CN111546309A

CN111546309A - Hang rail formula and patrol and examine robot

Info

Publication number: CN111546309A
Application number: CN202010407050.7A
Authority: CN
Inventors: 喻胜
Original assignee: Sichuan Jiuyue Robot Technology Co ltd
Current assignee: Sichuan Jiuyue Robot Technology Co ltd
Priority date: 2020-05-14
Filing date: 2020-05-14
Publication date: 2020-08-18
Anticipated expiration: 2040-05-14
Also published as: CN111546309B

Abstract

The invention discloses a rail-mounted inspection type robot, which is used for solving the problems that in the prior art, a sucker cannot be actively removed from a plane in the use process of a sucker wheel, and resistance in the advancing process can be caused by directly pulling out the sucker, and the structure of the robot comprises: control terminal, complementary unit, antiskid wheel, complementary unit includes track, link, control terminal passes through the link and is connected with antiskid wheel, during the use, antiskid wheel is arranged in the track and can moves in the track, still evenly be provided with the urceolus on antiskid wheel, be used for placing stabilizing mean in the urceolus, the urceolus is divided into uncovered part and airtight part, uncovered part and sucking disc intercommunication, the sucking disc contacts with the contact surface, gaseous wherein is impressed airtight part, when coming to follow the desorption on the contact surface, airtight part is extrudeed by the dustcoat, in refilling the sucking disc with gas, no longer be the negative pressure in the sucking disc, consequently can easily desorption.

Description

Hang rail formula and patrol and examine robot

Technical Field

The invention discloses a rail-hanging type inspection robot, and particularly relates to a rail-hanging type inspection robot.

Background

The inspection is tedious, high in repeatability, mechanical, time-consuming, labor-consuming and labor-intensive, the inspection robot is used for replacing or assisting human beings to perform various inspection works, the inspection robot is applied to places such as substations, underground pipe galleries, mines and the like at present, the inspection robot can be divided into a flying type, a wheel type, a rail type and a fixed type according to working modes, the rail type inspection robot is the earliest and the most mature technology, the inspection robot is usually provided with sensors with various functions such as temperature, humidity, smog, gas, radar, sound, images, positioning and the like, and the inspection robot is combined with a specially designed hardware structure and an intelligent software system, has the functions of generally having an image and voice recognition function, remotely transmitting various data, remotely controlling and sensing other information of the located environment and the like, and has a good using effect.

Chinese patent invention entitled Container and pipeline wall climbing cleaning robot with publication number CN104475405B discloses a wall climbing cleaning robot, wherein a track part is provided with a large number of suckers, and a transmission mechanism drives a link mechanism to apply pressure on the suckers in use, so that the suckers are forced to cling to the pipe wall and can climb in the pipeline; however, due to the adoption of the traditional sucker structure, when the pipeline is cleaned, the surface is certainly not smooth and is adhered with a lot of dust, so that the adsorption effect of the sucker is influenced, on the other hand, the dust is adhered to the sucker to influence the subsequent adsorption process, the sucker is separated from the sucker and is directly pulled out along with the movement of the robot crawler, so that the robot needs extra power to get rid of the attraction of the sucker, and although the weight can be reduced by completely adopting a physical mode, the power of a power mechanism needs to be larger in order to get rid of the attraction of the sucker; in contrast, the prior art adopts the negative pressure or vacuum pumping mode to ensure the stability of connection, meanwhile, when the separation is needed, the pressure in the sucker is recovered, no additional obstruction is generated to the operation, but the corresponding equipment is more complex and has larger mass, in addition, the prior art is difficult to control a large number of sucker structures, and the suckers are required to sequentially pump negative pressure when contacting with the ground, and the sucker is actively punched in the sucker when the sucker is far away from the ground, so that the resistance of the sucker structure to the advancing process is reduced, but the prior art can only correspond the suckers and the negative pressure suction structures one by one, and can realize the negative pressure suction structure by controlling the movement of the negative pressure suction structure through a controller and programming, therefore, the whole process is very complex, the use cost and the equipment weight are greatly increased, the popularization and the use are not facilitated, and a robot for achieving the purpose by adopting a mechanical method does not exist at present.

Disclosure of Invention

The invention aims to provide a rail-mounted inspection robot, wherein wheels of the robot can be realized through a simple mechanical structure: when the device is in contact with the ground, negative pressure is sequentially pumped, the stability in the movement process is ensured, and the device actively punches into the sucker when the device is far away from the ground, so that the resistance in the advancing process is reduced.

In order to achieve the purpose, the invention adopts the following technical scheme:

a rail-mounted inspection robot, comprising: track, link, control terminal, antiskid wheel includes: the wheel body in the outer cover is exposed and moves on the track, the top surface of the outer cover is provided with a top box, a driving device is installed in the top box, the driving device is connected with a rotating shaft of the wheel body through a driving belt and drives the wheel body to move, acute-angle isosceles triangle gaps are formed in the middle points of the bottom edges of two side surfaces of the outer cover, and the fixed points of the gaps are close to the rotating shaft;

the wheel body is a cylindrical rubber wheel, a rotating shaft is arranged at the axial position of the wheel body, a plurality of outer cylinders are uniformly arranged on the cylindrical surface of the wheel body, each outer cylinder is a blind pipe with the axis vertical to the axis of the wheel body, the depth of each outer cylinder is smaller than the section radius of each outer cylinder, a stabilizing mechanism is arranged in each outer cylinder, each outer cylinder is divided into an open part and a closed part by a fixed partition plate, the open part is communicated with the outside, a central through hole for communicating the two parts is formed in the geometric center of each fixed partition plate, the side surface of each closed part is communicated with the outside from the side surface of the wheel body through a pipeline, a movable partition plate is arranged in each pipeline, each pipeline is closed through the movable partition plate and can move in the pipeline, a cover plate is arranged outside the through hole in the side surface of the wheel body, the connecting rod is a straight rod and is connected with the cover plate and the movable partition plate in a hinge manner;

the closed part of the outer barrel is also provided with a reset spring and a pressing plug, one end of the reset spring is fixed on the top surface of the outer barrel, the other end of the reset spring is fixed on the top surface of the pressing plug, the axis of the reset spring is superposed with the axis of the outer barrel, the top surface of the pressing plug is a plane connected with the reset spring, the bottom surface of the pressing plug is provided with a bulge with the same shape as the central through hole of the fixed partition plate, and the pressing plug is pressed on the central through hole of the fixed partition plate by the reset spring to seal the central through;

an inner cylinder and a movable rod are further arranged in the opening part, one end of the inner cylinder is sealed, the other end of the inner cylinder is an open cylinder, the outer diameter of the inner cylinder is the same as the inner diameter of the outer cylinder, the inner cylinder can move in the outer cylinder, the sealed end of the inner cylinder faces the fixed partition plate, a top protrusion is further arranged outside the top surface of the inner cylinder and is located at the geometric center of the top surface of the inner cylinder, the top protrusion is a short rod with the section diameter smaller than the central through hole of the fixed partition plate, the movable rod is arranged at the axis position inside the inner cylinder, one end of the movable rod is hinged to the top surface of the inner cylinder, the;

the open end of the outer barrel is also provided with a sucker, the height of the sucker is higher than the length of the movable rod extending outwards, the sucker is a bowl-shaped concave surface, and the sucker is communicated with the outer barrel.

Furthermore, an inner convex ring is arranged inside the side surface of the outer cover, the thickness of the inner convex ring does not exceed the difference value between the side surface of the outer cover and the side surface of the wheel body, and the radius of the inner convex ring is the same as the distance between the cover plate and the rotating shaft.

Furthermore, a plurality of vent holes are formed in the top surface of the inner cylinder.

Furthermore, the bottom surface of the top box is connected with more than one anti-skid wheel.

The invention has at least the following beneficial effects:

(1) evenly be provided with stabilizing mean on the antiskid wheel, negative pressure can be taken out in proper order to the sucking disc among the stabilizing mean when with ground contact, guarantees the stability in the motion process to the initiative is to punching press in the sucking disc when just leaving the ground, reduces the resistance of the in-process that advances.

(2) The sucking disc among the stabilizing mean realizes taking out the negative pressure or pressurizing and breaking away from the sucking disc through mechanical mechanism, simple in construction, can not increase the equipment quality by a wide margin, it is more convenient to use.

(3) The inner cylinder motion is triggered through the movable rod in the sucking disc, and because the movable rod is located the sucking disc, only can just be by jack-up after sucking disc and ground contact to trigger subsequent take out negative pressure process, need accord with the movable rod pressurized simultaneously and be located two conditions in clearance of dustcoat and just can be triggered, the emergence that the mistake touched that has significantly reduced.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.

In the drawings:

FIG. 1 schematically illustrates a use state diagram of the present invention;

FIG. 2 is a schematic side view of the present invention;

FIG. 3 is a schematic view showing the structure of the anti-skid wheel according to the present invention;

FIG. 4 is a schematic cross-sectional view of the anti-skid wheel according to the present invention;

FIG. 5 is a partially enlarged view of part A of the present invention;

wherein the figures include the following reference numerals:

1-control terminal;

21-track, 22-connecting frame, 23-top box, 24-driving belt;

3-antiskid wheel, 31-outer cover, 311-inner convex ring, 32-wheel body, 33-stabilizing mechanism, 331-sucker, 332-movable rod, 333-inner cylinder, 334-top convex, 335-fixed clapboard, 336-pressing plug, 337-reset spring, 338-movable clapboard, 339-connecting rod, 34-cover plate, 35-outer cylinder and 36-rotating shaft.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure; unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application; as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Spatially relative terms, such as "above … …," "above … …," "above … …, above," "overlying" and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures; it will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.

Examples

Fig. 1-4 a hang rail formula and patrol and examine formula robot for solve prior art sucking disc 331 and take turns sucking disc 331 can not take the initiative and the plane desorption in the use, directly pull out sucking disc 331 and can cause the problem of the resistance of the in-process that advances again, its structure includes: the anti-skidding wheel comprises a control terminal 1, an auxiliary mechanism and anti-skidding wheels, wherein the auxiliary mechanism comprises a track 21 and a connecting frame 22, the control terminal 1 is connected with the anti-skidding wheels through the connecting frame 22, the anti-skidding wheels are located in the track 21 and can move in the track 21 when the anti-skidding wheel is used, an outer cylinder 35 is evenly arranged on the anti-skidding wheels, a stabilizing mechanism 33 is arranged in the outer cylinder 35, the outer cylinder 35 is divided into an open part and a closed part, the open part is communicated with a sucker 331, the sucker 331 is in contact with a contact surface, gas in the closed part is pressed into the closed part, when the anti-skidding wheel is to be removed from the contact surface, the closed part is extruded by an outer cover 31, the gas is refilled into the sucker 331, negative.

The control terminal 1 is a part for collecting data, analyzing data, and transmitting the data to a user, and the internal structure of the control terminal 1 is different according to different purposes, and the part is a mature prior art, and therefore, a detailed description thereof is omitted, and as shown in fig. 1, the auxiliary mechanism includes: the track 21 is a long concave track, the concave surface of the long concave track faces upwards, the groove surface of the long concave track is used for preventing the anti-skid wheels from moving, the track 21 is arranged according to specific working conditions, and no description is given in the embodiment; as shown in fig. 2, the connection frames 22 are disposed on two sides of the track 21, the mechanisms of the connection frames 22 on the two sides are completely the same and are mirror-symmetrical, one end of the connection frame 22 is fixed on the bottom surface of the top box 23, the other end of the connection frame 22 is fixed on the side surface of the control terminal 1, a driving device is disposed in the top box 23, the output end of the driving device is connected to the rotating shaft 36 of the wheel body 32 through the transmission belt 24, so as to drive the wheel body 32 to move, the bottom surface of the top box 23 is in contact with the top surface of the outer cover 31 and is supported by the outer cover 31, and one top box 23 is connected to more than one anti-skid.

The antiskid wheel includes: the wheel body 32 is exposed from the wheel body 32, the bottom surface of the wheel body 32 can move in the track 21, for convenience of description, the horizontal surface of the outer cover 31 is referred to as the bottom surface of the side surface of the outer cover 31, an acute isosceles triangle notch is further arranged on the bottom surface of the side surface of the outer cover 31, the fixed point of the notch is close to the rotating shaft 36, and the cover plate 34 at the position of the notch is not blocked and can be unfolded outwards.

It should be noted that: an inner convex ring 311 is arranged inside the side surface of the outer cover 31, the thickness of the inner convex ring 311 does not exceed the difference between the side surface of the outer cover 31 and the side surface of the wheel body 32, and the radius of the inner convex ring 311 is the same as the length of the cover plate 34 and the rotating shaft 36, so that the cover plate 34 positioned in the outer cover 31 is pressed by the inner convex ring 311 and cannot be expanded.

The wheel body 32 is a cylindrical rubber wheel, the axial position of the wheel body 32 is provided with a rotating shaft 36, the wheel body 32 rotates along with the rotation of the rotating shaft 36, the cylindrical surface of the wheel body 32 is also uniformly provided with a plurality of outer cylinders 35, the outer cylinders 35 are blind pipes with axes perpendicular to the axial direction of the wheel body 32, the depth of the outer cylinders 35 is smaller than the section radius of the outer cylinders 35, the outer cylinders 35 are used for placing stabilizing mechanisms 33, the friction force of the wheel body 32 is increased through the stabilizing mechanisms 33, so that climbing is easier, the axial direction of the outer cylinders 35 is perpendicular to the axial direction of the wheel body 32, as shown in fig. 4, the outer cylinders 35 are divided into an open part and a closed part by fixing partition plates 335, the open part is communicated with the outside, the geometric center of the fixing partition plates 335 is provided with through holes for communicating the two parts, the side surfaces of the closed part are communicated with the, the duct is closed by a movable partition 338, ensuring closure of the enclosed section.

It should be noted that: the cover plate 34 is arranged outside the through hole of the closed part on the side surface of the wheel body 32, the cover plate 34 can close the through hole on the side surface of the wheel body 32, the cover plate 34 is connected with the movable partition plate 338 through the connecting rod 339, the connecting rod 339 is a straight rod and is in hinged connection with the cover plate 34 and the movable partition plate 338, when the movable partition plate 338 moves inwards, the cover plate 34 is closed, otherwise, when the movable partition plate 338 moves outwards, the cover plate 34 is unfolded, due to the existence of the movable partition plate 338, even if the cover plate 34 is unfolded, the closed part cannot be communicated with the outside, and the motion of the movable push plate moves along with the change of the air pressure of the.

Furthermore, a return spring 337 and a pressing plug 336 are further disposed in the sealed portion of the outer cylinder 35, as shown in fig. 5, one end of the return spring 337 is fixed on the top surface of the outer cylinder 35, the other end of the return spring 337 is fixed on the top surface of the pressing plug 336, the axis of the return spring 337 coincides with the axis of the outer cylinder 35, the top surface of the pressing plug 336 is a plane connected with the return spring 337, the bottom surface of the pressing plug 336 is provided with a protrusion having the same shape as the central through hole of the fixed partition 335, the return spring 337 is in a compressed state, and the pressing plug 336 is pressed down by the return spring 337, so that the protrusion on the bottom surface of the pressing plug 336 closes the central through hole of the fixed partition 335, and the air tightness of the.

The open part is also provided with an inner cylinder 333 and a movable rod 332, the inner cylinder 333 is a cylinder with one end sealed and the other end open, the outer diameter of the inner cylinder 333 is the same with the inner diameter of the outer cylinder 35, the inner cylinder 333 can move in the outer cylinder 35, the sealed end of the inner cylinder 333 faces to a fixed clapboard 335, for the convenience of description, the sealed surface of the inner cylinder 333 is called as the top surface of the inner cylinder 333, because of the cylindrical structure, the cylinder wall of the inner cylinder 333 plays a role of limiting in the movement process, even if the top surface of the inner cylinder 333 is subjected to unbalanced force, the top surface can be kept horizontal in the movement process, if only the clapboard is adopted, the clapboard is possibly blocked and can not move due to unbalanced stress, as shown in figure 4, the top surface of the inner cylinder 333 is also provided with a top projection 334, the top projection 334 is positioned at the geometric center of the top surface of the inner cylinder, the top projection 334 is a, the top projection 334 can push the press plug 336 upwards, and the closed part is communicated with the open part because the section radius of the top projection 334 is smaller than the aperture of the central through hole of the fixed clapboard 335; the inner cylinder 333 is provided with a movable rod 332 at an axial line position inside, one end of the movable rod 332 is hinged with the top surface of the inner cylinder 333, the other end is a free end, and a rubber ball is fixed on the free end, so that the influence on the smoothness of the concave surface of the rail 21 caused by scratching the rail 21 in the use process is avoided.

Since the top surface of the inner cylinder 333 is provided with a plurality of vent holes, the top surface of the inner cylinder 333 does not obstruct the flow of gas.

The open end of the outer cylinder 35 is further provided with a sucker 331, as shown in fig. 4, the height of the sucker 331 is higher than the length of the movable rod 332 extending outwards, the sucker 331 is a bowl-shaped concave surface, and the sucker 331 is communicated with the outer cylinder 35 and can deform when being pressed.

The movement process of the invention is explained with the attached drawings:

the anti-skid wheels are driven to move by a driving device in the top box 23, so as to drive the control terminal 1 to move, in the moving process of the anti-skid wheels, the stabilizing mechanisms 33 on the anti-skid wheels are sequentially contacted with the concave surfaces of the tracks 21 and are separated from the concave surfaces of the tracks 21 along with the movement of the anti-skid wheels, as the suckers 331 on the anti-skid wheels are always adsorbed in the tracks 21, the stable movement can be ensured, and the climbing of the robot is facilitated, specifically, the moving process of one stabilizing mechanism 33 is explained, the wheel body 32 rotates to enable the stabilizing mechanisms 33 to move downwards, the cover plate 34 is positioned in the gap of the outer cover 31 and can move freely, when the suckers 331 of the stabilizing mechanisms 33 are completely contacted with the concave surfaces of the tracks 21, under the action of self gravity, the suckers 331 deform, the gas originally positioned in the suckers 331 is pressed into the outer cylinder 35, so that the pressure in the outer cylinder, the movable rod 332 in the outer cylinder 35 is also pressurized to push the inner cylinder 333 upward, as shown in fig. 4, the top protrusion 334 moves upward to jack up the press plug 336, the air in the open part of the outer cylinder 35 enters the closed part of the outer cylinder 35 from the gap between the top protrusion 334 and the central through hole of the fixed partition 335, so that the pressure in the closed part is increased, and the movable partition 338 moves outward to open the cover 34 because the pressure in the closed part is greater than the atmospheric pressure.

As the wheel body 32 moves, the stabilizing mechanism 33 will be disengaged from the rail 21, and a new stabilizing mechanism 33 is connected with the rail 21 again in the same manner, the disengaging of the stabilizing mechanism 33 from the rail 21 is not tearing it out from the rail 21 by a forward force, and at the time of disengaging, namely, the cover plate 34 first contacts the outer cover 31 and is forced to close by the pressure of the inner annular ring 311 on the outer cover 31, because at this time, the suction cup 331 does not completely leave the rail 21, therefore, the closed part and the open part of the outer cylinder 35 are still communicated, the cover plate 34 is closed to push the gas originally pushed into the movable partition 338 back into the outer cylinder 35 again, at this time, the suction cup 331 has already passed through the most compressed part and starts to recover the shape, and the increased pressure will flow into the suction cup 331, so that the suction cup 331 is not in a negative pressure state, and the pressure therein is close to the atmospheric pressure, therefore, can be easily separated from the track 21 without causing the obstruction of the movement of the anti-skid wheels.

In summary, the stabilizing mechanism 33 needs to satisfy two conditions, one is that the cover plate 34 is in the gap of the outer cover 31 and can be freely unfolded, and the other is that the inner cylinder 333 needs to be pushed upwards, i.e. the suction cup 331 needs to be pressed, so as to effectively reduce the occurrence of accidental touch.

Through repeated experiments by the applicant, a preferred set of embodiments of the acute triangular shape of the side of the outer cover 31 was determined, namely: the vertex angle of the notch is 20-40 degrees; the included angle between the central line of the acute triangle passing through the apex angle and the vertical line is not more than 10 degrees.

In this embodiment, sucking disc, control terminal, link, drive belt, spring, axis of rotation are ripe prior art, and the user can be according to specific operating mode nimble shopping, consequently, do not do the detailed description.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rail-mounted inspection robot, comprising: track, link, control terminal, its characterized in that: further comprising: antiskid wheel, antiskid wheel includes: the wheel body in the outer cover is exposed and moves on the track, the top surface of the outer cover is provided with a top box, a driving device is installed in the top box, the driving device is connected with a rotating shaft of the wheel body through a driving belt and drives the wheel body to move, acute-angle isosceles triangle gaps are formed in the middle points of the bottom edges of two side surfaces of the outer cover, and the fixed points of the gaps are close to the rotating shaft;

2. The hanging rail type inspection robot according to claim 1, characterized in that: an inner convex ring is arranged inside the side surface of the outer cover, the thickness of the inner convex ring does not exceed the difference value between the side surface of the outer cover and the side surface of the wheel body, and the radius of the inner convex ring is the same as the distance between the cover plate and the rotating shaft.

3. The hanging rail type inspection robot according to claim 1, characterized in that: the top surface of the inner cylinder is provided with a plurality of vent holes.

4. The hanging rail type inspection robot according to claim 1, characterized in that: the bottom surface of the top box is connected with more than one anti-skid wheel.