Indoor inspection robot

Abstract

The utility model discloses an indoor inspection robot which comprises a vehicle body, a lifting platform rotationally installed on the vehicle body and a holder connected to the lifting platform in a sliding mode. A rotating shaft of the lifting platform is arranged in the horizontal direction and is perpendicular to the advancing direction of the vehicle body. When the upper portion of the lifting platform inclines towards the front of the vehicle body, the gravity center of the inspection robot moves forwards, and if the cradle head is located at the upper end of the lifting platform, the gravity center adjusting range of the inspection robot is enlarged. By changing the position of the gravity center, the inspection robot can move to a slope with a larger gradient.

Description

Technical Field

[0001] The utility model belongs to the technical field of substation inspection, and particularly relates to an indoor inspection robot. Background Art

[0002] The working environment inside the substation is complex. When the inspection robot works in the substation, it needs to drive onto slopes with different inclination angles.

[0003] When the inspection robot moves onto the slope, the front end of the inspection robot rises. And due to the relatively high height of the inspection robot and the uneven distribution of internal parts, the overall center of gravity of the inspection robot shifts backward. If the slope of the slope is relatively large, the inspection robot will tip backward, resulting in damage to the inspection robot. Summary of the Utility Model

[0004] The technical problem to be solved by the utility model is: aiming at the deficiencies existing in the prior art, to provide an indoor inspection robot that can drive onto a larger slope.

[0005] To achieve the purpose of the utility model, the following technical solutions are adopted: an indoor inspection robot, including a vehicle body, a lifting platform rotatably installed on the vehicle body, and a pan-tilt slidably connected to the lifting platform; the rotating shaft of the lifting platform is arranged horizontally and is perpendicular to the traveling direction of the vehicle body.

[0006] When the upper part of the lifting platform tilts forward relative to the vehicle body, the center of gravity of the inspection robot will move forward. If the pan-tilt is located at the upper end of the lifting platform at this time, the range of center of gravity adjustment of the inspection robot will increase.

[0007] As a preferred solution: a lifting screw rod for driving the pan-tilt to move is rotatably connected inside the lifting platform; a lifting worm gear is rotatably connected to the lifting platform and is in transmission connection with the lifting screw rod; the lifting worm gear is coaxially arranged with the lifting platform; when the lifting worm gear works in the forward direction and drives the lifting screw rod to rotate until the pan-tilt reaches the upper limit position of the lifting platform, if the lifting worm gear continues to work in the forward direction, at this time the lifting worm gear will drive the lifting platform to rotate.

[0008] As a preferred solution: a positioning plug board is slidably connected to the lifting platform; a positioning socket is arranged on the vehicle body and can be inserted into the positioning plug board to prevent the lifting platform from rotating.

[0009] As a preferred solution: the upper part of the positioning plug board extends to directly above the pan-tilt; when the pan-tilt moves to the upper limit position, the pan-tilt abuts against the positioning plug board, and the positioning plug board is separated from the positioning socket.

[0010] As a preferred solution: a lifting worm gear meshing with the lifting worm is coaxially arranged on the lifting screw rod; a rotation-preventing socket is arranged at one end of the lifting worm gear; a sliding rod capable of being inserted into the rotation-preventing socket to prevent the lifting screw rod from rotating is slidably connected in the lifting platform.

[0011] As a preferred solution: a lifting plate is fixedly connected inside the vehicle body; a lifting inclined surface is arranged on the lifting plate and is distributed obliquely; when the lifting platform is in a vertical state, the lifting inclined surface abuts against the sliding rod, and the sliding rod is separated from the rotation-preventing socket; when the lifting platform is inclined, the lifting inclined surface is separated from the sliding rod, and the sliding rod is inserted into the rotation-preventing socket under the action of its own gravity.

[0012] As a preferred solution: a motor for driving the lifting worm to rotate is fixedly connected inside the vehicle body; a driving worm gear is coaxially and fixedly connected to the lifting worm; a driving worm meshing with the driving worm gear is fixedly connected to the output shaft of the motor.

[0013] As a preferred solution: a camera is installed on the pan-tilt head.

[0014] Compared with the prior art, the beneficial effects of the present utility model are as follows: Since the center of gravity of the inspection robot will shift backward on the slope, this solution controls the lifting platform to tilt forward, so that the center of gravity of the inspection robot shifts forward, and finally the inspection robot reaches a balanced state, avoiding the inspection robot from falling to the ground due to an excessive slope; at the same time, the lifting platform is also used to drive the pan-tilt head to move up and down, so that the camera on the pan-tilt head can observe higher positions and meet the usage requirements of different scenarios.

[0015] In this solution, by moving the pan-tilt head to the upper limit position of the lifting platform, the overall weight of the upper part of the lifting platform is increased, thereby increasing the range of center-of-gravity shift and being able to meet steeper slopes; at the same time, the pan-tilt head can also drive the positioning plug board to be separated from the positioning socket, so that the lifting platform can rotate. When the pan-tilt head does not reach the upper limit position of the lifting platform, the positioning plug board is inserted into the positioning socket to prevent the lifting platform from rotating and affecting normal use.

[0016] In this solution, through the cooperation of the sliding rod and the lifting plate, when the lifting platform is inclined, the rotation-preventing plug prevents the lifting screw rod from rotating. Therefore, when the lifting worm rotates in the reverse direction, the lifting platform first moves from the inclined state to the vertical state, and then the pan-tilt head moves downward, avoiding confusion and preventing the lifting platform from being unable to move to the vertical state.

[0017] In this solution, by controlling the rotation of the lifting worm, the lifting worm can not only drive the pan-tilt head to move up and down, so that the camera can observe higher positions, but also drive the lifting platform to tilt, changing the center-of-gravity position of the inspection robot, so that the inspection robot can drive on slopes at different angles. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of the utility model.

[0019] Figure 2 This is a schematic cross-sectional view of the utility model.

[0020] Figure 3 This utility model Figure 2 Schematic diagram of the enlarged structure of part A in the middle.

[0021] Figure 4 This is a schematic diagram of the structure of the lifting screw and the sliding rod of the utility model.

[0022] Figure 5 This is a schematic diagram of the structure of the utility model when the lifting platform is tilted.

[0023] 1. Car body; 11. Positioning socket; 12. Lifting plate; 121. Lifting slope; 2. Lifting platform; 3. PTZ; 41. Lifting screw; 411. Lifting worm gear; 412. Anti-rotation socket; 42. Lifting worm; 421. Driving worm gear; 43. Motor; 431. Driving worm; 44. Positioning plug; 45. Sliding rod; 451. Anti-rotation plug. Specific implementation method

[0024] According to Figures 1 to 5 As shown, the indoor inspection robot described in this embodiment includes a body 1, a lifting platform 2 rotatably mounted on the body 1, and a pan / tilt 3 slidably connected to the lifting platform 2; the rotating shaft of the lifting platform 2 is arranged in the horizontal direction, and the rotating shaft of the lifting platform 2 is perpendicular to the moving direction of the body 1.

[0025] When the upper part of the lifting platform 2 tilts toward the front of the vehicle body 1, the center of gravity of the inspection robot will move forward. If the pan / tilt is located at the upper end of the lifting platform at this time, the center of gravity adjustment range of the inspection robot will increase.

[0026] The lifting platform 2 is rotatably connected with a lifting screw 41 that drives the pan-tilt platform 3 to move; the lifting platform 2 is rotatably connected with a lifting worm 42 that is transmission-connected to the lifting screw 41; the lifting worm 42 is coaxially arranged with the lifting platform 2; when the lifting worm works forward and drives the lifting screw to rotate until the pan-tilt platform is at the upper limit position of the lifting platform, the lifting worm continues to work forward, and at this time the lifting worm will drive the lifting platform 2 to rotate.

[0027] A positioning plug plate 44 is slidably connected to the lifting platform 2; the sliding direction of the positioning plug plate 44 is perpendicular to the rotation axis of the lifting platform 2; the vehicle body 1 is provided with a positioning socket 11 that can be plugged into the positioning plug plate 44 to prevent the lifting platform from rotating.

[0028] The upper part of the positioning insertion plate 44 extends directly above the pan-tilt 3; when the pan-tilt moves to the upper limit position, the pan-tilt abuts against the positioning insertion plate, and the positioning insertion plate is separated from the positioning socket 11.

[0029] An elevation worm gear 411 meshing with the elevation worm 42 is coaxially arranged on the elevation screw 41; a rotation-stop socket 412 is arranged at one end of the elevation worm gear; a slide bar 45 capable of being inserted into the rotation-stop socket 412 to prevent the elevation screw from rotating is slidably connected in the elevation platform 2; the sliding direction of the slide bar 45 is parallel to the rotation axis of the elevation screw 41; a rotation-stop plug 451 capable of being inserted into the rotation-stop socket 412 is arranged on the slide bar.

[0030] When the elevation screw 41 drives the pan-tilt 3 to move to the upper limit position of the elevation platform 2, the rotation-stop socket 412 moves to be directly opposite to the rotation-stop plug 451.

[0031] A lifting plate 12 is fixedly connected in the vehicle body 1; a lifting inclined surface 121 is arranged on the lifting plate 12 in an inclined distribution; when the elevation platform is in a vertical state, the lifting inclined surface 121 abuts against the slide bar 45, and the slide bar is separated from the rotation-stop socket 412; when the elevation platform is inclined, the lifting inclined surface 121 is separated from the slide bar 45, and the slide bar is inserted into the rotation-stop socket 412 under the action of its own gravity.

[0032] A motor 43 for driving the elevation worm 42 to rotate is fixedly connected in the vehicle body 1; a driving worm gear 421 is coaxially and fixedly connected to the elevation worm 42; a driving worm 431 meshing with the driving worm gear 421 is fixedly connected to the output shaft of the motor.

[0033] A camera is installed on the pan-tilt 3.

[0034] In the initial state, the elevation platform 2 is vertically arranged, the pan-tilt 3 is located below the elevation platform 2, the positioning insertion plate 44 is inserted into the positioning socket 11, the slide bar 45 abuts against the lifting inclined surface 121, and the rotation-stop plug 451 is separated from the rotation-stop socket 412.

[0035] When it is necessary to observe the situation at a higher position, the motor 43 operates, driving the elevation worm 42 to operate forward, and the elevation screw 41 drives the pan-tilt to move upward, raising the position of the pan-tilt, so that the camera on the pan-tilt can observe the situation at a high place. The motor 43 operates in reverse, driving the elevation worm 42 to operate in reverse, and the pan-tilt moves downward.

[0036] When the vehicle body 1 is to drive onto a slope, the camera first observes the inclination degree of the slope. The rotation angle of the elevation platform 2 is calculated according to the inclination angle.

[0037] Next, the motor 43 operates, driving the lifting worm 42 to rotate forward, and the lifting screw 41 drives the cloud platform to move upward; when the cloud platform moves to the upper limit position of the lifting platform 2, the cloud platform 3 drives the positioning plug 44 to move, causing the positioning plug 44 to separate from the positioning socket 11.

[0038] The motor continues to operate, and the lifting worm continues to rotate forward. However, at this time, the lifting screw 41 cannot continue to move upward. Instead, the lifting worm 42 rotates synchronously with the lifting platform 2, causing the lifting platform 2 to tilt forward by a specified angle, and the center of gravity of the inspection robot shifts forward. At the same time, the vehicle body 1 moves onto the slope.

[0039] Meanwhile, due to the tilt of the lifting platform 2, the slide bar 45 separates from the lifting inclined plane 121, and the rotation - stopping plug 451 is inserted into the rotation - stopping socket 412 under its own gravity, so that the lifting screw 41 cannot rotate.

[0040] When the vehicle body 1 leaves the slope, the motor drives the lifting worm 42 to move in the reverse direction. Since the rotation - stopping plug 451 is inserted into the rotation - stopping socket 412 at this time, the lifting screw 41 cannot rotate. Instead, the lifting worm 42 will move in the reverse direction synchronously with the lifting platform 2; finally, the lifting platform 2 moves to the vertical state. At this time, the slide bar 45 abuts against the lifting inclined plane 121, and the rotation - stopping socket separates from the rotation - stopping plug.

[0041] Then the lifting worm 42 continues to move in the reverse direction. The lifting worm 42 drives the lifting screw 41 to rotate, and the cloud platform 3 moves downward. As a result, the cloud platform 3 separates from the positioning plug 44, and the positioning plug 44 is re - inserted into the positioning socket 11. Finally, the cloud platform 3 moves to the lower part of the lifting platform 2, and the inspection robot returns to the initial state.

Claims

1. An indoor inspection robot, characterized in that: It includes a vehicle body, a lifting platform rotatably mounted on the vehicle body, and a pan head slidably connected to the lifting platform; the rotating shaft of the lifting platform is arranged in a horizontal direction, and the rotating shaft of the lifting platform is perpendicular to the moving direction of the vehicle body; When the upper part of the lifting platform tilts toward the front of the vehicle body, the center of gravity of the inspection robot will move forward. If the pan / tilt platform is located at the upper end of the lifting platform at this time, the adjustment range of the center of gravity of the inspection robot will increase.

2. An indoor inspection robot as claimed in claim 1, characterized in that: A lifting screw for driving the pan-tilt head to move is rotatably connected inside the lifting platform; a lifting worm gear which is transmission-connected to the lifting screw is rotatably connected on the lifting platform; the lifting worm gear is coaxially arranged with the lifting platform; when the lifting worm gear works in the forward direction and drives the lifting screw to rotate until the pan-tilt head is at the upper extreme position of the lifting platform, the lifting worm gear continues to work in the forward direction, and at this time the lifting worm gear will drive the lifting platform to rotate.

3. An indoor inspection robot as claimed in claim 1, characterized in that: The lifting platform is slidably connected with a positioning plug plate; the vehicle body is provided with a positioning socket which can be plugged with the positioning plug plate to prevent the lifting platform from rotating.

4. An indoor inspection robot as claimed in claim 3, characterized in that: The upper part of the positioning plug plate extends to the top of the platform; when the platform moves to the upper limit position, the platform and the positioning plug plate abut against each other, and the positioning plug plate is separated from the positioning socket.

5. An indoor inspection robot as claimed in claim 2, characterized in that: A lifting worm wheel meshing with the lifting worm is coaxially arranged on the lifting screw; a rotation-stopping socket is arranged at one end of the lifting worm wheel; a sliding rod is slidably connected in the lifting platform and can be plugged into the rotation-stopping socket to prevent the lifting screw from rotating.

6. An indoor inspection robot as claimed in claim 5, characterized in that: A lifting plate is fixedly connected to the vehicle body; an inclined lifting slope is provided on the lifting plate; when the lifting platform is in a vertical state, the lifting slope is against the sliding rod, and the sliding rod is separated from the anti-rotation socket; when the lifting platform is tilted, the lifting slope is separated from the sliding rod, and the sliding rod is plugged into the anti-rotation socket under the action of its own gravity.

7. An indoor inspection robot as claimed in claim 2, characterized in that: A motor for driving the lifting worm to rotate is fixedly connected in the vehicle body; a driving worm wheel is coaxially fixedly connected to the lifting worm; and a driving worm meshing with the driving worm wheel is fixedly connected to the output shaft of the motor.

8. An indoor inspection robot as claimed in claim 1, characterized in that: A camera is installed on the pan / tilt platform.

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