CN113910264A - Protection device for robot is patrolled and examined to intelligence - Google Patents
Protection device for robot is patrolled and examined to intelligence Download PDFInfo
- Publication number
- CN113910264A CN113910264A CN202111410397.8A CN202111410397A CN113910264A CN 113910264 A CN113910264 A CN 113910264A CN 202111410397 A CN202111410397 A CN 202111410397A CN 113910264 A CN113910264 A CN 113910264A
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- robot body
- inspection robot
- collision
- ground
- chassis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/063—Safety devices working only upon contact with an outside object
- B25J19/065—Mechanical fuse
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A protection device for an intelligent inspection robot comprises an inspection robot body, an anti-collision ring and a ground grabbing driving mechanism; patrol and examine the robot body: the chassis is rotatably connected with a shielding and protecting unit through a first rotating shaft, a shielding and protecting driving mechanism is installed at the bottom of the chassis of the inspection robot body, and a driven part of the shielding and protecting driving mechanism is fixed on the first rotating shaft; an anti-collision ring: the side surface of the anti-collision ring is uniformly provided with anti-collision protection units, and the anti-collision protection units are provided with ground gripping units; a ground gripping drive mechanism: install in the chassis bottom of patrolling and examining the robot body, this protector for robot is patrolled and examined to intelligence can carry out rain-proof snow, prevent wind and dustproof protection, avoids patrolling and examining the robot body and does not have the protective capacities and break down to increased the life who patrols and examines the robot body, its barrier propterty is good, is convenient for satisfy the user demand.
Description
Technical Field
The invention relates to the technical field of intelligent inspection of transformer substations, in particular to a protection device for an intelligent inspection robot.
Background
In order to improve the safety and efficiency of transformer substation inspection, at present, the intelligent inspection robot is used for replacing manpower, however, the intelligent inspection robot is easily influenced by external weather in the using process, such as rain, snow and strong wind, if countermeasures cannot be taken timely, faults of the intelligent inspection robot can be easily caused, in addition, when the intelligent inspection robot is not used, external dust easily causes pollution to lenses of the intelligent inspection robot, the using requirement cannot be met, and therefore the protection device for the intelligent inspection robot is provided.
Disclosure of Invention
The invention aims to overcome the existing defects and provides a protective device for an intelligent inspection robot, which can prevent rain and snow, wind and dust and avoid the inspection robot body from failing due to no protective capability, thereby prolonging the service life of the inspection robot body, having good protective performance, being convenient for meeting the use requirements and effectively solving the problems in the background technology.
In order to realize the purpose, the invention adopts the following technical scheme:
a protection device for an intelligent inspection robot comprises an inspection robot body, an anti-collision ring and a ground grabbing driving mechanism;
patrol and examine the robot body: the chassis is rotatably connected with a shielding and protecting unit through a first rotating shaft, a shielding and protecting driving mechanism is installed at the bottom of the chassis of the inspection robot body, and a driven part of the shielding and protecting driving mechanism is fixed on the first rotating shaft;
an anti-collision ring: the side surface of the anti-collision ring is uniformly provided with anti-collision protection units, and the anti-collision protection units are provided with ground gripping units;
a ground gripping drive mechanism: install in the chassis bottom of patrolling and examining the robot body, grab ground actuating mechanism and be connected with the anticollision ring through the driving frame.
Further, shelter from the protection unit and include skeleton and flexible cloth, the tip of skeleton rotates through first rotation axis and the chassis of patrolling and examining the robot body to be connected, flexible cloth is connected on the skeleton.
Furthermore, the telescopic cloth comprises a waterproof membrane and a canvas, the waterproof membrane is provided with two layers, and the two layers of waterproof membranes are bonded on the inner side and the outer side of the canvas.
Furthermore, shelter from protection actuating mechanism and include first servo motor, worm wheel and worm, first servo motor installs the chassis side of patrolling and examining the robot body, the worm wheel cup joints on first rotation axis, and the worm is fixed on first servo motor's output shaft, and the meshing between the worm and the worm wheel tooth, first servo motor electric connection patrols and examines the control chip in the robot body.
Further, guiding mechanism includes guide arm and slider, the tip of guide arm and the chassis fixed connection who patrols and examines the robot body, the slider is fixed on anti-collision ring and with guide arm sliding connection.
Furthermore, the anti-collision protection unit comprises an anti-collision barrel, a second rotating shaft and an installation frame, and the anti-collision barrel is rotatably installed on the installation frame through the second rotating shaft.
Furthermore, the anti-collision protection unit further comprises a spring and a telescopic rod, the telescopic rod is fixed between the anti-collision ring and the mounting frame, and the spring is sleeved on the telescopic rod.
Furthermore, the ground grabbing unit comprises ground feet and ground thorns, the ground feet are fixed to the bottom of the mounting frame, and the ground thorns are uniformly distributed at the bottom of the ground feet.
Further, grab ground actuating mechanism and include a screw section of thick bamboo and lead screw, a screw section of thick bamboo rotates and installs the chassis side at patrolling and examining robot body, the bottom and the driving frame fixed connection of lead screw, lead screw and screw section of thick bamboo threaded connection.
Further, grab ground actuating mechanism and still include driven sprocket, chain, second servo motor and drive sprocket, and second servo motor installs on the chassis of patrolling and examining the robot body, drive sprocket fixes on second servo motor's output shaft, and driven sprocket fixes in the bottom of screw thread section of thick bamboo, and drive sprocket passes through the chain and is connected with the driven sprocket transmission, this internal control chip of robot is patrolled and examined to second servo motor electric connection.
Compared with the prior art, the invention has the beneficial effects that: this intelligent protection device for robot patrols and examines has following benefit:
1. the shielding protection driving mechanism drives the shielding protection unit to be unfolded or closed through the first rotating shaft, and the shielding protection driving mechanism is convenient to open and close and convenient to use.
2. The shielding protection unit is unfolded, so that the shielding protection unit covers the upper portion of the chassis of the inspection robot body, the inspection element of the inspection robot body is protected, rain and snow can be prevented from being protected by the shielding protection unit, the inspection robot body is prevented from being out of protection and breaking down, and the service life of the inspection robot body is prolonged.
3. The ground grabbing unit is driven by the ground grabbing driving mechanism to lift, the ground grabbing capacity of the inspection robot body can be increased when the ground grabbing unit is in contact with the ground, so that wind prevention protection is achieved, the anti-collision protection unit is located on the ring side of the inspection robot body when the ground grabbing unit is separated from the ground, the inspection robot body is protected in an anti-collision mode, the protection performance is good, and the use requirement is convenient to meet.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic cross-sectional view taken along line A-A of the present invention;
FIG. 3 is a schematic perspective bottom view of the present invention;
fig. 4 is a schematic view of a partial structure of the telescopic cloth of the present invention.
In the figure: the inspection robot comprises an inspection robot body 1, a first rotating shaft 2, a shielding protection unit 3, a framework 31, a telescopic cloth 32, a waterproof film 321, a canvas 322, a shielding protection driving mechanism 4, a first servo motor 41, a worm gear 42, a worm 43, an anti-collision protection unit 5, an anti-collision barrel 51, a spring 52, an expansion rod 53, a second rotating shaft 54, an installation frame 55, a ground gripping driving mechanism 6, a driven sprocket 61, a chain 62, a second servo motor 63, a driving sprocket 64, a threaded barrel 65, a lead screw 66, a ground gripping unit 7, ground feet 71, ground feet 72, a guide mechanism 8, a guide rod 81, a sliding block 82, an anti-collision ring 9 and a transmission frame 10.
Detailed Description
The present invention will be explained in detail by the following examples, which are disclosed for the purpose of protecting all technical improvements within the scope of the present invention.
Referring to fig. 1-4, the present embodiment provides a technical solution: a protection device for an intelligent inspection robot comprises an inspection robot body 1, an anti-collision ring 9 and a ground grabbing driving mechanism 6;
patrol and examine robot body 1: the chassis is rotatably connected with a shielding and protecting unit 3 through a first rotating shaft 2, a shielding and protecting driving mechanism 4 is installed at the bottom of the chassis of the inspection robot body 1, and a driven part of the shielding and protecting driving mechanism 4 is fixed on the first rotating shaft 2;
the anti-collision ring 9: the inspection robot is in sliding connection with a chassis of the inspection robot body 1 through a guide mechanism 8, anti-collision protection units 5 are uniformly arranged on the side surfaces of anti-collision rings 9, and ground grabbing units 7 are mounted on the anti-collision protection units 5;
the grip driving mechanism 6: the ground grabbing driving mechanism 6 is arranged at the bottom of a chassis of the inspection robot body 1 and is connected with an anti-collision ring 9 through a transmission frame 10.
Shelter from protection unit 3 and include skeleton 31 and telescopic cloth 32, the tip of skeleton 31 is rotated through first rotation axis 2 and the chassis of patrolling and examining robot body 1 and is connected, telescopic cloth 32 is connected on skeleton 31, first rotation axis 2 drives skeleton 31 and rotates, skeleton 31 drives telescopic cloth 32 and expandes, thereby cover in the chassis top of patrolling and examining robot body 1, and thus protect patrolling and examining the component of patrolling and examining robot body 1, it can carry out rain-proof snow and dustproof protection, avoid patrolling and examining robot body 1 and do not have the protective capacities and break down, thereby the life of patrolling and examining robot body 1 has been increased.
The telescopic cloth 32 comprises a waterproof membrane 321 and a canvas 322, the waterproof membrane 321 is provided with two layers, the two layers of waterproof membranes 321 are bonded on the inner side and the outer side of the canvas 322, the strength of the canvas 322 is good, and the waterproof performance of the canvas 322 can be improved by the waterproof membranes 321.
The shielding protection driving mechanism 4 comprises a first servo motor 41, a worm wheel 42 and a worm 43, the first servo motor 41 is installed on the side face of the chassis of the inspection robot body 1, the worm wheel 42 is sleeved on the first rotating shaft 2, the worm 43 is fixed on the output shaft of the first servo motor 41, the worm 43 is meshed with the worm wheel 42 between teeth, the first servo motor 41 is electrically connected with a control chip in the inspection robot body 1, the output shaft of the first servo motor 41 drives the worm 43 to rotate, the worm 43 is meshed with the worm wheel 42 for transmission, the worm wheel 42 drives the shielding protection unit 3 to be unfolded or closed through the first rotating shaft 2, and the shielding protection driving mechanism is convenient to open and close and convenient to use.
The guide mechanism 8 comprises a guide rod 81 and a sliding block 82, the end of the guide rod 81 is fixedly connected with the chassis of the inspection robot body 1, the sliding block 82 is fixed on the anti-collision ring 9 and is in sliding connection with the guide rod 81, the anti-collision ring 9 drives the sliding block 82 to slide along the guide rod 81 in the lifting process, and the stability of the anti-collision ring 9 in the lifting process is guaranteed.
Anticollision protective unit 5 includes a crashproof section of thick bamboo 51, second rotation axis 54 and mounting bracket 55, a crashproof section of thick bamboo 51 rotates through second rotation axis 54 and installs on mounting bracket 55, when carrying out anticollision protection, external barrier and a crashproof section of thick bamboo 51 contact, a crashproof section of thick bamboo 51 carries out relative rotation through second rotation axis 54 and mounting bracket 55, thereby make and patrol and examine robot body 1 and the barrier and carry out the skew, avoid patrolling and examining robot body 1 and the barrier and carry out direct striking and damage, the work safety of patrolling and examining robot body 1 has been guaranteed.
The anti-collision protection unit 5 further comprises a spring 52 and an expansion link 53, the expansion link 53 is fixed between the anti-collision ring 9 and the mounting frame 55, the spring 52 is sleeved on the expansion link 53, the spring 52 and the expansion link 53 can be extruded by impact force, the expansion link 53 can expand and contract, the spring 52 can elastically deform, impact energy is weakened, and the anti-collision capacity of the inspection robot body 1 is guaranteed.
The ground grabbing unit 7 comprises ground feet 71 and ground thorns 72, the ground feet 71 are fixed to the bottom of the mounting frame 55, the ground thorns 72 are evenly distributed on the bottom of the ground feet 71, when wind-proof protection is needed, the ground feet 71 are in contact with the ground, and the ground thorns 72 are used for increasing friction force between the ground feet 71 and the ground, so that the ground grabbing capacity of the inspection robot body 1 is increased.
Grab ground actuating mechanism 6 and include a screw section of thick bamboo 65 and lead screw 66, a screw section of thick bamboo 65 rotates and installs the chassis side of patrolling and examining robot body 1, the bottom and the driving frame 10 fixed connection of lead screw 66, lead screw 66 and a screw section of thick bamboo 65 threaded connection, a screw section of thick bamboo 65 carries out the screw thread transmission with lead screw 66, lead screw 66 goes up and down in a screw section of thick bamboo 65 is inside, lead screw 66 drives anticollision ring 9 through driving frame 10 and carries out the elevating movement, thereby make and grab ground unit 7 and ground contact, the rationality of design has been guaranteed.
Grab ground actuating mechanism 6 and still include driven sprocket 61, the chain 62, second servo motor 63 and drive sprocket 64, second servo motor 63 installs on the chassis of patrolling and examining robot body 1, drive sprocket 64 is fixed on the output shaft of second servo motor 63, driven sprocket 61 is fixed in the bottom of screw thread section of thick bamboo 65, and drive sprocket 64 passes through chain 62 and is connected with driven sprocket 61 transmission, second servo motor 63 electric connection patrols and examines the control chip in robot body 1, the output shaft of second servo motor 63 drives drive sprocket 64 and rotates, drive sprocket 64 passes through chain 62 and driven sprocket 61 transmission, driven sprocket 61 drives screw thread section of thick bamboo 65 and rotates, be convenient for guarantee through the transmission and install the screw thread section of thick bamboo 65 pivoted uniformity in a plurality of positions.
The working principle of the protective device for the intelligent inspection robot provided by the invention is as follows: when rain and snow prevention and dust prevention protection are needed, the output shaft of the first servo motor 41 drives the worm 43 to rotate, the worm 43 is meshed with the worm wheel 42 for transmission, the worm wheel 42 drives the framework 31 to rotate through the first rotating shaft 2, the framework 31 drives the telescopic cloth 32 to expand so as to cover the upper part of the chassis of the inspection robot body 1, and therefore inspection elements of the inspection robot body 1 are protected, meanwhile, the strength of the canvas 322 is good, the waterproof membrane 321 can increase the waterproof performance of the canvas 322, when collision prevention protection is carried out, external obstacles are in contact with the anti-collision barrel 51, the anti-collision barrel 51 rotates relative to the mounting frame 55 through the second rotating shaft 54, so that the inspection robot body 1 is deviated from the obstacles, meanwhile, the impact force can extrude the springs 52 and the telescopic rod 53, the telescopic rod 53 carries out telescopic variables, the springs 52 carry out elastic deformation, so as to weaken the impact energy, when wind protection is needed, an output shaft of the second servo motor 63 drives the driving chain wheel 64 to rotate, the driving chain wheel 64 is in transmission with the driven chain wheel 61 through the chain 62, the driven chain wheel 61 drives the thread cylinder 65 to rotate, the thread cylinder 65 is in thread transmission with the screw rod 66, the screw rod 66 is lifted in the thread cylinder 65, the screw rod 66 drives the anti-collision ring 9 to move up and down through the transmission frame 10, and therefore the ground feet 71 are in contact with the ground, and the ground thorns 72 are used for increasing friction force between the ground feet 71 and the ground.
It should be noted that the first servo motor 41 and the second servo motor 63 disclosed in the above embodiments are configured according to actual application scenarios.
While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides an intelligence is patrolled and examined protector for robot which characterized in that: comprises an inspection robot body (1), an anti-collision ring (9) and a ground grabbing driving mechanism (6);
patrol robot body (1): the chassis is rotatably connected with a shielding and protecting unit (3) through a first rotating shaft (2), a shielding and protecting driving mechanism (4) is installed at the bottom of the chassis of the inspection robot body (1), and a driven part of the shielding and protecting driving mechanism (4) is fixed on the first rotating shaft (2);
impact ring (9): the inspection robot is in sliding connection with a chassis of an inspection robot body (1) through a guide mechanism (8), anti-collision protection units (5) are uniformly arranged on the side surfaces of the anti-collision rings (9), and ground grabbing units (7) are installed on the anti-collision protection units (5);
grip drive mechanism (6): the ground grabbing driving mechanism (6) is connected with an anti-collision ring (9) through a transmission frame (10).
2. The protection device for the intelligent inspection robot according to claim 1, wherein: shelter from protection unit (3) and include skeleton (31) and flexible cloth (32), the tip of skeleton (31) is rotated through first rotation axis (2) and the chassis of patrolling and examining robot body (1) and is connected, flexible cloth (32) are connected on skeleton (31).
3. The protection device for the intelligent inspection robot according to claim 2, wherein: the telescopic cloth (32) comprises a waterproof membrane (321) and a canvas (322), the waterproof membrane (321) has two layers, and the two layers of waterproof membranes (321) are bonded on the inner side and the outer side of the canvas (322).
4. The protection device for the intelligent inspection robot according to claim 1, wherein: shelter from protection actuating mechanism (4) and include first servo motor (41), worm wheel (42) and worm (43), first servo motor (41) are installed and are being patrolled and examined the chassis side of robot body (1), worm wheel (42) cup joint on first rotation axis (2), and worm (43) are fixed on the output shaft of first servo motor (41), and worm (43) and worm wheel (42) intertooth tooth meshing, control chip in robot body (1) is patrolled and examined to first servo motor (41) electric connection.
5. The protection device for the intelligent inspection robot according to claim 1, wherein: guiding mechanism (8) include guide arm (81) and slider (82), the tip of guide arm (81) and the chassis fixed connection who patrols and examines robot body (1), slider (82) are fixed on anticollision ring (9) and with guide arm (81) sliding connection.
6. The protection device for the intelligent inspection robot according to claim 1, wherein: the anti-collision protection unit (5) comprises an anti-collision barrel (51), a second rotating shaft (54) and an installation frame (55), wherein the anti-collision barrel (51) is rotatably installed on the installation frame (55) through the second rotating shaft (54).
7. The protection device for the intelligent inspection robot according to claim 6, wherein: the anti-collision protection unit (5) further comprises a spring (52) and an expansion rod (53), the expansion rod (53) is fixed between the anti-collision ring (9) and the mounting frame (55), and the spring (52) is sleeved on the expansion rod (53).
8. The protection device for the intelligent inspection robot according to claim 6, wherein: the ground grabbing unit (7) comprises ground feet (71) and ground thorns (72), the ground feet (71) are fixed to the bottom of the mounting frame (55), and the ground thorns (72) are uniformly distributed on the bottom of the ground feet (71).
9. The protection device for the intelligent inspection robot according to claim 1, wherein: grab ground actuating mechanism (6) and include a screw thread section of thick bamboo (65) and lead screw (66), screw thread section of thick bamboo (65) are rotated and are installed in the chassis side of patrolling and examining robot body (1), the bottom and driving frame (10) fixed connection of lead screw (66), lead screw (66) and screw thread section of thick bamboo (65) threaded connection.
10. The protection device for the intelligent inspection robot according to claim 9, wherein: grab ground actuating mechanism (6) and still include driven sprocket (61), chain (62), second servo motor (63) and drive sprocket (64), and second servo motor (63) are installed on the chassis of patrolling and examining robot body (1), drive sprocket (64) are fixed on the output shaft of second servo motor (63), and driven sprocket (61) are fixed in the bottom of screw thread section of thick bamboo (65), and drive sprocket (64) are connected with driven sprocket (61) transmission through chain (62), control chip in robot body (1) is patrolled and examined to second servo motor (63) electric connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111410397.8A CN113910264A (en) | 2021-11-25 | 2021-11-25 | Protection device for robot is patrolled and examined to intelligence |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111410397.8A CN113910264A (en) | 2021-11-25 | 2021-11-25 | Protection device for robot is patrolled and examined to intelligence |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113910264A true CN113910264A (en) | 2022-01-11 |
Family
ID=79248109
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111410397.8A Withdrawn CN113910264A (en) | 2021-11-25 | 2021-11-25 | Protection device for robot is patrolled and examined to intelligence |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113910264A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115257996A (en) * | 2022-07-19 | 2022-11-01 | 长沙理工大学 | Eight-foot special robot capable of dynamically reconstructing body |
| CN118143977A (en) * | 2024-04-29 | 2024-06-07 | 江苏富莱士机械有限公司 | Intelligent inspection robot |
-
2021
- 2021-11-25 CN CN202111410397.8A patent/CN113910264A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115257996A (en) * | 2022-07-19 | 2022-11-01 | 长沙理工大学 | Eight-foot special robot capable of dynamically reconstructing body |
| CN115257996B (en) * | 2022-07-19 | 2023-07-25 | 长沙理工大学 | Eight-foot special robot capable of dynamically reconstructing body |
| CN118143977A (en) * | 2024-04-29 | 2024-06-07 | 江苏富莱士机械有限公司 | Intelligent inspection robot |
| CN118143977B (en) * | 2024-04-29 | 2024-07-05 | 江苏富莱士机械有限公司 | Intelligent inspection robot |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20220111 |
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| WW01 | Invention patent application withdrawn after publication |