CN114524337A - Novel multistage inspection lifting connection device for track inspection robot - Google Patents
Novel multistage inspection lifting connection device for track inspection robot Download PDFInfo
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- CN114524337A CN114524337A CN202210128534.7A CN202210128534A CN114524337A CN 114524337 A CN114524337 A CN 114524337A CN 202210128534 A CN202210128534 A CN 202210128534A CN 114524337 A CN114524337 A CN 114524337A
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- car
- inspection
- support frame
- inspection robot
- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
- B66B11/0065—Roping
- B66B11/008—Roping with hoisting rope or cable operated by frictional engagement with a winding drum or sheave
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
- B66B11/02—Cages, i.e. cars
- B66B11/0226—Constructional features, e.g. walls assembly, decorative panels, comfort equipment, thermal or sound insulation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B7/00—Other common features of elevators
- B66B7/02—Guideways; Guides
- B66B7/021—Guideways; Guides with a particular position in the shaft
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Civil Engineering (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
The application relates to a novel multistage promotion connecting device that patrols and examines of robot is patrolled and examined to track, it includes: the inspection robot comprises a support frame, a lift car, a lifting device and a lift car controller, wherein the support frame is vertically fixed on the ground, the lifting device is fixedly arranged at one end of the support frame, which is far away from the ground, the lift car is vertically arranged on the support frame in a sliding manner, the lifting device is connected with the lift car to drive the lift car to act, the inspection robot is horizontally arranged in the lift car in a sliding manner, and one side of the lift car is provided with an opening for the inspection robot to move to equipment to be inspected; a plurality of limit switches are arranged on the support frame, each limit switch corresponds to equipment to be inspected, and the limit switches are used for outputting in-place detection signals when detecting that the lift car reaches the working position; the car controller is respectively connected with the limit switch, the lifting device and the controller of the inspection robot. This application has realized many coal conveying galleries sharing one set of robot of patrolling and examining and has patrolled and examined the saving cost.
Description
Technical Field
The application relates to the field of robot inspection, in particular to a novel multistage inspection lifting connection device for a track inspection robot.
Background
Coal conveying system of thermal power factory mostly is many coal conveying belts and sends the boiler position to from the coal bunker through multichannel process, and coal conveying system adopts the manual work to patrol and examine more, and along with patrolling and examining the development of robot in recent years, coal conveying corridor patrols and examines robot technique maturity gradually, patrols and examines the mode that replaces the manual work to patrol and examine gradually.
At present, when the inspection robot is adopted for inspection, only one coal conveying belt can be inspected by one coal conveying gallery inspection robot system; the design and routing inspection capacity of one set of routing inspection robot is mostly 4-8 kilometers, while the coal conveying corridor of a thermal power plant is mostly not more than 300 meters, and the cost is higher and the installation and maintenance are inconvenient as one set of routing inspection robot system is independently installed on each coal conveying belt.
Disclosure of Invention
In order to realize that many coal conveying galleries share one set of robot of patrolling and examining to patrol and examine and practice thrift the cost, this application provides a novel multistage inspection of robot is patrolled and examined to track and promotes connecting device.
The application provides a pair of novel multistage inspection of robot is patrolled and examined to track promotes connecting device adopts following technical scheme:
the utility model provides a novel multistage inspection of robot is patrolled and examined to track promotes connecting device, includes: the method comprises the following steps: the inspection robot comprises a support frame, a car, a lifting device and a car controller, wherein the support frame is vertically fixed on the ground, the lifting device is fixedly arranged at one end, far away from the ground, of the support frame, the car is vertically arranged on the support frame in a sliding manner, the lifting device is connected with the car to drive the car to act, the inspection robot is horizontally arranged inside the car in a sliding manner, and one side of the car is opened to allow the inspection robot to move to equipment to be inspected;
the support frame is provided with a plurality of limit switches, each limit switch corresponds to equipment to be inspected, and the limit switches are used for outputting in-place detection signals when detecting that the lift car reaches a working position;
the car controller is respectively connected with the limit switch, the lifting device and the controller of the inspection robot, and receives the in-place detection signal to output a first control signal and a second control signal;
the lifting device receives the first control signal to stop so as to control the car to stop moving;
and the controller of the inspection robot receives the second control signal and outputs a driving signal to control the inspection robot to act outside the car.
By adopting the technical scheme, the lift car can vertically reciprocate on the support frame by arranging the support frame and the lifting device, the inspection robot is horizontally arranged in the lift car in a sliding manner, the support frame is provided with a plurality of limit switches, each limit switch corresponds to equipment to be inspected, when the inspection robot works, the support frame is arranged at a designated position, the lifting device is controlled by the lift car controller, so that the lift car is moved to a working position, the limit switches detect that the lift car reaches the working position and output an in-place detection signal, the lift car controller receives the in-place detection signal and outputs a first control signal and a second control signal, the lifting device receives the first control signal and stops to stop the lift car at the working position, the controller of the inspection robot receives the second control signal, the inspection robot is controlled to move to the equipment to be inspected outside the lift car for inspection, and the inspection robot enters the lift car after a preset time, the car controller controls the lifting device to work to move the car to the next working position, the steps are repeated, two or more coal conveying galleries are connected through the lifting device, and one robot can patrol the coal conveying galleries to save cost.
Optionally, be provided with between car and the support frame and be used for right patrol and examine the spacing safe self-lock device of robot.
Through adopting above-mentioned technical scheme, through setting up safe self-lock device, it is spacing to patrolling and examining the robot to remove the in-process at the car, reduces the car and rocks because of the car at the removal in-process and lead to patrolling and examining the probability that the robot dropped outside the car.
Optionally, the safety self-locking device comprises a sleeve, the sleeve is vertically fixed to the top of the car, a safety pin is vertically slidably arranged in the sleeve, one end of the safety pin extends into the car, a spring is further arranged in the sleeve, one end of the spring is connected with the safety pin, and the other end of the spring is connected with the sleeve;
one end, far away from the lift car, of the safety pin is connected with a pull rope, a first fixing piece and a second fixing piece are arranged on the outer side wall of the lift car side by side, one end, far away from the safety pin, of the pull rope penetrates through the first fixing piece and is fixedly connected with the second fixing piece, and a limiting section is formed between the first fixing piece and the second fixing piece;
the support frame is located the equal rigid coupling in position of spacing section top and below and has the gag lever post, is the fork between gag lever post and the spacing section and arranges, and the car makes progress or when the downstream to operating position, spacing section and gag lever post contact and make stay cord pulling safety pin withdraw in the sleeve in order to relieve right it is spacing to patrol and examine the robot.
Through adopting above-mentioned technical scheme, when the car did not reach the operating position, the safety pin stretches into inside the car under the effect of spring force, carry on spacingly to patrolling and examining the robot, after reaching the operating position, through the cooperation of gag lever post and spacing section, make the stay cord draw and drag safety pin compression spring, make the safety pin remove to the car outside, relieve the spacing to patrolling and examining the robot, make to patrol and examine the robot and can remove to waiting to detect equipment, safety self-lock device simple structure, it is convenient for maintain with low costs.
Optionally, the sleeve is flanged to the car roof.
Optionally, the support frame includes a mounting plate and a plurality of support columns for supporting the mounting plate.
Optionally, hoisting device includes driving motor, speed reducer, action wheel and follows the driving wheel, the action wheel rotates with the mounting panel through first transmission shaft to be connected, rotate with the mounting panel through the secondary drive axle from the driving wheel to be connected, driving motor with the speed reducer is fixed set up in on the mounting panel, driving motor's output shaft the input shaft of speed reducer, the output shaft of speed reducer passes through first transmission shaft fixed connection the action wheel, the action wheel with from the driving wheel on around being equipped with the lifting rope, lifting rope one end is passed the mounting panel is connected car, the other end passes the mounting panel is connected with the balancing weight.
Optionally, the inside inner guide that is provided with of car, the one end of inner guide with the inner wall fixed connection of car, the other end of inner guide is towards the opening of car, patrol and examine the robot horizontal slip set up in on the inner guide.
Optionally, the guide rail is an angle steel.
Optionally, many first guide posts and many second guide posts are vertically provided with on the support frame, be provided with on the lateral wall of car with the first guide way of first guide post complex, first guide way card is located on the first guide post to make the car follow first guide post vertical slip, be provided with on the lateral wall of balancing weight with second guide post complex second guide way, second guide way card is located on the second guide post, so that the balancing weight is followed the vertical slip of second guide post.
Through adopting above-mentioned scheme, the cooperation through first guide post and first guide way reduces the car and takes place the condition of rocking by a wide margin at the removal in-process, improve the stability of car operation, cooperation through second guide post and second guide way, reduce the balancing weight and take place the condition of rocking by a wide margin at the removal in-process, improve the stability of balancing weight operation, simultaneously through the cooperation of first guide post and first guide way, the cooperation of second guide post and second guide way, can effectively reduce the condition that running in-process balancing weight and car are mutual to interfere.
Optionally, the top of the car is fixedly provided with a connecting piece, and the lifting rope is connected with the car through the connecting piece.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the lift car can vertically reciprocate on the support frame by arranging the support frame and the lifting device, the inspection robot is horizontally arranged in the lift car in a sliding manner, a plurality of limit switches are arranged on the support frame, each limit switch corresponds to a device to be inspected, when the inspection robot works, the support frame is arranged at a designated position, the lifting device is controlled by the lift car controller, so that the lift car is moved to the working position, the limit switches detect that the lift car reaches the working position and output in-place detection signals, the lift car controller receives the in-place detection signals and outputs first control signals and second control signals, the lifting device receives the first control signals and stops to stop the lift car at the working position, the controller of the inspection robot receives the second control signals and controls the inspection robot to move outwards to the device to be inspected to inspect, and the inspection robot enters the interior of the lift car after preset time, the car controller controls the lifting device to work, the car is moved to the next working position, the steps are repeated, and therefore the coal conveying galleries can share one inspection robot to conduct inspection, and cost is saved;
2. through setting up safe self-lock device, move the in-process at the car and carry on spacingly to patrolling and examining the robot, reduce the car and lead to patrolling and examining the probability that the robot dropped outside the car because of the car shake at the removal in-process.
Drawings
Fig. 1 is the overall structure schematic diagram of the novel multistage inspection lifting connection device of the track inspection robot provided by the application.
Fig. 2 is a system block diagram of the novel multi-stage inspection lifting connection device of the track inspection robot provided by the application.
Fig. 3 is an enlarged view of a portion a of fig. 1.
Fig. 4 is a side view of the novel multistage inspection lifting connection device of the track inspection robot provided by the application.
Fig. 5 is an enlarged view of a portion B of fig. 1.
Fig. 6 is a sectional view a-a of fig. 4.
Description of reference numerals: 1. a support frame; 11. a support pillar; 12. mounting a plate; 13. a first mounting bar; 131. a limit switch; 14. a second mounting bar; 15. a third mounting bar; 151. a limiting rod; 16. a fourth mounting bar; 17. a first guide post; 18. a second guide post; 19. a connecting rod; 2. a car; 21. a patrol robot; 211. a controller of the inspection robot; 22. a car controller; 23. a first fixing member; 24. a second fixing member; 25. an inner guide rail; 26. an outer guide rail; 27. a connecting member; 28. a first guide groove; 3. a balancing weight; 31. a second guide groove; 4. a lifting device; 41. a drive motor; 42. a speed reducer; 43. a driven wheel; 44. a driving wheel; 45. a lifting rope; 46. a first support member; 461. a first mounting block; 462. a first hoop; 463. a first drive shaft; 464. a first bearing; 47. a second support member; 471. a second hoop; 472. a second bearing; 473. a second drive shaft; 48. a rectangular hole; 5. a safety self-locking device; 51. a sleeve; 52. a shear pin; 53. pulling a rope; 54. a spring.
Detailed Description
The present application is described in further detail below with reference to figures 1-6.
The embodiment of the application discloses novel multistage lifting connection device that patrols and examines of robot is patrolled and examined to track. Referring to fig. 1 and 2, the novel multistage inspection lifting connection device of the track inspection robot comprises: support frame 1, car 2, hoisting device 4 and car controller 22, the one end and the vertical setting of ground fixed connection and support frame 1 of support frame 1, support frame 1 is whole to be cuboid form frame construction, car 2 vertically slides and sets up in support frame 1, hoisting device 4 is fixed to be set up in the one end that support frame 1 kept away from ground, hoisting device 4 connects car 2, be fixed with first installation pole 13 and second installation pole 14 through the welded mode on support frame 1, all be provided with limit switch 131 on first installation pole 13 and the second installation pole 14, first installation pole 13 place is first operating position, second installation pole 14 place is second operating position, limit switch 131 is used for detecting when car 2 reachs first operating position or second operating position, output detection signal that targets in place.
2 one side openings of car, the opening orientation is waited to patrol and examine equipment, is provided with inner guide rail 25 on 2's the inside wall of car, inner guide rail 25 one end and 2 inner wall fixed connection of car, and the other end is towards 2's of car opening, and the robot 21 horizontal slip of patrolling and examining sets up on inner guide rail 25, is provided with the outer guide rail 26 with inner guide rail 25 complex on waiting to patrol and examine equipment.
The car controller 22 is respectively connected with the limit switch 131, the lifting device 4 and the controller 211 of the inspection robot, after the car 2 reaches the first working position or the second working position, the inner guide rail 25 is aligned with the outer guide rail 26, and the car controller 22 receives the position detection signal output by the limit switch 131 and outputs a first control signal and a second control signal; the lifting device 4 receives the first control signal to stop so as to control the car 2 to stop moving; the controller 211 of the inspection robot receives the second control signal, outputs a driving signal, and controls the inspection robot 21 to move outside the car 21, so that the inspection robot 21 can move to the outer guide rail 26 from the inner guide rail 25, and inspects the to-be-detected equipment along the outer guide rail 26.
When the elevator works, the car controller 22 receives a starting signal and outputs a first starting signal, the lifting device 4 receives the starting signal to work and drives the car 2 to move to a first working position, the limit switch 131 at the first working position outputs an in-place detection signal, the car controller 22 receives the in-place detection signal and outputs a first control signal and a second control signal, the lifting device 4 receives the first control signal and stops working to enable the car 2 to stop at the first working position, and at the moment, the inner guide rail 25 is aligned with the outer guide rail 26; the controller 211 of the inspection robot receives the second control signal and outputs a driving signal to drive the inspection robot 21 to move to the outer guide rail 26 along the inner guide rail 25, inspection is completed after preset time, the inspection robot 21 enters the car 2, the controller 211 of the inspection robot outputs a stopping signal to stop the inspection robot 21, the car controller 22 outputs a second starting signal, the lifting device 4 receives the second starting signal to work and drives the car 2 to move to a second working position, the process is repeated to inspect the equipment to be inspected, the inspection robot 21 enters the car 2 after preset time, the controller 211 of the inspection robot outputs the stopping signal to control the inspection robot 21 to stop working and complete inspection, through this novel multistage lifting connection device that patrols and examines of robot is patrolled and examined to track, a robot patrols and examines the operation on a plurality of tracks.
The support frame 1 comprises four support columns 11 and a mounting plate 12, the four support columns 11 are vertically fixed on the ground, the four support columns 11 are distributed in a rectangular array mode, connecting rods 19 are fixedly arranged between every two adjacent support columns 11, the connecting rods 19 and the support columns 11 are connected in a welding mode, in other implementation modes, the connecting rods 19 and the support columns 11 can be connected in a fixed connection mode through bolts and the like, and limitation is not made here. In this embodiment, the supporting column 11 is an angle steel. The mounting panel 12 level sets up in the one end that ground was kept away from to support column 11, and mounting panel 12 is the rectangle form, and the one end that ground was kept away from to four support columns 11 is through welded mode and mounting panel 12 fixed connection.
Referring to fig. 3 and 4, the lifting device 4 includes a driving motor 41, a speed reducer 42, a driving wheel 44 and a driven wheel 43, the driving motor 41 and the speed reducer 42 are fixedly disposed on the mounting plate 12 through bolts, and an output shaft of the driving motor 41 is fixedly connected to an input end of the speed reducer 42.
A rectangular hole 48 is formed in the supporting plate, a first supporting piece 46 and a second supporting piece 47 are arranged along the length direction of the rectangular hole 48, the first supporting piece 46 comprises two first mounting blocks 461, the two first mounting blocks 461 are oppositely arranged on two sides of the rectangular hole 48 along the width direction of the rectangular hole 48, one side, away from the mounting plate 12, of each first mounting block 461 is fixedly provided with a first hoop 462 through a bolt, a first bearing 464 is embedded in the first hoop 462, a first transmission shaft 463 is arranged between the two first bearings 464, the outer side wall of the first transmission shaft 463 is abutted against the inner ring of the first bearing 464, the driving wheel 44 is arranged on the first transmission shaft 463, and the projection of the driving wheel 44 on the mounting plate 12 is completely located in the rectangular hole 48; the second support 47 includes two second anchor ears 471, two second anchor ears 471 are oppositely disposed along the width direction of the rectangular hole 48 at two sides of the rectangular hole 48, a second bearing 472 is embedded in the second anchor ears 471, a second transmission shaft 473 is disposed between the two second bearings 472, the outer side wall of the second transmission shaft 473 abuts against the inner ring of the second bearing 472, the driven wheel 43 is disposed on the second transmission shaft 473, the projection of the driven wheel 43 on the mounting plate 12 is completely located in the rectangular hole 48, a lifting rope 45 is wound on the driving wheel 44 and the driven wheel 43, one end of the lifting rope 45 passes through the rectangular hole 48 through the driving wheel 44 and is fixedly connected with the top of the car 2 through the connecting piece 27, the other end of the lifting rope 45 passes through the rectangular hole 48 through the driven wheel 43 and is connected with the counterweight 3, the output end of the speed reducer 42 is fixedly connected with the first transmission shaft 463, which faces one end of the speed reducer 42, the driving wheel 43 is driven by the driving motor 42 to rotate, thereby moving the car 2. In this embodiment, the connecting member 27 is a suspension ring, and the suspension ring is in threaded connection with the top of the car 2.
Referring to fig. 1 and 5, in order to improve the running stability of the car 2 and the counterweight 3, two first guide posts 17 and two second guide posts 18 are vertically arranged in the support frame 1, the two first guide posts 17 are fixedly connected with a connecting rod 19 in a welding manner, the two first guide posts 17 are symmetrically arranged, first guide grooves 28 matched with the first guide posts 17 are symmetrically arranged on two opposite side walls of the car 2, and the first guide grooves 28 are clamped on the first guide posts 17, so that the car 2 vertically moves along the first guide posts 17; second guide post 18 and support column 11 are through welded mode fixed connection, and two adjacent settings of second guide post 18 are provided with two and second guide way 31 of second guide post 18 complex on the lateral wall of balancing weight 3 orientation second guide post 18 to make balancing weight 3 along the vertical removal of second guide post 18. In this embodiment, the first guide post 17 and the second guide post 18 are both T-shaped steel, and the first guide groove 28 and the second guide groove 31 are both C-shaped steel. Reduce the car 2 and take place the condition of rocking by a wide margin at the removal in-process through the cooperation of first guide post 17 and first guide way 28, improve the stability of car 2 operation, cooperation through second guide post 18 and second guide way 31, reduce the condition that balancing weight 3 took place to rock by a wide margin at the removal in-process, improve the stability of balancing weight 3 operation, simultaneously through the cooperation of first guide post 17 and first guide way 28, the cooperation of second guide post 18 and second guide way 31, can effectively reduce the condition of running in-process balancing weight 3 and car 2 mutual interference.
Referring to fig. 4 and 6, in order to reduce the probability that the inspection robot 21 falls out of the car 2 during movement of the car 2, a safety self-locking device 5 is arranged between the cage 2 and the support frame 1, the safety self-locking device 5 comprises a sleeve 51, one end of the sleeve 51 is connected with a flange at the top of the cage 2, through holes are arranged at two ends of the sleeve 51, a safety pin 52 is vertically and slidably arranged in the sleeve 51, the safety pin 52 extends into the car 2 through a through hole at one end of the sleeve 51 close to the top of the car 2, so as to limit the inspection robot 21, a spring 54 is vertically arranged in the sleeve 51 along the axial direction of the sleeve, one end of the spring 54 abuts against one end of the safety pin 52 in the sleeve 51, the other end abuts against the inner wall of the sleeve 51, one end of the safety pin 52 in the sleeve 51 is fixedly connected with a pull rope 53, and the pull rope 53 passes through the spring 54 and extends out of the sleeve 51 through a through hole at one end of the sleeve 51 far away from the top of the car 2.
A first fixing part 23 is arranged on one side of the car 2 facing the limit switch 131, a second fixing part 24 is arranged on one side of the first guide groove facing the first fixing part 23 and in parallel with the first fixing part 23, one end of the pull rope 53 positioned outside the sleeve 51 penetrates through the first fixing part 23 and is fixedly connected with the second fixing part 24, a limit section is formed by the pull rope 53 between the first fixing part 23 and the second fixing part 24, a third installation rod 15 is arranged on the support frame 1 below the first installation rod 13, a limit rod 151 is arranged on the third installation rod 15, a fourth installation rod 16 is arranged on the support frame 1 between the second installation rod 14 and the third installation rod 15, a limit rod 151 is arranged on the fourth installation rod 16, one end of the limit rod 151 faces the car 2, and the limit rod and the limit section are arranged in a crossed mode. In this embodiment, the structures and shapes of the first fixing element 23 and the second fixing element 24 can be set according to actual situations, and are not limited herein, the first mounting rod 13, the second mounting rod 14, the third mounting rod 15 and the fourth mounting rod 16 are all welded with the support frame 1, and the limiting rod 151 is welded with the third mounting rod 15 and the fourth mounting rod 16.
When the car 2 moves, one end of the safety pin 52 is positioned in the car 2 to prevent the inspection robot 21 from moving outwards of the car, so that the situation that the inspection robot 21 slides out of the car 2 due to shaking in the moving process of the car 2 is reduced, when the limiting section touches the limiting rod 151 in the moving process of the car 2 to the first working position or the second working position, the stay cord 53 pulls the safety pin 52 inwards of the sleeve 51, so that the safety pin 52 moves outwards of the car 2, when the car 2 reaches the first working position or the second working position, the safety pin 52 cannot block the inspection robot 21 any more, and at the moment, the inspection robot 21 can move to the outer guide rail 16 along the inner guide rail 25; when the inspection robot 21 enters the car 2 and the car 2 is far away from the first working position or the second working position, the limiting rod 151 is far away from the limiting section, so that the pull rope 53 is loosened, and the safety pin 52 gradually enters the car 2 under the action of the elastic force of the spring 54 to limit the inspection robot 21.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (10)
1. The utility model provides a novel multistage inspection of robot is patrolled and examined to track promotes connecting device which characterized in that: the method comprises the following steps: the inspection robot comprises a support frame (1), a car (2), a lifting device (4) and a car controller (22), wherein the support frame (1) is vertically fixed on the ground, the lifting device (4) is fixedly arranged at one end, far away from the ground, of the support frame (1), the car (2) is vertically arranged on the support frame (1) in a sliding mode, the lifting device (4) is connected with the car (2) to drive the car (2) to act, an inspection robot (21) is horizontally arranged inside the car (2) in a sliding mode, and one side of the car (2) is opened to enable the inspection robot (21) to move to an inspection device;
a plurality of limit switches (131) are arranged on the support frame (1), each limit switch (131) corresponds to a device to be patrolled and examined, and the limit switches (131) are used for outputting in-place detection signals when the lift car (2) is detected to be in a working position;
the car controller (22) is respectively connected with the limit switch (131), the lifting device (4) and the controller (211) of the inspection robot, and the car controller (22) receives the in-place detection signal and outputs a first control signal and a second control signal;
the lifting device (4) receives the first control signal to stop so as to control the car (2) to stop moving;
the controller (211) of patrolling and examining the robot receives second control signal, output drive signal, control patrolling and examining robot (21) to move outside car (21).
2. The novel multistage inspection lifting connection device of the track inspection robot according to claim 1, characterized in that: be provided with between car (2) and support frame (1) and be used for right patrol and examine spacing safe self-lock device (5) of robot (21).
3. The novel multistage inspection lifting connection device for the track inspection robot according to claim 2, characterized in that: the safety self-locking device (5) comprises a sleeve (51), the sleeve (51) is vertically fixed to the top of the car (2), a safety pin (52) is vertically arranged in the sleeve (51) in a sliding mode, one end of the safety pin (52) extends into the car (2), a spring (54) is further arranged in the sleeve (51), one end of the spring (54) is connected with the safety pin (52), and the other end of the spring (54) is connected with the sleeve (51);
one end, far away from the car (2), of the safety pin (52) is connected with a pull rope (53), a first fixing piece (23) and a second fixing piece (24) are arranged on the outer side wall of the car (2) side by side, one end, far away from the safety pin (52), of the pull rope (53) penetrates through the first fixing piece (23) and is fixedly connected with the second fixing piece (24), and a limiting section is formed between the first fixing piece (23) and the second fixing piece (24);
the equal rigid coupling in position that support frame (1) is located spacing section top and below has gag lever post (151), is the cross arrangement between gag lever post (151) and the spacing section, and car (2) make progress or when downstream to operating position, spacing section and gag lever post (151) contact and make stay cord (53) pulling safety pin (35) withdraw in order to relieve in sleeve (31) it is right to patrol and examine the spacing of robot (21).
4. The novel multistage inspection lifting connection device of the track inspection robot according to claim 3, characterized in that: the sleeve (51) is connected with a top flange of the lift car (2) in a flange mode.
5. The novel multistage inspection lifting connection device of the track inspection robot according to claim 1, characterized in that: the support frame (1) comprises a mounting plate (12) and a plurality of support columns (11) for supporting the mounting plate (12).
6. The novel multistage inspection lifting connection device of the track inspection robot according to claim 5, characterized in that: the lifting device (4) comprises a driving motor (41), a speed reducer (42), a driving wheel (44) and a driven wheel (43), the driving wheel (44) is rotatably connected with the mounting plate (12) through a first transmission shaft (463), the driven wheel (43) is rotationally connected with the mounting plate (12) through a second transmission shaft (473), the driving motor (41) and the speed reducer (42) are fixedly arranged on the mounting plate (12), the output shaft of the driving motor (41) is connected with the input shaft of the speed reducer (42), an output shaft of the speed reducer (42) is fixedly connected with the driving wheel (44) through a first transmission shaft (463), a lifting rope (45) is wound on the driving wheel (44) and the driven wheel (43), lifting rope (45) one end is passed mounting panel (12) is connected car (2), the other end pass mounting panel (12) are connected with balancing weight (3).
7. The novel multistage inspection lifting connection device of the track inspection robot according to claim 1, characterized in that: the inside inner guide rail (25) that is provided with of car (2), the one end of inner guide rail (25) with the opening of the inner wall fixed connection of car (2), the other end towards car (2), patrol and examine robot (21) horizontal slip set up in on inner guide rail (25).
8. The novel multistage inspection lifting connection device of the track inspection robot according to claim 6, characterized in that: the inner guide rail (25) is an angle steel.
9. The novel multistage inspection lifting connection device of the track inspection robot according to claim 8, characterized in that: the utility model discloses a lift car, including support frame (1), car (2), first guide post (17), first guide post (18) of vertical being provided with on the lateral wall of car (2), first guide post (17) complex guide way (28), first guide way (28) card is located on first guide post (17), so that car (2) are followed first guide post (17) vertical slip, be provided with on the lateral wall of balancing weight (3) with second guide post (18) complex second guide way (31), second guide way (31) card is located on second guide post (18), so that balancing weight (3) are followed second guide post (18) vertical slip.
10. The novel multistage inspection lifting connection device of the track inspection robot according to any one of claims 6, characterized in that: the car (2) top is fixed and is provided with connecting piece (27), lifting rope (45) pass through connecting piece (27) with car (2) are connected.
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| CN114524337B (en) | 2023-09-22 |
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