CN110077426B - Rope track inspection robot anti-drop device - Google Patents
Rope track inspection robot anti-drop device Download PDFInfo
- Publication number
- CN110077426B CN110077426B CN201910499110.XA CN201910499110A CN110077426B CN 110077426 B CN110077426 B CN 110077426B CN 201910499110 A CN201910499110 A CN 201910499110A CN 110077426 B CN110077426 B CN 110077426B
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- inspection robot
- box body
- fixed
- robot box
- pinch roller
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- 238000007689 inspection Methods 0.000 title claims abstract description 62
- 238000005452 bending Methods 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 230000003028 elevating effect Effects 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 4
- 101100438971 Caenorhabditis elegans mat-1 gene Proteins 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000003245 coal Substances 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C13/00—Locomotives or motor railcars characterised by their application to special systems or purposes
- B61C13/06—Locomotives or motor railcars characterised by their application to special systems or purposes for railways with suspended flexible tracks, i.e. rope railways
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F9/00—Rail vehicles characterised by means for preventing derailing, e.g. by use of guide wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The utility model provides a rope track inspection robot anti-drop device, relate to an inspection robot anti-drop device, including inspection robot box, the rear portion of two antiskid drive wheels in inspection robot box top all is connected with driving motor, driving motor is through the motor support fixed connection in inspection robot box top respectively, be provided with elevating gear in the inspection robot box, elevating gear's upper end and the bottom surface fixed connection of motor support, be equipped with anti-drop device between two antiskid drive wheels, anti-drop device includes the piece of bending, pinch roller and pinch roller base, the pinch roller base is fixed at the top of inspection robot box, install the pinch roller on the pinch roller base, the pinch roller sets up the lower part between two antiskid drive wheels, the outer end of the transverse section of piece of bending is fixed on the motor support, the lower extreme of the vertical section of piece of bending sets up in the recess above the pinch roller base; the invention effectively avoids the problem that the inspection robot falls off in the inspection process.
Description
Technical Field
The invention relates to an anti-falling device of a patrol robot, in particular to an anti-falling device of a rope track patrol robot.
Background
As known, belt conveyor devices in the industrial field have wide application, such as coal mine conveyors, which are the main means for loading, unloading and transporting cargoes in ports, and are responsible for mine coal transportation tasks; however, in the transportation process of the belt conveyor, serious accidents such as roller damage, conveyor belt deviation and breakage easily occur, the traditional manual inspection mode is adopted, the operation labor intensity is high, and the response is not timely; with the development of automation technology and artificial intelligence technology, the inspection robot is utilized to reduce cost and realize comprehensive monitoring of a conveyor, enterprises with higher automation degree now begin to adopt intelligent inspection mechanical equipment to replace manual inspection, labor intensity of workers can be reduced to the greatest extent, efficient and reliable inspection work is realized, and the intelligent degree of equipment inspection is improved.
In the prior art, the h-beam and the like are mostly used as fixed rails, so that the cost is high, the applicant proposes a method for using a steel cable as a rail, so that the robot can patrol on the steel cable rail, but can run on the higher cable for a long time, the patrol robot and the cable rail can not be firmly contacted, the patrol robot can be separated from the rail when large vibration occurs, and in order to avoid the patrol robot from falling off the original rail, the applicant has urgent need to design an anti-falling device which can ensure that the patrol robot can safely run on the line and has a certain anti-theft function.
Disclosure of Invention
In order to overcome the defects in the background technology, the invention discloses an anti-falling device of a rope track inspection robot.
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
the utility model provides a robot anti-drop device is patrolled and examined to rope track, including patrolling and examining the robot box, two antiskid drive wheels are installed at the top of patrolling and examining the robot box, the rear portion of antiskid drive wheel all is connected with driving motor, driving motor is through the motor support fixed connection who patrols and examine the robot box top respectively, be provided with elevating gear in the robot box of patrolling and examining, elevating gear's upper end and motor support's bottom surface fixed connection, be equipped with anti-drop device between two antiskid drive wheels, anti-drop device includes the piece of bending, pinch roller and pinch roller base, the pinch roller base is fixed at the top of patrolling and examining the robot box, install the pinch roller on the pinch roller base, the pinch roller sets up the lower part between two antiskid drive wheels, the piece of bending comprises horizontal section and the vertical section that is the vertical form, the outer end of horizontal section is fixed on the motor support, the lower extreme of the vertical section of bending sets up in the recess above the pinch roller base.
The lifting device comprises a lifting motor support frame, racks, a rack fixing frame, a flange and a connecting rod, wherein the lifting motor support frame is fixed on the bottom surface inside a patrol robot box body, the lifting motor is fixed on the lifting motor support frame, an output shaft of the lifting motor and an input shaft of a speed reducer are fixedly connected through a coupler, a transmission gear is mounted on the output shaft of the speed reducer, the racks are vertically arranged and rectangular, external teeth are arranged on the outer surfaces of the racks and are vertically arranged and meshed with the transmission gear, corresponding rectangular grooves are formed in the two side surfaces of the racks, U-shaped blocks are fixed on the inner surfaces of a rear panel of the patrol robot box body, protruding columns are respectively arranged in the rectangular grooves in the two side surfaces of the racks, the flange is fixed on the upper end surface of the rack, the connecting rods are respectively fixed on the two sides of the flange, fixing sleeves are respectively sleeved on the outer sides of the connecting rods, the rear parts of the fixing sleeves are fixed on the rear panel of the patrol robot box body, and the upper ends of the connecting rods respectively penetrate through the two sides of the upper panel of the patrol robot box body and the fixing support.
The rope track inspection robot anti-drop device, the pinch roller base comprises U-shaped seat and the outside lower part outside horizontally extending's of U-shaped seat extension piece, is equipped with concentric mounting hole on the both sides arm of U-shaped seat, installs the pinch roller in the mounting hole, has offered two through-holes and a recess above the extension piece, is equipped with screw and inspection robot box top panel fixed connection in the through-hole, the recess corresponds the setting from top to bottom with the vertical section of piece of bending.
The rope track inspection robot anti-drop device is characterized in that a double-light pod is arranged at the bottom of the inspection robot box body.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
according to the rope track inspection robot anti-drop device, the lifting device drives the motor support, the driving motor and the anti-slip driving wheel to ascend and descend, so that the lower end of the vertical section of the bending piece is inserted into the groove of the clamping wheel base or separated from the groove of the clamping wheel base, the inspection robot can conveniently work on line when separated, the problem that the inspection robot drops in the inspection process can be effectively avoided when the inspection robot is inserted, and the anti-theft function can be achieved.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the structure of the anti-falling device of the present invention;
FIG. 3 is a schematic view of the structure of the lifting device of the present invention;
FIG. 4 is a side view of the lifting device of the present invention;
FIG. 5 is a schematic view of the structure of the clamping wheel base of the present invention;
in the figure: 1. an anti-falling device; 2. a driving motor; 3. an anti-slip driving wheel; 4. inspection robot box; 5. a dual light pod; 6. a motor bracket; 7. a bending piece; 8. a pinch roller; 9. a clamping wheel base; 10. a lifting motor support frame; 11. a lifting motor; 12. a speed reducer; 13. a transmission gear; 14. a fixed sleeve; 15. a connecting rod; 16. a flange; 17. a rack; 18. rectangular grooves; 19. a U-shaped block; 20. a mounting hole; 21. a U-shaped seat; 22. a through hole; 23. a groove; 24. an extension block.
Detailed Description
The invention will be explained in more detail by the following examples, the purpose of which is to protect all technical improvements within the scope of the invention.
The rope track inspection robot anti-drop device that combines 1-5 of attached drawing, including inspection robot box 4, two anti-skidding drive wheels 3 are installed at the top of inspection robot box 4, the rear portion of anti-skidding drive wheel 3 all is connected with driving motor 2, driving motor 2 is through the motor support 6 fixed connection at inspection robot box 4 top respectively, be provided with elevating gear in the inspection robot box 4, elevating gear's upper end and the bottom surface fixed connection of motor support 6, be equipped with anti-drop device 1 between two anti-skidding drive wheels 3, anti-drop device 1 includes the piece of bending 7, pinch roller 8 and pinch roller base 9, pinch roller base 9 is fixed at the top of inspection robot box 4, install pinch roller 8 on pinch roller base 9, pinch roller 8 sets up the lower part between two anti-skidding drive wheels 3, the piece of bending 7 comprises the horizontal section and the vertical section that are the vertical section, the outer end of horizontal section is fixed on motor support 6, the lower extreme setting of the vertical section of piece of bending 7 is in the recess 23 above pinch roller base 9.
The rope track inspection robot anti-drop device, elevating gear include elevator motor support frame 10, rack 17, rack mount 18, flange 16 and connecting rod 15, elevator motor support frame 10 is fixed on the bottom surface of inspection robot box 4 inside, is fixed with elevator motor 11 above elevator motor support frame 10, the output shaft of elevator motor 11 passes through shaft coupling fixed connection with the input shaft of reduction gear 12, installs drive gear 13 on the output shaft of reduction gear 12, rack 17 is vertical setting and is rectangular form, is equipped with the external tooth on the outside of rack 17, sets up perpendicularly with drive gear 13 and meshes mutually, all offers corresponding rectangular groove 18 on the both sides face of rack 17, is fixed with U-shaped piece 19 on the inner face of inspection robot box 4, all is equipped with the projection in the rectangular groove 18 on the both sides face of U-shaped piece 19, is fixed with flange 16 on the up end face of rack 17, all is fixed with connecting rod 15 above the both sides of flange 16, has cup jointed fixed sleeve 14 on the outside of connecting rod 15, fixed sleeve 14 is fixed on the both sides of the upper end of inspection robot box 4 of the rear end of inspection robot box 4.
The rope track inspection robot anti-drop device, clamping wheel base 9 comprises U-shaped seat 21 and outside lower part outside horizontal extension's of U-shaped seat 21 extension piece 24, be equipped with concentric mounting hole 20 on the both sides arm of U-shaped seat 21, install clamping wheel 8 in mounting hole 20, set up two through-holes 22 and a recess 23 above the extension piece 24, be equipped with screw and inspection robot box 4 top panel fixed connection in through-hole 22, recess 23 corresponds the setting from top to bottom with the vertical section of bending piece 7.
The rope track inspection robot anti-drop device is characterized in that a double-light pod 5 is arranged at the bottom of the inspection robot box 4.
When the inspection robot is required to be subjected to line feeding, the lifting motor 11 is started to drive the speed reducer 12, the transmission gear 13 arranged on the output shaft of the speed reducer 12 rotates, the transmission gear 13 is meshed with teeth on the outer surface of the rack 17, the rack 17 drives the flange 16 to ascend, meanwhile, the convex columns on the inner surfaces of two arms of the U-shaped block 19 are arranged in the grooves 23 on the two side surfaces of the rack 17, so that the guiding effect is achieved, the upper ends of the two connecting rods 15 on the flange 16 are fixedly connected with the motor bracket 6, thereby driving the motor bracket 6, the driving motor 2 and the anti-skid driving wheel 3 to ascend, the bending piece 7 follows the motor bracket 6, the lower end of the vertical section of the bending piece 7 is separated from the clamping wheel base 9, the inspection robot is suspended on the rope track, the rope track is arranged between the two anti-skid driving wheels 3 and the clamping wheel 8, and after the inspection robot is subjected to line feeding, the lifting motor 11 drives the motor bracket 6, the driving motor 2 and the anti-skid driving wheel 3 to descend, meanwhile, the upper ends of the two connecting rods 15 on the flange 16 are fixedly connected with the motor bracket 6, the upper ends of the bending piece 7 are driven to ascend, the lower ends of the bending piece 7 are driven by the anti-skid driving wheel base 9 are driven to contact with the rope base 9, and the upper surface of the rope is prevented from contacting the outer circle of the machine, and the upper surface of the machine is prevented from being in a normal running process; the lower part of the inspection robot box body 4 is provided with a double-light pod 5, the double-light pod 5 is internally provided with an automatic balancing device, a visible light camera and an infrared camera, the inspection robot box body can be used for detecting the temperature of a specific part of a measured object, and when the temperature is abnormal, a controller in the inspection robot box body 4 sends a corresponding signal to a working base station to remind workers of the abnormality.
The invention is not described in detail in the prior art.
The embodiments selected herein for the purposes of disclosing the present invention are presently considered to be suitable, however, it is to be understood that the present invention is intended to include all such variations and modifications as fall within the spirit and scope of the present invention.
Claims (2)
1. The utility model provides a rope track inspection robot anti-drop device, includes inspection robot box, characterized by: the top of the inspection robot box body is provided with two anti-slip driving wheels, the rear parts of the anti-slip driving wheels are connected with driving motors, the driving motors are respectively and fixedly connected through motor brackets at the top of the inspection robot box body, lifting devices are arranged in the inspection robot box body, the upper ends of the lifting devices are fixedly connected with the bottom surfaces of the motor brackets, anti-drop devices are arranged between the two anti-slip driving wheels, each anti-drop device comprises a bending piece, a clamping wheel and a clamping wheel base, the clamping wheel base is fixed at the top of the inspection robot box body, the clamping wheels are arranged on the clamping wheel base, the clamping wheels are arranged at the lower part between the two anti-slip driving wheels, each bending piece consists of a vertical transverse section and a vertical section, the outer ends of the transverse section are fixed on the motor brackets, and the lower ends of the vertical sections of the bending pieces are arranged in grooves on the clamping wheel base; the lifting device comprises a lifting motor support frame, racks, a rack fixing frame, a flange and a connecting rod, wherein the lifting motor support frame is fixed on the bottom surface inside the inspection robot box body, a lifting motor is fixed on the lifting motor support frame, an output shaft of the lifting motor is fixedly connected with an input shaft of a speed reducer through a coupler, a transmission gear is arranged on the output shaft of the speed reducer, the racks are vertically arranged and rectangular, external teeth are arranged on the outer surfaces of the racks and are vertically arranged and meshed with the transmission gear, corresponding rectangular grooves are formed in the two side surfaces of the racks, a U-shaped block is fixed on the inner surface of a rear panel of the inspection robot box body, convex columns are respectively arranged in the rectangular grooves in the two side surfaces of the racks, a flange is fixed on the upper end surface of the racks, the two sides of the upper surface of the flange are respectively fixed with a connecting rod, fixing sleeves are sleeved on the outer sides of the connecting rod, the rear parts of the fixing sleeves are fixed on the rear panel of the inspection robot box body, and the upper ends of the connecting rod are respectively fixedly connected with the two sides below the motor support frame through the upper panel of the inspection robot box body; the clamping wheel base comprises a U-shaped base and an extending block which horizontally extends outwards from the lower part of the outer side of the U-shaped base, concentric mounting holes are formed in two side arms of the U-shaped base, clamping wheels are mounted in the mounting holes, two through holes and a groove are formed in the extending block, screws are arranged in the through holes and fixedly connected with the upper panel of the inspection robot box body, and the groove is correspondingly arranged on the vertical section of the bending piece up and down.
2. The rope track inspection robot anti-drop device of claim 1, wherein: the bottom of the inspection robot box body is provided with a double-light pod.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2019101378585 | 2019-02-25 | ||
| CN201910137858 | 2019-02-25 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110077426A CN110077426A (en) | 2019-08-02 |
| CN110077426B true CN110077426B (en) | 2024-03-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910499110.XA Active CN110077426B (en) | 2019-02-25 | 2019-06-11 | Rope track inspection robot anti-drop device |
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| Country | Link |
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| CN (1) | CN110077426B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110900563B (en) * | 2019-12-03 | 2022-07-26 | 中信重工开诚智能装备有限公司 | A prevent driving device for track inspection robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204179567U (en) * | 2014-11-19 | 2015-02-25 | 国家电网公司 | A kind of single conductor foreign body intelligence block removing coaster |
| CN206041346U (en) * | 2016-09-13 | 2017-03-22 | 广东科凯达智能机器人有限公司 | Terminal portable electric operating robot of removable operation |
| CN109217167A (en) * | 2017-07-04 | 2019-01-15 | 克诺有限公司 | The compound clamping device and cable crusing robot that cable crusing robot uses |
| CN210191462U (en) * | 2019-02-25 | 2020-03-27 | 洛阳视距智能科技有限公司 | Rope track inspection robot anti-drop device |
-
2019
- 2019-06-11 CN CN201910499110.XA patent/CN110077426B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204179567U (en) * | 2014-11-19 | 2015-02-25 | 国家电网公司 | A kind of single conductor foreign body intelligence block removing coaster |
| CN206041346U (en) * | 2016-09-13 | 2017-03-22 | 广东科凯达智能机器人有限公司 | Terminal portable electric operating robot of removable operation |
| CN109217167A (en) * | 2017-07-04 | 2019-01-15 | 克诺有限公司 | The compound clamping device and cable crusing robot that cable crusing robot uses |
| CN210191462U (en) * | 2019-02-25 | 2020-03-27 | 洛阳视距智能科技有限公司 | Rope track inspection robot anti-drop device |
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| Publication number | Publication date |
|---|---|
| CN110077426A (en) | 2019-08-02 |
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