US 12,304,056 B1
Internal inspection robot
Liqing Liu, Tianjin (CN); Chun He, Tianjin (CN); Chi Zhang, Tianjin (CN); Songyuan Li, Tianjin (CN); Jufang Wei, Tianjin (CN); Junji Feng, Tianjin (CN); Chuang Yao, Tianjin (CN); Minghui Duan, Tianjin (CN); and He Zhang, Tianjin (CN)
Assigned to Electric Power Science & Research Institute of State Grid Tianjin Electric Power Company, Tianjin (CN); State Grid Tianjin Electric Power Company, Tianjin (CN); and State Grid Corporation of China, Beijing (CN)
Filed by Electric Power Science & Research Institute of State Grid Tianjin Electric Power Company, Tianjin (CN); State Grid Tianjin Electric Power Company, Tianjin (CN); and State Grid Corporation of China, Beijing (CN)
Filed on Nov. 15, 2024, as Appl. No. 18/949,980.
Application 18/949,980 is a continuation of application No. PCT/CN2024/111406, filed on Aug. 12, 2024.
Claims priority of application No. 202311509457.0 (CN), filed on Nov. 14, 2023.
Int. Cl. B25J 11/00 (2006.01); B25J 9/16 (2006.01); B25J 19/00 (2006.01); B25J 19/02 (2006.01)
CPC B25J 11/008 (2013.01) [B25J 9/1664 (2013.01); B25J 19/0008 (2013.01); B25J 19/023 (2013.01)] 9 Claims
OG exemplary drawing
 
1. An internal inspection robot, comprising:
a housing configured to be a sealed structure comprising a first housing and a second housing disposed opposite to each other, a third housing and a fourth housing disposed opposite to each other, and a fifth housing and a sixth housing disposed opposite to each other that are connected sequentially, wherein the first housing and the second housing are each configured to be a rectangular housing, the third housing and the fourth housing are each configured to be a circular-arc housing, and the fifth housing and the sixth housing are each configured to be an ellipse-like housing;
a gravity balancing apparatus disposed inside the housing and configured to control a pose of the internal inspection robot, the gravity balancing apparatus comprising a gravity adjustment chamber, a liquid level control unit of the gravity adjustment chamber, a gravity balancing hammer, and a pose control unit, wherein
the gravity adjustment chamber is configured to provide a cavity structure, the cavity structure is configured to store a liquid medium, and the liquid medium is a protective medium inside a transformer;
the liquid level control unit of the gravity adjustment chamber is configured to suck the liquid medium from an inside of the transformer and store the liquid medium in the cavity structure or is configured to discharge the liquid medium from the cavity structure to the inside of the transformer to control gravity of the internal inspection robot; and
the pose control unit is configured to adjust a position of the gravity balancing hammer to control the pose of the internal inspection robot; and
a power apparatus and a plurality of sensor apparatuses disposed on a surface of the housing, wherein the power apparatus comprises a propulsion control unit configured to receive a motion control signal from a control terminal to drive the internal inspection robot to move, and a sensor apparatus of the plurality of sensor apparatuses is configured to provide a sensing signal to the control terminal.