CN112643689B - Track type inspection robot - Google Patents
Track type inspection robot Download PDFInfo
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- CN112643689B CN112643689B CN202011457026.0A CN202011457026A CN112643689B CN 112643689 B CN112643689 B CN 112643689B CN 202011457026 A CN202011457026 A CN 202011457026A CN 112643689 B CN112643689 B CN 112643689B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a robot, in particular to a track type inspection robot. Including square steel, motor, drive wheel and stopper, the stopper includes guide holder and spacing wheel, and the left and right sides at both ends all rotates about the guide holder and connects a spacing wheel, mirror symmetry is equipped with two around the stopper, and the equal rigid coupling of two guide holders is in the upper end of square steel, and the rear end that is located the guide holder of rear side is connected the motor admittedly, and the output shaft of motor passes the guide holder forward by the back, and the front end of motor output shaft connects the drive wheel admittedly. Impact force is changed into force along the axis direction of the guide pillar, the camera cannot be influenced by the force along the direction, and the damping is carried out by utilizing the I absorption force of the compression spring.
Description
Technical Field
The invention relates to a robot, in particular to a track type inspection robot.
Background
For example, the track robot disclosed in publication No. CN210507002U includes a first driving mechanism, an anchoring mechanism, and track pieces for the construction mechanism to pass through, the guide rails of all the track pieces are located on the same track plane, the track robot can travel under the driving of the first driving mechanism, and the travel direction is not parallel to the track plane; the anchoring mechanism anchors the track robot when the track robot stops moving. The construction equipment moves along the track surface to construct one section of the channel. After construction is completed on one section, the rust removal robot moves to the next point to be constructed under the driving of the first driving mechanism, and the rail robot is anchored through the anchoring mechanism, so that the vibration of construction equipment is prevented from influencing the construction quality and precision. The construction of the channel type structure to be constructed can be completed by repeating the steps, and the track surface does not need to be repeatedly installed and disassembled; but the track robot is not suitable for inspection in a complex environment.
Disclosure of Invention
The invention aims to provide a track type inspection robot which can perform inspection in a complex environment.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a robot is patrolled and examined to rail mounted, includes square steel, motor, drive wheel and stopper, the stopper includes guide holder and spacing wheel, and the left and right sides at both ends all rotates about the guide holder and connects a spacing wheel, mirror symmetry is equipped with two around the stopper, and the equal rigid coupling of two guide holders is in the upper end of square steel, and the rear end that is located the guide holder of rear side connects the motor admittedly, and the output shaft of motor passes the guide holder forward by the back, and the front end of motor output shaft connects the drive wheel admittedly.
The track type inspection robot further comprises connecting parts, an outer frame, four limiting seats and a protection mechanism, wherein the connecting parts are fixedly connected to the middle parts of the periphery of the lower end of the square steel, the outer frame is of a square frame structure, the inner end of the outer frame is fixedly connected with the outer ends of the four connecting parts, the four limiting seats are uniformly arranged in the circumferential direction, and the four limiting seats are fixedly connected to the upper end of the outer frame; the protection mechanism comprises an embedded frame, a guide pillar, two connecting seats, connecting rods, contact seats, a square column and wedge-shaped grooves, wherein two ends of each connecting rod are fixedly connected to the left end and the right end of the rear end of the embedded frame respectively; the protection mechanism circumference evenly is equipped with four, and four are inlayed the frame and are respectively the rigid coupling on four terminal surfaces of frame outer end, and four square columns are respectively through self wedge groove sliding connection on four spacing seats.
The front end of the connecting seat in each protection mechanism is attached to and slides on the rear end of the embedded frame.
Four outer end faces of the outer frame are provided with grooves, and the four embedded frames are respectively positioned in the four grooves.
The protection mechanism further comprises explosion-proof glass, and the explosion-proof glass is fixedly connected to the outer end of the contact seat.
This robot is patrolled and examined to rail mounted still including inhaling the sound sponge, all is equipped with in the space that square steel, connecting portion and frame and inhales the sound sponge.
The rail type inspection robot also comprises a force guide structure, wherein the force guide structure comprises a trigger rod, a strip groove, a top plate, reset rods, an embracing disc, a hollow frame, a gear, a ring groove and keys, the lower end of the trigger rod is provided with an external thread, the upper end of the trigger rod is provided with the strip groove, the top plate is fixedly connected with the upper end of the trigger rod, the left side and the right side of the top plate are both slidably connected with one reset rod, the embracing disc is fixedly connected with the upper ends of the two reset rods, the two reset rods are both sleeved with a compression spring II, two ends of the compression spring II are respectively contacted with the top plate and the holding disc, the lower ends of the two reset rods are fixedly connected with a limiting part, the upper end of the limiting part is in contact with the lower end of the top plate, the trigger rod is positioned in the hollow frame, the upper end of the hollow frame is rotatably connected with the gear, the lower end of the gear is provided with a ring groove, the upper end of the hollow frame is positioned in the ring groove, the inner end of the gear is provided with an integrally connected key, and the key is connected in the bar groove in a sliding manner; lead power structure circumference and evenly be equipped with four, four triggering lever difference threaded connection are at the middle part of frame upper end all around, and the equal rigid coupling of four well hollows frame is in the upper end of frame, and four square column front sides all are equipped with the tooth, and four square columns all are through the tooth on self respectively with four gear engagement transmissions.
A plurality of strip-shaped anti-skid grains are uniformly arranged at the upper end of the holding disc in the circumferential direction.
The track type inspection robot further comprises an I-shaped rail, a mounting frame and a bottom plate, the mounting frame is fixedly connected to the upper end of the I-shaped rail, the bottom plate is arranged at the front end and the rear end of the lower end of the mounting frame, four limiting wheels located on the rear side are in contact with the outer end of the rear end of the I-shaped rail, four limiting wheels located on the front side are in contact with the outer end of the front end of the I-shaped rail, and driving wheels are in contact with the bottom end of the inner end of the I-shaped rail.
And a light transmission opening is formed in the mounting frame.
The track type inspection robot has the beneficial effects that:
the impact force is converted into force in the direction of the axis of the guide pillar, the force in the direction cannot influence the camera, and the compression spring I is used for absorbing force to absorb shock; when the impact force is too large and the compression spring I is compressed to the limit, the impact force can impact the left end and the right end of the embedded frame. The embedded frame is a main stress body, so that the influence of impact force on the camera is avoided, and the stage allocation is realized; the higher trigger lever of impact force risees, the result makes the armful dish rise, be used for under the guide rail contact after the armful dish risees, and then realize the location, conduct power to the guide rail on, utilize the guide rail to share the impact force that receives, the armful dish is with the guide rail contact back, the big II compression degrees of compression spring of impact force big more, the big more of positive pressure of armful dish to the guide rail, and then the two frictional force is big more, can realize auxiliary brake, and then make when receiving the impact force and patrol and examine the robot and improve stability, shoot the condition of receiving the impact.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is an overall structural schematic diagram of a rail type inspection robot according to the present invention;
FIG. 2 is a partial schematic view of the first embodiment of the present invention;
FIG. 3 is a second partial schematic structural view of the present invention;
FIG. 4 is a third schematic view of a portion of the present invention;
FIG. 5 is a fourth schematic view of a portion of the present invention;
FIG. 6 is a schematic diagram of a portion of the present invention;
fig. 7 is a partial structural diagram six of the present invention.
In the figure: an I-shaped rail 1; a mounting frame 101; a base plate 102; 2, square steel; a connecting portion 201; an outer frame 202; a groove 203; a sound absorbing sponge 204; a guide holder 205; a limiting wheel 206; a motor 207; a drive wheel 208; an embedded frame 3; a guide post 301; a connecting socket 302; a connecting rod 303; a contact base 304; explosion-proof glass 305; a square column 306; a wedge groove 307; a limiting seat 308; a trigger lever 4; a bar groove 401; a top plate 402; a reset lever 403; a holding plate 404; a hollow frame 5; a gear 501; a ring groove 502; a key 503.
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The present invention will be described in further detail with reference to the accompanying drawings.
The first embodiment is as follows:
as shown in the figure, a robot is patrolled and examined to rail mounted, including square steel 2, motor 207, drive wheel 208 and stopper, the stopper includes guide holder 205 and spacing round 206, and the left and right sides at both ends all rotates about guide holder 205 and connects a spacing round 206, mirror symmetry is equipped with two around the stopper, and two equal rigid couplings of guide holder 205 are in the upper end of square steel 2, are located the rear end rigid coupling motor 207 of the guide holder 205 of rear side, and the output shaft of motor 207 passes guide holder 205 forward by the back, and the front end of motor 207 output shaft is connected drive wheel 208 firmly. The lower extreme of square steel 2 is used for installing the camera, and two stoppers are used for contacting with the front and back both ends of guide rail respectively, and then make square steel 2 in the front and back to upwards injecing, and drive wheel 208 walks on the guide rail, and the cooperation dead weight makes square steel 2 in the upper and lower direction to be injecing, starter motor 207, and the output shaft of motor 207 drives drive wheel 208 and rotates, and drive wheel 208 makes square steel 2 walk on the guide rail in the left and right directions.
The second embodiment is as follows:
as shown in the figure, the rail-mounted inspection robot further comprises a connecting part 201, an outer frame 202, four limiting seats 308 and a protection mechanism, wherein the connecting part 201 is fixedly connected to the middle of the periphery of the lower end of the square steel 2, the outer frame 202 is of a square frame structure, the inner end of the outer frame 202 is fixedly connected to the outer ends of the four connecting parts 201, the four limiting seats 308 are uniformly arranged in the circumferential direction, and the four limiting seats 308 are fixedly connected to the upper end of the outer frame 202; the protection mechanism comprises an embedded frame 3, a guide post 301, two connecting seats 302, two connecting rods 303, two contact seats 304, a square column 306 and wedge-shaped grooves 307, wherein two ends of each connecting rod 303 are fixedly connected to the left end and the right end of the rear end of the embedded frame 3 respectively, the two connecting seats 302 are arranged in left-right mirror symmetry, the two connecting seats 302 are connected to the left side and the right side of the guide post 301 in a sliding mode respectively, the rear ends of the two connecting seats 302 are hinged to the front end of one connecting rod 303, the rear ends of the two connecting rods 303 are hinged to the left end and the right end of the contact seat 304 respectively, the upper end of each contact seat 304 is fixedly connected to the rear end of the square column 306, the left end of the front side of the square column 306 is provided with the wedge-shaped grooves 307, the guide post 301 is sleeved with three compression springs I, the two compression springs I are respectively contacted with the outer ends of the two connecting seats 302 and the embedded frame 3, and the two ends of the other compression spring I are respectively contacted with the inner ends of the two connecting seats 302; four protection mechanisms are uniformly arranged in the circumferential direction, four embedded frames 3 are respectively and fixedly connected to four end faces of the outer end of the outer frame 202, and four square columns 306 are respectively connected to four limiting seats 308 in a sliding mode through wedge-shaped grooves 307 on the four square columns. Contact seat 304 is used for protecting the camera, avoids patrolling and examining and receives the influence, refers to fig. 4 and contacts seat 304 as the foreign matter striking, and contact seat 304 moves forward, and two connecting rods 303 expand, and the compression spring I that is located the left and right sides further compresses, and then changes the impact force into the ascending power of extension guide pillar 301 axis, and this ascending power of side can not influence the camera, and utilizes I absorbing force of compression spring to carry out the shock attenuation. Further when the impact force is too large and the compression spring I is compressed to the limit, the impact force can impact the left end and the right end of the embedded frame 3. And then inlay the influence that the frame 3 is main atress body, avoids the camera to receive the impact force.
The third concrete implementation mode:
as shown in the figure, the front end of the connecting seat 302 in each protection mechanism is attached to and slides on the rear end of the embedded frame 3. The slip fit is not shown in the figures. This way the force to which the guide pillar 301 is subjected is shared by the nest 3. And then realize the stage and share, compression spring I and guide pillar 301 are main atress structure earlier, also undertakes main atress when the great connecting seat 302 of atress.
The fourth concrete implementation mode:
as shown in the figure, four outer end faces of the outer frame 202 are respectively provided with a groove 203, and four embedded frames 3 are respectively located in the four grooves 203. The groove 203 is arranged to enable the outer frame 202 to share the force applied to the inserting frame 3. And further stage stress.
The fifth concrete implementation mode:
as shown, the protection mechanism further includes an explosion-proof glass 305, and the explosion-proof glass 305 is fixedly connected to the outer end of the contact base 304. The explosion-proof glass 305 increases the protection area and does not affect the recording of the camera.
The sixth specific implementation mode:
as shown in the figure, the track type inspection robot further comprises a sound absorption sponge 204, and the sound absorption sponge 204 is arranged in the space surrounded by the square steel 2, the connecting part 201 and the outer frame 202. The sound absorbing sponge 204 has a certain shock absorbing and attracting effect.
The seventh embodiment:
as shown in the figure, the rail-mounted inspection robot further comprises a force guiding structure, the force guiding structure comprises a trigger rod 4, a strip groove 401, a top plate 402, reset rods 403, a holding disc 404, a hollow frame 5, a gear 501, a ring groove 502 and a key 503, external threads are arranged at the lower end of the trigger rod 4, the strip groove 401 is arranged at the upper end of the trigger rod 4, the top plate 402 is fixedly connected at the upper end of the trigger rod 4, the reset rods 403 are slidably connected at the left side and the right side of the top plate 402, the holding disc 404 is fixedly connected at the upper ends of the two reset rods 403, a compression spring II is sleeved on the two reset rods 403, two ends of the compression spring II are respectively contacted with the top plate 402 and the holding disc 404, the lower ends of the two reset rods 403 are fixedly connected with a limiting part, the upper end of the limiting part is contacted with the lower end of the top plate 402, the trigger rod 4 is positioned in the hollow frame 5, the upper end of the hollow frame 5 is rotatably connected with the gear 501, the lower end of the gear 501 is provided with the ring groove 502, the upper end of the hollow frame 5 is positioned in the annular groove 502, the inner end of the gear 501 is provided with an integrally connected key 503, and the key 503 is connected in the strip groove 401 in a sliding manner; lead power structure circumference and evenly be equipped with four, four triggering lever 4 respectively threaded connection are at the middle part of frame 202 upper end all around, and four equal rigid couplings of cavity frame 5 are in the upper end of frame 202, and four square column 306 front sides all are equipped with the tooth, and four square column 306 all through tooth on self respectively with four gear 501 meshing transmission. When explosion-proof glass 305 receives the impact force great, contact base 304 moves forward, square column 306 also moves forward, and then square column 306 drives gear 501 and rotates, gear 501 drives trigger bar 4 and rotates, trigger bar 4 risees, the result makes embracing disc 404 rise, be used for with guide rail lower terminal surface contact after embracing disc 404 risees, and then realize the location, with the power conduction to the guide rail on, utilize the guide rail to share the impact force that receives, embrace disc 404 and guide rail contact after, the impact force is big more the compression degree of compression spring II is big more, it is big more to embrace the positive pressure of disc 404 to the guide rail, and then the two frictional force is big more, can realize auxiliary brake, and then make when receiving the impact force and patrol and examine the robot and improve stability, shoot the condition of receiving the impact.
The specific implementation mode is eight:
as shown in the figure, a plurality of strip-shaped anti-slip lines are uniformly arranged on the upper end of the holding disc 404 in the circumferential direction.
The specific implementation method nine:
as shown in the figure, the rail type inspection robot further comprises an I-shaped rail 1, an installation frame 101 and a bottom plate 102, the upper end of the I-shaped rail 1 is fixedly connected with the installation frame 101, the bottom plate 102 is arranged at each of the front end and the rear end of the lower end of the installation frame 101, four limiting wheels 206 located on the rear side are in contact with the outer end of the rear end of the I-shaped rail 1, the four limiting wheels 206 located on the front side are in contact with the outer end of the front end of the I-shaped rail 1, and a driving wheel 208 is in contact with the bottom end of the inner end of the I-shaped rail 1. The i-rail 1, the mounting frame 101 and the base plate 102 constitute the above-mentioned guide rail. The i-rail 1 is partly in section in fig. 1.
The detailed implementation mode is ten:
as shown in the figure, a light-transmitting opening is formed in the mounting frame 101.
The invention relates to a rail type inspection robot, which has the working principle that:
the lower extreme of square steel 2 is used for installing the camera, and two stoppers are used for contacting with the front and back both ends of guide rail respectively, and then make square steel 2 in the front and back to upwards injecing, and drive wheel 208 walks on the guide rail, and the cooperation dead weight makes square steel 2 in the upper and lower direction to be injecing, starter motor 207, and the output shaft of motor 207 drives drive wheel 208 and rotates, and drive wheel 208 makes square steel 2 walk on the guide rail in the left and right directions. Contact seat 304 is used for protecting the camera, avoids patrolling and examining and receives the influence, refers to fig. 4 and contacts seat 304 as the foreign matter striking, and contact seat 304 moves forward, and two connecting rods 303 expand, and the compression spring I that is located the left and right sides further compresses, and then changes the impact force into the ascending power of extension guide pillar 301 axis, and this ascending power of side can not influence the camera, and utilizes I absorbing force of compression spring to carry out the shock attenuation. Further when the impact force is too large and the compression spring I is compressed to the limit, the impact force can impact the left end and the right end of the embedded frame 3. And then inlay the influence that the frame 3 is main atress body, avoids the camera to receive the impact force. This way the force to which the guide pillar 301 is subjected is shared by the nest 3. And then realize the stage and share, compression spring I and guide pillar 301 are main atress structure earlier, also undertakes main atress when the great connecting seat 302 of atress. The groove 203 is arranged to enable the outer frame 202 to share the force applied to the inserting frame 3. And further stage stress. The explosion-proof glass 305 increases the protection area and does not affect the recording of the camera. The sound absorbing sponge 204 has a certain shock absorbing and attracting effect. When explosion-proof glass 305 receives the impact force great, contact base 304 moves forward, square column 306 also moves forward, and then square column 306 drives gear 501 and rotates, gear 501 drives trigger bar 4 and rotates, trigger bar 4 risees, the result makes embracing disc 404 rise, be used for with guide rail lower terminal surface contact after embracing disc 404 risees, and then realize the location, with the power conduction to the guide rail on, utilize the guide rail to share the impact force that receives, embrace disc 404 and guide rail contact after, the impact force is big more the compression degree of compression spring II is big more, it is big more to embrace the positive pressure of disc 404 to the guide rail, and then the two frictional force is big more, can realize auxiliary brake, and then make when receiving the impact force and patrol and examine the robot and improve stability, shoot the condition of receiving the impact.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.
Claims (4)
1. The utility model provides a robot is patrolled and examined to rail mounted, includes square steel (2), motor (207), drive wheel (208) and stopper, its characterized in that: the limiting device comprises a guide seat (205) and limiting wheels (206), the left side and the right side of the upper end and the lower end of the guide seat (205) are respectively and rotatably connected with one limiting wheel (206), the front side and the rear side of the limiting device are provided with two guide seats (205) in mirror symmetry, the two guide seats (205) are respectively and fixedly connected to the upper end of the square steel (2), the rear end of the guide seat (205) positioned on the rear side is fixedly connected with a motor (207), the output shaft of the motor (207) penetrates through the guide seat (205) from back to front, and the front end of the output shaft of the motor (207) is fixedly connected with a driving wheel (208);
the rail-mounted inspection robot further comprises connecting parts (201), an outer frame (202), four limiting seats (308) and a protection mechanism, wherein the connecting parts (201) are fixedly connected to the middle parts of the periphery of the lower end of the square steel (2), the outer frame (202) is of a square frame structure, the inner end of the outer frame (202) is fixedly connected with the outer ends of the four connecting parts (201), the number of the limiting seats (308) is four, and the four limiting seats (308) are fixedly connected to the upper end of the outer frame (202); the protection mechanism comprises an embedded frame (3), a guide post (301), connecting seats (302), connecting rods (303), two contact seats (304), square columns (306) and wedge-shaped grooves (307), wherein two ends of the guide post (301) are fixedly connected to the left end and the right end of the rear end of the embedded frame (3) respectively, the left end and the right end of each connecting seat (302) are arranged in mirror symmetry, the two connecting seats (302) are connected to the left side and the right side of the guide post (301) in a sliding mode respectively, the rear ends of the two connecting seats (302) are hinged to the front end of one connecting rod (303), the rear ends of the two connecting rods (303) are hinged to the left end and the right end of each contact seat (304), the upper end of each contact seat (304) is fixedly connected to the rear end of the square column (306), the left end of the front side of the square column (306) is provided with the wedge-shaped groove (307), three compression springs I are sleeved on the guide post (301), the two compression springs I are respectively contacted with the outer ends of the two connecting seats (302) and the embedded frame (3), two ends of the other compression spring I are respectively contacted with the inner ends of the two connecting seats (302); four protection mechanisms are uniformly arranged in the circumferential direction, four embedded frames (3) are fixedly connected to four end faces of the outer end of the outer frame (202) respectively, and four square columns (306) are connected to four limiting seats (308) in a sliding mode through wedge-shaped grooves (307) on the square columns respectively;
the front end of the connecting seat (302) in each protection mechanism is attached to the rear end of the embedded frame (3) to slide;
grooves (203) are formed in four outer end faces of the outer frame (202), and the four embedded frames (3) are respectively located in the four grooves (203);
the protection mechanism further comprises explosion-proof glass (305), and the explosion-proof glass (305) is fixedly connected to the outer end of the contact base (304);
the rail type inspection robot also comprises a sound absorption sponge (204), and the sound absorption sponge (204) is arranged in the space surrounded by the square steel (2), the connecting part (201) and the outer frame (202);
the rail type inspection robot further comprises a force guide mechanism, the force guide mechanism comprises a trigger rod (4), a strip groove (401), a top plate (402), reset rods (403), a holding disc (404), a hollow frame (5), a gear (501), a ring groove (502) and a key (503), external threads are arranged at the lower end of the trigger rod (4), the strip groove (401) is arranged at the upper end of the trigger rod (4), the top plate (402) is fixedly connected at the upper end of the trigger rod (4), the left side and the right side of the top plate (402) are respectively connected with one reset rod (403) in a sliding mode, the holding disc (404) is fixedly connected at the upper ends of the two reset rods (403), compression springs II are sleeved on the two reset rods (403), two ends of each compression spring II are respectively contacted with the top plate (402) and the holding disc (404), the lower ends of the two reset rods (403) are respectively fixedly connected with a limiting part, the upper ends of the limiting parts are contacted with the lower end of the top plate (402), the trigger rod (4) is positioned in the hollow frame (5), the upper end of the hollow frame (5) is rotatably connected with the gear (501), the lower end of the gear (501) is provided with a ring groove (502), the upper end of the hollow frame (5) is positioned in the ring groove (502), the inner end of the gear (501) is provided with an integrally connected key (503), and the key (503) is slidably connected in the strip groove (401); four force guide mechanisms are circumferentially and evenly arranged, four trigger rods (4) are respectively in threaded connection with the middle of the upper end of the periphery of the outer frame (202), four hollow frames (5) are fixedly connected to the upper end of the outer frame (202), teeth are arranged on the front sides of four square columns (306), and the four square columns (306) are respectively in meshing transmission with the four gears (501) through the teeth on the square columns.
2. The orbital inspection robot according to claim 1, wherein: a plurality of strip-shaped anti-skid grains are uniformly arranged at the upper end of the holding disc (404) in the circumferential direction.
3. The orbital inspection robot according to claim 2, wherein: this robot is patrolled and examined to rail mounted still includes I-shaped rail (1), mounting bracket (101) and bottom plate (102), upper end rigid coupling mounting bracket (101) of I-shaped rail (1), both ends all are equipped with bottom plate (102) around mounting bracket (101) lower extreme, four spacing wheels (206) that are located the rear side contact with the outer end of I-shaped rail (1) rear end, four spacing wheels (206) that are located the front side contact with the outer end of I-shaped rail (1) front end, drive wheel (208) contact with the bottom that I-shaped rail (1) is inner.
4. The orbital inspection robot according to claim 3, wherein: the mounting frame (101) is provided with a light transmission opening.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011457026.0A CN112643689B (en) | 2020-12-10 | 2020-12-10 | Track type inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011457026.0A CN112643689B (en) | 2020-12-10 | 2020-12-10 | Track type inspection robot |
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| Publication Number | Publication Date |
|---|---|
| CN112643689A CN112643689A (en) | 2021-04-13 |
| CN112643689B true CN112643689B (en) | 2021-12-14 |
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| CN202011457026.0A Active CN112643689B (en) | 2020-12-10 | 2020-12-10 | Track type inspection robot |
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| CN108555881A (en) * | 2018-06-29 | 2018-09-21 | 山东金惠新达智能制造科技有限公司 | One kind can minor-circle turn hanger rail robot climbing apparatus |
| CN109263740B (en) * | 2018-09-03 | 2021-04-06 | 国电南瑞科技股份有限公司 | A passive blocking device of walking wheel for overhead transmission line patrols and examines robot |
| CN209063084U (en) * | 2018-11-15 | 2019-07-05 | 国网江苏省电力有限公司 | A kind of adaptive robot ambulation track internal contracting brake mechanism |
| CN210307839U (en) * | 2019-06-14 | 2020-04-14 | 山东硅步机器人技术有限公司 | Open type mobile experimental robot |
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2020
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