Cavity robot putting and recycling equipment

Abstract

The utility model belongs to the technical field of robot putting equipment, and particularly discloses cavity robot putting and recycling equipment. The robot putting and recycling equipment comprises putting and recycling equipment, the putting and recycling equipment comprises an equipment body, a driving device, a cable winding and unwinding device, a bearing part and a walking part, the walking part is arranged at the bottom of the equipment body, the cable winding and unwinding device is arranged on the equipment body, and the cable winding and unwinding device can wind and unwind a pull wire used for pulling a cavity robot; the bearing part is rotatably connected with the equipment body and provided with a bearing face used for bearing the cavity robot, the bearing face is located on one side of the equipment body and provided with a first edge away from the equipment body, and the driving device is connected with the bearing part and can drive the bearing part to rotate so as to adjust the height of the first edge. The cavity robot putting and recycling equipment can assist a cavity robot in entering a containing component which is large in inclination degree relative to the horizontal plane or perpendicular to the horizontal plane.

Description

Cavity robot delivery and recycling equipment Technical Field

[0001] This utility model belongs to the technical field of robot delivery and recycling equipment, specifically relating to a cavity robot delivery and recycling equipment. Background Technology

[0002] After a power substation is built, it is necessary to inspect and maintain the power components inside the station. During operation and maintenance, manual inspection is usually used. However, some power components inside the station are located in relatively small cavities such as pipes and cable trenches. To inspect and maintain these power components, cavity robots are required.

[0003] Because the internal environment of cavity robots, such as pipes and cable trenches, is relatively complex, they are mostly legged robots to improve their obstacle-crossing ability. However, legged robots can only enter horizontally positioned or relatively inclined cavity components, but cannot enter cavity components with a large incline (such as an angle greater than 45° with respect to the horizontal) or cavity components that are perpendicular to the horizontal. Furthermore, horizontally positioned legged robots move slowly. Summary of the Invention

[0004] This invention provides a cavity robot deployment and retrieval device, designed to assist the cavity robot in entering a receiving component that is inclined at a large degree relative to the horizontal plane or perpendicular to the horizontal plane.

[0005] The technical solution adopted by this utility model to solve its technical problem is: a cavity robot delivery and retrieval device, including a delivery and retrieval device, which includes a device body, a drive device, a cable winding and unwinding device, a carrier component, and a walking component;

[0006] The walking component is located at the bottom of the equipment body, and the cable retraction device is located on the equipment body. The cable retraction device can retract the traction cable used to pull the cavity robot.

[0007] The carrier is rotatably connected to the device body. The carrier has a bearing surface for supporting the cavity robot and the bearing surface is located on one side of the device body. The bearing surface has a first edge away from the device body. The drive device is connected to the carrier and can drive the carrier to rotate to adjust the height of the first edge.

[0008] Optionally, the equipment body includes a base and a lifting plate that can move relative to the base, and the load-bearing component is rotatably connected to the lifting plate;

[0009] The delivery and recycling equipment also includes a lifting device. One end of the lifting device is located on the base, and the other end of the lifting device is connected to the lifting plate. The lifting device is used to drive the lifting of the load-bearing component.

[0010] Optionally, the equipment body also includes a connecting bracket, which has a first connecting end and a second connecting end. The height of the first connecting end is greater than the height of the second connecting end. The first connecting end is fixedly connected to the lifting plate, and the load-bearing component is rotatably connected to the second connecting end.

[0011] Optionally, the lifting device is a scissor lift mechanism; and / or,

[0012] The traveling components include a steering control mechanism and multiple spaced-apart traveling wheels, with the steering control mechanism connected to each traveling wheel; and / or,

[0013] The cavity robot delivery and retrieval device also includes a remote controller, and a communication module located on the device body; the remote controller is connected to the communication module; and / or,

[0014] The cable winding and unwinding device is located on the lifting plate. The delivery and recycling equipment also includes a first conductor component. The first conductor component is connected to the lifting plate and is opposite to the cable winding and unwinding device. The first conductor component is located between the cable winding and unwinding device and the carrier component. The first conductor component is provided with a first conductor groove, which is used to accommodate a part of the traction wire.

[0015] Optionally, the carrier is provided with a first positioning part, which can be positioned and cooperated with a second positioning part at the bottom of the cavity robot.

[0016] Optionally, the driving device includes a telescopic driving member, the first end of which is hinged to the device body, and the second end of which is hinged to the carrier member. The telescopic driving member is used to drive the carrier member to rotate.

[0017] Optionally, the carrier includes a relatively bent carrier portion and a connecting portion. The carrier portion has a carrier surface, and the connecting portion is close to the telescopic drive relative to the carrier portion. The bend between the carrier portion and the connecting portion is rotatably connected to the equipment body. The telescopic drive is hinged to the connecting portion and is located on the top of the equipment body.

[0018] Optionally, the cable winding and unwinding device includes a drive mechanism, a support frame, a first friction wheel and a second friction wheel. The support frame is mounted on the device body, the first friction wheel is rotatably mounted on the support frame, and the second friction wheel is connected to the support frame. The first friction wheel and the second friction wheel are arranged opposite to each other.

[0019] The first friction wheel has a first contact surface, and the second friction wheel has a second contact surface. Both the first and second contact surfaces can contact the traction line, and a threading space is formed between the first and second contact surfaces for the traction line to pass through.

[0020] The drive mechanism is connected to the first friction wheel and can drive the first friction wheel to rotate in order to push and pull the traction line.

[0021] Optionally, the second friction wheel is rotatably mounted on the support frame, the outer peripheral surface of the first friction wheel is provided with a first annular groove, the inner wall surface of the first annular groove is a first contact surface, the outer peripheral surface of the second friction wheel is provided with a second annular groove, and the inner wall surface of the second annular groove is a second contact surface.

[0022] Optionally, the support frame includes a first cover and a second cover disposed opposite to each other. The first cover is disposed on the equipment body, the first cover has a first receiving space, the second cover has a second receiving space, and the first receiving space and the second receiving space are connected.

[0023] The first friction wheel is rotatably disposed on the first cover, and at least a portion of the first friction wheel is located within the first receiving space; the second friction wheel is disposed on the second cover, and at least a portion of the second friction wheel is located within the second receiving space.

[0024] The first end of the first cover is rotatably connected to the first end of the second cover, and the second end of the first cover is detachably connected to the second end of the second cover; or, the first cover is detachably connected to the second cover.

[0025] The beneficial effects of this utility model are as follows: The cavity robot can be placed on the bearing surface of the carrier. The deployment and retrieval equipment can travel via its walking component to the edge of the opening of the receiving component, which is either significantly inclined relative to the horizontal plane or perpendicular to the horizontal plane. Since the cavity robot is typically connected to cables, traction ropes, or other traction lines, the control drive device drives the carrier to rotate along the rotation axis between the carrier and the equipment body, thereby reducing the height of the first edge and adjusting the inclination of the cavity robot until its inclination matches that of the receiving component, or until the cavity robot is perpendicular to the horizontal plane. During this process, the traction lines, such as cables and traction ropes, prevent the cavity robot from detaching from the carrier. After the carrier rotates to its position, the cable retraction device can be controlled to release the traction lines, thus releasing the cavity robot downwards until it reaches the designated position. When the cavity robot needs to be retrieved, the cable retraction device is controlled to retract the traction lines, pulling the cavity robot upwards until it returns to the bearing surface of the carrier. Then, the drive device can drive the carrier to rotate in the opposite direction until it returns to its original position. As can be seen, the cavity robot deployment and retrieval equipment can release the cavity robot to a designated position in a receiving component that is inclined at a large degree relative to the horizontal plane or perpendicular to the horizontal plane by driving the carrier component to rotate and releasing the traction line through the cable retraction device. Attached Figure Description

[0026] Figure 1 is an axonometric view of the cavity robot delivery and retrieval device disclosed in an embodiment of this utility model;

[0027] Figure 2 is a cross-sectional view of the delivery and recycling equipment disclosed in an embodiment of this utility model;

[0028] Figure 3 is an isometric view of the cable winding and unwinding device disclosed in an embodiment of this utility model;

[0029] Figure 4 is a schematic diagram of the cavity robot disclosed in the embodiment of this utility model;

[0030] Figure 5 is an assembly diagram of the delivery and recycling equipment and the cavity robot disclosed in the embodiment of this utility model.

[0031] Explanation of reference numerals in the attached drawings: Equipment body 100, base 110, lifting plate 120, connecting bracket 130, first connecting end 131, second connecting end 132, driving device 200, telescopic driving component 210, cable winding device 300, first accommodating space 301, second accommodating space 302, driving mechanism 310, support frame 320, first cover 321, second cover 322, first friction wheel 330, first annular groove 331, second friction wheel 340, second annular groove 341, bearing component 400, first positioning part 401, bearing part 410, connecting part 420, limiting surface 430, walking component 500, lifting device 600, remote control 710, second positioning part 720, cable interface 730, first wire component 800, second wire component 900. Detailed Implementation

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0033] The terms "first," "second," etc., used in the specification and claims of this utility model are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of this utility model can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more; "more" generally refers to three or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0034] The cavity robot delivery and retrieval device provided in this utility model will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0035] As shown in Figures 1 to 5, this utility model discloses a cavity robot deployment and retrieval device, including a deployment and retrieval device, which comprises a device body 100, a drive device 200, a cable winding and unwinding device 300, a carrier component 400, and a walking component 500. Specifically, the deployment and retrieval device can travel to a designated location via the walking component 500. The walking component 500 can be a walking wheel, a walking track, a mechanical leg, etc. This utility model does not limit the specific structure of the walking component 500.

[0036] The walking component 500 is located at the bottom of the equipment body 100, and the cable retraction device 300 is located on the equipment body 100. The cable retraction device 300 can retract the traction cable used to pull the cavity robot. Specifically, the traction cable can be an external traction cable, i.e., the traction cable is not included when the deployment and retrieval equipment leaves the factory and is provided by the user on-site, or it can be a traction cable that comes with the deployment and retrieval equipment itself, i.e., the traction cable is included when the deployment and retrieval equipment leaves the factory. Optionally, the cavity robot can be a maintenance robot, a search robot, etc.; the traction cable can be a traction cable, a traction rope, a cable, etc. If the traction cable is a cable, a cable interface 730 can be provided on the cavity robot, and the cable can be connected to the cable interface 730. In this case, the cable can not only pull the cavity robot, but also supply power to the cavity robot.

[0037] The carrier 400 is rotatably connected to the device body 100. The carrier 400 has a bearing surface for supporting the cavity robot. The bearing surface has a first edge away from the device body 100, and the bearing surface is located on one side of the device body 100, meaning it is outside the device body 100. The drive device 200 is connected to the carrier 400 and can drive the carrier 400 to rotate, thereby adjusting the height of the first edge. It should be noted that the height of the first edge here is the vertical distance between the first edge and the ground plane. The first edge can extend horizontally or be inclined relative to the horizontal plane. When the first edge is inclined relative to the horizontal plane, the height of the first edge is the vertical distance between the lowest point of the first edge and the ground plane.

[0038] Optionally, the axis of rotation between the carrier 400 and the equipment body 100 can be horizontal, such as the width direction, length direction, or diagonal direction of the equipment body 100. Of course, the axis of rotation can also be inclined relative to the horizontal plane. The angle at which the drive device 200 can drive the carrier 400 to rotate can be determined according to the actual needs on site. For example, the drive device 200 can drive the carrier 400 to rotate 60°, 80°, 90°, etc. This utility model does not limit this.

[0039] In this embodiment of the invention, the deployment and recovery device includes a device body 100, a drive device 200, and a carrier 400. The carrier 400 is rotatably connected to the device body 100. The drive device 200 can drive the carrier 400 to rotate around the rotation axis between the carrier 400 and the device body 100 to adjust the height of the first edge, thereby adjusting the tilt of the cavity robot relative to the horizontal plane. For example, when the height of the first edge is reduced, the tilt of the cavity robot relative to the horizontal plane increases, thus allowing the cavity robot to be deployed. When the height of the first edge is increased, the tilt of the cavity robot relative to the horizontal plane decreases, thus allowing the cavity robot to be recovered.

[0040] In actual operation, the cavity robot can be placed on the bearing surface of the carrier 400. The deployment and recovery equipment can travel via the walking component 500 to the edge of the opening of the receiving component, which has a relatively large inclination relative to the horizontal plane or is perpendicular to the horizontal plane. Since the cavity robot is usually connected to cables, traction ropes, etc., the control drive device 200 drives the carrier 400 to rotate along the rotation axis to reduce the height of the first edge, thereby adjusting the inclination of the cavity robot until the inclination of the cavity robot is consistent with the inclination of the receiving component, or the cavity robot is perpendicular to the horizontal plane. During this process, the traction cable can be used to prevent the cavity robot from detaching from the support member 400. After the support member 400 rotates to its position, the cable retraction device 300 can be controlled to release the traction cable, thereby releasing the cavity robot downwards until it is released to the designated position. When it is necessary to retrieve the cavity robot, the cable retraction device 300 can be controlled to retrieve the traction cable, thereby pulling the cavity robot upwards until it returns to the support surface of the support member 400. Then, the drive device 200 can drive the support member 400 to rotate in the opposite direction until it returns to its original position. Therefore, this embodiment of the invention can release the cavity robot to a designated position in a receiving component that is inclined at a relatively large angle to the horizontal plane or perpendicular to the horizontal plane by driving the support member 400 to rotate and releasing the cable through the cable retraction device 300. Furthermore, the traction cable connected to the cavity robot can also apply an upward pulling force to the cavity robot, thus preventing it from detaching from the inner wall of the receiving component and being damaged.

[0041] It should be noted that after the cavity robot is released to the designated position, the cavity robot can perform operations. During the operation, the cavity robot will move up and down. At this time, the cable retraction device 300 is needed to retract and extend the traction cable to prevent the traction cable from restricting the movement of the cavity robot.

[0042] In one optional embodiment, the device body 100 includes a base 110 and a lifting plate 120 that is movable relative to the base 110. The carrier 400 is rotatably connected to the lifting plate 120. The delivery and recycling device also includes a lifting device 600, one end of which is located on the base 110 and the other end of which is connected to the lifting plate 120. The lifting device 600 is used to drive the carrier 400 to lift. In this embodiment, the lifting device 600 can drive the lifting plate 120 to move vertically up and down, thereby driving the cavity robot to move vertically up and down. This allows adjustment of the cavity robot's height relative to the ground plane. When the cavity robot is deployed into a horizontally positioned or slightly inclined receiving component using the deployment and retrieval device of this embodiment, the deployment and retrieval device can enter the receiving component and travel via the walking component 500. Once it reaches a suitable position, the lifting device 600 can be controlled to descend. After the cavity robot contacts the inner wall of the receiving component, the carrier 400 is driven to descend a certain distance to allow the cavity robot to leave the carrier 400 for operation. Simultaneously, the cable reeling device 300 begins to release the traction line, and the release speed can be slightly greater than the cavity robot's traveling speed. When it is necessary to retrieve the cavity robot, the cable reeling device 300 can be controlled to retrieve the traction line, allowing the cavity robot to return to the carrier surface and then travel away from the receiving component via the walking component 500. As can be seen, in this embodiment, the height of the cavity robot can be controlled by the lifting device 600 so that the cavity robot can contact the inner wall of the accommodating component and then drive away from the carrier 400 without the need for the mechanical legs of the cavity robot to have a telescopic function, thereby simplifying the structure of the cavity robot.

[0043] Furthermore, this embodiment can also deploy the cavity robot into a receiving component with a higher opening. The specific operation process is as follows: the deployment and retrieval device can travel to the vicinity of the receiving component with a higher opening via the walking component 500, control the lifting device 600 to lift the lifting plate 120, thereby lifting the cavity robot to the edge of the opening of the higher receiving component, and then releasing the cavity robot. Here, the receiving component with a higher opening can be horizontally set, or it can be inclined or vertically set. When the opening of the horizontally set receiving component is higher, only the cavity robot needs to enter the receiving component, and the deployment and retrieval device does not need to enter the receiving component. While the cavity robot is moving inside the receiving component, the cable retraction device 300 needs to release the traction cable.

[0044] In the previous embodiment, the lifting plate 120 is located above the lifting device 600, which is located on the base 110. The height of the lifting plate 120 is determined by the base 110 and the lifting device 600. Therefore, the height of the lifting plate 120 is relatively high. If the support member 400 is flush with the lifting plate 120, the height of the support member 400 is also relatively high. The chassis height of the cavity robot is generally low, which will be detrimental to the deployment and recycling equipment to scoop up the cavity robot.

[0045] In an optional embodiment, the device body 100 further includes a connecting bracket 130, which has a first connecting end 131 and a second connecting end 132. The height of the first connecting end 131 is greater than the height of the second connecting end 132. The first connecting end 131 is fixedly connected to the lifting plate 120, and the bearing member 400 is rotatably connected to the second connecting end 132. It should be noted that the height of the first connecting end 131 refers to the vertical distance between the first connecting end 131 and the ground plane, and the height of the second connecting end 132 refers to the vertical distance between the second connecting end 132 and the ground plane. Optionally, the connecting bracket 130 can be Z-shaped, etc., and this utility model does not limit the shape of the connecting bracket 130.

[0046] In this embodiment of the utility model, the device body 100 includes a connecting bracket 130. The first connecting end 131 of the connecting bracket 130 is fixedly connected to the lifting plate 120, and the second connecting end 132 of the connecting bracket 130 is rotatably connected to the carrier 400. The height of the first connecting end 131 is greater than the height of the second connecting end 132. This allows the height of the carrier 400 to be lower than the height of the lifting plate 120, thereby achieving the purpose of reducing the height of the carrier 400, which in turn facilitates the scooping of cavity robots with lower chassis.

[0047] In one optional embodiment, the lifting device 600 is a scissor lifting mechanism. The scissor lifting mechanism has a compact structure, which can reduce the volume of the delivery and recycling equipment. Of course, the lifting device 600 can also be a hydraulic cylinder, a motor-driven screw and nut mechanism, a pneumatic cylinder, etc.

[0048] And / or, the walking component 500 includes a steering control mechanism and a plurality of spaced-apart walking wheels. The steering control mechanism is connected to each walking wheel and can control the walking wheels to rotate to achieve a steering function. The walking wheels travel at a relatively high speed, so that the cavity robot can be quickly deployed to a designated position in a horizontally positioned or slightly inclined receiving component. Furthermore, the number of steering control mechanisms can be multiple, with one steering control mechanism corresponding to each walking wheel, so that the steering angle of each wheel can be controlled separately, such as allowing each wheel to have a 90° rotation range. Of course, the number of steering control mechanisms can also be one, and each walking wheel can be connected to a steering control mechanism. This utility model does not limit the number of steering control mechanisms. Furthermore, the walking component 500 also includes a power component, which is used to drive the walking wheels to rotate. There can be one power component, in which case the power component provides power to at least one of the walking wheels; there can also be multiple power components, in which case each power component can provide power to each walking wheel.

[0049] And / or, the cavity robot delivery and retrieval equipment also includes a remote controller 710. The delivery and retrieval equipment also includes a communication module located on the equipment body 100. The remote controller 710 communicates with the communication module, allowing control of the delivery and retrieval equipment's movement, lifting of the carrier 400, and deployment and retraction of the traction line, thereby improving the safety and operational efficiency of the cavity robot. Here, communication refers to communication between connected devices through signal transmission and interaction, which can be divided into wired and wireless connections. Wired connections are typically cable or fiber optic connections; wireless connections are typically radio communication, Bluetooth, infrared, or NFC connections. Specifically, the remote controller 710 may contain a lithium battery and a wireless communication module, communicating wirelessly with the delivery and retrieval equipment. The remote controller 710 may also integrate an ARM controller to collect real-time information from the joystick and function buttons on the control panel for controlling the operation of the delivery and retrieval equipment. Furthermore, the remote controller 710 may also have a status information display screen to display real-time status parameters, enabling human-machine interaction.

[0050] And / or, the cable retraction device 300 is located on the lifting plate 120, and the delivery and recycling equipment also includes a first conductor 800, which is connected to the lifting plate 120 and opposite to the cable retraction device 300. The first conductor 800 is located between the cable retraction device 300 and the carrier 400, and a first conductor groove is provided on the first conductor 800 for accommodating a portion of the traction wire. In this embodiment, the cable retraction device 300 is disposed on the lifting plate 120 and can rise and fall with the lifting plate 120, thereby preventing the traction cable from contacting and being damaged by other components of the delivery and recycling device during the lifting of the lifting plate 120. In addition, the delivery and recycling device also includes a first conductor 800, which is located between the cable retraction device 300 and the carrier 400. The traction cable released from the cable retraction device 300 can pass through the first conductor groove of the first conductor 800. The first conductor groove can limit the traction cable to prevent it from deviating from the preset route. Furthermore, the first conductor 800 is rotatably disposed on the lifting plate 120, thereby increasing the smoothness of the cable retraction and reducing the friction between the traction cable and the first conductor 800 to prevent the traction cable from being damaged.

[0051] Optionally, the carrier 400 is further provided with a second guide member 900, and the second guide member 900 is provided with a second guide groove for accommodating a portion of the traction line, so as to further prevent the traction line from deviating from the preset route; furthermore, the second guide member 900 is rotatably disposed on the carrier 400 to reduce the friction between the traction line and the second guide member 900 and prevent the traction line from being damaged.

[0052] In one optional embodiment, the carrier 400 is provided with a first positioning part 401, which can be positioned and engaged with a second positioning part 720 on the bottom of the cavity robot. In this embodiment, the first positioning part 401 and the second positioning part 720 can be positioned and engaged to play a guiding and positioning role, thereby helping the cavity robot to correct its position and posture and place it in a preset position. Optionally, the first positioning part 401 can be a positioning groove, which can extend to the edge of the carrier 400 away from the device body 100, and the positioning groove can be positioned and engaged with a positioning protrusion on the bottom of the cavity robot; or, the first positioning part 401 can be a positioning protrusion, in which case the carrier surface can include the top surface of the positioning protrusion, and the second positioning part 720 can be a positioning groove, in which case the positioning groove can extend to the edge of the cavity robot.

[0053] In an optional embodiment, the carrier 400 further has a limiting surface 430, which can limit the engagement of the cavity robot with the limiting surface 430 in a first direction. The first direction extends from the edge of the carrier 400 away from the device body 100 to the edge of the carrier 400 close to the device body 100. In this embodiment, when the cavity robot is retrieved, the limiting surface 430 can limit the cavity robot to prevent it from colliding with the device body 100 and thus damaging it. Optionally, a groove can be provided on the top surface of the carrier 400, extending to the edge of the carrier 400 away from the device body 100. The sidewall of the groove in the first direction is the limiting surface 430, and the carrier surface may include the bottom wall of the groove. Alternatively, a limiting boss can be provided on the carrier 400, which has a first surface and a second surface in sequence in the first direction, with the first surface being the limiting surface 430.

[0054] Optionally, the drive device 200 may include a first drive source and a first gear connected together, and a second gear is provided on the support member 400. The first gear and the second gear mesh, and the first drive source can drive the first gear to rotate, thereby driving the support member 400 to rotate. However, the support member 400 has a large load, which can easily damage the first gear and the second gear. In an optional embodiment, the drive device 200 includes a telescopic drive member 210. The first end of the telescopic drive member 210 is hinged to the device body 100, and the second end of the telescopic drive member 210 is hinged to the support member 400. The telescopic drive member 210 is used to drive the support member 400 to rotate. Optionally, the telescopic drive member 210 may be a hydraulic cylinder, a pneumatic cylinder, a motor-driven lead screw and nut mechanism, or other devices. In this embodiment, the telescopic drive member 210 can drive the support member 400 to rotate. The telescopic drive member 210 can withstand a greater force than the gear can withstand, therefore, the telescopic drive member 210 has a longer service life than the gear.

[0055] Optionally, the support member 400 can be a plate-shaped member. In this case, the telescopic drive member 210 needs to be located on the same side of the device body 100 as the support surface in order to drive the support member 400 to rotate. This requires additional support structures to support the telescopic drive member 210 to prevent damage to the telescopic drive member 210. In an optional embodiment, the support member 400 includes a relatively bent support portion 410 and a connecting portion 420. The support portion 410 has a support surface, and the connecting portion 420 is close to the telescopic drive member 210 relative to the support portion 410. The bend between the support portion 410 and the connecting portion 420 is rotatably connected to the device body 100. The telescopic drive member 210 is hinged to the connecting portion 420. The telescopic drive member 210 is located on the top of the device body 100, that is, the connecting portion 420 is located above the support portion 410. In this embodiment, the carrier 400 includes a relatively bent carrier portion 410 and a connecting portion 420. The connecting portion 420 is located above the carrier portion 410. Therefore, the telescopic drive 210 can be directly disposed on the top of the device body 100 without the need for additional support structure to support the telescopic drive 210. This reduces the space occupied by the delivery and recycling equipment and saves the weight and manufacturing cost of the delivery and recycling equipment.

[0056] Furthermore, the distance between the hinge point of the telescopic drive member 210 and the connecting part 420, the distance between the bending point and the rotation axis of the equipment body 100 is L1, and the length of the bearing part 410 is L2, where L1 < L2. In this way, the bearing part 410 can rotate a larger angle by extending and retracting a shorter distance with the telescopic drive member 210, which can reduce the extension and retraction stroke of the telescopic drive member 210.

[0057] Optionally, the cable reeling device 300 can be a winch. In this case, the delivery and retrieval equipment carries a traction line, which increases the weight and size of the delivery and retrieval equipment and affects its flexibility. In an optional embodiment, the cable reeling device 300 includes a drive mechanism 310, a support frame 320, a first friction wheel 330, and a second friction wheel 340. The support frame 320 is disposed on the equipment body 100. The first friction wheel 330 is rotatably disposed on the support frame 320. The second friction wheel 340 is connected to the support frame 320. The first friction wheel 330 and the second friction wheel 340 are disposed opposite to each other. The first friction wheel 330 has a first contact surface, and the second friction wheel 340 has a second contact surface. Both the first contact surface and the second contact surface can contact the traction line. That is, the first side of the traction line contacts the first contact surface, and the second side of the traction line contacts the second contact surface. A threading space for the traction line to pass through is formed between the first contact surface and the second contact surface. The drive mechanism 310 is connected to the first friction wheel 330 and can drive the first friction wheel 330 to rotate to push and pull the traction line. Specifically, the distance between the first contact surface and the second contact surface can be made slightly smaller than the distance between the first side and the second side of the traction line. That is, taking the orientation shown in Figure 3 as an example, the height of the threading space is slightly smaller than the height of the traction line. After the traction line is passed through the threading space, the first friction wheel 330 and the second friction wheel 340 will apply pressure to the traction line, which can generate friction between the first contact surface and the first side of the traction line, and also generate friction between the second contact surface and the second side of the traction line.

[0058] This embodiment can be used in conjunction with an external reel. The specific operation process is as follows. Taking the orientation shown in Figure 3 as an example, one end of the traction line wound on the reel is passed through the threading space and connected to the cavity robot. When the drive mechanism 310 drives the first friction wheel 330 to rotate in the positive direction, the friction force generated between the first contact surface and the first side of the traction line can pull the traction line forward. At the same time, the traction line will drive the reel to rotate, thereby releasing the traction line. At this time, there is also friction between the second side of the traction line and the second contact surface. When the drive mechanism 310 drives the first friction wheel 330 to rotate in the opposite direction, the friction force generated between the first contact surface and the first side of the traction line can push the traction line backward, thereby retrieving the traction line. At this time, there is also friction between the second side of the traction line and the second contact surface. It should be noted that the external reel can be powered or unpowered. When the reel is powered and retrieving the traction line, the reel can be wound up by rotating actively. When the reel is unpowered, the traction line can be made elastic, similar to a measuring tape or a spring. When retrieving the traction line, the elasticity of the traction line can drive the reel to rotate, thereby winding up the traction line. Of course, the traction line can also be unelastic, in which case the traction line can be wound up manually.

[0059] In the previous embodiment, the outer peripheral surface of the first friction wheel 330 can be the first contact surface. In this case, the traction line is prone to deviate from the preset route during the winding and unwinding process, that is, the traction line may deviate to the left or right. The second friction wheel 340 can be fixedly connected to the support frame 320, but this will increase the friction between the second friction wheel 340 and the traction line, which may damage the traction line.

[0060] In one optional embodiment, the second friction wheel 340 is rotatably mounted on the support frame 320, the outer peripheral surface of the first friction wheel 330 is provided with a first annular groove 331, the inner wall surface of the first annular groove 331 is a first contact surface, the outer peripheral surface of the second friction wheel 340 is provided with a second annular groove 341, and the inner wall surface of the second annular groove 341 is a second contact surface. In this embodiment, the second friction wheel 340 is rotatably mounted on the support frame 320. Thus, the second friction wheel 340 can rotate under the drive of the frictional force between the second contact surface and the second side of the traction line. This reduces the frictional force between the second friction wheel 340 and the traction line, preventing damage to the traction line. Furthermore, the outer circumferential surface of the first friction wheel 330 is provided with a first annular groove 331, and the outer circumferential surface of the second friction wheel 340 is provided with a second annular groove 341. The first side of the traction line contacts the bottom wall of the first annular groove 331, and the second side of the traction line contacts the bottom wall of the second annular groove 341. This allows the traction line to be positioned within the first annular groove 331 and the second annular groove 341. The first annular groove 331 and the second annular groove 341 can limit the movement of the traction line to prevent it from deviating from the preset route.

[0061] Optionally, the drive mechanism 310 may include a second drive source connected to the first friction wheel 330 to drive the first friction wheel 330 to rotate. The drive source may be an electric motor, hydraulic motor, etc. In this case, the first friction wheel 330 is the driving wheel, and the second friction wheel 340 is the driven wheel. Further, the drive mechanism 310 may also include a transmission mechanism connected to the second drive source. The transmission mechanism is connected to both the first friction wheel 330 and the second friction wheel 340. The second drive source can simultaneously drive the first friction wheel 330 and the second friction wheel 340 to rotate. In this case, both the first friction wheel 330 and the second friction wheel 340 are driving wheels. Of course, the drive mechanism 310 may also include two second drive sources to drive the first friction wheel 330 and the second friction wheel 340 to rotate respectively.

[0062] In one optional embodiment, the support frame 320 includes a first cover 321 and a second cover 322 disposed opposite to each other. The first cover 321 is disposed on the device body 100 and has a first receiving space 301. The second cover 322 has a second receiving space 302. The first receiving space 301 and the second receiving space 302 are connected. A first friction wheel 330 is rotatably disposed on the first cover 321, and at least a portion of the first friction wheel 330 is located within the first receiving space 301. A second friction wheel 340 is disposed on the second cover 322, and at least a portion of the second friction wheel 340 is located within the second receiving space 302. In this embodiment, both the first friction wheel 330 and the second friction wheel 340 are located between the first cover 321 and the second cover 322. The first cover 321 and the second cover 322 can prevent debris from the receiving components from entering between the first friction wheel 330 and the second friction wheel 340, thus preventing the two friction wheels from getting stuck.

[0063] Optionally, the positions between the first cover 321 and the second cover 322 can be relatively fixed. In this case, the positions between the first friction wheel 330 and the second friction wheel 340 are also relatively fixed, which is not conducive to passing the traction wire through the threading space. Therefore, in an optional embodiment, the first end of the first cover 321 is rotatably connected to the first end of the second cover 322, and the second end of the first cover 321 is detachably connected to the second end of the second cover 322. In this embodiment, before threading the traction wire, the second end of the first cover 321 can be separated from the second end of the second cover 322, and the second cover 322 can be rotated forward so that the second friction wheel 340 rotates in a direction away from the first friction wheel 330. At this time, the height of the threading space increases, which facilitates threading the traction wire. After threading, the second cover 322 can be rotated in a direction close to the first cover 321, and the second end of the first cover 321 can be connected to the second end of the second cover 322. At this time, the first side of the traction wire can contact the first contact surface, and the second side of the traction wire can contact the second contact surface. As can be seen, this embodiment can reduce the difficulty of threading the traction line.

[0064] Alternatively, the first cover 321 can be detachably connected to the second cover 322. That is, the first end of the first cover 321 is detachably connected to the first end of the second cover 322, and the second end of the first cover 321 is also detachably connected to the second end of the second cover 322. In this embodiment, before threading the traction wire, the first cover 321 and the second cover 322 can be separated, and the second cover 322 can be moved away from the first cover 321 to increase the height of the threading space, thus facilitating the threading of the traction wire. After threading, the second cover 322 can be moved closer to the first cover 321, and the first cover 321 and the second cover 322 can be connected. At this time, the first side of the traction wire can contact the first contact surface, and the second side of the traction wire can contact the second contact surface. Therefore, this embodiment can reduce the difficulty of threading the traction wire.

Claims

1. A cavity robot delivery and retrieval device, characterized in that, The device includes a delivery and recycling system, comprising a device body (100), a drive unit (200), a cable retraction device (300), a carrier (400), and a walking component (500). The walking component (500) is located at the bottom of the device body (100), and the cable retraction device (300) is located on the device body (100). The cable retraction device (300) can retract and extend the traction cable used to pull the cavity robot. The carrier (400) is rotatably connected to the device body (100). The carrier (400) has a bearing surface for carrying the cavity robot. The bearing surface has a first edge away from the device body (100) and is located on one side of the device body (100). The drive unit (200) is connected to the carrier (400) and can drive the carrier (400) to rotate to adjust the height of the first edge.

2. The cavity robot delivery and retrieval device according to claim 1, characterized in that, The equipment body (100) includes a base (110) and a lifting plate (120) that can move relative to the base (110). The carrier (400) is rotatably connected to the lifting plate (120). The delivery and recycling equipment also includes a lifting device (600). One end of the lifting device (600) is located on the base (110), and the other end of the lifting device (600) is connected to the lifting plate (120). The lifting device (600) is used to drive the carrier (400) to lift.

3. The cavity robot delivery and retrieval device according to claim 2, characterized in that, The equipment body (100) also includes a connecting bracket (130), which has a first connecting end (131) and a second connecting end (132). The height of the first connecting end (131) is greater than the height of the second connecting end (132). The first connecting end (131) is fixedly connected to the lifting plate (120), and the bearing member (400) is rotatably connected to the second connecting end (132).

4. The cavity robot delivery and retrieval device according to claim 2, characterized in that, The lifting device (600) is a scissor lifting mechanism; and / or, the walking component (500) includes a steering control mechanism and a plurality of spaced walking wheels, the steering control mechanism being connected to each walking wheel respectively; and / or, the cavity robot delivery and retrieval device also includes a remote controller (710), the delivery and retrieval device also includes a communication module located on the device body (100), the remote controller (710) being connected to the communication module; and / or, the cable winding and unwinding device (300) is located on the lifting plate (120), the delivery and retrieval device also includes a first wire guide (800), the first wire guide (800) is connected to the lifting plate (120) and is opposite to the cable winding and unwinding device (300), and the first wire guide (800) is located between the cable winding and unwinding device (300) and the carrier (400), the first wire guide (800) is provided with a first wire groove, the first wire groove being used to accommodate a part of the traction wire.

5. The cavity robot delivery and retrieval device according to claim 1, characterized in that, The carrier (400) is provided with a first positioning part (401), which can be positioned and cooperated with the second positioning part (720) at the bottom of the cavity robot.

6. The cavity robot delivery and retrieval device according to claim 1, characterized in that, The drive unit (200) includes a telescopic drive member (210), the first end of which is hinged to the device body (100), and the second end of which is hinged to the carrier member (400). The telescopic drive member (210) is used to drive the carrier member (400) to rotate.

7. The cavity robot delivery and retrieval device according to claim 6, characterized in that, The support member (400) includes a support portion (410) and a connecting portion (420) that are bent relative to each other. The support portion (410) has a support surface. The connecting portion (420) is close to the telescopic drive member (210) relative to the support portion (410). The bend between the support portion (410) and the connecting portion (420) is rotatably connected to the equipment body (100). The telescopic drive member (210) is hinged to the connecting portion (420). The telescopic drive member (210) is located on the top of the equipment body (100).

8. The cavity robot delivery and retrieval device according to claim 1, characterized in that, The cable winding and unwinding device (300) includes a drive mechanism (310), a support frame (320), a first friction wheel (330), and a second friction wheel (340). The support frame (320) is located on the device body (100). The first friction wheel (330) is rotatably located on the support frame (320). The second friction wheel (340) is connected to the support frame (320). The first friction wheel (330) and the second friction wheel (340) are arranged opposite to each other. The first friction wheel (330) has a first contact surface, and the second friction wheel (340) has a second contact surface. Both the first contact surface and the second contact surface can contact the traction cable. A cable threading space is formed between the first contact surface and the second contact surface for the traction cable to pass through. The drive mechanism (310) is connected to the first friction wheel (330) and can drive the first friction wheel (330) to rotate in order to push and pull the traction cable.

9. The cavity robot delivery and retrieval device according to claim 8, characterized in that, The second friction wheel (340) is rotatably mounted on the support frame (320). The outer peripheral surface of the first friction wheel (330) is provided with a first annular groove (331), and the inner wall surface of the first annular groove (331) is a first contact surface. The outer peripheral surface of the second friction wheel (340) is provided with a second annular groove (341), and the inner wall surface of the second annular groove (341) is a second contact surface.

10. The cavity robot delivery and retrieval device according to claim 8, characterized in that, The support frame (320) includes a first cover (321) and a second cover (322) disposed opposite to each other. The first cover (321) is disposed on the equipment body (100), and has a first receiving space (301) inside the first cover (321). The second cover (322) has a second receiving space (302) inside the second cover (322). The first receiving space (301) and the second receiving space (302) are connected. A first friction wheel (330) is rotatably disposed on the first cover (321), and the first friction wheel (330) At least a portion of the first cover (321) is located within the first receiving space (301), the second friction wheel (340) is disposed on the second cover (322), and at least a portion of the second friction wheel (340) is located within the second receiving space (302); the first end of the first cover (321) is rotatably connected to the first end of the second cover (322), and the second end of the first cover (321) is detachably connected to the second end of the second cover (322); or, the first cover (321) is detachably connected to the second cover (322).

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