Security inspection robot with multifunctional folding and unfolding device

Abstract

The utility model relates to robot technical field discloses a security inspection robot with multifunctional folding device, include: robot body, it includes mobile chassis and inspection component, mobile chassis is used to drive robot body movement to carry out the inspection task to the area to be inspected, folding device is installed on the robot body, is provided with the carrier that can fold on it, the carrier is used to carry target equipment, when folding device works, can convert each other between the target equipment in the storage state and the working state, the utility model provides a security inspection robot with multifunctional folding device, is provided with folding device on it, can store the photoelectric conversion spare in the inside under the non - working state, when the working state, makes photoelectric conversion spare to unfold outside folding device. Increase the effective working area of photoelectric conversion spare, improve energy collection efficiency, realize high space utilization and compact storage, be convenient for nimble use and fast deployment.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and more specifically, to a security inspection robot with a multi-functional deployment and retraction device. Background Technology

[0002] With the continuous iteration and upgrading of robotics technology, robots have played a positive role in life, production, and other fields. By integrating different structures onto robots and giving them corresponding functions, they can meet different task requirements.

[0003] Among them, the inspection robot can replace human labor to patrol and inspect, ensuring safety. Through autonomous cruising and charging, the inspection robot can carry out inspections all day long.

[0004] In some existing inspection robots, photovoltaic power generation equipment is configured to optimize the energy structure. For example, existing technology discloses an intelligent inspection robot (publication number CN218082733U) that installs photovoltaic panels by configuring a mounting frame on the robot, which occupies a large space. Another disclosed intelligent substation inspection robot based on photovoltaic and energy storage power supply (publication number CN214490573U) fixes photovoltaic panels to the robot's outer shell, saving space, but due to the robot's characteristics, only small-sized photovoltaic panels can be installed. Existing technology also discloses an intelligent substation inspection terminal (publication number CN219994969U) that connects the photovoltaic panel to the outer shell via a hinge. While this solves the space occupation problem when the photovoltaic panel is not in use, the photovoltaic panel has poor stability and is at risk of damage from impacts.

[0005] Therefore, it is necessary to propose a security inspection robot with a multifunctional deployment and retraction device to at least partially solve the problems existing in the prior art. Utility Model Content

[0006] The utility model description section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This utility model description section is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0007] To at least partially solve the above problems, this utility model provides a security inspection robot with a multi-functional deployment and retraction device, comprising: The robot body includes a mobile chassis and inspection components. The mobile chassis is used to move the robot body to perform inspection tasks in the area to be inspected. The retraction and deployment device is installed on the robot body and has a retractable carrier on it. The carrier is used to carry the target device. When the retraction and deployment device is working, it can switch the target device between a storage state and a working state.

[0008] Preferably, the retracting device includes: A storage device, having a storage space for storing the target device; A telescopic device, provided on the storage device, is used to drive the carrier of the target device to perform telescopic movements, so that the target device can be moved into / out of the storage device; A rotating device, disposed on the carrier, can simultaneously retract / expand the carrier during the process of the target device being moved into / out of the storage device, so that the target device can switch between a storage state and a working state.

[0009] Preferably, the target device includes at least a first photoelectric conversion element and a second photoelectric conversion element; The storage space is used to store the first photoelectric conversion component and the second photoelectric conversion component; The telescopic device is used to drive the carriers of the first photoelectric conversion element and the second photoelectric conversion element to perform telescopic movements, so that the first photoelectric conversion element and the second photoelectric conversion element can move into / out of the storage device; The rotating device is used to drive the second photoelectric converter to rotate during the process of the first photoelectric converter and the second photoelectric converter moving out of / into the storage device, so that the projections of the second photoelectric converter and the first photoelectric converter on the same parallel plane can switch between overlapping and non-overlapping states.

[0010] Preferably, the storage device is configured as a storage box with an opening on one side, and the first photoelectric conversion element and the second photoelectric conversion element unfold from the opening side of the storage box.

[0011] Preferably, the telescopic device includes a fixed frame, a telescopic drive assembly, and a movable support frame. The fixed frame is installed on the storage box; the telescopic drive assembly is installed on the fixed frame and located inside the storage box, and the output end of the telescopic drive assembly is connected to the movable support frame; the movable support frame is connected to the fixed frame via a telescopic guide rail, and when the telescopic drive assembly is working, it drives the movable support frame to move into / out of the storage box.

[0012] Preferably, the movable support frame includes a first support frame and at least one second support frame, the first support frame being used to support the first photoelectric conversion element, and the at least one second support frame being rotatably connected to the first support frame for supporting the second photoelectric conversion element.

[0013] Preferably, the telescopic drive assembly is configured as any one of a lead screw drive mechanism, a telescopic rod drive mechanism, and a synchronous belt drive mechanism.

[0014] Preferably, the rotating device is configured as a passive rotating structure, which converts the linear motion of the carrier into the rotational motion of the second photoelectric conversion element through a motion conversion mechanism; or the rotating device is configured as an active rotating structure, which independently drives the second photoelectric conversion element to rotate through a driving element.

[0015] Preferably, the storage box is covered with a protective cover, the carrier moves in the opposite direction to the protective cover, the protective cover is in a retracted state when the photoelectric conversion element is unfolded, and in an extended state when the photoelectric conversion element is stored, and the upper end of the protective cover away from the storage box is provided with an extension.

[0016] Preferably, the storage box is provided with a limiting structure to constrain the rotation of the second support frame. The limiting structure includes an unfolding limiting member and / or a storage limiting member.

[0017] Preferably, both the first support frame and the second support frame are provided with support plates for supporting the first photoelectric conversion element and the second photoelectric conversion element. The support plate includes two layers of plates and a honeycomb support structure located between the two layers of plates, and the edge of the support plate is provided with an edge-wrapping structure.

[0018] Preferably, the storage device is tilted and has a drain outlet at the bottom.

[0019] Compared with the prior art, this utility model provides a security inspection robot with a multi-functional deployment and retraction device, which has at least the following beneficial effects: This invention provides a security inspection robot with a multi-functional deployment and folding device. The device is used to retract and unfold photovoltaic panels and other photoelectric conversion components. In the non-working state, the device can store the photoelectric conversion components internally; in the working state, the components are unfolded outside the device. This increases the effective working area of ​​the photoelectric conversion components, improves energy harvesting efficiency, achieves high space utilization and compact storage, and facilitates flexible use and rapid deployment.

[0020] The present invention relates to a security inspection robot with a multi-functional deployment and retraction device. Other advantages, objectives and features of the present invention will be partly apparent from the following description, and partly understood by those skilled in the art through research and practice of the present invention. Attached Figure Description

[0021] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the retraction and extension device installed on the inspection robot in this utility model (retracted state). Figure 2 This is a schematic diagram of the structure of the retractable device installed on the inspection robot in this utility model (deployed state). Figure 3 This is a front view of the unfolded structure of the folding and unfolding device in this utility model (the storage box is not shown). Figure 4 This is a schematic diagram of the rear structure of the unfolding device in the present invention (the storage box is not shown). Figure 5 This is a schematic diagram of the retraction and extension device installed on the inspection robot in this utility model (with a protective cover). Figure 6 This is a structural diagram of the storage box in this utility model (with a protective cover). Figure 7 This is a front view of the retractable device in the retracted state of this utility model (using a synchronous belt drive mechanism). Figure 8 This is a schematic diagram of the rear structure of the retractable device in the retracted state of this utility model (using a synchronous belt drive mechanism). Figure 9 This is a three-dimensional structural diagram of the unfolding device in this utility model (using a synchronous belt drive mechanism). Figure 10 This is a structural schematic diagram of the unfolding device in the present invention (with a protective cover). Figure 11 This is a schematic diagram of the rear structure of the unfolding device in the present invention (without a protective cover). Figure 12 This is a schematic diagram of the rear structure of the unfolding device in the present invention (with a protective cover). Figure 13 This is a schematic diagram of the synchronous belt drive mechanism in this utility model.

[0022] In the diagram: 1. First photoelectric conversion component; 2. Second photoelectric conversion component; 10. Robot body; 11. Storage box; 12. Protective cover; 13. Extension section; 14. Deployment limit component; 15. Storage limit component; 16. Drainage outlet; 21. Fixing frame; 22. Movable support frame; 23. Telescopic guide rail; 24. First support frame; 25. Second support frame; 26. Support plate; 27. Lead screw motor; 28. Lead screw; 29. ​​Drive motor; 291. Driving gear; 292. Driven gear; 293. Synchronous toothed belt; 294. First connecting piece; 295. Second connecting piece; 31. Rack; 32. Gear. Detailed Implementation

[0023] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments, so that those skilled in the art can implement it based on the description.

[0024] It should be understood that terms such as “having,” “comprising,” and “including” as used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0025] like Figures 1-13 As shown, this utility model provides a security inspection robot with a multi-functional deployment and retraction device, comprising: The robot body 10 includes a mobile chassis and an inspection component. The mobile chassis is used to move the robot body to perform inspection tasks in the area to be inspected. The retraction device is installed on the robot body 10, and a retractable carrier is provided on it. The carrier is used to carry the target device. When the retraction device is working, it can switch the target device between a storage state and a working state.

[0026] In one embodiment of this application, the target device comprises a first photoelectric conversion element 1 and a second photoelectric conversion element 2. Both the first and second photoelectric conversion elements 1 and 2 are made of a rollable and foldable flexible solar panel material, such as a flexible thin film based on organic photovoltaic (OPV) or perovskite solar cells. This material allows the photoelectric conversion elements to deform in various forms in a stowed state, including rolling and winding (similar to a scroll), folding and compressing (similar to accordion folding), and hybrid rolling and folding (partial rolling combined with partial folding). The stowed device is internally equipped with a dedicated scroll or folding guide rail to guide the deformation of the flexible sheet material. A telescopic device is linked to the scroll, and a rotating device integrates flexible joints (such as flexible hinges or magnetic adsorption points) to support multiple unfolding forms.

[0027] In the stowed state, the telescopic device moves the carrier into the storage box 11, while the rotating device converts linear motion into curling or folding action through a motion conversion mechanism (such as the linkage between gear 32 and flexible roller), ensuring that the photoelectric conversion element deforms to the selected stowed form (such as pure curling or accordion folding). During unfolding, the telescopic device extends the carrier out of the storage box 11, and the rotating device activates the flexible joint, gradually unfolding the flexible first photoelectric conversion element 1 and second photoelectric conversion element 2 to a flat, non-overlapping state. The projection on the same parallel plane changes from the stowed state (overlapping or compressed projection caused by curling / folding) to a non-overlapping state. A limiting structure can be provided to constrain the deformation process and prevent excessive curling or folding. The protective cover 12 can extend and retract synchronously to protect the flexible material from external damage.

[0028] This embodiment extends several flexible storage forms: (1) Pure curling state: The second photoelectric conversion element 2 is wrapped around the first photoelectric conversion element 1 to form a compact cylindrical shape; (2) Accordion folding state: The first photoelectric conversion element 1 and the second photoelectric conversion element 2 are folded in multiple layers like an accordion, and stacked alternately to reduce thickness; (3) Spiral hybrid state: Combining curling and folding, the second photoelectric conversion element 2 is spirally wrapped around the first photoelectric conversion element 1 while being partially folded, which is suitable for storage spaces with irregular shapes. The storage states here include the case where the target device itself is folded up and the case where the target device is stored in the storage space.

[0029] In another embodiment of this application, the storage state adopts an interlaced folding form, with the first photoelectric conversion element 1 and multiple second photoelectric conversion elements 2 (e.g., extended to three or more sub-elements) stored in a stepped interlaced folding manner. Specifically, the first support frame 24 carries the first photoelectric conversion element 1, and the second support frame 25 carries the second photoelectric conversion elements 2. The second support frames 25 are connected by multi-level hinges to form a chain structure. Each second support frame 25 partially covers the edge of the adjacent element when stored, but the overall positions are staggered to avoid thickness accumulation caused by complete overlap. The telescopic device is linked with the multi-level carrier, and the rotating device adopts an active rotating structure (e.g., multiple independently driven stepper motors) to unfold step by step.

[0030] In the folded state, the telescopic device moves the movable support frame 22 into the storage box 11. The rotating device controls each second support frame 25 to rotate and fold step by step through the drive components, forming an interlaced configuration: a partially overlapping stepped shape on the parallel plane projection, ensuring uniform distribution. When unfolded, the telescopic device first extends the carrier by a preset distance, and the rotating device activates a multi-stage motor to gradually unfold the second support frames 25, changing from an interlaced folded state to a flat, non-overlapping state. A limiting structure can be set to provide constraints at each level to prevent excessive movement.

[0031] This embodiment improves the capacity and efficiency of the unfolding device through staggered folding and multi-layer expansion: it supports more second photoelectric conversion elements 2, increases the effective area after unfolding, and significantly improves the energy harvesting rate; and it achieves better volume compression during storage, balances stress distribution, and reduces the risk of deformation and damage.

[0032] The electro-conversion device in the above embodiments is used to convert light energy into electrical energy, which can be used to charge the security inspection robot itself when it performs inspection tasks, thereby improving its endurance.

[0033] Of course, in other application scenarios, security inspection robots can also be used as mobile carriers to provide power to other devices.

[0034] In a further embodiment of this application, the retraction / extension device includes: A storage device, having a storage space for storing the target device; A telescopic device, provided on the storage device, is used to drive the carrier of the target device to perform telescopic movements, so that the target device can be moved into / out of the storage device; A rotating device, disposed on the carrier, can simultaneously retract / expand the carrier during the process of the target device being moved into / out of the storage device, so that the target device can switch between a storage state and a working state.

[0035] In one embodiment of this application, the target device is an integrated electromagnetic flat plate structure, in which an array of electromagnets is embedded to give it magnetic adsorption capabilities. This deployment / retraction device can serve as a take-off and landing platform for a rotary-wing unmanned aerial vehicle (UAV). The electromagnets are connected to the UAV's power system via a control circuit. When the UAV is placed on the platform, the electromagnets are deactivated during take-off to release the adsorption and initiate the UAV's ascent. During landing, the electromagnets activate to adsorb the UAV's chassis, achieving precise fixation.

[0036] In this embodiment, the storage device is a storage box 11 with storage space, used to store the integrated electromagnetic plate. Of course, it can also store the drone that lands on the integrated electromagnetic plate at the same time.

[0037] In the stowed state, the telescopic device moves the electromagnetic flat plate and the drone into the storage box 11.

[0038] When switching from storage to working state, the telescopic device moves the electromagnetic plate and the drone out of the storage box 11. At this time, multiple electromagnetic plates are in an overlapping state. Subsequently, the rotating device drives the plates to unfold, forming a continuous take-off and landing platform surface to ensure the stable take-off and landing of the rotary-wing drone.

[0039] In this embodiment, when the security inspection robot needs aerial inspection support during ground inspection, it releases a drone through the deployment device to simultaneously achieve the aerial inspection support task.

[0040] In another embodiment of this application, the target device includes at least a first photoelectric conversion element 1 and a second photoelectric conversion element 2; The storage space is used to store the first photoelectric conversion element 1 and the second photoelectric conversion element 2; The telescopic device is used to drive the carriers of the first photoelectric conversion element 1 and the second photoelectric conversion element 2 to perform telescopic movements, so that the first photoelectric conversion element 1 and the second photoelectric conversion element 2 can move into / out of the storage device; The rotating device is used to drive the second photoelectric conversion element 2 to rotate during the process of the first photoelectric conversion element 1 and the second photoelectric conversion element 2 moving out of / into the storage device, so that the projections of the second photoelectric conversion element 2 and the first photoelectric conversion element 1 on the same parallel plane can switch between overlapping and non-overlapping states.

[0041] The working principle and beneficial effects of the above technical solution are as follows: This invention provides a security inspection robot with a multi-functional folding and unfolding device. A mobile chassis drives the robot body 10 to move along a preset path. An energy component supplies power to the robot body and the mobile chassis, and the energy component contains a battery for storing electrical energy. The folding and unfolding device is installed on the robot body 10, and the device has two working states: folding and unfolding. The folding state includes, but is not limited to, an overlapping state.

[0042] Taking the overlapping state as an example, in the storage state, the first photoelectric conversion element 1 and the second photoelectric conversion element 2 are stored in the storage space. The first photoelectric conversion element 1 and the second photoelectric conversion element 2 are stacked on top of each other, and their projections on the same parallel plane are overlapping. When the second photoelectric conversion element 2 is set to two on the left and right, the two second photoelectric conversion elements 2 are stacked on top of each other.

[0043] During deployment, the telescopic device extends the carriers of the first photoelectric conversion element 1 and the second photoelectric conversion element 2 from the storage space. When they extend to a preset position, the rotation device is triggered or activated, causing the second photoelectric conversion element 2 to rotate and unfold from both sides of the first photoelectric conversion element 1. The projections of the two on the same parallel plane change from the stored state to the unstored state until they are fully unfolded to a preset angle, maximizing the effective area of ​​the first photoelectric conversion element 1 and the second photoelectric conversion element 2. The first photoelectric conversion element 1 and the second photoelectric conversion element 2 convert light energy into electrical energy, which is stored in the battery of the energy component through the controller to replenish the robot's power. The method of connecting the controller to photovoltaic panels and other photoelectric conversion elements to store electrical energy for power supply is existing technology and will not be described in detail here.

[0044] During the retraction process, the rotating device and the telescopic device move in opposite directions, rotating and retracting the second photoelectric conversion element 2 to the storage state, and then retracting the first photoelectric conversion element 1 and the second photoelectric conversion element 2 into the storage space.

[0045] Through the above structural design, this embodiment provides a security inspection robot with a multi-functional deployment and folding device. The device is used for the deployment and folding of photovoltaic panels and other photoelectric conversion components. In the non-working state, the device can store the photoelectric conversion components internally; in the working state, the components are deployed externally. This increases the effective working area of ​​the photoelectric conversion components, improves energy harvesting efficiency, achieves high space utilization and compact storage, and facilitates flexible use and rapid deployment.

[0046] In other embodiments of this application, various functional components can be used to replace one or more photoelectric conversion elements to form a working module and expand the robot's functionality.

[0047] like Figures 1-4 As shown, in one embodiment, the retractable device includes a storage box 11, a telescopic device, and a rotating device.

[0048] The telescopic device includes a fixed frame 21, a lead screw motor 27, and a movable support frame 22. The fixed frame 21 is mounted on the storage box 11. The lead screw motor 27 is mounted on the fixed frame 21 and located inside the storage box 11, with a lead screw 28 installed at its output end. The movable support frame 22 is connected to the fixed frame 21 via a telescopic guide rail 23, and the movable support frame 22 is threadedly connected to the lead screw 28. When the lead screw motor 27 is working, it can drive the movable support frame 22 to move in and out of the storage box 11.

[0049] The movable support frame 22 includes support frames stacked on top of each other, specifically a first support frame 24 set on the top and a second support frame 25 and a third support frame symmetrically set on the bottom. The second support frame 25 and the third support frame can rotate relative to the first support frame 24. A first photoelectric conversion element 1 is installed on the first support frame 24, and a second photoelectric conversion element 2 is installed on the second support frame 25 and the third support frame.

[0050] The rotating device includes a rack 31 and a gear 32 that matches the rack 31. The rack 31 is mounted on a fixed frame 21, and the gear 32 is mounted on a rotating shaft between the second support frame 25 and the first support frame 24. The movable support frame 22 extends along the length of the lead screw 28. When it reaches a position near the end, the gear 32 meshes with the rack 31, causing the gear 32 to rotate. The gear 32 then rotates the second support frame 25, thus changing the projections of the second photoelectric converter 2 and the first photoelectric converter 1 on the same parallel plane from a retracted state to an open state. Conversely, the movable support frame 22 retracts along the length of the lead screw 28, changing the projections of the second photoelectric converter 2 and the first photoelectric converter 1 on the same parallel plane from an open state to a retracted state. The third support frame operates in the same way as the second support frame 25.

[0051] Specifically, taking the unfolded state of the main second photoelectric conversion element as an example, the middle is the first support frame 24, the left is the second support frame, and the right is the third support frame. The lower right corner of the second support frame is rotatably connected to the lower left corner of the first support frame 24. The first gear is fixed on the second support frame, and the first rack is installed on the left side of the fixing frame 21. When the first gear and the first rack cooperate, the second support frame rotates around the lower left corner of the first support frame 24, thereby realizing the unfolding and retraction of the second support frame. Similarly, the lower left corner of the third support frame is rotatably connected to the lower right corner of the first support frame 24. The second gear is fixed on the third support frame, and the second rack is installed on the right side of the fixing frame 21. When the second gear and the second rack cooperate, the third support frame rotates around the lower right corner of the first support frame 24, thereby realizing the unfolding and retraction of the third support frame.

[0052] In another embodiment of the present invention, the folding device includes a storage box 11, a telescopic device, and a rotating device.

[0053] The telescopic device includes a fixed frame 21, a telescopic rod (not shown in the figure), and a movable support frame 22. The fixed frame 21 is mounted on the storage box 11. The movable support frame 22 is connected to the fixed frame 21 via a telescopic guide rail 23. The fixed end of the telescopic rod is mounted on the fixed frame 21 and located inside the storage box 11, while the output end of the telescopic rod is fixed to the movable support frame 22. When the telescopic rod is in operation, it can move the movable support frame 22 into / out of the storage box 11.

[0054] The movable support frame 22 includes support frames stacked on top of each other, specifically a first support frame 24 set on the top and a second support frame 25 and a third support frame symmetrically set on the bottom. The second support frame 25 and the third support frame can rotate relative to the first support frame 24. A first photoelectric conversion element 1 is installed on the first support frame 24, and a second photoelectric conversion element 2 is installed on the second support frame 25 and the third support frame.

[0055] The rotating device includes a power mechanism. In this embodiment, the power mechanism is a right-angle geared motor (not shown in the figure), which is mounted on the movable support frame 22. The output end of the right-angle geared motor is fixedly connected to the second support frame 25. When the movable support frame 22 reaches its end position, the right-angle geared motor drives the second support frame 25 to rotate, thereby changing the projections of the second photoelectric conversion element 2 and the first photoelectric conversion element 1 on the same parallel plane from a retracted state to an unretracted state. When the right-angle geared motor rotates in the opposite direction, the projections of the second photoelectric conversion element 2 and the first photoelectric conversion element 1 on the same parallel plane can be changed from an unretracted state to a retracted state. In this embodiment, the unfolding action of the second support frame 25 and the telescopic action of the movable support frame 22 operate independently. The third support frame operates in the same way as the second support frame 25.

[0056] like Figures 5-13 As shown, in another embodiment of the present invention, the folding device includes a storage box 11, a telescopic device, and a rotating device.

[0057] The telescopic device includes a fixed frame 21, a drive motor 29, and a movable support frame 22. The fixed frame 21 is mounted on the storage box 11. The movable support frame 22 is connected to the fixed frame 21 via a telescopic guide rail 23. The drive motor 29 is mounted on the fixed frame 21, and a drive gear 291 is installed at the output end of the drive motor 29. A driven gear 292 is also installed on the fixed frame 21. A synchronous toothed belt 293 is provided between the drive gear 291 and the driven gear 292. The movable support frame 22 is fixedly connected to the synchronous toothed belt 293. When the drive motor 29 is working, it can drive the synchronous toothed belt 293 to move, thereby moving the movable support frame 22 into / out of the storage box 11.

[0058] The movable support frame includes support frames stacked on top of each other, specifically a first support frame 24 set on the top and a second support frame 25 and a third support frame symmetrically set on the bottom. The second support frame 25 and the third support frame can rotate relative to the first support frame 24. A first photoelectric conversion element 1 is installed on the first support frame 24, and a second photoelectric conversion element 2 is installed on the second support frame 25 and the third support frame.

[0059] The rotating device includes a rack 31 and a gear 32 that matches the rack 31. The rack 31 is mounted on the fixed frame 21, and the gear 32 is mounted on the rotating shaft between the second support frame 25 and the first support frame 24. A synchronous toothed belt 293 drives the movable support frame 22 to extend. When it reaches near its end position, the gear 32 meshes with the rack 31, causing the gear 32 to rotate. The gear 32 then drives the second support frame 25 to rotate, thus changing the projections of the second photoelectric converter 2 and the first photoelectric converter 1 on the same parallel plane from a retracted state to an open state. The synchronous toothed belt 293 pulls the movable support frame 22 to retract, thus changing the projections of the second photoelectric converter 2 and the first photoelectric converter 1 on the same parallel plane from an open state to a retracted state. The third support frame operates in the same way as the second support frame 25.

[0060] In this embodiment, the storage box 11 is covered with a protective cover 12. The protective cover 12 is in a retracted state when the photoelectric conversion component is deployed, which can ensure that the telescopic device deploys the photoelectric conversion component after a short stroke. When the photoelectric conversion component is stored, the protective cover 12 is in an extended state, which can increase the storage capacity of the storage box 11, so that the entire photoelectric conversion component is within the storage space, which protects the photovoltaic panel and other photoelectric conversion components, ensures aesthetics, and also serves as a waterproof function to prevent rainwater from entering the storage box 11.

[0061] Specifically, the movable support frame 22 and the protective cover 12 are fixed on both sides of the synchronous toothed belt 293, meaning that the moving directions of the movable support frame 22 and the protective cover 12 are exactly opposite. The movable support frame 22 is connected to the synchronous toothed belt 293 through the first connecting piece 294, and the protective cover 12 is connected to the synchronous toothed belt 293 through the second connecting piece 295. The storage box 11 is provided with a slot for the second connecting piece 295 to pass through.

[0062] In addition, an extension 13 is provided at the upper end of the protective cover 12 on the side away from the storage box 11. The extension 13 can increase the protection range. Specifically, when the photoelectric conversion component is in the storage state, it can better cover the photoelectric conversion component. When the photoelectric conversion component is in the unfolded state, it can cover the rotating device and protect the rotating device, especially in the event of sudden rainfall, without affecting the rotation of the rotating device.

[0063] In some embodiments of this utility model, the storage and unfolding device does not have a fixed frame 21, but uses the storage box 11 as a fixed frame 21.

[0064] like Figure 7 , Figure 8 As shown, in one embodiment of this utility model, a limiting structure is provided on the storage box 11, which is used to constrain the rotation of the second support frame 25 and the third support frame.

[0065] The aforementioned limiting structure includes an unfolding limiting member 14. In one embodiment of this utility model, the unfolding limiting member 14 is configured as a limiting block, disposed on the side opposite to the rack 31. When the second support frame 25 rotates relative to the first support frame 24 to the unfolding angle, the second support frame 25 abuts against the unfolding limiting member 14, thereby restricting the second support frame 25 from continuing to rotate and fixing its unfolding angle. Similarly, the unfolding limiting member 14 on the other side restricts the rotation of the third support frame.

[0066] The aforementioned limiting structure also includes a storage limiting member 15. In one embodiment of this utility model, the storage limiting member 15 is a limiting rod, which is disposed between one side of the inner wall of the storage box 11 and the movable support frame 22. When the second support frame 25 is retracted to completely overlap with the first support frame 24, and the telescopic device performs a retraction action, especially when the rotating device adopts a rack and pinion 31 and gear 32 structure, after the gear 32 moves away from the rack 31, the storage limiting member 15 can limit and fix the second support frame 25. Similarly, the storage limiting member 15 on the other side can limit and fix the third support frame.

[0067] In one embodiment of this utility model, a support plate 26 is provided on the first support frame 24, the second support frame 25 and the third support frame. The support plate 26 supports the photovoltaic panel and other photoelectric conversion components, reduces the deformation of the photovoltaic panel and other photoelectric conversion components, and avoids them from colliding with each other and being damaged during the retraction and extension process.

[0068] In one embodiment of this utility model, the support plate 26 is composed of two aluminum alloy plates and a honeycomb support structure, wherein the honeycomb support structure is fixed between the two aluminum alloy plates, thereby effectively improving the structural strength of the support plate and reducing its deformation.

[0069] In a further embodiment, an edge-wrapping structure is provided at the edge of the aforementioned support plate 26, which can effectively prevent the two aluminum alloy plates from separating during use.

[0070] In some embodiments, the storage box 11 is angled to improve the space utilization of the unfolding device. In this case, such as Figure 12 As shown, the bottom of the storage box 11 is provided with a drain outlet 16, which can promptly drain rainwater when it enters the storage box 11.

[0071] Furthermore, the protective cover 12 always overlaps with the storage box 11, effectively preventing rainwater from directly entering its interior.

[0072] 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", "clockwise", "counterclockwise", "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 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.

[0073] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0074] Although the embodiments of this utility model have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for this utility model. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, this utility model is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A security inspection robot with a multi-functional deployment and retraction device, characterized in that, include: The robot body (10) includes a mobile chassis and an inspection component, wherein the mobile chassis is used to drive the robot body to move. The retraction device is installed on the robot body (10) and has a retractable carrier on it. The carrier is used to carry the target device. When the retraction device is working, it can switch the target device between a storage state and a working state.

2. The security patrol robot with a multi-functional deployment and retraction device according to claim 1, characterized in that, The retraction / extension device includes: A storage device, having a storage space for storing the target device; A telescopic device, provided on the storage device, is used to drive the carrier of the target device to perform telescopic movements, so that the target device can be moved into / out of the storage device; A rotating device, disposed on the carrier, can simultaneously retract / expand the carrier during the process of the target device being moved into / out of the storage device, so that the target device can switch between a storage state and a working state.

3. A security inspection robot with a multi-functional deployment and retraction device according to claim 2, characterized in that, The target device includes at least a first photoelectric conversion element (1) and a second photoelectric conversion element (2); The storage space is used to store the first photoelectric conversion element (1) and the second photoelectric conversion element (2). The telescopic device is used to drive the carriers of the first photoelectric conversion element (1) and the second photoelectric conversion element (2) to perform telescopic movements, so that the first photoelectric conversion element (1) and the second photoelectric conversion element (2) can move into / out of the storage device; The rotating device is used to drive the second photoelectric conversion element (2) to rotate during the process of the first photoelectric conversion element (1) and the second photoelectric conversion element (2) moving out of / into the storage device, so that the projections of the second photoelectric conversion element (2) and the first photoelectric conversion element (1) on the same parallel plane can be switched between overlapping and non-overlapping states.

4. A security inspection robot with a multi-functional deployment and retraction device according to claim 3, characterized in that, The storage device is configured as a storage box (11) with an opening on one side, and the first photoelectric conversion element (1) and the second photoelectric conversion element (2) unfold from the opening side of the storage box (11).

5. A security inspection robot with a multi-functional deployment and retraction device according to claim 4, characterized in that, The telescopic device includes a fixed frame (21), a telescopic drive assembly, and a movable support frame (22). The fixed frame (21) is installed on the storage box (11). The telescopic drive assembly is installed on the fixed frame (21) and located inside the storage box (11). The output end of the telescopic drive assembly is connected to the movable support frame (22). The movable support frame (22) is connected to the fixed frame (21) through a telescopic guide rail (23). When the telescopic drive assembly is working, it drives the movable support frame (22) to move into / out of the storage box.

6. A security inspection robot with a multi-functional deployment and retraction device according to claim 5, characterized in that, The movable support frame (22) includes a first support frame (24) and at least one second support frame (25). The first support frame (24) is used to support the first photoelectric conversion element (1), and the at least one second support frame (25) is rotatably connected to the first support frame (24) and is used to support the second photoelectric conversion element (2).

7. A security inspection robot with a multi-functional deployment and retraction device according to claim 5, characterized in that, The telescopic drive assembly is configured as any one of a lead screw drive mechanism, a telescopic rod drive mechanism, and a synchronous belt drive mechanism.

8. A security inspection robot with a multi-functional deployment and retraction device according to claim 3, characterized in that, The rotating device is configured as a passive rotating structure, which converts the linear motion of the carrier into the rotational motion of the second photoelectric conversion element (2) through a motion conversion mechanism; or the rotating device is configured as an active rotating structure, which independently drives the second photoelectric conversion element (2) to rotate through a driving element.

9. A security inspection robot with a multi-functional deployment and retraction device according to claim 4, characterized in that, The storage box (11) is covered with a protective cover (12). The carrier moves in the opposite direction to the protective cover (12). The protective cover (12) is in a retracted state when the photoelectric conversion element is unfolded and in an extended state when the photoelectric conversion element is stored. The upper end of the protective cover (12) away from the storage box (11) is provided with an extension (13).

10. A security inspection robot with a multi-functional deployment and retraction device according to claim 6, characterized in that, The storage box (11) is provided with a limiting structure to constrain the rotation of the second support frame (25). The limiting structure includes an unfolding limiting member (14) and / or a storage limiting member (15).

11. A security inspection robot with a multi-functional deployment and retraction device according to claim 6, characterized in that, Both the first support frame (24) and the second support frame (25) are provided with support plates (26) for supporting the first photoelectric conversion element (1) and the second photoelectric conversion element (2). The support plate (26) includes two layers of plates and a honeycomb support structure located between the two layers of plates, and the edge of the support plate (26) is provided with an edge-wrapping structure.

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