Electric power inspection robot with anti-collision structure

Abstract

The utility model relates to the technical field of inspection robot, disclose a kind of power inspection robot with anti-collision structure, including the fuselage of multiple rotors, rotors periphery are connected with the anti-collision frame for anti-collision, anti-collision frame is connected with fuselage through the shell of one side opening, shell and fuselage fixed connection, still include: multiple damping components, multiple damping components are placed in each shell, anti-collision frame is connected with damping component, damping component includes buffer part and energy consumption part, buffer part is with the mode of elastic displacement to buffer the impact force of anti-collision frame collision, energy consumption part is used to consume the kinetic energy of displacement. The utility model can effectively reduce the vibration force caused by anti-collision frame collision to cause damage to the module of fuselage by the damping component set, improve service life.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, and in particular to a power inspection robot with an anti-collision structure. Background Technology

[0002] In urban power distribution networks, transmission lines have gradually shifted from medium- and low-voltage overhead lines to distribution cables, which are installed in cable corridors. Due to the interaction of various internal and external factors such as cable or other component aging, extreme weather events, and human error, the performance of power distribution network equipment may decline or even fail. Since cable corridors are usually located underground, with narrow and complex internal spaces and a wide variety of power grid equipment, manual inspections suffer from drawbacks such as large workload, harsh working environment, and limited inspection range. Therefore, power inspection robots for cable corridors have gradually come into view.

[0003] Existing power line inspection robots typically consist of an inspection body and an inspection camera at the bottom of the inspection body. The driving methods include suspended pneumatic, suspended roller movement, and drone flight movement. Among them, drone-type inspection robots include a body with inspection camera function and multiple rotors installed on the body to provide flight power. They use flight to troubleshoot faults in cable corridors. Since the space in cable corridors is relatively complex, in order to avoid collisions between the rotors and corridor walls or objects during the flight of the inspection robot, existing drone inspection robots usually fix anti-collision frames on the outer ring of each rotor. The rotors are protected by the anti-collision frames to avoid collisions.

[0004] While the existing anti-collision frame can provide protection when it collides with the corridor wall or objects, the vibration force generated after the collision is directly transmitted to the machine body. This vibration force cannot be buffered and is difficult to dissipate quickly, which may cause damage to the camera module and the chip module used for control. With the increase of the number of collisions, it may even lead to the damage of each module. Utility Model Content

[0005] This utility model provides a power inspection robot with an anti-collision structure. This device can reduce energy consumption and vibration, and prevent the impact vibration force generated after a collision from being directly transmitted to the chip module inside the robot and affecting the camera module. It can effectively reduce the damage to these modules and extend their service life.

[0006] This utility model provides a power inspection robot with an anti-collision structure, including a body with multiple rotors. Each rotor is connected to an anti-collision frame for collision prevention. The anti-collision frame is connected to the body through a shell with an opening on one side. The shell is fixedly connected to the body. It also includes multiple vibration damping components, which are placed inside each shell. The anti-collision frame is connected to the vibration damping components. The vibration damping components include a buffer part and an energy dissipation part. The buffer part buffers the impact force of the collision against the anti-collision frame through elastic displacement. The energy dissipation part dissipates the kinetic energy of the displacement.

[0007] Preferably, the buffer includes: a hollow kit, a rotating component, and an elastic component. The hollow kit has openings on opposite sides. The kit is placed inside the housing and the two are slidably connected. The opening position of the kit corresponds to the opening position of the housing. The rotating component is hinged to the inner wall of the kit. One end of the rotating component passes through the kit and extends into the housing, while the other end is fixedly connected to the anti-collision frame. A gap is left between the rotating component and the inner walls on both sides of the kit. The elastic component is fixedly connected inside the housing. Both the kit and the rotating component are connected to the elastic component to provide elastic buffering for the displaced kit and the rotating component.

[0008] Preferably, the elastic element consists of multiple springs, all of which are fixedly connected to the inner wall of the housing. The other ends of the multiple springs are fixedly connected to the rotating element and the assembly, respectively, for buffering and resetting.

[0009] Preferably, the elastic element is a block-shaped gel-like body, which is tightly fixed to the inner wall of the shell, and the rotating part has a concave cavity corresponding to the length of the elastic element extending into it.

[0010] Preferably, the gel-like body of the elastic element comprises a plurality of closely stacked honeycomb units, with adjacent honeycomb units connected to each other, and the energy dissipation part comprises a viscous fluid having viscosity and filling the gel-like body, wherein when the gel-like body is squeezed, the viscous fluid flows into the hollow honeycomb unit cavity.

[0011] Preferably, the height of the viscous fluid filling the gel is always above the rotating part.

[0012] Preferably, the end of the rotating component placed within the concave cavity is provided with a sphere to increase the contact area. A baffle is also hinged to the rotating component, located near the internal opening of the kit, with a gap between the baffle and the kit. The baffle is larger than the opening size of the kit. The baffle compensates for the portion of the hollow part of the kit that cannot contact the gel-like material, improving the overall vibration damping effect.

[0013] Preferably, the rotating component is hinged to the center of the kit via a hinge pin.

[0014] Preferably, the rotor is placed inside the anti-collision frame, which is arranged in a fan shape, with the outer arc extending upwards and the extension having a hollow hole. The arc radius of the anti-collision frame is larger than the size of the rotor after rotation.

[0015] Preferably, the upper end of the upward-extending arc-shaped body of the crash barrier is rotatably connected to multiple rubber rollers for vibration damping and impact protection.

[0016] Compared with the prior art, the beneficial effects of this utility model are as follows: This device, by setting a vibration damping component between the anti-collision frame and the body, can shift and elastically buffer the force generated after the anti-collision frame collides. Furthermore, the energy dissipation part within the vibration damping component consumes the kinetic energy of the impact force, thereby achieving rapid energy dissipation and vibration reduction. Specifically, after the anti-collision frame collides, it will undergo a small range of elastic displacement under the action of the buffer part. During the displacement process, the energy dissipation part can apply resistance to the kinetic energy released during the displacement process, thereby achieving the effect of energy dissipation. Overall, it plays a role in vibration reduction for the anti-collision frame, preventing the impact vibration force generated after the collision from being directly transmitted to the chip module and affecting the camera module inside the body, effectively reducing damage to these modules and extending their service life. Attached Figure Description

[0017] Figure 1 A top-view structural diagram of the body of the power inspection robot with anti-collision structure provided in this embodiment of the utility model;

[0018] Figure 2 This is a partial cross-sectional view of a power inspection robot with an anti-collision structure provided in an embodiment of the present utility model.

[0019] Figure 3 A cross-sectional view of the vibration damping component of the power inspection robot with an anti-collision structure provided in this embodiment of the utility model;

[0020] Figure 4 A schematic diagram of the filling height structure of viscous fluid in a power inspection robot with an anti-collision structure provided in an embodiment of this utility model;

[0021] Figure 5 A schematic diagram of the honeycomb unit cell in the power inspection robot with anti-collision structure provided in this embodiment of the utility model;

[0022] Figure 6 A schematic diagram of the horizontal view structure of the baffle in the power inspection robot with anti-collision structure provided in this embodiment of the utility model;

[0023] Figure 7 A schematic diagram of the anti-collision frame test structure of the power inspection robot with anti-collision structure provided in this embodiment of the utility model.

[0024] Explanation of reference numerals in the attached figures:

[0025] 1. Airframe; 2. Rotor; 3. Bumper frame; 4. Shell; 5. Vibration damping assembly; 51. Buffer section; 511. Kit; 512. Rotating component; 513. Elastic component; 5131. Honeycomb cell; 52. Energy dissipation section; 521. Viscous fluid; 6. Sphere; 7. Baffle; 8. Rubber roller. Detailed Implementation

[0026] The following describes a specific embodiment of the present invention in detail with reference to the accompanying drawings. However, it should be understood that the scope of protection of the present invention is not limited to the specific embodiment.

[0027] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the technical solution of this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0028] refer to Figure 1 and Figure 2 This utility model provides a power inspection robot with an anti-collision structure, including a body 1 with multiple rotors 2. Each rotor 2 is connected to an anti-collision frame 3 for anti-collision purposes. The anti-collision frame 3 is connected to the body 1 through a shell 4 with an opening on one side. The shell 4 is fixedly connected to the body 1. It also includes multiple vibration damping components 5, which are placed inside each shell 4. The anti-collision frame 3 is connected to the vibration damping components 5. The vibration damping component 5 includes a buffer part 51 and an energy dissipation part 52. The buffer part 51 buffers the collision impact force of the anti-collision frame 3 by elastic displacement. The energy dissipation part 52 is used to dissipate the kinetic energy of the displacement.

[0029] In the above embodiments, this device provides a vibration damping component 5 between the anti-collision frame 3 and the body 1. This component can shift and elastically buffer the force generated after the anti-collision frame 3 collides. Furthermore, the energy dissipation part 52 within the vibration damping component 5 consumes the kinetic energy of the impact force, thereby achieving rapid energy dissipation and vibration reduction. Specifically, after the anti-collision frame 3 collides, it will undergo a small-range elastic shift under the action of the buffer part 51. During the shift, the energy dissipation part 52 can apply resistance to the kinetic energy released during the shift, thereby achieving the effect of energy dissipation. Overall, this device provides vibration reduction for the anti-collision frame 3, preventing the impact vibration force generated after the collision from being directly transmitted to the chip module and camera module within the body 1. This effectively reduces damage to these modules and extends their service life.

[0030] Further, refer to Figure 2 and Figure 3 The buffer part 51 includes: a hollow kit 511, a rotating member 512, and an elastic member 513. The hollow kit 511 has openings on opposite sides. The kit 511 is placed inside the housing 4 and the two are slidably connected. The opening position of the kit 511 corresponds to the opening position of the housing 4. The rotating member 512 is hinged to the inner wall of the kit 511. One end of the rotating member 512 passes through the kit 511 and extends into the housing 4, while the other end is fixedly connected to the anti-collision frame 3. A gap is left between the rotating member 512 and the inner walls on both sides of the kit 511 to provide a distance for the rotation of the rotating member 512. The elastic member 513 is fixedly connected to the inside of the housing 4. Both the kit 511 and the rotating member 512 are connected to the elastic member 513 to provide elastic buffering for the displacement of the kit 511 and the rotating member 512.

[0031] In the above embodiments, the kit 511 can slide horizontally along the inside of the housing 4, and the rotating member 512 can rotate horizontally around the hinge point inside the kit 511. When the anti-collision frame 3 collides, the anti-collision frame 3 can transfer the impact force to the rotating member 512, and accordingly drive the rotating member 512 to rotate. At the same time, when the impact force is large, it will also drive the kit 511 to slide inward along the housing 4. At this time, the elastic member 513 can use the elastic force to play an elastic buffering role for the kit 511 and the rotating member 512, and can also realize the reset function of the kit 511 and the rotating member 512. At the same time, when the anti-collision frame 3 is in a non-collision state, the length extension direction of the rotating member 512 is parallel to the opening extension direction of the kit 511.

[0032] Further, refer to Figure 2 The elastic element 513 can be multiple springs, all of which are fixedly connected to the inner wall of the housing 4. The other ends of the multiple springs are fixedly connected to the rotating element 512 and the kit 511 respectively, for buffering and resetting.

[0033] In the above embodiments, by using a spring as an elastic element 513, when the rotating element 512 rotates, it can achieve the buffering and resetting effect of compressing one side and stretching the other side. However, considering that the spring is complicated in installation process and has poor effect, it is preferable that the elastic element 513 is a block-shaped gel-like body. The gel-like body is tightly fixed to the inner wall of the housing 4, and the rotating element 512 has an inner cavity corresponding to the length of the elastic element 513 extending into it.

[0034] In the above embodiments, the gel can still achieve the effects of buffering and elastic recovery, and is easy to install and use. At the same time, the gel will also lose a small amount of energy during the extrusion process, which can be used in conjunction with the energy-consuming part 52 for power consumption.

[0035] Further, refer to Figure 4 and Figure 5 The gel-like body of the elastic member 513 includes a plurality of closely stacked honeycomb cells 5131, with adjacent honeycomb cells 5131 connected to each other. The energy dissipation part 52 includes a viscous fluid 521, which has viscosity and is filled in the gel-like body. When the gel-like body is squeezed, the viscous fluid 521 flows into the cavity of the hollow honeycomb cells 5131. The height of the viscous fluid 521 filling the gel-like body is always above the rotating member 512.

[0036] In the above embodiments, the adjacent honeycomb cells 5131 are connected through connecting holes. The diameter of the connecting holes is smaller than the planar size of the honeycomb cells 5131. By connecting adjacent cells, the rotation of the rotating body or the movement of the kit 511, or the rotation of the rotating body accompanied by the movement of the kit 511, can all achieve the compression of the gel-like body. The compression of the gel-like body will cause the viscous fluid 521 in the honeycomb cells 5131 to flow. The viscous fluid 521 will shuttle through the honeycomb cells 5131, and the flow process is the energy consumption process, thereby achieving the energy dissipation effect.

[0037] Further, refer to Figure 3 and Figure 6 Considering the small contact area between the rotating component 512 and the gel-like substance, a sphere 6 is provided at the end of the rotating component 512 placed within the concave cavity to increase the contact area. Simultaneously, considering that the kit 511 is hollow with a large opening, the hollow portion cannot contact the gel-like substance during compression, affecting the overall vibration damping effect. Therefore, a baffle 7 is also hinged to the rotating component 512. The baffle 7 is located near the internal opening of the kit 511, with a specific gap between the baffle 7 and the kit 511. The size of the baffle 7 is larger than the opening size of the kit 511. The baffle 7 compensates for the portion of the hollow portion of the kit 511 that cannot contact the gel-like substance. Since the rotating component 512 rotates, the baffle 7 still maintains horizontal compression of the gel-like substance by utilizing the gap with the kit 511 and its contact with one side wall of the kit 511, thereby improving the overall vibration damping effect.

[0038] Further, refer to Figure 3 The rotating part 512 is hinged to the middle of the kit 511 via a hinge shaft.

[0039] In the above embodiments, it can be ensured that the rotating component 512 rotates by the same angle in the horizontal direction.

[0040] Further, refer to Figure 7 The rotor 2 is placed inside the anti-collision frame 3, which is arranged in a fan shape, and the outer arc body extends upward. The extension has a hollow hole. The arc radius of the anti-collision frame 3 is larger than the size of the rotor 2 after rotation.

[0041] In the above embodiments, by limiting the outer arc-shaped body of the anti-collision frame 3 to extend upward, it can provide sufficient protection for the rotor 2. The hollow holes can prevent the air from being blocked after the height of the arc-shaped body is increased.

[0042] Further, refer to Figure 1 , Figure 2 and Figure 7 The upper end of the upward-extending arc-shaped body of the anti-collision frame 3 is rotatably connected to multiple rubber rollers 8 for vibration damping and anti-collision.

[0043] In the above embodiments, the rubber roller 8 can minimize the friction between the anti-collision frame 3 and the collision body. At the same time, the outer ring contact surface of the rubber roller 8 is rubber-shaped, thus having the energy dissipation effect of extrusion deformation.

[0044] Specifically, this device is used for power line inspection. To prevent the body 1 from shifting or colliding and falling, two movable wheels with adsorption function can be installed on the top of the body 1 to contact and adsorb with the adsorption track set above the cable corridor, thereby achieving the effects of guidance and preventing fall.

[0045] The above-disclosed embodiments are only a few specific examples of the present utility model. However, the embodiments of the present utility model are not limited thereto. Any changes that can be conceived by those skilled in the art should fall within the protection scope of the present utility model.

Claims

1. A power inspection robot with a collision-resistant structure, comprising a body (1) having multiple rotors (2), wherein each rotor (2) is connected to a collision-resistant frame (3) for collision protection, characterized in that, The anti-collision frame (3) is connected to the body (1) through a shell (4) with an opening on one side. The shell (4) is fixedly connected to the body (1). The frame also includes: Multiple vibration damping components (5) are placed inside each of the housings (4). The anti-collision frame (3) is connected to the vibration damping components (5). The vibration damping components (5) include a buffer part (51) and an energy dissipation part (52). The buffer part (51) buffers the impact force of the anti-collision frame (3) by means of elastic displacement. The energy dissipation part (52) is used to dissipate the kinetic energy of the displacement.

2. The power inspection robot with anti-collision structure as described in claim 1, characterized in that, The buffer section (51) includes: A hollow kit (511) with openings on opposite sides, the kit (511) being placed inside the housing (4) and slidably connected to it, the opening position of the kit (511) corresponding to the opening position of the housing (4); A rotating component (512) is hinged to the inner wall of the kit (511). One end of the rotating component (512) passes through the kit (511) and extends into the housing (4), while the other end is fixedly connected to the anti-collision frame (3). A gap is left between the rotating component (512) and the inner walls on both sides of the kit (511). An elastic component (513) is also included, which is fixedly connected to the inside of the housing (4). Both the kit (511) and the rotating component (512) are connected to the elastic component (513) to provide elastic buffering for the displaced kit (511) and the rotating component (512).

3. The power inspection robot with anti-collision structure as described in claim 2, characterized in that, The elastic element (513) consists of multiple springs, all of which are fixedly connected to the inner wall of the housing (4). The other ends of the multiple springs are fixedly connected to the rotating element (512) and the kit (511) respectively, for buffering and resetting.

4. The power inspection robot with anti-collision structure as described in claim 2, characterized in that, The elastic element (513) is a block-shaped gel-like body, which is tightly fixed to the inner wall of the shell (4). The rotating element (512) has an inner cavity corresponding to the length of the elastic element (513) extending into it.

5. The power inspection robot with an anti-collision structure as described in claim 4, characterized in that, The gel-like body of the elastic element (513) includes a plurality of closely stacked honeycomb units (5131), with adjacent honeycomb units (5131) connected to each other. The energy dissipation part (52) includes a viscous fluid (521) having viscosity and filling the gel-like body. When the gel-like body is squeezed, the viscous fluid (521) flows into the hollow cavity of the honeycomb unit (5131).

6. The power inspection robot with anti-collision structure as described in claim 5, characterized in that, The height of the viscous fluid (521) filling the gel body is always above the rotating member (512).

7. The power inspection robot with an anti-collision structure as described in claim 6, characterized in that, The end of the rotating component (512) placed in the concave cavity is provided with a sphere (6) to increase the contact area. A baffle (7) is also hinged to the rotating component (512). The baffle (7) is close to the internal opening of the kit (511). There is a gap between the baffle (7) and the kit (511). The size of the baffle (7) is larger than the opening size of the kit (511).

8. The power inspection robot with an anti-collision structure as described in claim 2, characterized in that, The rotating component (512) is hinged to the middle of the kit (511) via a hinge shaft.

9. The power inspection robot with an anti-collision structure as described in claim 1, characterized in that, The rotor (2) is placed inside the anti-collision frame (3). The anti-collision frame (3) is fan-shaped, and the outer arc body extends upward. The extension has a hollow hole. The arc radius of the anti-collision frame (3) is greater than the size of the rotor (2) after rotation.

10. The power inspection robot with an anti-collision structure as described in claim 9, characterized in that, The upper end of the upward-extending arc-shaped body of the anti-collision frame (3) is rotatably connected to multiple rubber rollers (8) for vibration reduction and anti-collision.

Images