CN118083006A

CN118083006A - Inspection robot

Info

Publication number: CN118083006A
Application number: CN202410425503.7A
Authority: CN
Inventors: 李正君; 黎兆云
Original assignee: Shenzhen Sunpower Lighting Co ltd
Current assignee: Shenzhen Sunpower Lighting Co ltd
Priority date: 2024-04-10
Filing date: 2024-04-10
Publication date: 2024-05-28

Abstract

The invention relates to the technical field of electric power inspection, in particular to an inspection robot, which comprises a main body frame, wherein a controller is arranged at one end of the upper side of the main body frame, a vertical plate is fixed on the upper side of the main body frame, an industrial camera is arranged at the upper end of the vertical plate, laser radars are arranged at the positions of four corners of the upper side of the main body frame, and the industrial camera and the laser radars are electrically connected with the controller. According to the invention, through the bridge plate moving mechanism and the bridge plate loading and unloading mechanism, when the robot encounters a groove on the ground, the two bridge plates can be driven to move, and the two bridge plates can be lapped on the ground on two sides of the groove, so that four wheels of the robot can stably pass through the groove through the two bridge plates, the trafficability of the robot is greatly improved, and the inspection operation can be carried out on more complex sites.

Description

Inspection robot

Technical Field

The invention relates to the technical field of electric power inspection, in particular to an inspection robot.

Background

In order to ensure the stable operation of the power system, the power system needs to be inspected regularly, along with popularization and application of the Internet of things and cloud computing technology, the inspection robot can be automatically used for photographing and inspecting the power system through an industrial camera to the scene at present, so that the inspection efficiency and the inspection accuracy are effectively improved, and meanwhile, the labor intensity of workers is reduced.

The bulletin number is: CN113460196B discloses a robot is patrolled and examined, and this application utilizes to prevent that tilting device can avoid the dolly from taking place the phenomenon of turning on one's side when bumping the barrier, utilizes cleaning device, thereby avoids the dolly to detect the camera at the in-process of patrolling and examining because of gluing the dust and lead to shooting unclear, simple structure, degree of automation is high, the installation of being convenient for, saves the labour.

Based on the above search and in combination with the real problem discovery: the trafficability characteristic of current robot is relatively poor, when the place of patrolling and examining exists the slot, the robot hardly independently passes through the slot, even some crawler-type robots can produce great front and back slope in the slot when passing through, has reduced the stability when robot passes through, has the risk of turning over.

Disclosure of Invention

The invention aims to provide a patrol robot to solve the problems in the background technology.

The technical scheme of the invention is as follows: the utility model provides a robot patrols and examines, includes main body frame, the controller is installed to main body frame's upside one end, and main body frame's upside is fixed with the riser, industrial camera is installed to the upper end of riser, laser radar is all installed to main body frame's upside in four corners position department, industrial camera and laser radar all with controller electric connection, still include: the bridge frame comprises a main body frame and two bridge frame plates, wherein the two bridge frame plates are arranged on two sides of the main body frame, and bridge frame plate balancing mechanisms are arranged on the outer sides of the two bridge frame plates; the two bridge plate moving mechanisms are symmetrically arranged at the two ends of the main body frame; the bridge plate moving mechanism comprises two sleeve posts fixed at two side positions of one end of a main body frame and a push-pull electric cylinder arranged at one end of the inner side of the main body frame, wherein the push-pull electric cylinder is electrically connected with a controller, the two inner side ends of the sleeve posts are respectively and slidably inserted with a telescopic rod, one end of each telescopic rod is fixedly provided with a moving frame, the telescopic ends of the push-pull electric cylinders are fixedly connected with one side of the outer part of the moving frame, and the inner side and the two ends of the moving frame are provided with bridge plate loading and unloading mechanisms.

Preferably, the bridge plate loading and unloading mechanism comprises a first turnover shaft which penetrates through and is connected to the inner side of the movable frame, a rotating mechanism is arranged between the outer side of the first turnover shaft and the movable frame, turnover arms are respectively fixed at two ends of the outer side of the first turnover shaft, one end of each turnover arm is respectively connected with a second turnover shaft in a penetrating and rotating mode, one end of each second turnover shaft is respectively provided with an air taking and discharging cylinder, the telescopic ends of the air taking and discharging cylinders are respectively provided with an electric clamping jaw, and the two air taking and discharging cylinders and the two electric clamping jaws are respectively electrically connected with the controller.

Preferably, one end of each of the two second overturning shafts is fixedly provided with a movable belt pulley, two annular belt pulleys are fixedly arranged at two ends of the outer side of each movable frame, and synchronous belts are rotatably connected to the outer sides of the movable belt pulleys and the annular belt pulleys on the same side.

Preferably, the rotating mechanism comprises a turnover driving motor arranged at the middle section position on the inner side of the movable frame and a worm wheel fixed at the middle section position on the outer side of the first turnover shaft, a worm is fixed at the driving end of the turnover driving motor, the worm is meshed with the worm wheel, and the turnover driving motor is electrically connected with the controller.

Preferably, the bridge plate balancing mechanism comprises two piston cylinders fixed at two ends of the lower side of the bridge plate and a valve body fixed at one side of the bridge plate and positioned at the middle section, two valve body runners are arranged at two ends of the inner side of the valve body, two piston plates are connected with the inner sides of the piston cylinders in a sliding mode, piston rods extending to the outer sides of the piston cylinders are fixed at the lower sides of the piston plates, base plates are fixed at the lower ends of the piston rods, flexible oil pipes are connected with one sides of the upper ends of the piston cylinders, one ends of the flexible oil pipes are respectively communicated with the inner sides of the two valve body runners, two guide rods are symmetrically fixed at two ends of the upper side of the base plates, guide sleeve rods are sleeved at the upper ends of the outer sides of the guide rods in a sliding mode, the upper ends of the guide sleeve rods are fixedly connected with the lower sides of the bridge plate, hydraulic oil is filled at the inner sides of the piston cylinders and the two flexible oil pipes, a locking mechanism is arranged at the inner sides of the valve body, rubber pads are fixed at the lower sides of the two rubber pads, and a plurality of inner anti-sliding bosses are fixed at equal intervals.

Preferably, the locking mechanism comprises a rotating disc which is rotationally connected to the inside of the valve body and is positioned at the middle section position and a fixing frame which is fixed at one end outside the valve body, one end of the fixing frame is rotationally connected with an on-off control electric cylinder, the on-off control electric cylinder is electrically connected with the controller, one end of the rotating disc is fixedly provided with a push-pull rod positioned outside the valve body, the telescopic end of the on-off control electric cylinder is rotationally connected with one end of the push-pull rod, and a direct current channel passing through the center of the direct current channel is arranged inside the rotating disc.

Preferably, the upper sides of the two bridge frame plates are provided with grooves at the middle section position, the inner sides of the two grooves are respectively fixed with a fixed square rod, and one sides of the two clamping jaws of the two electric clamping jaws are respectively provided with a V-shaped groove matched with the fixed square rod.

Preferably, two ends of the bridge frame plates are symmetrically and rotationally connected with two end extension plates, and one end of each end extension plate is rotationally connected with an end roller.

Preferably, the storage battery is installed to the inboard of main body frame, and the downside of main body frame is fixed with four wheel boards, four driving motor is all installed to one side of wheel board, four driving motor's drive end all is fixed with the wheel, driving motor and controller electric connection.

Preferably, two supporting blocks are fixed on the lower sides of the bridge frame plates, limiting grooves are formed in the lower ends of the supporting blocks, supporting rods are fixed on the lower sides of the main body frame at positions corresponding to the four limiting grooves, and baffle plates are fixed at the tail ends of the four supporting rods.

Compared with the prior art, the inspection robot provided by the invention has the following improvements and advantages:

the method comprises the following steps: according to the invention, through the bridge plate moving mechanism and the bridge plate loading and unloading mechanism, when the robot encounters a groove on the ground, the two bridge plates can be driven to move, and the two bridge plates can be lapped on the ground on two sides of the groove, so that four wheels of the robot can stably pass through the groove through the two bridge plates, the trafficability of the robot is greatly improved, and the inspection operation can be carried out on more complex sites.

And two,: according to the invention, through the bridge plate balancing mechanism, when the bridge plate loading and unloading mechanism drives the two bridge plates to move downwards, the heights of the two base plates at the two ends can be automatically adjusted according to the difference of the heights of the ground surfaces at the two sides of the groove, when the heights of the ground surfaces at the two sides of the groove are unequal, the bridge plates can still be kept in a horizontal state, so that the robot can be kept in a horizontal state when running on the upper side of the bridge plate, the stability of the robot when passing through the groove is improved, and the robot is prevented from tilting or turning over.

And thirdly,: according to the invention, the friction force between the base plate and the ground can be improved through the rubber pad, and the anti-skid salient points can be pressed into the soil on the ground, so that the friction force between the base plate and the ground is improved, the bridge plate is prevented from sliding on the ground at two sides of the groove, and the safety of the robot when the robot runs on the upper side of the bridge plate is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a first schematic diagram of the present invention;

FIG. 2 is an enlarged schematic view of the structure of FIG. 1A according to the present invention;

FIG. 3 is an enlarged schematic view of the structure of FIG. 1B according to the present invention;

FIG. 4 is a second schematic diagram of the present invention;

FIG. 5 is an enlarged schematic view of the structure of FIG. 4C in accordance with the present invention;

FIG. 6 is an enlarged schematic view of the structure of the present invention at D in FIG. 4;

FIG. 7 is a third schematic diagram of the present invention;

FIG. 8 is an enlarged schematic view of the structure of FIG. 7E according to the present invention;

FIG. 9 is an enlarged schematic view of the structure of FIG. 7 at F in accordance with the present invention;

FIG. 10 is a fourth schematic diagram of the present invention;

FIG. 11 is an enlarged schematic view of the structure of the present invention at G in FIG. 10;

fig. 12 is a schematic view showing the structure of the state of the lap bridge plate of the present invention.

Reference numerals:

1. A main body frame; 2. a controller; 3. a vertical plate; 4. an industrial camera; 5. a storage battery; 6. a wheel plate; 7. a driving motor; 8. a wheel; 9. a laser radar; 10. a bridge plate; 11. a groove; 12. fixing the square rod; 13. an end extension plate; 14. an end roller; 15. a support rod; 16. a baffle; 17. a support block; 18. a limit groove; 101. a sleeve column; 102. a telescopic rod; 103. pushing and pulling an electric cylinder; 104. a moving rack; 105. a first inversion shaft; 106. a flip arm; 107. a second inversion shaft; 108. taking and placing an air cylinder; 109. an electric clamping jaw; 110. a V-shaped groove; 111. a movable pulley; 112. a ring pulley; 113. a timing belt; 114. a turnover driving motor; 115. a worm; 116. a worm wheel; 201. a piston cylinder; 202. a valve body; 203. a valve body flow passage; 204. a piston plate; 205. a piston rod; 206. a base plate; 207. a guide rod; 208. a guide sleeve rod; 209. a flexible oil pipe; 210. a rotating disc; 211. a straight flow passage; 212. a push-pull rod; 213. a fixing frame; 214. an on-off control electric cylinder; 215. a rubber pad; 216. anti-skid convex points.

Detailed Description

The following detailed description of the present invention clearly and fully describes the technical solutions of the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The invention provides a patrol robot through improvement, which comprises the following technical scheme:

As shown in fig. 1 to 12, an embodiment of the present invention provides a patrol robot, including a main body frame 1, wherein a controller 2 is installed at one end of the upper side of the main body frame 1, a vertical plate 3 is fixed at the upper side of the main body frame 1, an industrial camera 4 is installed at the upper end of the vertical plate 3, laser radars 9 are installed at the positions of four corners of the upper side of the main body frame 1, and the industrial camera 4 and the laser radars 9 are electrically connected with the controller 2, and further includes: two bridge plates 10 arranged on two sides of the main body frame 1, wherein bridge plate balancing mechanisms are arranged on the outer sides of the two bridge plates 10; the two bridge plate moving mechanisms are symmetrically arranged at the two ends of the main body frame 1; the bridge plate moving mechanism comprises two sleeve posts 101 fixed at two side positions at one end of the main body frame 1 and a push-pull electric cylinder 103 arranged at one end of the inner side of the main body frame 1, wherein the push-pull electric cylinder 103 is electrically connected with the controller 2, the telescopic rods 102 are slidably inserted into one end of the inner side of the two sleeve posts 101, one ends of the two telescopic rods 102 are fixedly provided with a moving frame 104, the telescopic ends of the push-pull electric cylinder 103 are fixedly connected with one side of the outer part of the moving frame 104, and the inner side and two ends of the moving frame 104 are provided with bridge plate loading and unloading mechanisms.

Further, the bridge plate loading and unloading mechanism comprises a first turnover shaft 105 which is connected to the inner side of the movable frame 104 in a penetrating and rotating manner, a rotating mechanism is arranged between the outer side of the first turnover shaft 105 and the movable frame 104, turnover arms 106 are respectively fixed at two ends of the outer side of the first turnover shaft 105, one ends of the two turnover arms 106 are respectively connected with a second turnover shaft 107 in a penetrating and rotating manner, air taking cylinders 108 are respectively arranged at one ends of the two second turnover shafts 107, electric clamping jaws 109 are respectively arranged at the telescopic ends of the two air taking cylinders 108, and the two air taking cylinders 108 and the two electric clamping jaws 109 are respectively electrically connected with the controller 2;

Through bridge plate loading and unloading mechanism, when the robot runs into the ground and has the slot, can drive two bridge plates 10 and remove, can overlap joint two bridge plates 10 subaerial in both sides of slot, make four wheels 8 of robot pass through two bridge plates 10 can be steady through the slot to the trafficability characteristic of robot has been improved by a wide margin, the operation of patrolling and examining can be carried out in more complicated place.

Further, one end of each of the two second turning shafts 107 is fixed with a movable belt pulley 111, two annular belt pulleys 112 are fixed at two ends of the outer side of the movable frame 104, and the movable belt pulleys 111 and the outer sides of the annular belt pulleys 112 on the same side are respectively and rotatably connected with a synchronous belt 113;

When the turnover arm 106 drives the second turnover shaft 107 at one end of the turnover arm to rotate, because the annular belt pulley 112 is fixed and does not rotate, when the second turnover shaft 107 and the movable belt pulley 111 rotate around the annular belt pulley 112, the synchronous belt 113 rotates around the outer side of the annular belt pulley 112, so that the synchronous belt 113 drives the movable belt pulley 111 to rotate, the movable belt pulley 111 drives the air taking and discharging cylinder 108 to synchronously rotate through the second turnover shaft 107, and the air taking and discharging cylinder 108 can be always at a vertical angle along with the continuous change of the angle of the turnover arm 106, so that the bridge frame plate 10 below is always at a horizontal angle, the bridge frame plate 10 is ensured to keep the horizontal angle unchanged when the bridge frame plate 10 is assembled and disassembled, the bridge frame plate 10 can also keep the horizontal angle after being lapped on two sides of a groove, and the running stability of the robot on the upper side of the bridge frame plate is improved.

Further, the rotating mechanism comprises a turnover driving motor 114 arranged at the middle section position inside the movable frame 104 and a worm wheel 116 fixed at the middle section position outside the first turnover shaft 105, a worm 115 is fixed at the driving end of the turnover driving motor 114, the worm 115 is meshed with the worm wheel 116, and the turnover driving motor 114 is electrically connected with the controller 2;

The first overturning shaft 105 is driven to rotate through the rotating mechanism, so that the two overturning arms 106 are driven to rotate, and then the two bridge plates 10 can be driven to move, loading and unloading of the bridge plates 10 are realized, and the trafficability of the robot is improved.

Further, the bridge plate balancing mechanism comprises two piston cylinders 201 fixed at two ends of the lower side of the bridge plate 10 and a valve body 202 fixed at one side of the bridge plate 10 and positioned at the middle section position, two valve body flow channels 203 are arranged at two ends of the inner side of the valve body 202, piston plates 204 are slidably connected to the inner sides of the two piston cylinders 201, piston rods 205 extending to the outer sides of the piston cylinders 201 are fixed at the lower sides of the two piston plates 204, base plates 206 are fixed at the lower ends of the two piston rods 205, flexible oil pipes 209 are connected to one sides of the upper ends of the two piston cylinders 201, one ends of the two flexible oil pipes 209 are respectively communicated with the inner sides of the two valve body flow channels 203, two guide rods 207 are symmetrically fixed at two ends of the upper side of the two base plates 206, guide sleeve rods 208 are slidably sleeved at the upper ends of the outer sides of each guide rod 207, the upper ends of each guide sleeve rod 208 are fixedly connected with the lower side of the bridge plate 10, hydraulic oil is filled in the inner sides of the two piston cylinders 201 and the two flexible oil pipes 209, a locking mechanism is arranged in the inner side of the valve body 202, rubber pads 215 are fixed at the lower sides of the two base plates 206, and a plurality of rubber pads 215 are fixed at equal intervals;

Through bridge plate balancing mechanism, when bridge plate loading and unloading mechanism drives two bridge plates 10 and moves down, can be according to the difference in height of the ground in slot both sides, the height of two bed plates 206 at both ends is adjusted automatically, when the ground height in slot both sides is unequal, still can make bridge plate 10 keep the horizontality, can keep the horizontality when making the robot travel in bridge plate 10 upside, has improved the stability when the robot passes through the slot, avoids the robot slope or turn on one's side.

Further, the locking mechanism comprises a rotating disc 210 rotatably connected to the inside of the valve body 202 and located at the middle position and a fixing frame 213 fixed to one end of the outside of the valve body 202, one end of the fixing frame 213 is rotatably connected with an on-off control electric cylinder 214, the on-off control electric cylinder 214 is electrically connected with the controller 2, one end of the rotating disc 210 is fixedly provided with a push-pull rod 212 located outside the valve body 202, the telescopic end of the on-off control electric cylinder 214 is rotatably connected with one end of the push-pull rod 212, and a direct current channel 211 passing through the center of the direct current channel is formed in the rotating disc 210;

The locking mechanism is used for limiting the reciprocating flow of hydraulic oil in the piston cylinder 201 and the flexible oil pipe 209, so that the heights of the two base plates 206 at the two ends can be kept unchanged, the bridge plate 10 can be kept at a horizontal angle all the time, and the robot can stably drive through the upper side of the bridge plate.

Further, grooves 11 are formed on the upper sides of the two bridge plates 10 at the middle section, fixed square rods 12 are fixed on the inner sides of the two grooves 11, and V-shaped grooves 110 matched with the fixed square rods 12 are formed on one sides of the two clamping jaws of the two electric clamping jaws 109;

The fixed square rod 12 can be matched with the inner sides of the two V-shaped grooves 110 of the electric clamping jaw 109, so that the rotation of the bridge plate 10 can be limited, the bridge plate 10 can always keep a horizontal angle, and the bridge plate 10 can be conveniently and horizontally lapped on the ground on two sides of the groove.

Further, two ends of the two bridge plates 10 are symmetrically and rotatably connected with two end extension plates 13, and one end of each end extension plate 13 is rotatably connected with an end roller 14;

the end extension plate 13 facilitates the robot to move smoothly to the upper side of the bridge plate 10, improves the moving stability of the robot, and facilitates the stable passage through the groove.

Further, a storage battery 5 is installed on the inner side of the main body frame 1, four wheel plates 6 are fixed on the lower side of the main body frame 1, driving motors 7 are installed on one sides of the four wheel plates 6, wheels 8 are fixed on driving ends of the four driving motors 7, and the driving motors 7 are electrically connected with the controller 2;

The driving motor 7 can independently control each wheel 8 to rotate, so that the whole robot is driven to stably drive over the upper side of the bridge plate 10.

Further, two supporting blocks 17 are fixed on the lower sides of the two bridge plates 10, limiting grooves 18 are formed in the lower ends of the two supporting blocks 17, supporting rods 15 are fixed on the lower side of the main body frame 1 at positions corresponding to the four limiting grooves 18, and baffle plates 16 are fixed at the tail ends of the four supporting rods 15;

The limiting groove 18 can be clamped outside the supporting rod 15, the bridge frame plate 10 can be supported through the supporting rod 15, the bridge frame plate 10 can be conveniently assembled and disassembled, meanwhile, the baffle 16 can prevent the supporting block 17 from sliding to one side, and the bridge frame plate 10 is prevented from sliding down when the robot runs.

Working principle: the multiple laser radars 9 of the robot can identify the surrounding environment, so that the controller 2 can conveniently control the robot to move integrally and independently, and meanwhile, the industrial camera 4 is used for shooting and identifying the position to be inspected on site, so that the effect of automatic inspection is realized;

When the robot needs to pass through the groove, the robot stops after running to one side of the groove, the controller 2 controls the telescopic ends of the push-pull electric cylinders 103 of one bridge plate moving mechanism close to the groove to retract, the moving frame 104 is driven to move towards the main body frame 1, the moving frame 104 stops when moving to be closest to the main body frame 1, then the controller 2 controls the overturning driving motor 114 of the bridge plate loading and unloading mechanism to operate to drive the worm 115 to rotate, the worm 115 rotates to drive the worm wheel 116 to rotate, the worm wheel 116 drives the first overturning shaft 105 to rotate, the first overturning shaft 105 drives the two overturning arms 106 to rotate, the two overturning arms 106 rotate to the position, close to the upper side of the main body frame 1, of the middle section, the clamping jaws of the two electric clamping jaws 109 are aligned with the two fixed square rods 12 on the upper sides of the two bridge plates 10, then the telescopic ends of the two picking and placing cylinders 108 are controlled to synchronously extend, the two electric clamping jaws 109 are driven to vertically move downwards, the clamping jaws of the two electric clamping jaws 109 extend into the inner sides of the two grooves 11 respectively, then the clamping jaws of the two electric clamping jaws 109 are controlled to be combined and clamped on the outer sides of the two fixed square rods 12 respectively, the bridge frame plate 10 can be grabbed and fixed through the fixed square rods 12, then the telescopic ends of the two picking and placing cylinders 108 are controlled to retract to drive the two electric clamping jaws 109 and the two bridge frame plates 10 to move upwards, then the driving ends of the overturning driving motors 114 are controlled to reversely rotate, the two overturning arms 106 are reversely rotated, the two overturning arms 106 are rotated to the front of the main body frame 1 and are positioned at a horizontal angle, as shown in the attached drawing 4 of the specification, the telescopic ends of the push-pull electric cylinders 103 are controlled to extend to drive the movable frame 104 to move forwards for a certain distance, so that the bridge frame plate 10 can be sent forwards for a longer distance, then controlling the telescopic ends of the two picking and placing cylinders 108 to extend out to drive the two electric clamping jaws 109 and the two bridge plates 10 to move vertically, overlapping the two bridge plates 10 on two sides of the groove, then controlling the clamping jaws of the two electric clamping jaws 109 to separate and release the fixation of the two bridge plates 10, and controlling the four driving motors 7 of the robot to operate to drive the four wheels 8 to rotate by the controller 2, so that the robot can stably pass through the groove through the two bridge plates 10, thereby greatly improving the trafficability of the robot and carrying out inspection operation on more complex sites;

When the turnover arm 106 drives the second turnover shaft 107 at one end of the turnover arm to rotate, as the annular belt pulley 112 is fixed and does not rotate, when the second turnover shaft 107 and the movable belt pulley 111 rotate around the annular belt pulley 112, the synchronous belt 113 rotates around the outer side of the annular belt pulley 112, so that the synchronous belt 113 drives the movable belt pulley 111 to rotate, the movable belt pulley 111 drives the air taking and discharging cylinder 108 to synchronously rotate through the second turnover shaft 107, and the air taking and discharging cylinder 108 can be always at a vertical angle along with the continuous change of the angle of the turnover arm 106, so that the bridge plate 10 below is always at a horizontal angle, the bridge plate 10 is ensured to keep the horizontal angle unchanged when the bridge plate 10 is assembled and disassembled, and the bridge plate 10 can also keep the horizontal angle after being lapped on two sides of a groove, so that the stability of the robot on the upper side of the robot is improved;

When the robot runs to the other side of the groove through the bridge plate 10, controlling a bridge plate moving mechanism at the rear end of the robot and a bridge plate loading and unloading mechanism therein, grabbing the two bridge plates 10 on the groove again, and placing the two bridge plates 10 on the upper side of the robot again, wherein the lower sides of the two bridge plates 10 are respectively provided with a supporting block 17, one end of each supporting block 17 is provided with a limiting groove 18, the limiting grooves 18 can be clamped on the outer sides of the supporting rods 15, the bridge plates 10 can be supported through the supporting rods 15, so that the bridge plates 10 are convenient to load and unload, and meanwhile, the baffle 16 can prevent the supporting blocks 17 from sliding to one side, so that the bridge plates 10 are prevented from sliding down when the robot runs;

When the two taking and placing cylinders 108 drive the two bridge plates 10 to move downwards, the two bridge plates 10 are in a horizontal state, when the heights of the two sides of the groove are different, the two base plates 206 at the two ends of one bridge plate 10 are contacted with the ground on the two sides of the groove, when one base plate 206 is contacted with the higher ground, the other base plate 206 is not contacted with the ground, at the moment, the bridge plate 10 keeps moving downwards at a horizontal angle, at the moment, one base plate 206 contacted with the ground is subjected to the upward reaction force of the ground, so that the piston rod 205 and the piston plate 204 are pushed to move upwards, the piston plate 204 moves upwards to push the hydraulic oil in the corresponding piston cylinder 201 to the flexible oil pipe 209, the hydraulic oil flows to the other valve body flow passage 203 and the other flexible oil pipe 209 through the flexible oil pipe 209 and one valve body flow passage 203 at the corresponding position and the direct flow passage 211, then flows into the other piston cylinder 201 through the other flexible oil pipe 209, hydraulic oil in the other piston cylinder 201 pushes the corresponding piston plate 204 and the piston rod 205 to move downwards and extend outwards, so that the other base plate 206 which is not contacted with the ground is driven to move downwards at a faster speed until the base plate is contacted with the ground, when the two base plates 206 are contacted with the ground, the reaction force of the ground is equal to the reaction force of the two base plates 206, the hydraulic oil in the two piston cylinders 201, the two flexible oil pipes 209, the two valve body flow channels 203 and the direct flow channels 211 stops flowing, then the telescopic end of the on-off control cylinder 214 of the locking mechanism is controlled by the controller 2 to retract to drive the push-pull rod 212 to rotate 90 degrees clockwise, the push-pull rod 212 drives the rotating disc 210 to rotate 90 degrees clockwise, the rotating disc 210 drives the direct flow channels 211 in the rotating disc to rotate 90 degrees to a vertical state, at this time, the two ends of the straight flow channel 211 are not communicated with the two valve body flow channels 203, so that hydraulic oil in the two piston cylinders 201 and the flexible oil pipe 209 at the two ends cannot flow reciprocally, so that the two piston plates 204 and the piston rods 205 at the two ends cannot move up and down, the two base plates 206 can be completely contacted with the ground at the two sides of the groove, meanwhile, the bridge plate 10 is kept at a horizontal angle, the two end extension plates 13 at the two ends of the bridge plate 10 naturally droop to be contacted with the ground, and therefore, the bridge plate 10 can be placed at a horizontal angle on the groove with unequal heights at the two sides, the horizontal state can be kept when the robot runs on the upper side of the bridge plate 10, the stability of the robot when the robot passes through the groove is improved, and the inclination or rollover of the robot is avoided;

Two guide rods 207 are symmetrically fixed at two ends of the upper sides of the two base plates 206, guide sleeve rods 208 are sleeved on the upper ends of the outer sides of the guide rods 207 in a sliding mode, the upper ends of the guide sleeve rods 208 are fixedly connected with the lower sides of the bridge plates 10, the base plates 206 can be prevented from being inclined through the guide action of the guide sleeve rods 208 and the guide rods 207 at the two ends, so that the piston rods 205 uniformly apply pressure to the base plates 206, and the support stability of the base plates 206 to the bridge plates 10 is improved;

The rubber pad 215 can improve the frictional force of bed plate 206 and ground, and the skid-proof bump 216 can impress the inside of ground soil simultaneously to improve the frictional force of bed plate 206 and ground, prevent bridge plate 10 to slide on the subaerial of slot both sides, improved the security when the robot is traveling in bridge plate 10 upside.

The previous description is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The utility model provides a robot patrols and examines, includes main body frame (1), controller (2) are installed to the upside one end of main body frame (1), and the upside of main body frame (1) is fixed with riser (3), industry camera (4) are installed to the upper end of riser (3), laser radar (9) are all installed in the upside of main body frame (1) in four corners position department, industry camera (4) and laser radar (9) all with controller (2) electric connection, its characterized in that still includes:

two bridge plates (10) arranged on two sides of the main body frame (1), wherein bridge plate balancing mechanisms are arranged on the outer sides of the two bridge plates (10);

The two bridge plate moving mechanisms are symmetrically arranged at the two ends of the main body frame (1);

The bridge plate moving mechanism comprises two sleeve columns (101) fixed at two side positions at one end of a main body frame (1) and a push-pull electric cylinder (103) arranged at one end of the inner side of the main body frame (1), wherein the push-pull electric cylinder (103) is electrically connected with a controller (2), the two telescopic rods (102) are respectively and slidably inserted into one end of the inner side of the sleeve columns (101), one ends of the two telescopic rods (102) are fixedly provided with a moving frame (104), the telescopic ends of the push-pull electric cylinder (103) are fixedly connected with one side of the outer part of the moving frame (104), and the inner side and two ends of the moving frame (104) are provided with bridge plate loading and unloading mechanisms.

2. The inspection robot of claim 1, wherein: the bridge plate loading and unloading mechanism comprises a first turnover shaft (105) which is connected to the inner side of a movable frame (104) in a penetrating and rotating mode, a rotating mechanism is arranged between the outer side of the first turnover shaft (105) and the movable frame (104), turnover arms (106) are respectively fixed at two ends of the outer side of the first turnover shaft (105), one ends of the two turnover arms (106) are respectively connected with a second turnover shaft (107) in a penetrating and rotating mode, two air taking and discharging cylinders (108) are respectively arranged at one ends of the two second turnover shafts (107), electric clamping jaws (109) are respectively arranged at the telescopic ends of the two air taking and discharging cylinders (108), and the two air taking and discharging cylinders (108) and the two electric clamping jaws (109) are respectively electrically connected with a controller (2).

3. A patrol robot according to claim 2, characterized in that: one end of each second turnover shaft (107) is fixedly provided with a movable belt pulley (111), two annular belt pulleys (112) are fixedly arranged at two ends of the outer side of each movable frame (104), and synchronous belts (113) are rotatably connected to the outer sides of the movable belt pulleys (111) and the annular belt pulleys (112) on the same side.

4. A patrol robot according to claim 3, characterized in that: the rotating mechanism comprises a turnover driving motor (114) arranged at the middle section position on the inner side of the movable frame (104) and a worm wheel (116) fixed at the middle section position on the outer side of the first turnover shaft (105), a worm (115) is fixed at the driving end of the turnover driving motor (114), the worm (115) is meshed with the worm wheel (116), and the turnover driving motor (114) is electrically connected with the controller (2).

5. The inspection robot of claim 1, wherein: the bridge plate balancing mechanism comprises two piston cylinders (201) fixed at two ends of the lower side of the bridge plate (10) and a valve body (202) fixed at one side of the bridge plate (10) and positioned at the middle section, two valve body flow passages (203) are formed at two ends of the inner side of the valve body (202), piston plates (204) are slidably connected to the inner sides of the piston cylinders (201), piston rods (205) extending to the outer parts of the piston cylinders (201) are fixedly arranged at the lower sides of the piston plates (204), base plates (206) are fixedly arranged at the lower ends of the piston rods (205), flexible oil pipes (209) are respectively connected to one sides of the upper ends of the two flexible oil pipes (209), one ends of the two flexible oil pipes are respectively communicated with the inner sides of the two valve body flow passages (203), two guide rods (207) are symmetrically fixed at the two ends of the upper side of the base plates (206), guide rods (208) are slidably sleeved at the outer upper ends of the guide rods (207), hydraulic oil is filled into the two flexible oil pipes (209) which are fixedly connected to the lower sides of the two valve body flow passages (201), a plurality of anti-skid convex points (216) are fixed in the two rubber pads (215) at equal intervals.

6. The inspection robot of claim 5, wherein: the locking mechanism comprises a rotating disc (210) which is rotatably connected to the inside of the valve body (202) and is positioned at the middle section position, and a fixing frame (213) which is fixed at one end outside the valve body (202), one end of the fixing frame (213) is rotatably connected with an on-off control electric cylinder (214), the on-off control electric cylinder (214) is electrically connected with the controller (2), one end of the rotating disc (210) is fixedly provided with a push-pull rod (212) positioned at the outside of the valve body (202), the telescopic end of the on-off control electric cylinder (214) is rotatably connected with one end of the push-pull rod (212), and the inside of the rotating disc (210) is provided with a direct current channel (211) passing through the center of the circle.

7. A patrol robot according to claim 2, characterized in that: the upper sides of the bridge frame plates (10) are provided with grooves (11) at the middle section, fixed square rods (12) are fixed at the inner sides of the grooves (11), and V-shaped grooves (110) matched with the fixed square rods (12) are formed in one sides of the two clamping jaws of the electric clamping jaw (109).

8. The inspection robot of claim 1, wherein: two ends of the bridge frame plates (10) are symmetrically and rotationally connected with two end extension plates (13), and one end of each end extension plate (13) is rotationally connected with an end roller (14).

9. The inspection robot of claim 5, wherein: the inside of main body frame (1) is installed battery (5), and the downside of main body frame (1) is fixed with four wheel boards (6), four driving motor (7) are all installed to one side of wheel board (6), four driving end of driving motor (7) all is fixed with wheel (8), driving motor (7) and controller (2) electric connection.

10. The inspection robot of claim 1, wherein: two supporting blocks (17) are fixed on the lower sides of the bridge frame plates (10), limiting grooves (18) are formed in the lower ends of the supporting blocks (17), supporting rods (15) are fixed on the lower sides of the main body frame (1) at positions corresponding to the four limiting grooves (18), and baffle plates (16) are fixed at the tail ends of the four supporting rods (15).