoiding personal safety risks. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0020] The reference numerals in the accompanying drawings include: robot dog body 10, thigh arm 11, lower leg arm 12, wheel 13, camera 14, sensor 15, battery box 16, jacket 21, coolant pump 21, first valve 22, second valve 23, heat pipe 24, rotary motor 25, rotating shaft 26, and electric push rod 27. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0022] Example 1:

[0023] A special type of inspection robot dog for specific terrains, such as Figure 1As shown, the system includes a robot dog body 10, a battery box 16 mounted on the robot dog body 10, a sleeve 21 made of stainless steel surrounding the battery box 16, and a closed cavity inside the sleeve 21. The sleeve 21 has a first valve 22 and a second valve 23 connecting the cavity to the outside. A coolant pump 21 is installed inside the robot dog body 10, with its inlet connected to the first valve 22. The system also includes a heat dissipation pipe 24 located above the robot dog body 10 for heat dissipation purposes. The shape of component 4 is spring-like. The heat dissipation pipe 24 is a copper pipe. One end of the heat dissipation pipe 24 is connected to the outlet end of the coolant pump 21 through a hose. The outlet end of the coolant pump 21 is equipped with a one-way valve. The other end of the heat dissipation pipe 24 is connected to the second valve 23 through a hose. The cavity is filled with coolant. In this embodiment, the coolant is water. The coolant inside the cavity exchanges heat with the battery box 16. Then, the coolant pump 21 draws the coolant inside the cavity into the heat dissipation pipe 24 for heat dissipation and then flows back into the cavity, realizing intermittent cooling of the battery box 16 and avoiding the battery box 16 from overheating and causing failure.

[0024] like Figure 1 As shown, a rotary motor 25 is fixed on the robot dog body 10. The rotary motor 25 is a servo motor. The output shaft of the rotary motor 25 is arranged vertically upward. A rotating shaft 26 is coaxially fixed on the output shaft of the rotary motor 25. An electric push rod 27 with its axis arranged horizontally is fixed to the upper end of the rotating shaft 26. A heat dissipation pipe 24 is fixed on the telescopic end of the electric push rod 27.

[0025] The rotation of the rotary motor 25 adjusts the direction of the electric push rod 27 and the heat dissipation pipe 24. The extension and retraction of the electric push rod 27 utilizes the lever principle to adjust the center of gravity of the robot dog body 10, preventing the robot dog body 10 from tipping over due to instability when inspecting special terrains such as steps and slopes. The principle is similar to that of an old-fashioned steelyard balance.

[0026] In this embodiment, the first valve 22 and the second valve 23 are automatic valves, and the first valve 22, the second valve 23, the coolant pump 21, the rotary motor 25 and the electric push rod 27 are electrically connected to the same controller.

[0027] When the robot dog body 10 moves on flat ground, the coolant is located inside the cavity under its own gravity and exchanges heat with the battery box 16. Then, the coolant pump 21 draws the coolant from inside the cavity into the heat dissipation pipe 24 for heat dissipation. After the first valve 22, the second valve 23 and the coolant pump 21 are closed, the coolant continues to dissipate heat through the heat dissipation pipe 24. Then, the first valve 22 and the second valve 23 are opened, and the coolant flows back into the cavity, realizing intermittent cooling of the battery box 16 and avoiding the battery box 16 from overheating and causing failure.

[0028] When the robot dog body 10 is located in special terrain such as steps or hillsides, the coolant can be fully or partially introduced into the heat pipe 24 in the same way as needed, increasing the weight of the heat pipe 24, which is equivalent to increasing the weight of the weight on a balance scale, thereby further increasing the robot dog's balance performance and enabling the robot dog body 10 to better adapt to special terrain such as steps and hillsides.

[0029] To enable flexible switching between flat ground, steps, hillsides, and other special terrains, this embodiment of the robot dog body 10 also includes a thigh servo motor. One side of the thigh servo motor is driven to a thigh arm 11, and one side of the thigh arm 11 is driven to a lower leg servo motor. The lower leg servo motor is externally fixed to a lower leg arm 12, and a walking wheel is provided on one side of the lower leg arm 12. This technology references Chinese Patent Publication No. CN116062057A, entitled "Walking Technology in a Quadruped Robot Dog for Railway Inspection." In this embodiment, an angle sensor is installed at the connection between the thigh 11 and the lower leg 12, and a drive motor for driving the walking wheels is also included. The thigh servo motor, lower leg servo motor, angle sensor, and drive motor are all electrically connected to the controller. The angle sensor collects the swing angle in real time and feeds it back to the controller. The angle sensor's range is ±90° of the swing angle, with a reduction ratio of 1:100 and a response time ≤50ms. The wheeled system has a speed of 0-6 km / h, driven by a dual-path brushless motor with a power of 200W. The legged system has a speed of 0-0.8 km / h, a climbing angle of ≤45°, and a climbing height of ≤30cm. The wheeled system is used for inspections on flat ground, while the legged system is used for inspections on special terrains such as steps and slopes.

[0030] In this embodiment, a camera 14 and a sensor 15 are provided on the upper front side of the robot dog body 10. A communication module and a GPS positioning module are provided inside the robot dog body 10. The camera 14, sensor 15, controller and GPS positioning module are all remotely connected to the data management platform on the server through the communication module.

[0031] Fault data is collected via camera 14 and sensor 15, and uploaded to the data management platform on the server via a communication module. The platform analyzes and judges the fault data. The platform uses a GPS positioning module to locate the fault.

[0032] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of protection of the claims.

Claims

1. A patrol robot dog for special terrain, characterized in that: The device includes a robot dog body, a battery box on the robot dog body, a sleeve around the battery box, a cavity inside the sleeve, a first valve and a second valve on the sleeve connecting the cavity to the outside, a coolant pump inside the robot dog body, the inlet of the coolant pump being connected to the first automatic valve, and a heat dissipation pipe located above the robot dog body, one end of the heat dissipation pipe being connected to the outlet of the coolant pump, and the other end of the heat dissipation pipe being connected to the second valve; the cavity is filled with coolant, and the coolant pump draws the coolant from the cavity into the heat dissipation pipe for cooling before returning it to the cavity.

2. The special terrain inspection robot dog according to claim 1, characterized in that: A rotary motor is fixed on the robot dog body. The output shaft of the rotary motor is arranged vertically upward. A rotating shaft is coaxially fixed on the output shaft of the rotary motor. An electric push rod with its axis arranged horizontally is fixed to the upper end of the rotating shaft. The heat dissipation pipe is fixed on the telescopic end of the electric push rod.

3. The special terrain inspection robot dog according to claim 1, characterized in that: The heat pipe is spring-shaped.

4. The special terrain inspection robot dog according to claim 2, characterized in that: The first valve and the second valve are automatic valves, and the first valve, the second valve, the coolant pump, the motor and the electric actuator are electrically connected to the same controller.

5. The special terrain inspection robot dog according to claim 4, characterized in that: The robot dog body also includes a thigh servo motor, one side of which is driven to a thigh arm, and one side of the thigh arm is driven to a lower leg servo motor. The lower leg servo motor is externally fixed to a lower leg arm, and a walking wheel is provided on one side of the lower leg arm. An angle sensor is installed at the connection between the thigh and the lower leg. The robot dog also includes a drive motor that drives the walking wheel to rotate. The thigh servo motor, the lower leg servo motor, the angle sensor, and the drive motor are all electrically connected to the controller.

6. The special terrain inspection robot dog according to claim 5, characterized in that: A camera and sensors are installed on the upper front side of the robot dog body. A communication module and a GPS positioning module are installed inside the robot dog body. The camera, the sensors, the controller, and the GPS positioning module are all remotely connected to the data management platform on the server through the communication module.

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