Safety type flexible inspection robot capable of lowering gravity center

Abstract

The utility model relates to the technical field of electric power systems, in particular to a safety type flexible inspection robot capable of lowering the gravity center, which comprises a camera shell, a walking system comprises a base, a power supply battery is arranged in the base, and the power supply battery is arranged on the lower side of the base; a walking driving motor is further arranged in the base, and the walking driving motor is arranged on the lower side of the base; the supporting system comprises a telescopic mechanism, the telescopic mechanism is assembled on the base, the telescopic mechanism is provided with a telescopic end, and a detection device is arranged at the telescopic end; the telescopic mechanism is connected to the base through a folding mechanism; the folding mechanism comprises a support fixed on the base, a rotating mechanism is arranged on the support, and the rotating mechanism is connected with a telescopic mechanism; a rotating driving motor for driving the rotating mechanism to rotate is also arranged; a containing cavity is formed above the base, and the folding mechanism is arranged on one side of the containing cavity. The telescopic mechanism is contracted and folded in the accommodating cavity; the center of gravity of the robot is lowered.

Description

Technical Field

[0001] This utility model relates to the field of power system technology, and in particular to an inspection robot. Background Technology

[0002] Substations require regular inspections to ensure equipment safety, reliability, and effective operation. Introducing inspection robots during these inspections can significantly improve efficiency and safety. Inspection robots can automatically perform many repetitive and high-risk inspection tasks, greatly saving manpower.

[0003] However, electrical cabinets in substations are generally tall, and inspection robots need to place cameras or other sensors at high positions. If the center of gravity is too high, the inspection robot is prone to tipping over when walking, posing a safety hazard to the stable and automatic operation of the inspection robot. Utility Model Content

[0004] The purpose of this section is to outline some aspects of the embodiments of this utility model and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of this section, the abstract and the title of this utility model. Such simplifications or omissions shall not be used to limit the scope of this utility model.

[0005] In view of the problems existing in the prior art, the present invention is proposed.

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution;

[0007] A safe and flexible inspection robot with a lowered center of gravity, comprising a walking system and a support system for mounting inspection devices.

[0008] The walking system includes a base, in which a power supply battery is disposed, and the power supply battery is disposed on the lower side of the base;

[0009] The base is also equipped with a walking drive motor, which is located on the lower side of the base.

[0010] The support system includes a telescopic mechanism, which is mounted on the base. The telescopic mechanism has a telescopic end, and a detection device is disposed at the telescopic end.

[0011] The telescopic mechanism is connected to the base via a folding mechanism;

[0012] The folding mechanism includes a support fixed on the base, a rotating mechanism on the support, and the rotating mechanism is connected to the telescopic mechanism;

[0013] It is also equipped with a rotation drive motor to drive the rotation mechanism.

[0014] A receiving cavity is provided above the base, and a folding mechanism is located on one side of the receiving cavity;

[0015] The telescopic mechanism retracts and folds within the receiving cavity.

[0016] The above design firstly places the power supply battery and walking drive motor on the lower side of the base, which lowers the center of gravity of the base, making it less likely to tip over when the walking system moves, thus ensuring safer movement of the inspection robot. Secondly, the support system includes a telescopic mechanism, which can raise the detection device for the inspection robot to inspect electrical cabinets. When the inspection robot completes its inspection and repositioning, it can lower the detection device through the telescopic mechanism, further lowering the center of gravity and improving the stability of the inspection robot's movement. Finally, the folding mechanism folds the rotating mechanism into the housing cavity, which can further lower the center of gravity of the inspection robot, ensuring safe walking and operation without tipping over.

[0017] Preferably, the power supply battery is the power supply battery for the walking drive motor, the telescopic mechanism, and the rotation drive motor; it also includes a switch connected to the power supply circuit of the power supply battery, the switch having at least two contacts, at least one of which is called the telescopic contact, and at least one of which is called the rotation contact; the power supply wire of the telescopic mechanism is connected to the telescopic contact; the power supply wire of the rotation drive motor is connected to the rotation contact. By setting the switch, the central control system of the inspection robot can control the telescopic mechanism and the rotation drive motor sequentially, so that the support system first retracts the telescopic end of the telescopic mechanism and then controls the rotation drive motor to fold the telescopic mechanism into the receiving slot, proceeding step by step to prevent the detection device from rotating directly at a height and damaging the detection device.

[0018] Preferably, the telescopic mechanism has at least three hollow cylindrical structures. At least one cylindrical structure is rotatably connected to the base and is called the rotating cylinder; at least one cylindrical structure is slidably engaged with the rotating cylinder and is called the intermediate cylinder; and at least one other cylindrical structure is slidably engaged with the intermediate cylinder and is called the telescopic cylinder. The telescopic mechanism has at least three sections, and when retracted, it is short enough to fit within the receiving cavity without protruding, preventing the inspection robot from damaging the detection device during movement.

[0019] Preferably, the telescopic cylinder is connected to an extended arm for mounting a detection device on its side; the rotating cylinder is provided with a first notch extending from the opening of the rotating cylinder to the bottom, and the intermediate cylinder is provided with a second notch extending from the opening of the rotating cylinder to the bottom; the first and second notches are located below the extended arm, and the width of the first and second notches is greater than the length of the extended arm.

[0020] Furthermore, the length of the first notch is one-third to one-half of the length of the rotating cylinder; the length of the second notch is one-third to one-half of the length of the intermediate cylinder. The first and second notches facilitate the lowering of the extension arm and also reduce the overall weight of the telescopic mechanism.

[0021] Preferably, the telescopic mechanism includes a telescopic drive motor; the telescopic drive motor is fixedly connected to the rotating cylinder and is disposed inside the rotating cylinder; the rotating drive motor is fixedly connected to the base and is disposed on the upper side of the base. Distributing the telescopic drive motor within the rotating cylinder facilitates the telescopic mechanism's extension and retraction after rotation, improving the ease of operation of the device.

[0022] Preferably, the rotating cylinder is provided with a rotating shaft, and the support is provided with a rotating groove, the rotating shaft and the rotating groove being rotatably engaged; a gear, called the driven gear, is provided on the rotating shaft, the rotation axis of the driven gear coinciding with the axis of the rotating shaft; another gear, called the driving gear, is provided on the output shaft of the rotation drive motor, the axis of the driving gear coinciding with the axis of the output shaft of the rotation drive motor; the driving gear meshes with the driven gear. The engagement of the rotating groove and the rotating shaft facilitates the stable rotation of the rotating cylinder, and the rotation drive motor drives the driven gear through the driving gear, thereby driving the rotating cylinder to rotate, ensuring uniform and stable rotation of the rotating cylinder, reducing the impact of rotation, and protecting the detection device.

[0023] Preferably, the rotating cylinder, intermediate cylinder, and telescopic cylinder are all cylindrical structures made of carbon fiber material; the outer surfaces of the rotating cylinder, intermediate cylinder, and telescopic cylinder are all coated with silicone rubber resin. The carbon fiber cylindrical structure is not only lightweight but also has high structural strength, effectively supporting the security inspection device while lowering the center of gravity of the inspection robot; the silicone rubber resin improves the fire resistance and durability of the carbon fiber cylindrical structure.

[0024] Preferably, the base is provided with a battery compartment with its opening facing downwards, and the bottom of the base is provided with a cover plate covering the battery compartment. The cover plate is a metal cover plate, and the cover plate is detachably connected to the base. The metal cover plate not only increases the weight of the base, further lowering the center of gravity, but also improves the heat dissipation effect of the battery. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0026] Figure 1 This is a schematic diagram of the folded telescopic mechanism of this utility model;

[0027] Figure 2 This is a schematic diagram of the telescopic mechanism of this utility model with the telescopic end retracted when it is upright.

[0028] Figure 3 This is a schematic diagram of the telescopic mechanism of this utility model with the telescopic end extended when it is upright. Detailed Implementation

[0029] To make the above-mentioned objectives, features and advantages of this utility model more readily understood, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0030] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0031] Secondly, this utility model is described in detail with reference to the schematic diagrams. When describing the embodiments of this utility model, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of this utility model. In addition, actual manufacturing should include the three-dimensional spatial dimensions of length, width, and depth.

[0032] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in less than one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single embodiment or an embodiment selectively excluded from other embodiments.

[0033] Example 1

[0034] refer to Figure 1 and Figure 3 A safe and flexible inspection robot with a lower center of gravity, including a walking system and a support system 12 for mounting detection devices 4.

[0035] The walking system includes a base 1, in which a power supply battery is installed, and the power supply battery is located on the lower side of the base 1;

[0036] The base 1 is also equipped with a walking drive motor, which is located on the lower side of the base 1.

[0037] The support system 12 includes a telescopic mechanism 2, which is mounted on the base 1. The telescopic mechanism 2 has a telescopic end, and the detection device 4 is set at the telescopic end.

[0038] Telescopic mechanism 2 is connected to base 1 via a folding mechanism;

[0039] The folding mechanism includes a support 12 fixed on the base 1, and a rotating mechanism is provided on the support 12. The rotating mechanism is connected to the telescopic mechanism 2.

[0040] It is also equipped with a rotation drive motor 3 to drive the rotation mechanism;

[0041] A receiving cavity 11 is provided above the base 1, and a folding mechanism is provided on one side of the receiving cavity 11;

[0042] The telescopic mechanism 2 retracts and folds within the receiving cavity 11.

[0043] The above design firstly places the power supply battery and walking drive motor on the lower side of the base 1, which lowers the center of gravity of the base 1, making it less likely to tip over when the walking system moves, thus ensuring safer movement of the inspection robot. Secondly, the support system 12 includes a telescopic mechanism 2, which can raise the detection device 4 to facilitate the inspection robot's inspection of the electrical cabinet. When the inspection robot completes its inspection and repositioning, it can lower the detection device 4 through the telescopic mechanism 2, further lowering the center of gravity and improving the stability of the inspection robot's movement. Finally, the folding mechanism folds the rotating mechanism into the receiving cavity 11, which can minimize the center of gravity of the inspection robot and ensure safe walking and operation without tipping over.

[0044] The power supply battery powers the walking drive motor, the telescopic mechanism 2, and the rotation drive motor 3. It also includes a switch connected to the power supply circuit of the battery. The switch has at least two contacts, at least one called the telescopic contact and at least one called the rotation contact. The power supply wires for the telescopic mechanism 2 are connected to the telescopic contacts; the power supply wires for the rotation drive motor 3 are connected to the rotation contacts. By setting the switch, the central control system of the inspection robot can sequentially control the telescopic mechanism 2 and the rotation drive motor 3. This allows the support system 12 to retract the telescopic end of the telescopic mechanism 2 first, then activate the rotation drive motor 3 to fold the telescopic mechanism 2 into the receiving slot, proceeding step by step to prevent the detection device 4 from rotating directly at a height and being damaged.

[0045] In use, the power supply battery and the walking drive motor are first placed on the lower side of the base 1, which can lower the center of gravity of the base 1, so that the walking system is less likely to tip over when it moves, ensuring safer walking of the inspection robot. When the inspection robot lowers the detection device 4, the central control system first controls the telescopic mechanism 2 to retract, and then controls the rotation drive motor 3 to fold the telescopic mechanism 2. This allows the support system 12 to fold the telescopic mechanism 2 into the receiving slot step by step, preventing the detection device 4 from rotating directly at a high position and damaging it.

[0046] Example 2

[0047] refer to Figure 2 and Figure 3 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0048] The telescopic mechanism 2 has at least three hollow cylindrical structures. At least one cylindrical structure is rotatably connected to the base 1 and is called the rotating cylinder 21; at least one cylindrical structure is slidably engaged with the rotating cylinder 21 and is called the intermediate cylinder 22; and at least one other cylindrical structure is slidably engaged with the intermediate cylinder 22 and is called the telescopic cylinder 23. The telescopic mechanism 2 has at least three sections. When retracted, the telescopic mechanism 2 is short enough to fit in the receiving cavity 11 without protruding, preventing the inspection robot from damaging the detection device 4 during movement.

[0049] The telescopic cylinder 23 is connected to an extended arm 24 for installing a detection device 4 on its side; the rotating cylinder 21 is provided with a first notch that extends from the opening of the rotating cylinder 21 to the bottom; the intermediate cylinder 22 is provided with a second notch that extends from the opening of the rotating cylinder 21 to the bottom; the first and second notches are located below the extended arm 24, and the width of the first and second notches is greater than the length of the extended arm 24.

[0050] The length of the first notch is one-third to one-half the length of the rotating cylinder 21; the length of the second notch is one-third to one-half the length of the intermediate cylinder 22. The first and second notches facilitate the lowering of the outrigger 24 and also reduce the overall weight of the telescopic mechanism 2.

[0051] The telescopic mechanism 2 has a telescopic drive motor; the telescopic drive motor is fixedly connected to the rotating cylinder 21 and is located inside the rotating cylinder 21; the rotation drive motor 3 is fixedly connected to the base 1 and is located on the upper side of the base 1. Positioning the telescopic drive motor in the rotating cylinder 21 facilitates the telescopic mechanism 2's extension and retraction after rotation, improving the ease of operation of the device.

[0052] A rotating shaft is mounted on the rotating cylinder 21, and a rotating groove is mounted on the support 12. The rotating shaft and the rotating groove are rotatably engaged. A gear, called the driven gear, is mounted on the rotating shaft, and the rotation axis of the driven gear coincides with the axis of the rotating shaft. Another gear, called the driving gear, is mounted on the output shaft of the rotation drive motor 3, and the axis of the driving gear coincides with the axis of the output shaft of the rotation drive motor 3. The driving gear and the driven gear mesh. The engagement of the rotating groove and the rotating shaft facilitates the stable rotation of the rotating cylinder 21. The rotation drive motor 3 drives the driven gear through the driving gear, thereby driving the rotating cylinder 21 to rotate, ensuring the uniform and stable rotation of the rotating cylinder 21, reducing the impact generated by rotation, and protecting the detection device 4.

[0053] The rotating cylinder 21, intermediate cylinder 22, and telescopic cylinder 23 are all cylindrical structures made of carbon fiber; the outer surfaces of the rotating cylinder 21, intermediate cylinder 22, and telescopic cylinder 23 are all coated with silicone rubber resin. The carbon fiber cylindrical structure is not only lightweight but also has high structural strength, which can effectively support the security inspection device 12 while also lowering the center of gravity of the inspection robot; the silicone rubber resin improves the fire resistance and durability of the carbon fiber cylindrical structure.

[0054] The base 1 has a battery compartment with its opening facing downwards. A metal cover is located at the bottom of the base 1 to cover the battery compartment; the cover is detachably connected to the base 1. The metal cover not only increases the weight of the base 1, further lowering its center of gravity, but also improves the battery's heat dissipation.

[0055] In use, the telescopic mechanism 2 has at least three sections. When retracted, the telescopic mechanism 2 is short enough to fit in the receiving cavity 11 without protruding, preventing the inspection robot from damaging the detection device 4 during movement. The first and second notches facilitate the extension arm 24 to fall into the rotating cylinder 21, which also reduces the overall weight of the telescopic mechanism 2. The rotating cylinder 21 is stable in rotation due to the cooperation between the rotating groove and the rotating shaft. The rotation drive motor 3 drives the driven gear through the active gear, thereby driving the rotating cylinder 21 to rotate, ensuring that the rotation of the rotating cylinder 21 is uniform and stable, reducing the impact generated by rotation, and protecting the detection device 4.

[0056] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A safe and flexible inspection robot with a lowered center of gravity, comprising a walking system and a support system for mounting detection devices, characterized in that: The walking system includes a base, in which a power supply battery is disposed, and the power supply battery is disposed on the lower side of the base; The base is also equipped with a walking drive motor, which is located on the lower side of the base; The support system includes a telescopic mechanism, which is mounted on the base. The telescopic mechanism has a telescopic end, and a detection device is disposed at the telescopic end. The telescopic mechanism is connected to the base via a folding mechanism; The folding mechanism includes a support fixed on the base, a rotating mechanism on the support, and the rotating mechanism is connected to the telescopic mechanism; It is also equipped with a rotation drive motor to drive the rotation mechanism. A receiving cavity is provided above the base, and a folding mechanism is located on one side of the receiving cavity; The telescopic mechanism retracts and folds within the receiving cavity.

2. The safety-oriented flexible inspection robot with a lowered center of gravity according to claim 1, characterized in that: The power supply battery is the power supply battery for the walking drive motor, the telescopic mechanism and the rotation drive motor; It also includes a switching switch connected to the power supply circuit of the power supply battery. The switching switch has at least two contacts, at least one of which is called a telescopic contact and at least one of which is called a rotary contact. The power supply wire of the telescopic mechanism is connected to the telescopic contact; The power supply wire of the rotary drive motor is connected to the rotary contact.

3. The safety-oriented flexible inspection robot with a lowered center of gravity according to claim 1, characterized in that: The telescopic mechanism has at least three hollow cylindrical structures, at least one of which is rotatably connected to the base and is referred to as the rotating cylinder; At least one cylindrical structure is slidably fitted with the rotating cylinder, and is referred to as the intermediate cylinder; There is at least one other cylindrical structure that slides in conjunction with the intermediate cylinder, called a telescopic cylinder.

4. The safety-oriented flexible inspection robot with a lowered center of gravity according to claim 3, characterized in that: The telescopic cylinder is connected to an extension arm on its side for mounting a detection device. The rotating cylinder has a first notch that extends from the opening of the rotating cylinder to the bottom, and the intermediate cylinder has a second notch that extends from the opening of the rotating cylinder to the bottom. The first notch and the second notch are located below the extended arm, and the width of the first notch and the second notch is greater than the length of the extended arm.

5. The safety-oriented flexible inspection robot with a lowered center of gravity according to claim 4, characterized in that: The length of the first notch is one-third to one-half of the length of the rotating cylinder; The length of the second notch is one-third to one-half of the length of the intermediate cylinder.

6. The safety-oriented flexible inspection robot with a lowered center of gravity according to claim 3, characterized in that: The telescopic mechanism has a telescopic drive motor; The telescopic drive motor is fixedly connected to the rotating cylinder, and the telescopic drive motor is disposed inside the rotating cylinder; The rotation drive motor is fixedly connected to the base, and the drive motor is located on the upper side of the base.

7. The safety-oriented flexible inspection robot with a lowered center of gravity according to claim 3, characterized in that: The rotating cylinder is provided with a rotating shaft, and the support is provided with a rotating groove, and the rotating shaft and the rotating groove are rotatably engaged; A gear, called a driven gear, is provided on the rotating shaft, and the rotation axis of the driven gear coincides with the axis of the rotating shaft. Another gear, called the driving gear, is provided on the output shaft of the rotary drive motor. The axis of the driving gear coincides with the axis of the output shaft of the rotary drive motor. The driving gear meshes with the driven gear.

8. The safety-oriented flexible inspection robot with a lowered center of gravity according to claim 7, characterized in that: The rotating cylinder, intermediate cylinder, and telescopic cylinder are all cylindrical structures made of carbon fiber material; The rotating cylinder, intermediate cylinder, and telescopic cylinder are all coated with silicone rubber resin.

9. The safe and flexible inspection robot with a lowered center of gravity according to claim 1, characterized in that: The base is provided with a battery compartment, the opening of the battery compartment faces downward, and the bottom of the base is provided with a cover plate covering the battery compartment, the cover plate being a metal cover plate; The cover plate is detachably connected to the base.

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