CN114524337B - Multistage inspection lifting connection device of track inspection robot - Google Patents
Multistage inspection lifting connection device of track inspection robot Download PDFInfo
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- CN114524337B CN114524337B CN202210128534.7A CN202210128534A CN114524337B CN 114524337 B CN114524337 B CN 114524337B CN 202210128534 A CN202210128534 A CN 202210128534A CN 114524337 B CN114524337 B CN 114524337B
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- car
- inspection robot
- support frame
- inspection
- elevator
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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 inspection lifting connection device of a track inspection robot, which comprises the following components: the elevator comprises a support frame, an elevator, a lifting device and an elevator controller, wherein the support frame is vertically fixed on the ground, the lifting device is fixedly arranged at one end of the support frame far away from the ground, the elevator is vertically and slidably arranged on the support frame, the lifting device is connected with the elevator to drive the elevator to act, the inspection robot is horizontally and slidably arranged inside the elevator, and one side of the elevator is provided with an opening for the inspection robot to move to the equipment to be inspected; a plurality of limit switches are arranged on the support frame, each limit switch corresponds to one equipment to be inspected, and the limit switches are used for outputting in-place detection signals when detecting that the lift car arrives at the working position; the car controller is respectively connected with the limit switch, the lifting device and the controller of the inspection robot. The application realizes that a set of inspection robot is shared by a plurality of coal conveying galleries to carry out inspection, thereby saving the cost.
Description
Technical Field
The application relates to the field of robot inspection, in particular to a multistage inspection lifting connection device of a track inspection robot.
Background
The coal conveying system of the thermal power plant is mainly formed by conveying a plurality of coal conveying belts to the boiler position from a coal bunker through a plurality of working procedures, the coal conveying system is manually inspected, and in recent years, along with the development of inspection robots, the inspection robot technology of a coal conveying corridor is gradually mature, and the inspection robots are used for gradually replacing manual inspection modes.
At present, when the inspection robot is adopted for inspection, one set of coal conveying corridor inspection robot system can only inspect one coal conveying belt; the design inspection capability of one set of inspection robot is mostly 4 to 8 kilometers, and the coal conveying corridor of the thermal power plant is mostly not more than 300 meters, and the cost is high and the installation and maintenance are inconvenient because one set of inspection robot system is independently installed on each coal conveying belt.
Disclosure of Invention
In order to realize that a set of inspection robots are shared by a plurality of coal conveying galleries to save the cost of inspection, the application provides a multistage inspection lifting connecting device of a track inspection robot.
The application provides a multistage inspection lifting connection device of a track inspection robot, which adopts the following technical scheme:
multistage promotion connecting device that patrols and examines of track inspection robot includes: comprising the following steps: the elevator comprises a support frame, an elevator, a lifting device and an elevator 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 elevator is vertically and slidably arranged on the support frame, the lifting device is connected with the elevator so as to drive the elevator to act, the inspection robot is horizontally and slidably arranged in the elevator, and one side of the elevator is provided with an opening so as to enable 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 one equipment to be inspected, and the limit switches are used for outputting in-place detection signals when detecting that the car arrives at the 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 position detection signal and outputs 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, outputs a driving signal and controls the inspection robot to act outside the car.
Through adopting above-mentioned technical scheme, make the car can vertical reciprocating motion on the support frame through setting up support frame and hoisting device, patrol and examine the horizontal slip of robot and set up in the car, be provided with a plurality of limit switches on the support frame, every limit switch all corresponds one and wait to patrol and examine equipment, during operation, set up the support frame in appointed position, through car controller control hoisting device, thereby remove the car to operating position, limit switch detects the car and reachs operating position, output detection signal in place, car controller receives and examines first control signal and second control signal of position detection signal output, hoisting device receives first control signal stop action and makes the car stop operating position, patrol and examine the controller of robot and receive second control signal, control patrol and examine the robot and remove to waiting to examine equipment outside the car, patrol and examine after the time of predetermineeing, car controller control hoisting device work is with car removal to next operating position and is repeated above-mentioned step, connect two or many coal transportation corridor through this hoisting device, a plurality of coal transportation cost saving can be realized to the robot to the car.
Optionally, a safety self-locking device for limiting the inspection robot is arranged between the car and the support frame.
Through adopting above-mentioned technical scheme, through setting up safe self-locking device, carry out spacingly to inspection robot in the car removes the in-process, reduce the car and shake the probability that leads to inspection robot to fall outside the car because of the car in the removal in-process.
Optionally, the safety self-locking device comprises a sleeve, the sleeve is vertically fixed at the top of the car, a safety pin is vertically arranged in the sleeve in a sliding manner, one end of the safety pin stretches into the car, a spring is also 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 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 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 position of spacing section top and below and all fixedly connected with the gag lever post, is the cross arrangement between gag lever post and the spacing section, and when car upwards or down moved to working position, the spacing section contacted with the gag lever post and made the stay cord pulling safety pin withdraw in the sleeve with the release is to inspection robot's spacing.
Through adopting above-mentioned technical scheme, when the car did not reach operating position, the relief pin stretched into inside the car under the effect of spring elasticity, and is spacing to patrolling and examining the robot, after reaching operating position, through the cooperation of gag lever post and spacing section for the stay cord pulls relief pin compression spring, makes the relief pin to car outside removal, releases the spacing to patrolling and examining the robot, makes the robot of patrolling and examining can remove to waiting to check out equipment, and safe self-lock device simple structure, with low costs convenient maintenance.
Optionally, the sleeve is connected with the top flange of the car.
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 passes through first transmission shaft and mounting panel rotation to be connected, follow the driving wheel and pass through the second transmission shaft and rotate with the mounting panel to be connected, driving motor with the speed reducer fixed set up in on the mounting panel, driving motor's output shaft connection 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 follow and wind around being equipped with the lifting rope on the driving wheel, lifting rope one end passes the mounting panel is connected the car, the other end passes the mounting panel is connected with the balancing weight.
Optionally, the inside interior guide rail that is provided with of car, the one end of interior guide rail with the inner wall fixed connection of car, the other end of interior guide rail is towards the opening of car, patrol and examine the robot horizontal slip set up in on the interior guide rail.
Optionally, the guide rail is angle steel.
Optionally, a plurality of first guide posts and a plurality of second guide posts are vertically arranged on the support frame, a first guide groove matched with the first guide posts is formed in the side wall of the lift car, the first guide groove is clamped on the first guide posts, so that the lift car vertically slides along the first guide posts, a second guide groove matched with the second guide posts is formed in the side wall of the balancing weight, and the second guide groove is clamped on the second guide posts, so that the balancing weight vertically slides along the second guide posts.
Through adopting above-mentioned scheme, reduce the car through the cooperation of first guide post and first guide way and take place the circumstances of rocking by a wide margin in the removal in-process, improve the stability of car operation, through the cooperation of second guide post and second guide way, reduce the balancing weight and take place the circumstances of rocking by a wide margin in 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 circumstances that appears running in-process balancing weight and car mutual interference.
Optionally, a connecting piece is fixedly arranged at the top of the car, 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 elevator car can vertically reciprocate on the support frame through the arrangement of the support frame and the lifting device, the inspection robot horizontally slides and is arranged in the elevator car, a plurality of limit switches are arranged on the support frame, each limit switch corresponds to one equipment to be inspected, during operation, the support frame is arranged at a designated position, the lifting device is controlled by the elevator car controller, so that the elevator car is moved to a working position, the limit switches detect that the elevator car reaches the working position and output in-place detection signals, the elevator car controller receives the in-place detection signals and outputs a first control signal and a second control signal, the lifting device receives the first control signal to stop the elevator car at the working position, the inspection robot is controlled to move outside the elevator car to the equipment to be inspected, inspection is performed, after the preset time, the elevator car controller controls the lifting device to operate, the elevator car is moved to the next working position, the steps are repeated, and the inspection cost is saved by the plurality of coal conveying galleries;
2. through setting up safe self-locking device, remove the in-process at the car and carry out spacingly to inspection robot, reduce the car and remove the in-process and lead to inspection robot to fall the probability outside the car because of the car shake.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a multi-stage inspection lifting connection device of a track inspection robot.
Fig. 2 is a system block diagram of a multi-stage inspection lifting connection device of a track inspection robot.
Fig. 3 is an enlarged view of a portion a in fig. 1.
Fig. 4 is a side view of the multi-stage inspection lifting connection device of the track inspection robot.
Fig. 5 is an enlarged view of a portion B of fig. 1.
Fig. 6 is a cross-sectional view A-A of fig. 4.
Reference numerals illustrate: 1. a support frame; 11. a support column; 12. a mounting plate; 13. a first mounting bar; 131. a limit switch; 14. a second mounting bar; 15. a third mounting bar; 151. a limit rod; 16. a fourth mounting bar; 17. a first guide post; 18. a second guide post; 19. a connecting rod; 2. a car; 21. inspection 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 rail; 26. an outer rail; 27. a connecting piece; 28. a first guide groove; 3. balancing weight; 31. a second guide groove; 4. a lifting device; 41. a driving motor; 42. a speed reducer; 43. driven wheel; 44. a driving wheel; 45. a hanging rope; 46. a first support; 461. a first mounting block; 462. the first hoop; 463. a first drive shaft; 464. a first bearing; 47. a second support; 471. the 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 safety pin; 53. a pull rope; 54. and (3) a spring.
Detailed Description
The application is described in further detail below with reference to fig. 1-6.
The embodiment of the application discloses a multistage inspection lifting connection device of a track inspection robot. Referring to fig. 1 and 2, the track inspection robot multi-stage inspection lifting connection device includes: support frame 1, car 2, hoisting device 4 and car controller 22, the one end and the ground fixed connection of support frame 1 and the vertical setting of support frame 1, support frame 1 wholly is cuboid column frame structure, the vertical slip setting of car 2 is in support frame 1, hoisting device 4 is fixed to be set up in support frame 1 one end of keeping away from the ground, hoisting device 4 connects car 2, be fixed with first installation pole 13 and second installation pole 14 through 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 arrives first operating position or second operating position, output detection signal in place.
The elevator car 2 is opened on one side, the opening faces to equipment to be inspected, an inner guide rail 25 is arranged on the inner side wall of the elevator car 2, one end of the inner guide rail 25 is fixedly connected with the inner wall of the elevator car 2, the other end faces to the opening of the elevator car 2, the inspection robot 21 is horizontally arranged on the inner guide rail 25 in a sliding mode, and an outer guide rail 26 matched with the inner guide rail 25 is arranged on the equipment to be inspected.
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, the car controller 22 receives a position detection signal transmitted 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 from the inner guide rail 25 to the outer guide rail 26, and inspect the equipment to be inspected along the outer guide rail 26.
When the elevator car controller 22 works, receives a starting signal, outputs a first starting signal, the lifting device 4 receives the starting signal to work and drives the elevator car 2 to move to a first working position, the limit switch 131 of the first working position outputs a position detection signal, the elevator car controller 22 receives the position detection signal and outputs a first control signal and a second control signal, and the lifting device 4 receives the first control signal to stop working so that the elevator car 2 stops 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, outputs a driving signal, drives the inspection robot 21 to move onto the outer guide rail 26 along the inner guide rail 25, the inspection is completed after a preset time, the inspection robot 21 enters the inside of the car 2, at the moment, the controller 211 of the inspection robot outputs a stop signal, the inspection robot 21 stops moving, the car controller 22 outputs a second start signal, the lifting device 4 receives the second start signal to work, the car 2 is driven to move to a second working position, the process is repeated to inspect equipment to be inspected, the inspection robot 21 enters the car 2 after the preset time, the controller 211 of the inspection robot outputs a stop signal, the inspection robot 21 is controlled to stop moving, the inspection work is completed, the inspection robot is connected with two layers of inspection tracks through the track inspection multi-stage lifting connection device, and one robot performs inspection operation on a plurality of tracks.
The support frame 1 includes four support columns 11 and mounting panel 12, and four support columns 11 are all vertical to be fixed in ground, and four support columns 11 are rectangular array and distribute, fixedly between two adjacent support columns 11 be provided with connecting rod 19, connect through welded mode between connecting rod 19 and the support column 11, in other embodiments, the mode that can realize fixed connection between two such as bolted connection between connecting rod 19 and the support column 11 still can be adopted in the connection between the two, does not do here limit. In this embodiment, the supporting columns 11 are angle steel. The mounting panel 12 level sets up in the one end that support column 11 kept away from ground, and mounting panel 12 is rectangular 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 by bolts, and an output shaft of the driving motor 41 is fixedly connected to an input end of the speed reducer 42.
The support plate is provided with a rectangular hole 48, a first support piece 46 and a second support piece 47 are arranged along the length direction of the rectangular hole 48, the first support 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 the first mounting block 461 is fixedly provided with a first hoop 462 through bolts, 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, a 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 positioned in the rectangular hole 48; the second supporting member 47 includes two second anchor ear 471 and two second anchor ears 471 are disposed along the width direction of the rectangular hole 48, and are disposed opposite to each other on two sides of the rectangular hole 48, a second bearing 472 is embedded in the second anchor ear 471, a second transmission shaft 473 is disposed between the two second bearings 472, an outer side wall of the second transmission shaft 473 abuts against an inner ring of the second bearing 472, the driven wheel 43 is disposed on the second transmission shaft 473, and a 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 member 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 balancing weight 3, an output end of the speed reducer 42 is fixedly connected with one end of the first transmission shaft 463 towards the speed reducer 42, and the driving wheel 43 is driven by the driving motor 42 to rotate, thereby driving the car 2. In this embodiment, the connecting member 27 is a hanging ring, and the hanging 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 the 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; the second guide posts 18 are fixedly connected with the support posts 11 in a welding mode, the two second guide posts 18 are adjacently arranged, and two second guide grooves 31 matched with the second guide posts 18 are formed in the side wall of the balancing weight 3 facing the second guide posts 18, so that the balancing weight 3 moves vertically along the second guide posts 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. The situation that the car 2 shakes by a wide margin in the moving process is reduced through the cooperation of the first guide post 17 and the first guide groove 28, the running stability of the car 2 is improved, the situation that the balancing weight 3 shakes by a wide margin in the moving process is reduced through the cooperation of the second guide post 18 and the second guide groove 31, the running stability of the balancing weight 3 is improved, and meanwhile, the situation that the balancing weight 3 and the car 2 interfere with each other in the running process can be effectively reduced through the cooperation of the first guide post 17 and the first guide groove 28 and the cooperation of the second guide post 18 and the second guide groove 31.
Referring to fig. 4 and 6, in order to reduce the probability that the inspection robot 21 falls out from the inside of the car 2 in the moving process of the car 2, a safety self-locking device 5 is arranged between the car 2 and the supporting frame 1, the safety self-locking device 5 comprises a sleeve 51, one end of the sleeve 51 is in flange connection with the top of the car 2, through holes are formed in two ends of the sleeve 51, a safety pin 52 is vertically arranged in the sleeve 51 in a sliding manner, the safety pin 52 extends into the inside of the car 2 through the through holes of one end, close to the top of the car 2, of the sleeve 51, a spring 54 is vertically arranged in the sleeve 51 along the axis direction of the safety pin, one end of the spring 54 abuts against the safety pin 52, the other end abuts against the inner wall of the sleeve 51, one end, located in the sleeve 51, of the safety pin 52 is fixedly connected with a pull rope 53, of the pull rope 53 penetrates through the through holes of one end, far away from the top of the car 2, of the sleeve 51, of the spring 54, and extends out of the sleeve 51.
A first fixing piece 23 is arranged on one side of the car 2 facing the limit switch 131, a second fixing piece 24 is arranged on one side of the first guide groove facing the first fixing piece 23 and side by side with the first fixing piece 23, one end of a pull rope 53 positioned outside the sleeve 51 penetrates through the first fixing piece 23 and is fixedly connected with the second fixing piece 24, a limit section is formed by the pull rope 53 between the first fixing piece 23 and the second fixing piece 24, a third mounting rod 15 is arranged below the first mounting rod 13 on the support frame 1, a limit rod 151 is arranged on the third mounting rod 15, a fourth mounting rod 16 is arranged between the second mounting rod 14 and the third mounting rod 15 on the support frame 1, a limit rod 151 is arranged on the fourth mounting rod 16, one end of the limit rod 151 faces the car 2, and the limit rod is arranged in a cross mode with the limit section. In this embodiment, the first fixing member 23 and the second fixing member 24 may be configured and shaped according to practical situations, and are not limited herein, and the first mounting rod 13, the second mounting rod 14, the third mounting rod 15 and the fourth mounting rod 16 are welded to the support frame 1, and the limiting rod 151 is welded to 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, 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 pull rope 53 pulls the safety pin 52 into the sleeve 51, so that the safety pin 52 moves outwards of the car 2, and when the car 2 reaches the first working position or the second working position, the safety pin 52 can not stop the inspection robot 21 any more, and at the moment, the inspection robot 21 can move onto the outer guide rail 16 along the inner guide rail 25; when the inspection robot 21 enters the car 2, the car 2 is far away from the first working position or the second working position, and the limiting section is far away from the limiting rod 151, 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 not intended to limit the scope of the present application, so: all equivalent changes in structure, shape and principle of the application should be covered in the scope of protection of the application.
Claims (8)
1. Multistage inspection lifting connection device of track inspection robot, its characterized in that: comprising the following steps: the elevator comprises a support frame (1), an elevator car (2), a lifting device (4) and an elevator 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 elevator car (2) is vertically and slidably arranged on the support frame (1), the lifting device (4) is connected with the elevator car (2) so as to drive the elevator car (2) to act, the inspection robot (21) is horizontally and slidably arranged inside the elevator car (2), and one side of the elevator car (2) is provided with an opening so as to enable the inspection robot (21) to move to equipment to be inspected;
a plurality of limit switches (131) are arranged on the support frame (1), each limit switch (131) corresponds to one equipment to be inspected, and the limit switch (131) is used for outputting an in-place detection signal when detecting that the car (2) arrives at the 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 position detection signal and outputs a first control signal and a second control signal;
-the lifting device (4) receiving the first control signal to stop 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 act outside the car (2);
the safety self-locking device (5) used for limiting the inspection robot (21) is arranged between the lift car (2) and the support frame (1), the safety self-locking device (5) comprises a sleeve (51), the sleeve (51) is vertically fixed at the top of the lift car (2), a safety pin (52) is vertically arranged in the sleeve (51) in a sliding manner, one end of the safety pin (52) stretches into the lift 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 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 position of the support frame (1) above and below the limiting section is fixedly connected with a limiting rod (151), the limiting rod (151) and the limiting section are in crossed arrangement, and when the car (2) moves upwards or downwards to a working position, the limiting section is in contact with the limiting rod (151) and enables the stay cord (53) to pull the safety pin (52) to retract into the sleeve (51) so as to relieve the limit of the inspection robot (21).
2. The multi-stage inspection lifting connection device of the track inspection robot according to claim 1, wherein: the sleeve (51) is connected with the top flange of the car (2).
3. The multi-stage inspection lifting connection device of the track inspection robot according to claim 1, wherein: the support frame (1) comprises a mounting plate (12) and a plurality of support columns (11) for supporting the mounting plate (12).
4. A multi-stage inspection lifting connection device for a track inspection robot according to claim 3, wherein: lifting device (4) include driving motor (41), speed reducer (42), action wheel (44) and follow driving wheel (43), action wheel (44) rotate through first transmission shaft (463) with mounting panel (12) and are connected, follow driving wheel (43) rotate through second transmission shaft (473) with mounting panel (12) and be connected, driving motor (41) with speed reducer (42) fixed set up in on mounting panel (12), the output shaft of driving motor (41) is connected the input shaft of speed reducer (42), the output shaft of speed reducer (42) is through first transmission shaft (463) fixed connection action wheel (44), around being equipped with lifting rope (45) on action wheel (44) and follow driving wheel (43), lifting rope (45) one end is passed mounting panel (12) are connected car (2), the other end is passed mounting panel (12) are connected with balancing weight (3).
5. The multi-stage inspection lifting connection device of the track inspection robot according to claim 1, wherein: the elevator car is characterized in that an inner guide rail (25) is arranged inside the elevator car (2), one end of the inner guide rail (25) is fixedly connected with the inner wall of the elevator car (2), the other end of the inner guide rail faces the opening of the elevator car (2), and the inspection robot (21) is horizontally arranged on the inner guide rail (25) in a sliding mode.
6. The multi-stage inspection lifting connection device of the track inspection robot according to claim 5, wherein: the inner guide rail (25) is angle steel.
7. The multi-stage inspection lifting connection device of the track inspection robot according to claim 4, wherein: the elevator car is characterized in that a plurality of first guide posts (17) and a plurality of second guide posts (18) are vertically arranged on the support frame (1), a first guide groove (28) matched with the first guide posts (17) is formed in the side wall of the elevator car (2), the first guide groove (28) is clamped on the first guide posts (17) so that the elevator car (2) vertically slides along the first guide posts (17), a second guide groove (31) matched with the second guide posts (18) is formed in the side wall of the balancing weight (3), and the second guide groove (31) is clamped on the second guide posts (18) so that the balancing weight (3) vertically slides along the second guide posts (18).
8. The multi-stage inspection lifting connection device of the track inspection robot according to claim 4, wherein: the top of the lift car (2) is fixedly provided with a connecting piece (27), and the lifting rope (45) is connected with the lift car (2) through the connecting piece (27).
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