Power distribution room wheel type inspection robot with lifting holder

Abstract

The utility model provides a power distribution room wheel type inspection robot with a lifting holder, and the robot comprises a wheel type mobile platform which comprises a chassis, a plurality of driving universal wheels, an anti-collision beam, and a robot housing; the lifting mechanism is fixed on the wheel type mobile platform, the lifting mechanism is provided with a sliding block, and the sliding block can move up and down along the lifting mechanism in the vertical direction; the lifting mechanism is fixed on the base plate, the holder is fixed on a sliding block of the lifting mechanism and carries a camera used for inspection, a sensor is carried on the upper plane of the base plate and is arranged between the base plate and the robot shell, the lifting mechanism comprises an electric push rod, a driving device is arranged at the bottom of the electric push rod, and the electric push rod is fixedly connected to the base plate. Under the action of a driving device, the telescopic rod stretches and deforms in the vertical direction; and the linear module comprises a linear sliding rail and a sliding block and is fixedly connected to the electric push rod through a connecting piece, a driving device is arranged above the linear module, and the ball screw is rotated through the driving device, so that the sliding block on the linear module moves up and down along the linear sliding rail.

Description

Technical Field

[0001] The present application generally relates to a distribution room inspection robot, and more particularly to a lifting platform for the distribution room inspection robot. Background Art

[0002] Inspection robots are mainly used to replace the traditional manual inspection work method in the building, and realize the intelligent, information-based and digital inspection of the distribution room. At present, the inspection of equipment in the distribution room is the traditional manual inspection method. The inspection personnel regularly inspect the equipment and record the inspection results in a table. However, this method has a long inspection interval. If the equipment fails during the inspection interval, it cannot be discovered and handled in time, which will affect the power supply safety; the inspection records are paper-based, and the large amount of data is not convenient for archiving; the inspection personnel may misjudge the status of the on-site equipment; and frequent entry into dangerous points will increase the probability of personal injury to the inspection personnel.

[0003] The lifting mechanisms of existing inspection robots mostly use electric push rods, screw linear modules, scissor-type and crank arm lifting mechanisms. Both electric push rods and screw linear modules use motors to rotate the screws to move the sliders that match them up and down. The former is suitable for medium and high range inspections, while the latter is suitable for medium and low range inspections. The scissor-type lifting mechanism achieves the displacement of the top platform by rotating the connecting rods. The crank arm lifting mechanism generally adopts hydraulic drive within the controllable cost range.

[0004] However, the electric push rod has a large initial height and is positively correlated with the stroke, making it difficult to achieve both the lowest position and the maximum stroke of the pan / tilt; the height of the lead screw linear module must be greater than the stroke, increasing the overall height of the inspection robot; the scissors-type lifting mechanism has the advantages of large load capacity and high lateral stiffness, but it occupies a large lateral space and is not easy to use as a small and lightweight solution; the articulated arm lifting mechanism has flexible height changes, and the overall height is lower when folded, but it will occupy a larger longitudinal space. Utility Model Content

[0005] In order to solve the above technical problems, the present application proposes a distribution room wheeled inspection robot based on an electric push rod and a lead screw linear module combined with a lifting mechanism, which ensures that the robot can ensure that the pan-tilt head can inspect the target even in a narrow space to increase the recognition accuracy.

[0006] The present application provides a power distribution room wheeled inspection robot with a lifting platform, the power distribution room wheeled inspection robot comprising:

[0007] A wheeled mobile platform, including a chassis, multiple active universal wheels, an anti-collision beam, and a robot shell;

[0008] A lifting mechanism is fixed on the wheeled mobile platform, and the lifting mechanism has a slider, and the slider can move up and down along the lifting mechanism in the vertical direction;

[0009] The pan / tilt head is fixed on the slider of the lifting mechanism and is equipped with a camera for inspection.

[0010] The upper plane of the chassis is equipped with a sensor, which is arranged between the chassis and the robot shell.

[0011] The lifting mechanism includes:

[0012] The electric push rod is fixedly connected to the chassis, and the bottom of the electric push rod is provided with a driving device, and the electric push rod is telescopically deformed in the vertical direction under the action of the driving device;

[0013] The linear module bracket includes an L-shaped flange connector and an intermediate key. One end of the linear module bracket is connected to the electric push rod. The circumferential freedom of the electric push rod is limited by the intermediate key connection. The top of the linear module bracket is locked by a round nut to limit the axial freedom of the electric push rod.

[0014] The linear module includes a slider, which is fixedly connected to the electric push rod through an L-shaped flange connector of a linear module bracket. A driving device is arranged above the linear module. The ball screw is rotated by the driving device to move the slider of the linear module up and down.

[0015] According to an embodiment of the present application, a plurality of active universal wheels are fixed under the chassis, and each active universal wheel is controlled to rotate axially and circumferentially by two drive motors on the chassis, respectively.

[0016] According to one embodiment of the present application, the sensor includes:

[0017] LiDAR, depth camera, and laser rangefinder arranged between the chassis and the inspection robot shell;

[0018] An infrared rangefinder is arranged under the anti-collision beam.

[0019] According to one embodiment of the present application, the driving device at the bottom of the electric push rod is a servo motor.

[0020] According to an embodiment of the present application, the servo motor is installed in a folded-back manner.

[0021] According to one embodiment of the present application, the linear module is connected to the L-shaped flange connector of the linear module bracket through a row of bolts.

[0022] According to one embodiment of the present application, the lower end of the linear module bracket is fixed to the slider of the linear slide rail module, forming an over-constraint on the linear module bracket.

[0023] According to an embodiment of the present application, the pan-tilt head is connected to a slider of a linear module of a lifting mechanism via a pan-tilt head bracket.

[0024] According to one embodiment of the present application, the gimbal is installed above the gimbal bracket.

[0025] According to an embodiment of the present application, the gimbal is fixedly connected to the bottom of the gimbal bracket by means of bolt lifting.

[0026] The present application proposes a power distribution room wheeled inspection robot with a screw-type lifting pan-tilt mechanism. The lifting mechanism has a simple structure and a large travel range. The inspection robot has strong passability in narrow areas and strong obstacle-crossing capabilities. In a narrow place, if the pan-tilt cannot reach the required height for target detection in parallel, it will greatly affect the image recognition accuracy. To solve this problem, it is ensured that the lifting mechanism has a large range of travel so that the pan-tilt can recognize the image at eye level without distortion. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The following will further explain the above characteristics, technical features, advantages and implementation methods of the present application in a clear and understandable manner through the description of the preferred embodiments and in combination with the accompanying drawings. The following drawings are only intended to illustrate and explain the present application, and do not limit the scope of the present application. Among them:

[0028] Figure 1 A schematic diagram of the main structure of a wheeled inspection robot for a power distribution room provided in one embodiment of the present application.

[0029] Figure 2 A schematic diagram of the main structure of the lifting mechanism of the wheeled inspection robot for a power distribution room provided in one embodiment of the present application. DETAILED DESCRIPTION

[0030] The embodiments and features of the present application are described in detail below with reference to the accompanying drawings. The same mechanisms in the drawings are not marked repeatedly. The same mechanisms in the drawings are marked with the same reference numerals.

[0031] In the present application, terms such as "up", "down", "left", "right", "front", "back", "center", "longitudinal", "lateral", "height", "horizontal", "vertical", "axial", and "circumferential" indicating directions or positional relationships are based on the explanations of their directions or positions in the accompanying drawings and are only for the convenience of describing the positional relationships of the various mechanism elements. They do not refer to the necessary structural positions of the mechanism elements shown and should not be understood as limitations on the present invention.

[0032] The power distribution room wheeled inspection robot with a lifting platform provided in the present application includes: a wheeled mobile platform, a lifting mechanism, and a platform equipped with an inspection camera. The wheeled mobile platform includes a chassis, a plurality of active universal wheels, and a robot shell. The robot shell is hollow inside and a cover is arranged on the top of the base. The lifting mechanism is arranged vertically, with its bottom fixed at the rear center of the chassis and the top passing through the robot shell. The lifting mechanism includes an electric push rod, a linear module, a linear module bracket and various connecting parts. The driving device of the electric push rod (such as a servo motor) is fixed on the base, and the driving device is connected to the scissor-type lifting mechanism; the bottom of the lifting mechanism is slidably connected to the scissor-type lift structure and can be extended and retracted vertically. The platform is arranged at the side end slider of the lifting mechanism.

[0033] In one embodiment, the wheeled mobile platform of the inspection robot includes a chassis, active universal wheels, and an anti-collision beam. Each active universal wheel is controlled by two drive motors on the chassis to rotate axially and circumferentially. The rear side of the base is fixedly connected to the lifting mechanism, and the top passes through the inspection robot shell. The pan-tilt head is fixedly mounted on the pan-tilt head bracket in the lifting mechanism. The chassis adopts a four-wheel eight-wheel drive drive mode and can turn on the spot in a narrow area. The active universal wheels use off-road tires, and the high chassis height can overcome most indoor terrain obstacles.

[0034] In one embodiment, a laser radar, a depth camera, and a laser rangefinder are arranged between the chassis and the inspection robot shell, and an infrared rangefinder is arranged under the anti-collision beam to detect whether there are gullies in the direction of the robot's travel. A heightening bracket is installed under the laser radar, fixedly connected to the middle position in front of the chassis, so that the laser radar can detect horizontally and vertically without obstruction. A depth camera is installed directly below the laser radar to assist the inspection robot in navigation. Eight laser rangefinder modules are arranged around the chassis to perform collision detection on the surrounding environment.

[0035] In one embodiment, the bottom of the electric push rod is fixedly connected to the middle of the rear side of the chassis, and the bottom servo motor is used to make it telescopic and deform in the vertical direction. The motor is installed in a folding type to reduce the overall height of the lifting rod and lower the center of mass of the whole vehicle, and the electric push rod is suitable for use in occasions with high loads. One end of the linear module bracket is connected to the electric push rod, and its circumferential degree of freedom is limited by the middle key connection, and its axial degree of freedom is limited by the round nut locking at the top to achieve a fixed connection. The linear module and the electric push rod are fixedly connected by an L-shaped flange connector. The linear module and the linear module bracket are connected by a row of tight bolts, so as to increase the rigidity of the linear module in the vertical direction. The linear module rotates the ball screw through the servo motor arranged above to realize the up and down movement of the upper slider. The servo motor arranged above is convenient for wiring to connect the industrial computer on the chassis. Considering the overall stability and the stress of the push rod mechanism, the vertical linear slide rail is over-constrained to increase the stability of its movement process. To ensure the stability of the gimbal, the design uses a base and a linear module bracket for double fixation. The overall frame of the linear module bracket is fixedly connected to the angle bracket through a standard aluminum profile. The central vertical profile fixed connection provides an installation position for the over-constrained linear guide rail for the lifting mechanism.

[0036] Hereinafter, specific embodiments according to the present application will be described in detail with reference to the accompanying drawings.

[0037] Figure 1 The main structure diagram of a wheeled inspection robot for a power distribution room with a lifting platform provided according to an embodiment of the present application is shown in FIG. Figure 1 As shown, the distribution room inspection robot includes:

[0038] Wheeled mobile platform;

[0039] The lifting mechanism 1 is fixed on the wheeled mobile platform 100, and the lifting mechanism 1 has a slider, which can move up and down along the lifting mechanism 1 in the vertical direction;

[0040] The pan / tilt platform 2 is fixed on the slider of the lifting mechanism 1 and is equipped with a camera for inspection.

[0041] like Figure 2 As shown, the wheeled mobile platform of the inspection robot includes:

[0042] Chassis 8, lifting mechanism 1 is fixedly connected to the middle and rear side of the upper surface of chassis 8. In addition, the upper plane of chassis 8 is also equipped with an industrial computer and a variety of sensors. The sensors include a laser radar 3, a depth camera 4, a laser rangefinder 9, and an infrared rangefinder 6 arranged under the anti-collision beam 5, which are arranged between chassis 8 and the inspection robot shell 200. An elevation bracket is installed under the laser radar 3, which is fixedly connected to the middle position in front of chassis 8 for unobstructed lateral and longitudinal detection of the laser radar. The depth camera 4 is installed directly below the laser radar 3 to assist the navigation of the inspection robot. The laser rangefinder 9 includes eight laser ranging modules for collision detection of the surrounding environment. The infrared rangefinder 6 is used to detect whether there are gullies in the direction of the robot's travel. The installation and layout of the industrial computer and various sensors must take into account factors such as the overall center of mass position of the robot, the overall maintainability, the bus design, and the requirements of the sensor field of view;

[0043] A plurality of active universal wheels 7 are fixed below the chassis 8, and each active universal wheel 7 is controlled by two driving motors on the chassis 8 to rotate axially and circumferentially, thereby driving the chassis 8 to move;

[0044] An anti-collision beam 5 is fixed to the front side of the chassis 8;

[0045] The robot housing 200 is hollow inside and is covered on the top of the chassis 8 . The lifting mechanism 1 passes through the inspection robot housing 200 .

[0046] like Figure 2 As shown, the lifting mechanism 1 of the inspection robot is fixedly connected to the middle and rear side of the chassis 8, and the lifting mechanism 1 includes:

[0047] The bottom of the electric push rod 14 is fixedly connected to the middle of the rear side of the chassis 8, and the bottom servo motor is used to make it telescopic and deform in the vertical direction. The servo motor is installed in a folding manner to reduce the overall height of the lifting rod and lower the center of gravity of the vehicle. The electric push rod is suitable for use in occasions with higher loads.

[0048] The linear module bracket 15 includes an L-shaped flange connector and an intermediate key. One end of the linear module bracket 15 is connected to the electric push rod 14, and its circumferential freedom is limited by the intermediate key connection. The top of the linear module bracket 15 is locked by a round nut to limit the axial freedom of the electric push rod 14, thereby achieving a fixed connection of the electric push rod 14.

[0049] The linear module 10 includes a slider 16. The linear module 10 is fixedly connected to the electric push rod 14 through, for example, an L-shaped flange connector of the linear module bracket 15, and is connected to the L-shaped flange connector of the linear module bracket 15 through a row of tight bolts, thereby increasing the rigidity of the linear module 10 in the vertical direction. A servo motor is arranged above the linear module 10, and the servo motor rotates the ball screw to move the slider 16 on the linear module 10 up and down. The servo motor arranged above the linear module 10 is convenient for wiring to connect to the industrial computer on the chassis 8.

[0050] In one embodiment of the present application, the lower end of the linear module bracket 15 is fixed to the slider of the linear slide rail module 12, forming an over-constraint on the linear module bracket 15. Considering the overall stability and the stress of the electric push rod 14, the vertical linear slide rail module 12 is over-constrained to increase the stability of its movement process. To ensure the stability of the pan / tilt head, the chassis 8 and the linear module bracket 15 are double fixed. The overall frame of the linear module bracket 15 is fixedly connected to the angle bracket through a standard aluminum profile, and the central vertical profile is fixedly connected to provide an installation position for the over-constrained linear slide rail module 12 for the lifting mechanism.

[0051] like Figure 2 As shown, the pan-tilt 2 of the inspection robot is connected to the slider 16 of the linear module 10 of the lifting mechanism 1 through the pan-tilt bracket 11. The pan-tilt 2 can be installed above the pan-tilt bracket 11. In another embodiment, the pan-tilt 2 can also be fixedly connected to the bottom of the pan-tilt bracket 11 by bolt lifting, which can reduce the minimum field of view height of the pan-tilt 2 and increase the field of view of the pan-tilt 2.

[0052] The wheeled inspection robot for power distribution room with a lifting platform provided in the embodiment of the present application adopts a composite lifting solution. The two-stage lifting of the platform is realized by combining the electric push rod 14 with the linear module 10, which combines the advantages of the large load and retractable characteristics of the electric push rod and the high linear speed and low lowest position of the screw rod, so that the platform can be lifted and lowered smoothly and quickly over a large range.

[0053] The inspection robot has good passability, and the chassis 8 adopts a four-wheel eight-wheel drive driving mode, which can turn on the spot in a narrow area. The active universal wheel 7 adopts off-road tires, and the chassis height is high, which can cross most indoor terrain obstacles.

[0054] In a specific embodiment, the inspection robot shell 200 is a cubic structure, and an anti-collision beam 5 is provided at the front end of the inspection robot chassis 8. The surface of the anti-collision beam 5 is wrapped with a buffer rubber strip to prevent the inspection robot and the sensors thereon from colliding with obstacles and being damaged.

[0055] The embodiments of the present application have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

[0056] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0057] The above description is only an illustrative embodiment of the present application and is not intended to limit the scope of the present application. Any equivalent changes, modifications and combinations made by any technician in the field without departing from the concept and principle of the present application shall fall within the scope of protection of the present application.

Claims

1. A wheeled inspection robot for a power distribution room with a lifting platform, characterized in that: The distribution room wheeled inspection robot comprises: A wheeled mobile platform, including a chassis, multiple active universal wheels, an anti-collision beam, and a robot shell; A lifting mechanism is fixed on the wheeled mobile platform, and the lifting mechanism has a slider, and the slider can move up and down along the lifting mechanism in the vertical direction; The pan / tilt head is fixed on the slider of the lifting mechanism and is equipped with a camera for inspection. The upper plane of the chassis is equipped with a sensor, which is arranged between the chassis and the robot shell. The lifting mechanism includes: The electric push rod is fixedly connected to the chassis, and the bottom of the electric push rod is provided with a driving device, and the electric push rod is telescopically deformed in the vertical direction under the action of the driving device; The linear module bracket includes an L-shaped flange connector and an intermediate key. One end of the linear module bracket is connected to the electric push rod. The circumferential freedom of the electric push rod is limited by the intermediate key connection. The top of the linear module bracket is locked by a round nut to limit the axial freedom of the electric push rod. The linear module includes a slider, which is fixedly connected to the electric push rod through an L-shaped flange connector of a linear module bracket. A driving device is arranged above the linear module. The ball screw is rotated by the driving device to move the slider of the linear module up and down.

2. The wheeled inspection robot for power distribution room with a lifting platform according to claim 1 is characterized in that: A plurality of active universal wheels are fixed under the chassis, and each active universal wheel is controlled to rotate axially and circumferentially by two drive motors on the chassis.

3. The wheeled inspection robot for power distribution room with a lifting platform according to claim 1, characterized in that: Sensors include: LiDAR, depth camera, and laser rangefinder arranged between the chassis and the inspection robot shell; An infrared rangefinder is arranged under the anti-collision beam.

4. The wheeled inspection robot for power distribution room with a lifting platform according to claim 1, characterized in that: The driving device at the bottom of the electric push rod is a servo motor.

5. The wheeled inspection robot for power distribution room with a lifting platform according to claim 4, characterized in that: The servo motor is installed in a folded-back manner.

6. The wheeled inspection robot for power distribution room with a lifting platform according to claim 1, characterized in that: The linear module is connected to the L-shaped flange connector of the linear module bracket by a row of bolts.

7. The wheeled inspection robot for power distribution room with a lifting platform according to claim 6, characterized in that: The lower end of the linear module bracket is fixed to the slider of the linear guide rail module, forming an over-constraint on the linear module bracket.

8. The wheeled inspection robot for power distribution room with a lifting platform according to claim 1, characterized in that: The pan / tilt is connected to a slider of a linear module of a lifting mechanism through a pan / tilt bracket.

9. The wheeled inspection robot for power distribution room with a lifting platform according to claim 8, characterized in that: The gimbal is installed above the gimbal bracket.

10. The wheeled inspection robot for power distribution room with a lifting platform according to claim 8, characterized in that: The gimbal is fixedly connected to the bottom of the gimbal bracket by bolt hanging.

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