Inspection robot

Abstract

The inspection robot comprises a main body part, a moving mechanism and an adjusting mechanism, the moving mechanism comprises at least two moving parts, each moving part is in sliding connection with the main body part in the advancing direction of the main body part, each moving part comprises a supporting piece and moving wheels, one end of each supporting piece is in sliding connection with the main body part, and the other end of each supporting piece is in sliding connection with the adjusting mechanism. The other end is rotationally connected with the moving wheel; the adjusting mechanism comprises a first driving piece, each moving part is connected with the first driving piece, and the first driving pieces are used for driving the moving parts to slide so as to adjust the spacing distance between the adjacent moving parts. Compared with the prior art, in the advancing process of the inspection robot, the distance between the two moving wheels can be flexibly adjusted through the first driving part, so that the two moving wheels can be close to or far away from each other, the wheel distance of the moving wheels is changed along with the curvature change of a path, and it is ensured that the moving wheels are in stable contact all the time.

Description

Technical Field

[0001] The embodiment of the utility model relates to the technical field of pipeline detection, and particularly relates to an inspection robot. Background Art

[0002] The pipelines of transmission lines may be damaged due to natural environmental factors, external force damage, etc. Through inspection, these potential problems can be discovered in time, corresponding repair measures can be taken to avoid faults and ensure the stable transmission of electricity.

[0003] In the daily maintenance work of overhead transmission lines, inspection robots, with their high efficiency and accuracy, have gradually replaced the traditional manual inspection method and become an indispensable important tool in the power industry. These intelligent robots not only have to face the gentle arc shown by the transmission conductors due to their natural form, but also have to cope with the unpredictable swing caused by wind, which undoubtedly adds great complexity and challenges to their traveling paths. Inspection robots often need to cross key but complex obstacles such as wire clamps and spacer dampers. If the design of their moving mechanisms is not flexible enough to quickly adjust the distance between the two driving wheels according to the real-time situation, it is very likely to be blocked when trying to cross or avoid obstacles, which may lead to the loss of stable contact between the robot and the conductor, and finally result in the serious consequence of falling from a height. Summary of the Utility Model

[0004] In view of the deficiencies of the prior art, the utility model provides an inspection robot, which can achieve the effect of automatically adjusting the wheelbase.

[0005] In order to achieve the above purpose, the utility model adopts the following technical scheme:

[0006] An inspection robot includes a main body part, a moving mechanism and an adjusting mechanism. The moving mechanism includes at least two moving parts. Along the traveling direction of the main body part, each of the moving parts is slidably connected to the main body part. The moving part includes a support member and a moving wheel. One end of the support member is slidably connected to the main body part, and the other end is rotatably connected to the moving wheel. The adjusting mechanism includes a first driving member, and each of the moving parts is connected with the first driving member. The first driving member is used to drive the moving part to slide so as to adjust the distance between adjacent moving parts.

[0007] As one of the implementation manners, one of the main body part and the support member is provided with a sliding groove, and the other of the main body part and the support member is provided with a sliding part, and the sliding part is slidably connected with the sliding groove.

[0008] As one of the implementation manners, the moving part includes a second driving member. The second driving member is connected to the support member, and the output end of the second driving member is connected to the moving wheel.

[0009] As one of the implementation manners, each of the moving wheels is located at the central axis of the main body portion along the traveling direction.

[0010] As one of the implementation manners, the support member includes a vertical portion and a bent portion. One end of the vertical portion is slidably connected to the main body portion, and the other end is connected to the bent portion. The bent portion extends in a direction away from the center of the main body portion, and the moving wheel is connected to a side of the bent portion close to the center of the main body portion.

[0011] As one of the implementation manners, a first groove is formed in the main body portion along the traveling direction. The adjusting mechanism includes a plurality of positioning members which are sequentially arranged along the length direction of the first groove, and the positioning members are rotatably connected to the first groove; a second groove is formed in the moving portion, and at least part of the positioning members is located in the second groove.

[0012] As one of the implementation manners, the traveling direction of the main body portion is the front-back direction, and the direction perpendicular to the traveling direction of the main body portion is the left-right direction. The main body portion has a first central axis along the front-back direction and a second central axis along the left-right direction;

[0013] The structures of the two moving portions are symmetrical, and the distances between the two moving portions and the first central axis are the same, and the distances between the two moving portions and the second central axis are the same.

[0014] As one of the implementation manners, the inspection robot includes a monitoring mechanism. The monitoring mechanism includes a camera, a fixing block, a rotating shaft and a third driving member. The fixing block is connected to the rotating shaft. The rotating shaft is rotatably connected to the main body portion and is connected to the output end of the third driving member, and the camera is connected to the fixing block.

[0015] As one of the implementation manners, the monitoring mechanism includes a first gear and a second gear. An installation groove is formed in the main body portion, the rotating shaft is arranged in the installation groove, the rotating shaft is connected with the first gear, the output end of the third driving member is connected with the second gear, and the first gear meshes with the second gear.

[0016] As one of the implementation manners, the inspection robot includes a guiding mechanism. The guiding mechanism includes a connecting shaft and a guiding wheel. In a direction perpendicular to the traveling direction of the main body portion, one end of the connecting shaft is connected to the main body portion, and the other end is rotatably connected to the guiding wheel.

[0017] The beneficial effects of the present utility model are as follows: The embodiment of the present application provides an inspection robot, which includes a main body part, a moving mechanism, and an adjusting mechanism. The moving mechanism includes at least two moving parts. Along the traveling direction of the main body part, each moving part is slidably connected to the main body part. The moving part includes a support member and a moving wheel. One end of the support member is slidably connected to the main body part, and the other end is rotatably connected to the moving wheel. The adjusting mechanism includes a first driving member, and each moving part is connected with a first driving member. The first driving member is used to drive the moving part to slide so as to adjust the interval distance between adjacent moving parts. Compared with the prior art, during the traveling process of the inspection robot of the present application, the distance between the two moving wheels can be flexibly adjusted through the first driving member, so that the two moving wheels can approach or move away from each other, thereby realizing that the wheelbase of the moving wheels changes with the curvature of the following path, and ensuring that the moving wheels always maintain stable contact. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 FIG. 6 shows a schematic structural diagram of an inspection robot according to an embodiment of the present utility model;

[0019] Figure 2 FIG. 10 shows another schematic structural diagram of an inspection robot according to an embodiment of the present utility model;

[0020] Figure 3 FIG. 14 shows a schematic cross-sectional view of an inspection robot according to an embodiment of the present utility model;

[0021] Figure 4 FIG. 18 shows a schematic structural diagram of a moving part according to an embodiment of the present utility model;

[0022] Figure 5 FIG. 22 shows a schematic structural diagram of an adjusting mechanism according to an embodiment of the present utility model;

[0023] Figure 6 is Figure 5 an enlarged view of part A in FIG.

[0024] Reference numerals: 1, main body part; 11, first groove; 12, installation groove; 13, sliding groove;

[0025] 2, moving mechanism; 21, moving part; 22, second groove; 211, support member; 212, moving wheel; 213, second driving member; 214, sliding part; 2111, vertical part; 2112, bending part;

[0026] 3, adjusting mechanism; 31, first driving member; 32, positioning member;

[0027] 4, monitoring mechanism; 41, camera; 42, fixing block; 43, rotating shaft; 44, third driving member; 45, first gear; 46, second gear;

[0028] 5. Guide mechanism; 51. Connecting shaft; 52. Guide wheel. Detailed implementation manners

[0029] In the present utility model, the terms "arranged", "provided with", and "connected" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral structure; it may be a mechanical connection or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, or there may be internal communication between two devices, components, or constituent parts. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0030] The orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0031] In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0032] Moreover, in addition to being able to represent an orientation or positional relationship, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the present utility model can be understood according to specific circumstances.

[0033] In order to make the objectives, technical solutions, and advantages of the present utility model clearer, the following further describes the present utility model in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0034] Refer to Figure 1 and Figure 2, an embodiment of the present application provides an inspection robot, including a main body part 1, a moving mechanism 2 and an adjusting mechanism 3. The moving mechanism 2 includes at least two moving parts 21. Along the traveling direction of the main body part 1, each moving part 21 is slidably connected to the main body part 1. The moving part 21 includes a support member 211 and a moving wheel 212. One end of the support member 211 is slidably connected to the main body part 1, and the other end is rotatably connected to the moving wheel 212; the adjusting mechanism 3 includes a first driving member 31, and each moving part 21 is connected to the first driving member 31. The first driving member 31 is used to drive the moving part 21 to slide to adjust the interval distance between adjacent moving parts 21.

[0035] For clear description, Figure 1 in the X direction represents the traveling direction of the main body part 1, Y represents the left-right direction of the main body part 1, and Z represents the height direction of the main body part 1.

[0036] In practical applications, the moving part 21 includes a support member 211 and a moving wheel 212. The support member 211 is slidably connected to the main body part 1, and the moving wheel 212 is rotatably connected to the support member 211. The rotation of the moving wheel 212 drives the main body part 1 to travel. Each support member 211 is connected to a first driving member 31. The first driving member 31 is used to drive the support member 211 to slide relative to the main body part 1 to adjust the distance between the two support members 211. Thus, during the traveling process of the inspection robot, the first driving member 31 can dynamically adjust the distance between the two moving wheels 212 to ensure that the moving wheels 212 can closely fit the curvature change of the transmission wire or pipeline, and even when facing extremely complex paths, can maintain stable grip and traveling ability.

[0037] Compared with the prior art, during the traveling process of the inspection robot of the present application, the distance between the two moving wheels 212 can be flexibly adjusted by the first driving member 31, so that the two moving wheels 212 can approach or move away from each other, thereby realizing that the wheelbase of the moving wheels 212 changes with the curvature change of the path, and ensuring that the moving wheels 212 always maintain stable contact.

[0038] It should be noted that the first driving member 31 can adopt a structure such as a cylinder.

[0039] Refer to Figure 3 , one of the main body part 1 and the support member 211 is provided with a sliding groove 13, and the other of the main body part 1 and the support member 211 is provided with a sliding part 214. The sliding part 214 is slidably connected to the sliding groove 13.

[0040] In practical applications, the main body portion 1 is provided with a sliding groove 13 in its left - right direction. On one side of the support member 211 close to the sliding groove 13, there is a sliding portion 214. The support member 211 is slidably connected to the sliding groove 13 through the sliding portion 214. Both the sliding groove 13 and the sliding portion 214 extend along the advancing direction of the main body portion 1, so as to realize the forward and backward movement of the support member 211 relative to the main body portion 1 along the advancing direction.

[0041] Refer again to Figure 2 The moving portion 21 further includes a second driving member 213. The second driving member 213 is connected to the support member 211, and the output end of the second driving member 213 is connected to the moving wheel 212.

[0042] In practical applications, in order to facilitate the travel of the moving wheel 212, the moving portion 21 is provided with a second driving member 213. The second driving member 213 is connected to the support member 211, and the moving wheel 212 is connected to the output end of the second driving member 213. The second driving member 213 is used to drive the moving wheel 212 to rotate, so that the moving wheel 212 drives the main body portion 1 to travel in the power transmission wire or pipeline. When the inspection task starts, the second driving member 213 drives the moving wheel 212 to start rotating, driving the main body portion 1 to move forward along the pipeline. If it encounters a complex path that requires adjusting the distance between the moving wheels 212, such as a sharp turn at a corner or a curved path with a sharp change in curvature, the first driving member 31 pushes or pulls the support member 211, thereby adjusting the distance between the plurality of moving wheels 212 to adapt to the curvature change of the path.

[0043] It should be noted that the second driving member 213 can adopt a structure such as a motor.

[0044] Refer again to Figure 3 Each moving wheel 212 is located at the central axis of the main body portion 1 along the advancing direction.

[0045] In practical applications, setting the moving wheel 212 at the center can make the inspection robot easier to maintain balance when traveling in the pipeline. No matter how the shape of the pipeline changes, or when encountering slight bumps and inclinations, the wheels at the center position can ensure that the center of gravity of the robot is relatively stable, reducing the risk of tipping over or falling. Especially in some pipelines with a large change in pipe diameter, the moving wheel 212 at the center position can better adapt to different pipe diameters, enabling the robot to maintain stable operation in pipelines of different sizes, improving the stability of the inspection robot.

[0046] Refer to Figure 4 The support member 211 includes a vertical portion 2111 and a bent portion 2112. One end of the vertical portion 2111 is slidably connected to the main body portion 1, and the other end is connected to the bent portion 2112. The bent portion 2112 extends in a direction away from the center of the main body portion 1, and the moving wheel 212 is connected to the side of the bent portion 2112 close to the center of the main body portion 1.

[0047] In practical applications, the bent portion 2112 extends away from the center of the main body portion 1, such that the distance between the bent portion 2112 and the center of the main body portion 1 is greater, providing a sufficiently large installation position for the second driving member 213. When installing the moving wheel 212, the moving wheel 212 can be located at the central axis of the main body portion 1. Moreover, the extension of the bent portion 2112 away from the center of the main body portion 1 can ensure that the weight distribution of each part of the moving mechanism 2 is more uniform along the left - right direction of the main body portion 1, which is beneficial to ensuring the balance of the inspection robot.

[0048] Refer to Figure 5 , a first groove 11 is formed in the main body portion 1 along the traveling direction. The adjusting mechanism 3 includes a plurality of positioning members 32, which are arranged in sequence along the length direction of the first groove 11. The positioning members 32 are rotatably connected to the first groove 11; a second groove 22 is formed in the moving portion 21, and at least a part of the positioning members 32 is located in the second groove 22.

[0049] In practical applications, the main body portion 1 can be of a rectangular structure. Along its height direction, the moving portion 21 can be connected to the bottom of the main body portion 1, and the sliding grooves 13 are formed on the left and right sides of the main body portion 1, and the first groove 11 is formed at the bottom of the main body portion 1. The positioning members 32 are rotatably connected to the first groove 11 along the length direction of the first groove 11. A second groove 22 is formed on the side of the moving portion 21 adjacent to the sliding portion 214, and at least a part of the positioning members 32 is located in the second groove 22. When it is necessary to adjust the distance between the two moving wheels 212, the first driving member 31 pushes or pulls the support member 211 to slide. Since the positioning members 32 are located in the second groove 22, during the sliding process of the support member 211, through the close fit between the positioning members 32 and the second groove 22, this close fit ensures that the support member 211 can accurately stop at the positioning members 32 during the moving process without significant deviation, realizing the rapid and accurate positioning function of the support member 211 during the sliding process.

[0050] Moreover, compared with other positioning methods, the positioning members 32 do not require complex adjustments and measurements. The operator only needs to push the support member 211 to the preset positioning members 32 to complete the positioning operation, greatly saving time and effort.

[0051] It should be noted that the positioning members 32 can adopt structures such as round beads or balls. The symmetry of the spherical shape makes the force on the positioning members 32 more uniform in all directions. No matter from which direction the support member 211 is pushed, the positioning members 32 can quickly respond and guide the support member 211 to the accurate position.

[0052] In one embodiment, the traveling direction of the main body portion 1 is the front - rear direction, the direction perpendicular to the traveling direction of the main body portion 1 is the left - right direction, and the front - rear direction and the left - right direction define a first plane; as Figure 1As shown, the X direction and the Y direction define a first plane.

[0053] The moving mechanism 2 can be one group or multiple groups. When there are multiple groups of moving mechanisms 2, the multiple groups of moving mechanisms 2 are symmetrically arranged along the first plane.

[0054] In practical applications, the main body 1 can be in the shape of a rectangular plate, and the moving parts 21 can be set in two groups. The main body 1 has a first central axis in the front-rear direction and a second central axis in the left-right direction. The structures of the two groups of moving parts 21 are symmetrical, and the distances between the two groups of moving parts 21 and the first central axis are the same, and the distances between the two groups of moving parts 21 and the second central axis are the same. And one group of moving parts 21 is arranged in the upper right front of the main body 1, and the other group of moving parts 21 is arranged in the lower left rear of the main body 1; or, one group of moving parts 21 is arranged in the upper left front of the main body 1, and the other group of moving parts 21 is arranged in the lower right rear of the main body 1. In this way, the two groups of moving parts 21 can more effectively balance the center of gravity of the robot, prevent tipping or tilting when moving in the pipeline, thereby ensuring the stability and safety of the inspection operation. The moving parts 21 can also be set in four groups, and they are symmetrically arranged in pairs on the main body 1. This design is especially suitable for operating in a complex and changeable pipeline environment, which can significantly improve the adaptability and passability of the robot. And when multiple groups of moving parts 21 work simultaneously, they can generate a stronger driving force to help the robot easily overcome the frictional resistance, climb slopes or cross obstacles in the pipeline.

[0055] Refer to Figure 5 and Figure 6 As shown in

[0056] the inspection robot further includes a monitoring mechanism 4. The monitoring mechanism 4 includes a camera 41, a fixing block 42, a rotating shaft 43 and a third driving member 44. The fixing block 42 is connected to the rotating shaft 43. The rotating shaft 43 is rotatably connected to the main body 1 and is connected to the output end of the third driving member 44. The camera 41 is connected to the fixing block 42.

[0057] It should be noted that the third driving member 44 can adopt a structure such as a motor.

[0058] Refer to again Figure 6, the monitoring mechanism 4 includes a first gear 45 and a second gear 46. The main body 1 is provided with an installation groove 12. The rotating shaft 43 is arranged in the installation groove 12. The rotating shaft 43 is connected to the first gear 45. The output end of the third driving member 44 is connected to the second gear 46. The first gear 45 meshes with the second gear 46.

[0059] In practical applications, the installation groove 12 is mainly used to install the rotating shaft 43 and provide a rotating space for the fixed block 42. It not only saves space but also makes the overall structure more compact and reasonable, which helps to reduce the volume and weight of the inspection robot and improve its moving flexibility and stability. The third driving member 44 drives the rotating shaft 43 to rotate through a gear transmission method, with high transmission efficiency.

[0060] Refer again to Figure 5 , the inspection robot further includes a guiding mechanism 5. The guiding mechanism 5 includes a connecting shaft 51 and a guiding wheel 52. In the direction perpendicular to the traveling direction of the main body 1, one end of the connecting shaft 51 is connected to the main body 1, and the other end is rotatably connected to the guiding wheel 52.

[0061] In practical applications, the connecting shaft 51 extends along the left - right direction of the main body 1. One end of the connecting shaft 51 away from the main body 1 is connected to the guiding wheel 52. On the one hand, the guiding wheel 52 can play a role in preventing collisions during the traveling process of the inspection robot, avoiding collisions between the main body 1 and the pipeline. On the other hand, it can assist the inspection robot in turning, making its movement more stable.

[0062] Different from the prior art, the embodiment of the present application provides an inspection robot, including a main body 1, a moving mechanism 2 and an adjusting mechanism 3. The moving mechanism 2 includes at least two moving parts 21. Along the traveling direction of the main body 1, each moving part 21 is respectively slidably connected to the main body 1. The moving part 21 includes a support member 211 and a moving wheel 212. One end of the support member 211 is slidably connected to the main body 1, and the other end is rotatably connected to the moving wheel 212. The adjusting mechanism 3 includes a first driving member 31, and each moving part 21 is connected to the first driving member 31. The first driving member 31 is used to drive the moving part 21 to slide to adjust the interval distance between adjacent moving parts 21. Compared with the prior art, during the traveling process of the inspection robot of the present application, the distance between the two moving wheels 212 can be flexibly adjusted by the first driving member 31, so that the two moving wheels 212 can approach or move away from each other, thereby realizing that the wheelbase of the moving wheels 212 changes with the curvature of the following path, ensuring that the moving wheels 212 always maintain stable contact.

[0063] The above - mentioned are only the specific embodiments of the present application. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. A patrol robot, characterized in that: include: A main body (1); The moving mechanism (2) comprises at least two moving parts (21), each of which is slidably connected to the main body (1) along the moving direction of the main body (1), and each of the moving parts (21) comprises a support member (211) and a moving wheel (212), one end of the support member (211) is slidably connected to the main body (1), and the other end is rotatably connected to the moving wheel (212); The adjustment mechanism (3) comprises a first driving member (31), and each of the moving parts (21) is connected to the first driving member (31), and the first driving member (31) is used to drive the moving parts (21) to slide so as to adjust the spacing distance between adjacent moving parts (21).

2. The inspection robot according to claim 1, characterized in that: One of the main body (1) and the support member (211) is provided with a slide groove (13), and the other of the main body (1) and the support member (211) is provided with a slide portion (214), and the slide portion (214) is slidably connected to the slide groove (13).

3. The inspection robot according to claim 1, characterized in that: The moving part (21) comprises a second driving member (213), the second driving member (213) is connected to the supporting member (211), and an output end of the second driving member (213) is connected to the moving wheel (212).

4. The inspection robot according to claim 1, characterized in that: Each of the moving wheels (212) is located at the center axis of the main body (1) along the moving direction.

5. The inspection robot according to claim 4, characterized in that: The support member (211) comprises a vertical portion (2111) and a bent portion (2112); one end of the vertical portion (2111) is slidably connected to the main body (1), and the other end is connected to the bent portion (2112); the bent portion (2112) extends in a direction away from the center of the main body (1); and the moving wheel (212) is connected to a side of the bent portion (2112) close to the center of the main body (1).

6. The inspection robot according to claim 1, characterized in that: The main body (1) is provided with a first groove (11) along the traveling direction; the adjusting mechanism (3) comprises a plurality of positioning members (32); the plurality of positioning members (32) are arranged in sequence along the length direction of the first groove (11); the positioning members (32) are rotatably connected to the first groove (11); the moving part (21) is provided with a second groove (22); the positioning member (32) is at least partially located in the second groove (22).

7. The inspection robot according to claim 1, characterized in that: The main body (1) moves in a front-to-back direction, and a direction perpendicular to the moving direction of the main body (1) is a left-to-right direction. The main body (1) has a first central axis along the front-to-back direction and a second central axis along the left-to-right direction. The two moving parts (21) are symmetrical in structure, and the two moving parts (21) are at the same distance from the first central axis and at the same distance from the second central axis.

8. The inspection robot according to claim 1, characterized in that: The inspection robot comprises a monitoring mechanism (4), wherein the monitoring mechanism (4) comprises a camera (41), a fixed block (42), a rotating shaft (43) and a third driving member (44), wherein the fixed block (42) is connected to the rotating shaft (43), the rotating shaft (43) is rotatably connected to the main body (1) and is connected to the output end of the third driving member (44), and the camera (41) is connected to the fixed block (42).

9. The inspection robot according to claim 8, characterized in that: The monitoring mechanism (4) comprises a first gear (45) and a second gear (46); the main body (1) is provided with a mounting groove (12); the rotating shaft (43) is arranged in the mounting groove (12); the rotating shaft (43) is connected to the first gear (45); the output end of the third driving member (44) is connected to the second gear (46); the first gear (45) is meshed with the second gear (46).

10. The inspection robot according to claim 1, characterized in that: The inspection robot comprises a guide mechanism (5), wherein the guide mechanism (5) comprises a connecting shaft (51) and a guide wheel (52), wherein in a direction of travel perpendicular to the main body (1), one end of the connecting shaft (51) is connected to the main body (1), and the other end is rotationally connected to the guide wheel (52).

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