Inspection robot

Abstract

The utility model relates to the technical field of inspection robots, and discloses an inspection robot, which comprises a main body, a monitoring lens and moving legs, the moving legs are uniformly distributed outside the main body, the monitoring lens is assembled at the top of the main body, the outside of each moving leg is connected with a moving mechanism, the moving mechanism comprises a rubber wheel, an air cylinder and a scraper group, and the rubber wheel is connected with the air cylinder. The rubber wheels are connected with the moving legs through bearings, the motor set is connected outside the rubber wheels, the air cylinders are assembled outside the moving legs, the scraper sets are arranged outside the moving legs in a sliding mode, and the connecting rods are connected outside the scraper sets through hinges. According to the inspection robot, self-locking of the rubber wheels is achieved, the situation that when the moving legs move, the rubber wheels rub against the ground, rotation is generated, and consequently the device moves and slips is avoided, meanwhile, the movable scraper set is additionally arranged, the outer portions of the rubber wheels can be cleaned, and meanwhile workers can conveniently maintain the scraper set.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, specifically an inspection robot. Background Technology

[0002] With the continuous development of the power system and the expansion of substation services, the number of primary and secondary equipment has increased year by year, leading to a surge in the workload of inspection staff. How to effectively improve the work efficiency and quality of substations is a major problem facing the power system. Traditional robot components are limited by technical conditions and cannot move between equipment rooms or floors. Moreover, wheeled robot components are limited by site conditions, resulting in most indoor areas being unable to be inspected, causing a large waste of resources and generating a large amount of additional post-maintenance and debugging work.

[0003] In the existing technology, quadruped robots are used for power system inspection. However, when operating on smooth surfaces, quadruped robots will greatly reduce the stability of the inspection system, causing the inspection camera to shake. At the same time, walking on smooth surfaces by quadruped robots will increase the overall energy consumption of the device and reduce the overall battery life of the device. Utility Model Content

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this utility model provides an inspection robot to solve the aforementioned technical problems of reduced stability of the inspection system, resulting in camera shake, and increased energy consumption and reduced battery life of the device due to walking on smooth surfaces with four legs.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, this utility model provides the following technical solution: an inspection robot, comprising: a main body, a monitoring camera, and movable legs. The movable legs are evenly distributed on the outside of the main body. The monitoring camera is mounted on the top of the main body. A moving mechanism is connected to the outside of the movable legs. The moving mechanism includes a rubber wheel, a cylinder, and a scraper assembly. The rubber wheel is connected to the movable legs via a bearing. A motor assembly is connected to the outside of the rubber wheel. The cylinder is mounted on the outside of the movable legs. The scraper assembly is slidably disposed on the outside of the movable legs. A connecting rod is hinged to the outside of the scraper assembly. The connecting rod is hinged to the cylinder. A chuck is connected to the outside of the rubber wheel.

[0008] Preferably, the bottom of the monitoring lens is connected to a line, and the line is connected to the main body. The monitoring lens can be controlled by the main body to inspect the power system through the line.

[0009] Preferably, the motor set comprises a motor, an assembly shell is connected to the outside of the motor, the assembly shell is connected with the moving leg, and the assembly shell can support and fix the motor set.

[0010] Preferably, the outside of the chuck is uniformly provided with notches, the notches are matched with the bottom of the air cylinder, and the notches can be inserted by the air cylinder to fix the position of the rubber wheel.

[0011] Preferably, the top of the scraper group is connected with a sliding block, the outside of the moving leg is provided with a transverse groove matched with the sliding block, the transverse groove is in sliding connection with the sliding block, and the sliding block cooperates with the transverse groove to guide the straight-line movement of the scraper group.

[0012] Preferably, the scraper group comprises a reinforcing rib, the bottom of the reinforcing rib is provided with a scraping piece, the scraping piece is attached to the outside of the rubber wheel, the reinforcing rib can improve the strength of the scraping piece, and the scraping piece can clean the outside of the rubber wheel from dirt and other sundries.

[0013] (Three) beneficial effects

[0014] Compared with the prior art, the utility model provides a patrol robot, has the following beneficial effects:

[0015] The patrol robot can switch to different moving modes through the moving mechanism and the moving leg when the power system is patrolled, thereby realizing the response to different road surface environments, greatly improving the patrol speed of the power system, improving the stability of the patrol system, reducing the energy consumption of the device as a whole, realizing the self-locking of the rubber wheel through the cooperation of the chuck and the scraper group in the moving mechanism, avoiding the rotation of the rubber wheel caused by the friction between the rubber wheel and the ground when the device moves through the moving leg, and facilitating the maintenance of the scraper group by the staff through the movable scraper group. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a front view of the utility model;

[0017] Figure 2 It is a schematic view of the moving leg outside;

[0018] Figure 3 It is a front view of the moving mechanism;

[0019] Figure 4 It is a back view of the moving mechanism.

[0020] In the drawing: 1, main body; 2, monitoring lens; 3, moving leg; 4, moving mechanism; 41, rubber wheel; 42, motor set; 43, air cylinder; 44, connecting rod; 45, scraper group; 46, sliding block; 47, chuck. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the utility model will be apparently and completely described in the embodiments of the utility model combined with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all the other embodiments obtained by the ordinary skilled in the art without creative labor fall within the scope of protection of the utility model.

[0022] The utility model provides a technical scheme, please refer to Figure 1 And Figure 2 A kind of inspection robot, comprising: main body 1, monitoring lens 2 and mobile leg 3, mobile leg 3 is evenly laid on the outside of main body 1, monitoring lens 2 is assembled on the top of main body 1, mobile leg 3 is connected with moving mechanism 4 outside, moving mechanism 4 includes rubber wheel 41, cylinder 43 and scraper group 45, rubber wheel 41 is connected with mobile leg 3 by bearing, motor set 42 is connected with the outside of rubber wheel 41, cylinder 43 is assembled on the outside of mobile leg 3, scraper group 45 is slidably arranged on the outside of mobile leg 3, and the outside of scraper group 45 is connected with connecting rod 44 by hinge, the outside of connecting rod 44 is connected with cylinder 43 by hinge, the outside of rubber wheel 41 is connected with chuck 47.

[0023] Main body 1 and mobile leg 3 are the common four-legged robot device in prior art, mobile leg 3 can be controlled by control system, power system and energy system etc. in the inside of main body 1, drives main body 1 to move, monitoring lens 2 is the common monitoring device in prior art, rubber wheel 41 can support main body 1 to move, motor set 42 can provide driving force for rubber wheel 41, cylinder 43 can be inserted into the inside of chuck 47 to lock rubber wheel 41, connecting rod 44 can drive scraper group 45 to move, and scraper group 45 can clean rubber wheel 41.

[0024] Please refer to Figure 3 And Figure 4 The bottom of monitoring lens 2 is connected with line, and line is connected with main body 1, monitoring lens 2 can be controlled by main body 1 to inspect power system through line, motor set 42 includes motor, the outside of motor is connected with assembly shell, assembly shell is connected with mobile leg 3, and assembly shell can support and fix motor set 42.

[0025] The outside of chuck 47 is evenly provided with notch, and the bottom of cylinder 43 is matched with notch, notch can be inserted by cylinder 43 to fix the position of rubber wheel 41, the top of scraper group 45 is connected with sliding block 46, the outside of mobile leg 3 is provided with horizontal groove matched with sliding block 46, horizontal groove is slidably connected with sliding block 46, and sliding block 46 cooperates with horizontal groove to guide straight-line motion of scraper group 45.

[0026] The scraper group 45 includes a reinforcing rib, the bottom of the reinforcing rib is equipped with a scraper, the scraper is attached to the outside of the rubber wheel 41, the reinforcing rib can improve the strength of the scraper, and the scraper can clean the outside of the rubber wheel 41 of dirt and the like.

[0027] The scheme starts the monitoring lens 2 to patrol the power system, when encountering complex road surfaces such as stairs, the air cylinder 43 is started to descend and insert into the inside of the chuck 47, the position of the rubber wheel 41 is fixed, and the moving leg 3 is started to drive the main body 1 to walk, when encountering smooth road surfaces, the air cylinder 43 is started to reset, the motor set 42 is started to drive the rubber wheel 41 to rotate, and then the main body 1 is driven to walk, at the same time, when the air cylinder 43 limits the rubber wheel 41, the connecting rod 44 is driven to move, and then the scraper group 45 is pushed to move, and the attachment of the rubber wheel 41 is released, at this time, the staff can clean and maintain the scraper group 45, when the air cylinder 43 resets, the scraper group 45 is attached to the rubber wheel 41, at this time, the outside of the rubber wheel 41 is cleaned by the scraper group 45, so as to avoid that the outside of the rubber wheel 41 is attached with dirt and the like;

[0028] When the power system is patrolled, the moving mechanism 4 and the moving leg 3 can be switched to different moving modes, so as to realize the response to different road surface environments, greatly improve the patrol speed of the power system, at the same time, the moving mechanism 4 can realize the self-locking of the rubber wheel 41 through the cooperation of the chuck 47 and the scraper group 45 inside, so as to avoid that the rubber wheel 41 rotates due to the friction with the ground when moving through the moving leg 3, and the device moves slip, at the same time, the movable scraper group 45 is additionally arranged, so as to clean the outside of the rubber wheel 41, and the staff can conveniently maintain the scraper group 45.

[0029] It should be noted that, in the present text, relational terms such as first and second and the like can only be used to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article, or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or inherent to such a process, method, article, or equipment.

[0030] Although the embodiments of the present application have been shown and described, it should be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An inspection robot, comprising: The utility model provides a monitoring camera, which comprises a main body (1), a monitoring lens (2) and a moving leg (3), the moving leg (3) is uniformly arranged outside the main body (1), and the monitoring lens (2) is assembled on the top of the main body (1), characterized in that the moving leg (3) is connected with a moving mechanism (4) outside, the moving mechanism (4) comprises a rubber wheel (41), a pneumatic cylinder (43) and a scraper group (45), the rubber wheel (41) is connected with the moving leg (3) through a bearing, the rubber wheel (41) is connected with a motor group (42) outside, the pneumatic cylinder (43) is assembled outside the moving leg (3), the scraper group (45) is slidably arranged outside the moving leg (3), and the scraper group (45) is connected with a connecting rod (44) through a hinge outside, the connecting rod (44) is connected with the pneumatic cylinder (43) through a hinge outside, and the rubber wheel (41) is connected with a chuck (47) outside.

2. The patrol robot according to claim 1, characterized in that: The bottom of the monitoring lens (2) is connected with a line, and the line is connected with the main body (1).

3. The patrol robot according to claim 1, wherein: The motor group (42) comprises a motor, the motor is connected with an assembling shell outside, and the assembling shell is connected with the moving leg (3).

4. The patrol robot according to claim 1, wherein: The chuck (47) is uniformly provided with notches outside, and the notches are matched with the bottom of the pneumatic cylinder (43).

5. The patrol robot according to claim 1, wherein: The top of the scraper group (45) is connected with a sliding block (46), the moving leg (3) is provided with a horizontal groove matched with the sliding block (46) outside, and the horizontal groove is slidably connected with the sliding block (46).

6. The patrol robot according to claim 1, wherein: The scraper group (45) comprises a reinforcing rib, the reinforcing rib is provided with a scraping blade at the bottom, and the scraping blade is matched with the rubber wheel (41) outside.

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