Split robot folding and unfolding system of electric power intelligent inspection robot mother ship

Abstract

The utility model relates to the technical field of electric power systems, in particular to a split robot folding and unfolding system of an electric power intelligent inspection robot mother ship, which comprises a split robot and a storage bin for accommodating the split robot. The storage bin is provided with a long-strip-shaped channel for containing the split robot. An access channel is arranged above the storage bin, and the access channel is communicated with the storage bin; an elastic mechanism is arranged at the bottom of the storage bin; a telescopic mechanism is arranged above the access channel, and the telescopic end of the telescopic mechanism is arranged above the storage bin; a pushing mechanism is further arranged in the in-out channel and provided with a pushing block stretching out and drawing back along the in-out channel, and the pushing block extreme contraction position of the pushing mechanism is located behind the storage bin. An embedding groove is formed in the rear side face of the split robot, and the push block is provided with an embedding block. The embedded block is provided with an electric locking device; a permanent magnet used for being attracted to the electric appliance cabinet is arranged in front of the split robot. It is ensured that the split robot is stable and reliable when stored or released, and charging loosening or falling is avoided.

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 the safety, reliability, and effective operation of switchgear. Introducing inspection robots during these inspections can significantly improve efficiency and safety. These inspection robots are modular, modular units equipped with various sensors (such as temperature, humidity, and vibration sensors) for comprehensive monitoring, thereby obtaining detailed status information for multiple switchgear units.

[0003] The modular robots need to be periodically retrieved into the intelligent inspection robot mothership for charging. However, there are usually multiple modular robots, and they are prone to falling off during retrieval. Furthermore, the modular robots are prone to loosening during the operation of the intelligent power inspection robot mothership, which can lead to charging disconnection. 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, this utility model is proposed. To solve the above technical problems, this utility model provides the following technical solution;

[0006] The power intelligent inspection robot mothership's modular robot deployment and retrieval system includes modular robots and storage compartments for accommodating them.

[0007] The storage compartment has a long vertical channel for holding the separate robots;

[0008] After at least two separate robots are loaded into the storage compartment, they are arranged in a vertical line in the long corridor;

[0009] The storage compartment is equipped with an access channel for the detachable robot, which is connected to the storage compartment.

[0010] The bottom of the storage compartment is equipped with an upward elastic mechanism;

[0011] A telescopic mechanism that can extend and retract vertically is provided above the access channel, and the telescopic end of the telescopic mechanism is located above the storage compartment.

[0012] The access channel is equipped with a receiving and dispensing opening, with the direction from the storage compartment toward the receiving and dispensing opening as the front;

[0013] The inlet / outlet channel is also equipped with a pushing mechanism, which has a push block that extends and retracts along the inlet / outlet channel. The maximum retracted position of the push block is located behind the storage compartment.

[0014] The rear side of the split robot is provided with an embedding groove, and the push block is provided with an embedding block that can extend into the embedding groove.

[0015] The embedded block is provided with an electric locking device to lock the embedded block in the embedded groove;

[0016] The split robot is equipped with a permanent magnet at the front for attaching to the electrical cabinet.

[0017] The above design firstly utilizes a storage compartment to house the individual robots for charging. A spring-loaded mechanism at the bottom of the compartment secures the robots, preventing them from shifting during charging while the inspection robot carrier is in operation. Secondly, a telescopic mechanism at the top of the storage compartment allows for the storage of multiple robots for charging, making the device more convenient to use. Finally, a pushing mechanism with embedded blocks locks the individual robots in place, ensuring they are securely stored and deployed, preventing accidental movement or falls. Using a single loading / unloading port significantly simplifies the operation; users only need to use one port, reducing operational complexity. This not only saves time but also reduces the possibility of operational errors, minimizing the risk of accidental collisions or injuries, and enhancing safety.

[0018] Preferably, the opening connecting the storage compartment to the lower side of the inlet / outlet channel is called the storage opening. The lower side of the push block covers the storage opening, and the upper side of the push block abuts against the upper side of the inlet / outlet channel. The push block in the storage compartment can hold the separate robot in the storage compartment. The push block holding the robot in place helps to maintain its stability in the storage compartment and prevents shaking that could cause unstable charging contact.

[0019] Preferably, the inlet / outlet channel is provided with guide grooves, and guide grooves are provided on both sides of the storage opening. The push block is provided with a raised slider, which is slidably engaged in the guide grooves. The guide grooves provide a stable guiding path, ensuring that the push block slides smoothly along a predetermined trajectory, thereby guaranteeing the stability of the split robot's ejection and storage.

[0020] Preferably, the inlet / outlet of the access channel is chamfered. The chamfered structure helps guide the split robot to smoothly enter or exit the inlet / outlet.

[0021] Preferably, the length of the chamfered portion of the receiving / exit port is not less than one-third and not more than one-half of the front-to-back distance of the split robot. The chamfered portion's length not exceeding one-half of the front-to-back distance ensures that the installation position of the split robot will not change due to the chamfer when it is pushed out of the access channel and installed in the substation for testing. The chamfered portion's length being at least one-third of the front-to-back distance of the split robot also helps guide the split robot to smoothly enter or exit the receiving / exit port.

[0022] Preferably, the storage compartment has at least five charging connectors arranged vertically. Each charging connector has a tension spring on its rear side, and each tension spring is connected to a push-out head. The size of the push-out head is larger than the size of the embedding slot. The tension springs and push-out heads further improve the stability of charging the split robot.

[0023] Preferably, each clamping spring on the side of the storage compartment is provided with a telescopic groove to accommodate the clamping spring. The size of the telescopic groove is larger than the size of the ejector head, and the front side of the ejector head is provided with a rounded chamfer. This prevents the split robot from being stuck by the ejector head when entering the embedding slot, and facilitates the smooth storage of the split robot. Attached Figure Description

[0024] 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. Among them:

[0025] Figure 1 This is a schematic diagram of the internal structure of the split robot deployment and take-up system of the intelligent power inspection robot mothership of this utility model;

[0026] Figure 2 This is a schematic diagram of the external structure of the split robot deployment and take-up system of the intelligent power inspection robot mothership of this utility model. Detailed Implementation

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] Example 1

[0032] refer to Figure 1 and Figure 2 The power intelligent inspection robot mothership's split robot deployment and retrieval system includes a split robot 5 and a storage compartment 1 for accommodating the split robot 5.

[0033] Storage compartment 1 has a long vertical channel for holding the split robot 5;

[0034] After at least two separate robots 5 are loaded into storage compartment 1, they are arranged in a vertical queue in the long corridor.

[0035] Above the storage compartment 1 is an access channel 2 for the loading and unloading split robot 5, and the access channel 2 is connected to the storage compartment 1;

[0036] The bottom of the storage compartment 1 is provided with an upward elastic mechanism 11;

[0037] A telescopic mechanism 3 that can extend and retract vertically is provided above the access channel 2, and the telescopic end of the telescopic mechanism 3 is located above the storage compartment 1.

[0038] The inlet / outlet channel 2 is equipped with a receiving / discharging port, with the direction from the receiving / discharging port of the storage compartment 1 as the front;

[0039] The inlet / outlet channel 2 is also provided with a pushing mechanism 4, which is provided with a push block 41 that extends and retracts along the inlet / outlet channel 2. The extreme retraction position of the push block 41 of the pushing mechanism 4 is located behind the storage compartment 1.

[0040] The rear side of the split robot 5 is provided with an embedding groove, and the pusher 41 is provided with an embedding block that can extend into the embedding groove.

[0041] The embedded block is provided with an electric locking device 42 to lock the embedded block in the embedded groove;

[0042] The split robot 5 is equipped with a permanent magnet at its front for attaching to the transformer cabinet.

[0043] The above design firstly utilizes a storage compartment 1 to house the separate robots 5 for charging. A spring mechanism 11 at the bottom of the storage compartment 1 secures the robots 5, preventing them from becoming loose while charging during the operation of the inspection robot mothership. Secondly, a telescopic mechanism 3 at the top of the storage compartment 1 allows for the storage of multiple separate robots 5 for charging, making the device more convenient to use. Finally, a pushing mechanism 4 and an embedded block on the push block 41 lock the separate robots 5 in place, ensuring they are securely stored and deployed, preventing accidental movement or falls. Using a single loading / unloading port 22 significantly simplifies the operation process; users only need to use one port to load or unload the robots, reducing operational complexity. This not only saves time but also reduces the possibility of operational errors, minimizing the risk of accidental collisions or injuries, and enhancing safety.

[0044] The opening connecting the storage compartment 1 to the lower side of the inlet / outlet channel 2 is called the storage opening. The lower side of the push block 41 covers the storage opening, and the upper side of the push block 41 pushes against the upper side of the inlet / outlet channel 2. The push block 41 in the storage compartment 1 can hold the split robot 5 in the storage compartment 1. The push block 41 holding the robot against the robot helps to maintain its stability in the storage compartment 1 and prevents shaking that could cause unstable charging contact.

[0045] The inlet / outlet channel 2 is equipped with guide grooves 21, and guide grooves 21 are provided on both sides of the storage opening. The push block 41 is equipped with a raised slider, which is slidably fitted in the guide grooves 21. The guide grooves 21 provide a stable guiding path, ensuring that the push block 41 slides smoothly along the predetermined trajectory, thereby ensuring the stability of the split robot 5 when it is pushed out and stored.

[0046] In use, the pushing mechanism 4 is equipped with an electric telescopic mechanism 3 with a push-pull block 41. When the split robot 5 is stored, the storage opening is fitted onto the split robot 5, and the push block 41 moves forward to send the embedding block into the embedding slot. The electric locking device 42 locks the embedding block in the embedding slot. Then, the electric telescopic mechanism 3 drives the push block 41 to pull the push block 41 to the opening above the storage compartment 1, and the electric locking device 42 unlocks. The telescopic end of the telescopic mechanism 3 presses the push block 41 into the storage compartment 1, and then the push block 41 moves forward to lock the split robot 5. The length of the push block 41 is greater than the length of the split robot 5. This ensures that when the split robot pulls the next split robot 5, the robot in the storage compartment 1 will not pop out.

[0047] When the split robot 5 is pushed out and magnetically attached to the substation cabinet, the pusher block 41 moves backward to make way for the position where the split robot 5 is held in place. The elastic mechanism 11 pushes the split robot 5 out. The pusher block 41 moves forward to push the split robot 5 out, and the next split robot 5 in the receiving slot continues to be held in place by the bottom of the pusher block 41, so the split robot 5 in the storage compartment 1 will not pop out. Using a single loading and unloading port 22 can significantly simplify the operation process. Users only need to complete the loading and unloading of the robot through one loading and unloading port 22, reducing the complexity of operation. This not only saves time, but also reduces the possibility of operational errors, reduces the risk of accidental collisions or injuries, and enhances safety.

[0048] Example 2

[0049] refer to Figure 1 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0050] The inlet / outlet 22 of the access channel 2 is chamfered. The chamfered structure helps guide the split robot 5 to smoothly enter or exit the inlet / outlet 22.

[0051] The length of the chamfered portion of the retraction port 22 shall be no less than one-third and no more than one-half of the front-to-back distance of the split robot 5. The chamfered portion's length not exceeding one-half of the front-to-back distance of the split robot 5 ensures that its installation position will not change due to the chamfer when the split robot 5 is pushed out of the entry / exit channel 2 and installed in the transformer cabinet for testing. The chamfered portion's length not being less than one-third of the front-to-back distance of the split robot 5 also helps guide the split robot 5 smoothly into or out of the retraction port 22.

[0052] The storage compartment 1 has at least five charging connectors arranged vertically. Each charging connector in the storage compartment 1 has a clamping spring 12 on its rear side. Each clamping spring 12 is connected to an ejector head 13, the size of which is larger than the size of the embedded groove. The clamping springs 12 and the ejector heads 13 further improve the charging stability of the split robot 5.

[0053] Each clamping spring 12 on the side of the storage compartment 1 has a telescopic groove to accommodate the clamping spring 12. The size of the telescopic groove is larger than the size of the ejector head 13, and the front side of the ejector head 13 has a rounded chamfer. This prevents the split robot 5 from being stuck by the ejector head 13 when it enters the embedding slot, and facilitates the smooth storage of the split robot 5.

[0054] In use, the length of the chamfered portion is not less than one-third of the front-to-back distance of the split robot 5, which helps guide the split robot 5 to smoothly enter or exit the receiving / exiting slot 22. The chamfered structure helps guide the split robot 5 to smoothly enter or exit the receiving / exiting slot 22. The charging stability of the split robot 5 is further improved by the clamping spring 12 and the ejector head 13. The ejector head 13 prevents the split robot 5 from being stuck when entering the embedding slot, making it easy to store the split robot 5 smoothly.

[0055] 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 modular robot deployment and retrieval system for a power intelligent inspection robot mothership, comprising modular robots and a storage compartment for accommodating the modular robots, characterized in that: The storage compartment has a long vertical channel for holding the separate robots; After at least two separate robots are loaded into the storage compartment, they are arranged in a vertical line in the long corridor; The storage compartment is equipped with an access channel for the detachable robot, which is connected to the storage compartment. The bottom of the storage compartment is equipped with an upward elastic mechanism; A telescopic mechanism that can extend and retract vertically is provided above the access channel, and the telescopic end of the telescopic mechanism is located above the storage compartment. The access channel is equipped with a receiving and dispensing opening, with the direction from the storage compartment toward the receiving and dispensing opening as the front; The inlet / outlet channel is also equipped with a pushing mechanism, which has a push block that extends and retracts along the inlet / outlet channel. The maximum retracted position of the push block is located behind the storage compartment. The rear side of the split robot is provided with an embedding groove, and the push block is provided with an embedding block that can extend into the embedding groove. The embedded block is provided with an electric locking device to lock the embedded block in the embedded groove; The split robot is equipped with a permanent magnet at the front for attaching to the electrical cabinet.

2. The split robot deployment and retrieval system of the intelligent power inspection robot mothership according to claim 1, characterized in that: The opening connecting the storage compartment to the lower side of the inlet / outlet channel is called the storage opening. The lower side of the push block covers the storage opening, and the upper side of the push block pushes against the upper side of the inlet / outlet channel.

3. The split robot deployment and retrieval system of the intelligent power inspection robot mothership according to claim 2, characterized in that: The inlet / outlet channel is provided with guide grooves, and both sides of the receiving opening are provided with guide grooves. The push block is provided with a raised slider, which is slidably engaged in the guide groove.

4. The split robot deployment and retrieval system of the intelligent power inspection robot mothership according to claim 1, characterized in that: The opening and closing points of the access channels are chamfered.

5. The split robot deployment and retrieval system of the intelligent power inspection robot mothership according to claim 4, characterized in that: The length of the chamfered portion of the opening is not less than one-third of the front-to-back distance of the split robot, and not greater than one-half of the front-to-back distance of the split robot.

6. The split-type robot deployment and retrieval system of the intelligent power inspection robot mothership according to claim 1, characterized in that: The storage compartment has at least five charging connectors arranged vertically. Each charging connector has a tensioning spring on its rear side, and each tensioning spring is connected to a push-out head. The size of the push-out head is larger than the size of the embedded groove.

7. The split robot deployment and retrieval system of the intelligent power inspection robot mothership according to claim 6, characterized in that: Each tension spring on the side of the storage compartment is provided with a telescopic groove to accommodate the tension spring. The size of the telescopic groove is larger than the size of the ejector head, and the front side of the ejector head is provided with a rounded chamfer.

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