CN115342283A - Traction type inspection robot - Google Patents
Traction type inspection robot Download PDFInfo
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- CN115342283A CN115342283A CN202210968285.2A CN202210968285A CN115342283A CN 115342283 A CN115342283 A CN 115342283A CN 202210968285 A CN202210968285 A CN 202210968285A CN 115342283 A CN115342283 A CN 115342283A
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- rope
- bearing
- fixed
- traction
- pulley
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
- F16M11/425—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels along guiding means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
- F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
- F16H19/0645—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member the flexible push or pull member having guiding means, i.e. the flexible member being supported at least partially by a guide to transmit the reciprocating movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
- F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
- F16H19/0672—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member characterised by means for tensioning the flexible member
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
- F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
- F16H2019/0668—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member with open loop, e.g. with the free ends of the flexible member fixed to the casing, e.g. when the drive means are arranged on the carriage
Abstract
The invention discloses a traction type inspection robot, which relates to the technical field of inspection robots and comprises a first supporting seat, a second supporting seat, a robot body, a traction rope, a traction driving mechanism, two bearing mechanisms and a plurality of lifting hooks, wherein each bearing mechanism comprises a bearing rope and a tensioning assembly; the lifting hook comprises a main frame body, two hanging frames and two elastic guide mechanisms, wherein each hanging frame is used for being sleeved on a bearing rope, the two elastic guide mechanisms are symmetrically arranged on the main frame body, and a traction rope can penetrate through the two elastic guide mechanisms. The traction type inspection robot has a steering function, the self weight of the rail is small, the cost is low, and construction is facilitated.
Description
Technical Field
The invention relates to the technical field of inspection robots, in particular to a traction type inspection robot.
Background
In the existing scheme, a steel wire of a traction motor robot is arranged beside a rigid track and is parallel to the rigid track, and the tail end of the rigid track is wound on a wheel disc. Because its drive wire is only taut at both ends, lead to it to arrange along the straight line only, can't realize turning to the function, simultaneously, because it uses rigid track, the dead weight is great, and the construction is difficult and the cost is higher.
Disclosure of Invention
In order to solve the technical problems, the invention provides the traction type inspection robot which has the advantages of steering function, smaller self weight of the track, low cost and convenience in construction.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a traction type inspection robot which comprises a first supporting seat, a second supporting seat, a robot body, a traction rope, a traction driving mechanism, two bearing mechanisms and a plurality of lifting hooks, wherein each bearing mechanism comprises a bearing rope and a tensioning assembly; the robot body comprises a vehicle body, two bogies and two sliding mechanisms, the lower end of each bogie is rotatably mounted on the vehicle body, each sliding mechanism is arranged at the upper part of one bogie, each sliding mechanism is used for being slidably mounted on two bearing ropes, and the traction driving mechanism is used for driving the robot body to move along the bearing ropes through the traction ropes; the lifting hook comprises a main frame body, two hanging racks and two elastic guide mechanisms, wherein the two hanging racks are respectively arranged on two sides of the main frame body, each hanging rack is used for being sleeved on one bearing rope, the two elastic guide mechanisms are symmetrically arranged on the main frame body, and the traction rope can penetrate through the two elastic guide mechanisms.
Preferably, the robot body further comprises two traction rope fixing mechanisms, and each traction rope fixing mechanism is arranged at the upper part of one bogie.
Preferably, the traction driving mechanism comprises a driving wheel disc, a driving part and a driven wheel disc, the driving wheel disc is rotatably installed on the first supporting seat, the driving part is used for driving the driving wheel disc to rotate, the driven wheel disc is rotatably installed on the second supporting seat, one end of the traction rope is fixed on the traction rope fixing mechanism, and the other end of the traction rope is sequentially wound on the driven wheel disc and the driving wheel disc and is fixed on the other traction rope fixing mechanism.
Preferably, the haulage rope fixing mechanism includes connecting plate, two fixing bases, two clamp plates, a plurality of first connecting bolt, a plurality of second connecting bolt and a plurality of nut, two the fixing base is all fixed in through a plurality of first connecting bolt the middle part of bogie upper surface, the lower extreme centre gripping of connecting plate is fixed in two between the fixing base, each second connecting bolt all passes two in proper order the clamp plate and installs one the nut, the upper end centre gripping of connecting plate is fixed in two between the clamp plate, the one end centre gripping of haulage rope is fixed in one between two of haulage rope fixing mechanism the clamp plate, the other end centre gripping of haulage rope is fixed in another two of haulage rope fixing mechanism between the clamp plate.
Preferably, the clamping plates comprise vertical plates and clamping blocks arranged on the upper portions of the vertical plates, each second connecting bolt sequentially penetrates through the two vertical plates and is provided with one nut, the upper end of each connecting plate is clamped and fixed between the two vertical plates, one end of each traction rope is clamped and fixed between the two clamping blocks of one traction rope fixing mechanism, and the other end of each traction rope is clamped and fixed between the two clamping blocks of the other traction rope fixing mechanism; the outside of pressing from both sides tight piece forms the first direction inclined plane, first cambered surface and the second direction inclined plane that connect gradually along length direction, two press from both sides two of tight piece contained angle between the first direction inclined plane is the acute angle, two press from both sides two of tight piece contained angle between the second direction inclined plane is the acute angle.
Preferably, the slide mechanism includes two slide assemblies, the slide assemblies include riser, bearing pulley, anti-drop pulley support, first positioning bolt, extension spring, first bolt and second bolt, two the riser symmetry is fixed in the both sides on bogie upper portion, the middle part of anti-drop pulley support one side is passed through first positioning bolt rotate install in on the inner wall of riser, anti-drop pulley rotate install in the upper portion of anti-drop pulley support opposite side, first bolt fastening in the lower part of anti-drop pulley support opposite side, the second bolt fastening in on the inner wall of riser and be located one side of first bolt, the both ends of extension spring install respectively in first bolt with on the second bolt, bearing pulley rotate install in the upper portion of riser inner wall, each bearing rope all is located one between bearing pulley and the anti-drop pulley.
Preferably, the body frame body is the support of falling the U-shaped, elastic guiding mechanism includes at least one elastic guiding subassembly, elastic guiding subassembly includes haulage rope guide pulley, haulage rope holder, second positioning bolt and spring, the one end of haulage rope holder is passed through second positioning bolt rotate install in the lower part of body frame body top surface, the other end of haulage rope holder rotates installs haulage rope guide pulley, the both ends of spring respectively with a inside wall of the body frame body with the haulage rope holder is connected, the haulage rope can be by two corresponding two in the elastic guiding mechanism position pass between the haulage rope guide pulley.
Preferably, the hanger comprises a base, a guide block, an arc-shaped plate, a horizontal plate and a third connecting bolt, wherein two ends of the base are respectively connected with the main frame body and the guide block, the third connecting bolt is used for fixing the horizontal plate on the base, the arc-shaped plate is connected to one end of the horizontal plate and is covered outside the bearing rope, and the bearing rope is positioned between the arc-shaped plate and the guide block; the lower part of guide block forms third direction inclined plane, second cambered surface and fourth direction inclined plane along length direction in proper order, the third direction inclined plane with contained angle between the fourth direction inclined plane is the obtuse angle.
Preferably, the bearing mechanism further comprises a first connecting block and a second connecting block, two ends of the bearing rope are respectively fixed on the first connecting block and the second connecting block, and the two first connecting blocks are respectively fixed on two sides of the first supporting seat; the tensioning subassembly includes first tensioning pulley, second tensioning pulley, mount pad, mounting panel, tensioning rope and tensioning counter weight, two the mount pad is fixed in respectively the both sides of second supporting seat lower part, two the second connecting block passes through first connecting axle and connects, and just the both ends of first connecting axle pass two respectively the second connecting block extends the outside, two first tensioning pulley rotate respectively install in the both ends of first connecting axle, two the mount pad passes through the second connecting axle and connects, and the both ends of second connecting axle pass two respectively the mount pad extends the outside, two second tensioning pulley rotate respectively install in the both ends of second connecting axle, two the mounting panel overlaps respectively and locates the both ends of second connecting axle, and each the mounting panel all is located one second tensioning pulley and one between the mount pad, the second connecting block is located between first supporting seat and the second tensioning rope one end all is fixed in one on the mounting panel, each the other end of tensioning rope is in proper order around locating one second tensioning pulley and one the tensioning counter weight is fixed with one the tensioning counter weight.
Preferably, the robot body further comprises two steering shafts and at least two first bearings, each steering shaft is fixed to the lower end of the bogie, and each steering shaft is rotatably mounted on the vehicle body through at least one first bearing.
Compared with the prior art, the invention achieves the following technical effects:
the invention provides a traction type inspection robot which comprises a first supporting seat, a second supporting seat, a robot body, a traction rope, a traction driving mechanism, two bearing mechanisms and a plurality of lifting hooks, wherein each bearing mechanism comprises a bearing rope and a tensioning assembly. The lifting hook comprises a main frame body, two hangers and two elastic guide mechanisms, wherein the two hangers are respectively arranged on two sides of the main frame body, each hanger is used for being sleeved on a bearing rope, the two elastic guide mechanisms are symmetrically arranged on the main frame body, the traction rope can pass through the two elastic guide mechanisms, and the two elastic guide mechanisms can guide the traction rope and restrain the position of the traction rope. Because the bearing rope possesses certain flexibility, the bearing rope before and after the lifting couple can tolerate certain angle, can realize turning to of bearing rope through arranging a plurality of lifting couples in succession. Simultaneously, the robot body includes automobile body, two bogies and two slide mechanism, and the lower extreme of each bogie all rotates and installs on the automobile body, and the slide mechanism of each bogie upper end all slidable mounting makes to deflect along the bearing rope on two bearing ropes through setting up two bogies, makes the robot body possess the ability that turns to along the track that the bearing rope constitutes.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a traction inspection robot provided by the present invention;
FIG. 2 is a schematic structural diagram of a fixed end of a bearing rope in the traction type inspection robot provided by the invention;
FIG. 3 is a schematic structural view of a tensioning end of a load-bearing rope in the traction type inspection robot provided by the invention;
fig. 4 is a schematic view of a first three-dimensional structure of a lifting hook in the traction type inspection robot provided by the invention;
fig. 5 is a schematic diagram of a second three-dimensional structure of a lifting hook in the traction inspection robot provided by the invention;
FIG. 6 is a bottom view of a lifting hook of the pull-type inspection robot according to the present invention;
fig. 7 is a schematic structural diagram of a robot body in the traction type inspection robot provided by the invention;
fig. 8 is a schematic structural diagram of a sliding mechanism and a traction rope fixing mechanism in the traction type inspection robot provided by the invention;
fig. 9 is a schematic structural diagram of the traction type inspection robot provided by the invention when the robot body passes through the lifting hook;
fig. 10 is a schematic structural diagram of the traction inspection robot according to the present invention when the robot body performs steering motion.
Description of the reference numerals: 100. a traction type inspection robot; 1. a first support base; 2. a second support seat; 3. a robot body; 31. a vehicle body; 32. a bogie; 33. a vertical plate; 34. an anti-drop pulley bracket; 35. an anti-falling pulley; 36. a first positioning bolt; 37. a first bolt; 38. a second bolt; 39. a tension spring; 310. a load-bearing pulley; 311. a fixed seat; 312. a connecting plate; 313. a vertical plate; 314. a clamping block; 3141. a first guiding inclined plane; 3142. a first arc surface; 3143. a second guiding inclined plane; 315. a first connecting bolt; 316. a second connecting bolt; 4. a hauling rope; 5. lifting the hook; 51. a main frame body; 52. a base; 53. a guide block; 531. a third guiding inclined plane; 532. a second arc surface; 533. a fourth guiding inclined plane; 54. an arc-shaped plate; 55. a horizontal plate; 56. a third connecting bolt; 57. a pull cord holder; 58. a second positioning bolt; 59. a traction rope guide pulley; 510. a spring; 6. a load-bearing rope; 7. a first connection block; 8. a second connecting block; 9. a first connecting shaft; 10. a mounting seat; 11. a second connecting shaft; 12. mounting a plate; 13. a first tensioning pulley; 14. a second tension pulley; 15. tensioning the rope; 16. tensioning the counterweight; 17. a driving wheel disc; 18. a drive motor; 19. a motor support; 20. and a driven wheel disc.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The invention aims to provide a traction type inspection robot which has the advantages of steering function, small rail dead weight, low cost and convenience in construction.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
As shown in fig. 1-10, this embodiment provides a towed robot 100 that patrols and examines, including first supporting seat 1, second supporting seat 2, robot 3, haulage rope 4, traction drive mechanism, two bearing mechanism and a plurality of couple 5 of lifting, bearing mechanism includes bearing rope 6 and tensioning assembly, tensioning assembly installs on second supporting seat 2, bearing rope 6 one end is fixed in on first supporting seat 1, the bearing rope 6 other end is carried out the tensioning by tensioning assembly, track in this embodiment adopts bearing rope 6, the dead weight is less, low cost, possess the flexibility simultaneously, it is low to the installation required precision, be convenient for be under construction. The robot body 3 comprises a vehicle body 31, two bogies 32 and two sliding mechanisms, the lower end of each bogie 32 is rotatably mounted on the vehicle body 31, each sliding mechanism is arranged at the upper part of one bogie 32 and is used for being slidably mounted on two bearing ropes 6, and the traction driving mechanism is used for driving the robot body 3 to move along the bearing ropes 6 through a traction rope 4; the lifting hook 5 comprises a main frame body 51, two hangers and two elastic guide mechanisms, wherein the two hangers are respectively arranged on two sides of the main frame body 51, each hanger is used for being sleeved on a bearing rope 6, the hangers play a role in lifting and fixing the bearing rope 6, the two elastic guide mechanisms are symmetrically arranged on the main frame body 51, the traction rope 4 can pass through the two elastic guide mechanisms, and the two elastic guide mechanisms can guide the traction rope 4 and restrain the position of the traction rope 4. As shown in fig. 10, since the load-bearing rope 6 has a certain flexibility, the load-bearing rope 6 in front of and behind the lift hook 5 can be allowed to have a certain angle, and the load-bearing rope 6 can be turned by arranging a plurality of lift hooks 5 in series. Meanwhile, the robot body 3 can deflect along the bearing rope 6 by arranging the two bogies 32, so that the robot body 3 has the capability of steering along the track formed by the bearing rope 6. In addition, the lifting hooks 5 are arranged according to a certain track, so that the robot body 3 can move along complex paths such as climbing and descending, and therefore the robot body 3 has the capability of realizing the running along complex paths such as turning, climbing and descending along the track formed by the bearing ropes 6, is not limited to straight line walking, and solves the problems that the traction type patrol robot 100 is difficult to turn, limited in climbing and descending angles and incapable of being arranged according to any path.
Specifically, the robot body 3 further includes two traction rope fixing mechanisms, each of which is disposed on an upper portion of one of the bogies 32. In this embodiment, each of the pull-cord retention mechanisms is disposed in the middle of the upper surface of one of the bogies 32.
Specifically, the traction drive mechanism comprises a driving wheel disc 17, a driving part and a driven wheel disc 20, wherein the driving wheel disc 17 is rotatably installed on the first supporting seat 1, the driving part is used for driving the driving wheel disc 17 to rotate, the driven wheel disc 20 is rotatably installed on the second supporting seat 2, one end of the traction rope 4 is fixed on one traction rope fixing mechanism, and the other end of the traction rope 4 is sequentially wound on the driven wheel disc 20 and the driving wheel disc 17 and is fixed on the other traction rope fixing mechanism. When the robot works, the driving part drives the driving wheel disc 17 to rotate, the traction rope 4 is driven to move along the track, and the robot body 3 is further driven to move along the bearing rope 6. It should be noted that the traction driving mechanism may also adopt a mode of arranging winches at two ends, one end of the traction driving mechanism is loosened, and the other end of the traction driving mechanism is tightened to drag the robot body 3 to move forward.
In the embodiment, the driving wheel shaft at the lower part of the driving wheel disk 17 is rotatably mounted on the first supporting seat 1 through the second bearing, and the driving wheel disk 17 is located above the first supporting seat 1; the driving part comprises a driving motor 18 and a motor support 19, the motor support 19 is fixed below the first support seat 1, the driving motor 18 is installed on the motor support 19, and an output shaft of the driving motor 18 is connected with the driving wheel disc shaft through a coupler. The driven wheel disc shaft at the lower part of the driven wheel disc 20 is rotatably mounted on the second support seat 2 through a third bearing, and the driven wheel disc 20 is positioned above the second support seat 2.
As shown in fig. 7 and 8, the traction rope fixing mechanism includes a connecting plate 312, two fixing bases 311, two clamping plates, a plurality of first connecting bolts 315, a plurality of second connecting bolts 316 and a plurality of nuts, the two fixing bases 311 are fixed in the middle of the upper surface of the bogie 32 through the plurality of first connecting bolts 315, the lower end of the connecting plate 312 is clamped and fixed between the two fixing bases 311, each second connecting bolt 316 sequentially passes through the two clamping plates and is provided with one nut, namely, the two clamping plates are locked and fixed through the second connecting bolt 316 and the nut, the upper end of the connecting plate 312 is clamped and fixed between the two clamping plates, one end of the traction rope 4 is clamped and fixed between the two clamping plates of one traction rope fixing mechanism, and the other end of the traction rope 4 is clamped and fixed between the two clamping plates of the other traction rope fixing mechanism.
In this embodiment, the clamping plate includes vertical plates 313 and clamping blocks 314 disposed on the upper portions of the vertical plates 313, each second connecting bolt 316 sequentially penetrates through two vertical plates 313 and is provided with a nut, that is, the two vertical plates 313 are locked and fixed by the second connecting bolts 316 and the nuts, the upper end of the connecting plate 312 is clamped and fixed between the two vertical plates 313, one end of the traction rope 4 is clamped and fixed between the two clamping blocks 314 of one traction rope fixing mechanism, and the other end of the traction rope 4 is clamped and fixed between the two clamping blocks 314 of the other traction rope fixing mechanism. Specifically, after the two vertical plates 313 are butted, a first clamping groove for accommodating the connecting plate 312 is formed at the lower part, and after the two clamping blocks 314 are butted, a second clamping groove for accommodating the traction rope 4 is formed at the upper part, and after the two vertical plates 313 are locked and fixed by the second connecting bolt 316 and the nut, the upper end of the connecting plate 312 is clamped and fixed in the first clamping groove, and the traction rope 4 is clamped and fixed in the second clamping groove. As shown in fig. 9, a first guiding inclined surface 3141, a first arc surface 3142 and a second guiding inclined surface 3143 are formed on the outer side of the clamping block 314 along the length direction, the first guiding inclined surface 3141 and the second guiding inclined surface 3143 are connected in sequence, the included angle between the first guiding inclined surfaces 3141 of the two clamping blocks 314 is an obtuse angle, the included angle between the second guiding inclined surfaces 3143 of the two clamping blocks 314 is an acute angle, that is, the front end and the rear end of the two clamping blocks 314 after being butted form a wedge structure. The wedge structure can be crowded two elasticity guiding mechanism and opened, makes robot 3 smoothly through lifting couple 5, and after lifting couple 5 through lifting, two elasticity guiding mechanism reclose continue to provide the function of keeping haulage rope 4 positions.
Specifically, the sliding mechanism includes two sliding assemblies, each sliding assembly includes a vertical plate 33, a bearing pulley 310, an anti-falling pulley 35, an anti-falling pulley support 36, a first positioning bolt 36, a tension spring 39, a first bolt 37 and a second bolt 38, the two vertical plates 33 are symmetrically fixed on two sides of the upper portion of the bogie 32, the middle portion of one side of the anti-falling pulley support 36 is rotatably mounted on the inner wall of the vertical plate 33 through the first positioning bolt 36, that is, the first positioning bolt 36 is fixed on the inner wall of the vertical plate 33, the middle portion of one side of the anti-falling pulley support 36 is rotatably sleeved on the first positioning bolt 36, the anti-falling pulley 35 is rotatably mounted on the upper portion of the other side of the anti-falling pulley support 36, the first bolt 37 is fixed on the lower portion of the other side of the anti-falling pulley support 36, the second bolt 38 is fixed on the inner wall of the vertical plate 33 and located on one side of the first bolt 37, two ends of the tension spring 39 are respectively mounted on the first bolt 37 and the second bolt 38, the anti-falling pulley 310 is rotatably mounted on the upper portion of the inner wall of the vertical plate 33, each bearing rope 6 is located between one bearing pulley 310 and one bearing pulley 35, the anti-falling pulley 310 and the anti-falling pulley 3, the anti-falling load-falling rope bears the load-falling rope 3, and the load-falling robot. The robot body 3 in this embodiment adopts the design of four bearing pulleys 310, so that the pitch stability is higher.
As shown in fig. 4-6, the main frame body 51 is an inverted U-shaped bracket, the elastic guide mechanism includes at least one elastic guide assembly, the elastic guide assembly includes a pull rope guide pulley 59, a pull rope holder 57, a second positioning bolt 58 and a spring 510, one end of the pull rope holder 57 is rotatably mounted on the lower portion of the top surface of the main frame body 51 through the second positioning bolt 58, that is, the second positioning bolt 58 is fixed on the lower portion of the top surface of the main frame body 51, one end of the pull rope holder 57 is rotatably sleeved on the second positioning bolt 58, the other end of the pull rope holder 57 is rotatably mounted with the pull rope guide pulley 59, two ends of the spring 510 are respectively connected with one inner side wall of the main frame body 51 and the pull rope holder 57, and two pull rope guide pulleys 59 corresponding to positions in the two elastic guide mechanisms are contacted under the action of the spring 510. The hauling cable 4 can pass through between two hauling cable guide pulleys 59 corresponding to the positions in the two elastic guide mechanisms, namely the hauling cable 4 passes through a groove formed between the two hauling cable guide pulleys 59 after the two hauling cable guide pulleys 59 are butted, and the hauling cable 4 can be restrained at the center of the rail by the two hauling cable guide pulleys 59 corresponding to the positions.
In this embodiment, as shown in fig. 6, the elastic guide mechanism includes two elastic guide components, two elastic guide components of one elastic guide mechanism are symmetrically disposed on one side of the lower portion of the main frame 51, and two elastic guide components of the other elastic guide mechanism are symmetrically disposed on the other side of the lower portion of the main frame 51.
As shown in fig. 4, the hanger comprises a base 52, a guide block 53, an arc-shaped plate 54, a horizontal plate 55 and a third connecting bolt 56, two ends of the base 52 are respectively connected with the main frame body 51 and the guide block 53, the third connecting bolt 56 is used for fixing the horizontal plate 55 on the base 52, the arc-shaped plate 54 is connected to one end of the horizontal plate 55 and covers the outer part of the bearing rope 6, the bearing rope 6 is positioned between the arc-shaped plate 54 and the guide block 53, and the limit of the bearing rope 6 is completed by the arc-shaped plate 54 and the guide block 53. As shown in fig. 5, the lower portion of the guide block 53 sequentially forms a third guide inclined surface 531, a second arc surface 532 and a fourth guide inclined surface 533 along the length direction, an included angle between the third guide inclined surface 531 and the fourth guide inclined surface 533 is an obtuse angle, when the robot body 3 moves to the lifting hook 5, the anti-drop pulley 35 moves downward under the squeezing action of the guide block 53, so that the sliding component of the robot body 3 can pass through the guide block 53, and by setting the lower portion of the guide block 53 as the third guide inclined surface 531, the second arc surface 532 and the fourth guide inclined surface 533, the anti-drop pulley 35 is more facilitated to pass through the guide block 53; after the robot body 3 moves through the lifting hook 5, the anti-falling pulley 35 moves upward under the action of the tension spring 39, and returns to the original position to hold the bearing rope 6 together with the bearing pulley 310.
The bearing mechanism in the embodiment further comprises a first connecting block 7 and a second connecting block 8, two ends of the bearing rope 6 are respectively fixed on the first connecting block 7 and the second connecting block 8, and the two first connecting blocks 7 are respectively fixed on two sides of the first supporting seat 1; the tensioning assembly comprises a first tensioning pulley 13, a second tensioning pulley 14, mounting seats 10, mounting plates 12, tensioning ropes 15 and tensioning counterweights 16, two mounting seats 10 are fixed on two sides of the lower portion of the second supporting seat 2 respectively, two second connecting blocks 8 are connected through a first connecting shaft 9, two ends of the first connecting shaft 9 penetrate through the two second connecting blocks 8 respectively to extend to the outside, two first tensioning pulleys 13 are rotatably mounted at two ends of the first connecting shaft 9 respectively, the two mounting seats 10 are connected through a second connecting shaft 11, two ends of the second connecting shaft 11 penetrate through the two mounting seats 10 respectively to extend to the outside, two second tensioning pulleys 14 are rotatably mounted at two ends of the second connecting shaft 11 respectively, the two mounting plates 12 are sleeved at two ends of the second connecting shaft 11 respectively, each mounting plate 12 is located between one second tensioning pulley 14 and one mounting seat 10, the second connecting block 8 is located between the first supporting seat 1 and the second supporting seat 2, one end of each tensioning rope 15 is fixed on one mounting plate 12, the other end of each rope 15 is sequentially wound on one tensioning pulley 13 and one tensioning pulley 14 and one tensioning counterweight 16, and the other end of each rope is fixed with one tensioning pulley 14. In this embodiment, two first connecting blocks 7 are connected through the third connecting shaft, and the third connecting shaft is fixed in the lower surface of first supporting seat 1, and then realize the fixed connection of first connecting block 7 and first supporting seat 1 with first supporting seat 1, connect two first connecting blocks 7 through the third connecting shaft in this embodiment, connect two second connecting blocks 8 through first connecting shaft 9, and then can guarantee that the distance between two first connecting blocks 7 equals with the distance between two second connecting blocks 8. It should be noted that the tensioning assembly may also be bolted or spring tensioned.
During the use, fix first supporting seat 1 and second supporting seat 2 to a plurality of lifting couple 5 of installation as required on two bearing ropes 6, fix a plurality of lifting couple 5 according to certain orbit, two bearing ropes 6 are by the tractive tensioning under tensioning counter weight 16's effect, prevent under the large-span bearing rope 6 from dangling too much through setting up a plurality of lifting couple 5, play the effect of direction simultaneously in the curve route.
The robot body 3 in this embodiment further includes two steering shafts each fixed to the lower end of the bogie 32 and at least two first bearings, and each steering shaft is rotatably mounted on the vehicle body 31 through at least one first bearing.
In this embodiment, the bearing rope 6 is a bearing steel cable, and the bearing steel cable is a thick hard steel cable for bearing the weight of the robot body 3 and lifting the robot body 3. The traction rope 4 is a traction steel cable, and the traction steel cable is a plurality of thin soft steel cables for drawing the robot body 3 to move. The tension rope 15 is a tension steel cable.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A traction type inspection robot is characterized by comprising a first supporting seat, a second supporting seat, a robot body, a traction rope, a traction driving mechanism, two bearing mechanisms and a plurality of lifting hooks, wherein each bearing mechanism comprises a bearing rope and a tensioning assembly; the robot body comprises a vehicle body, two bogies and two sliding mechanisms, the lower end of each bogie is rotatably mounted on the vehicle body, each sliding mechanism is arranged at the upper part of one bogie, each sliding mechanism is used for being slidably mounted on two bearing ropes, and the traction driving mechanism is used for driving the robot body to move along the bearing ropes through the traction ropes; the lifting hook comprises a main frame body, two hanging racks and two elastic guide mechanisms, wherein the two hanging racks are respectively arranged on two sides of the main frame body, each hanging rack is used for being sleeved on one bearing rope, the two elastic guide mechanisms are symmetrically arranged on the main frame body, and the traction rope can penetrate through the two elastic guide mechanisms.
2. The pull inspection robot according to claim 1, wherein the robot body further includes two pull rope securing mechanisms, each of the pull rope securing mechanisms being disposed at an upper portion of one of the bogies.
3. The towed inspection robot according to claim 2, wherein the traction drive mechanism includes an active wheel disc, a driving member and a driven wheel disc, the active wheel disc is rotatably mounted to the first supporting seat, the driving member is used for driving the active wheel disc to rotate, the driven wheel disc is rotatably mounted to the second supporting seat, one end of the traction rope is fixed to one of the traction rope fixing mechanism, the other end of the traction rope is sequentially wound around the driven wheel disc and the active wheel disc and is fixed to the other of the traction rope fixing mechanism.
4. The pull-type inspection robot according to claim 3, wherein the pull rope fixing mechanism includes a connecting plate, two fixing seats, two clamping plates, a plurality of first connecting bolts, a plurality of second connecting bolts and a plurality of nuts, the two fixing seats are fixed to the middle of the upper surface of the bogie through the plurality of first connecting bolts, the lower end of the connecting plate is clamped and fixed between the two fixing seats, each second connecting bolt sequentially penetrates through the two clamping plates and is provided with one nut, the upper end of the connecting plate is clamped and fixed between the two clamping plates, one end of the pull rope is clamped and fixed between the two clamping plates of one pull rope fixing mechanism, and the other end of the pull rope is clamped and fixed between the two clamping plates of the other pull rope fixing mechanism.
5. The pull-type inspection robot according to claim 4, wherein the clamping plates include vertical plates and clamping blocks arranged on the upper portions of the vertical plates, each second connecting bolt sequentially penetrates through two vertical plates and is provided with one nut, the upper end of each connecting plate is clamped and fixed between the two vertical plates, one end of the traction rope is clamped and fixed between the two clamping blocks of one traction rope fixing mechanism, and the other end of the traction rope is clamped and fixed between the two clamping blocks of the other traction rope fixing mechanism; the outside of pressing from both sides tight piece forms the first direction inclined plane, first cambered surface and the second direction inclined plane that connect gradually along length direction, two press from both sides two of tight piece contained angle between the first direction inclined plane is the acute angle, two press from both sides two of tight piece contained angle between the second direction inclined plane is the acute angle.
6. The pull-type inspection robot according to claim 1, wherein the sliding mechanism comprises two sliding assemblies, each sliding assembly comprises a vertical plate, a bearing pulley, an anti-falling pulley support, a first positioning bolt, a tension spring, a first bolt and a second bolt, the two vertical plates are symmetrically fixed on two sides of the upper portion of the bogie, the middle portion of one side of the anti-falling pulley support is rotatably installed on the inner wall of the vertical plate through the first positioning bolt, the anti-falling pulley is rotatably installed on the upper portion of the other side of the anti-falling pulley support, the first bolt is fixed on the lower portion of the other side of the anti-falling pulley support, the second bolt is fixed on the inner wall of the vertical plate and located on one side of the first bolt, two ends of the tension spring are respectively installed on the first bolt and the second bolt, the bearing pulley is rotatably installed on the upper portion of the inner wall of the vertical plate, and each bearing rope is located between one bearing pulley and one anti-falling pulley.
7. The pull-type inspection robot according to claim 1, wherein the main frame body is an inverted U-shaped support, the elastic guide mechanism comprises at least one elastic guide assembly, the elastic guide assembly comprises a pull rope guide pulley, a pull rope holder, a second positioning bolt and a spring, one end of the pull rope holder is rotatably mounted on the lower portion of the top surface of the main frame body through the second positioning bolt, the other end of the pull rope holder is rotatably mounted with the pull rope guide pulley, two ends of the spring are respectively connected with an inner side wall of the main frame body and the pull rope holder, and the pull rope can be guided by two of the elastic guide mechanisms and penetrates between two pull rope guide pulleys corresponding to positions of the pull rope holder.
8. The pull-type inspection robot according to claim 1, wherein the hanger comprises a base, a guide block, an arc-shaped plate, a horizontal plate and a third connecting bolt, wherein two ends of the base are respectively connected with the main frame body and the guide block, the third connecting bolt is used for fixing the horizontal plate on the base, the arc-shaped plate is connected to one end of the horizontal plate and covers the outer part of the bearing rope, and the bearing rope is positioned between the arc-shaped plate and the guide block; the lower part of guide block forms third direction inclined plane, second cambered surface and fourth direction inclined plane along length direction in proper order, the third direction inclined plane with contained angle between the fourth direction inclined plane is the obtuse angle.
9. The pull-type inspection robot according to claim 1, wherein the load-bearing mechanism further includes a first connecting block and a second connecting block, two ends of the load-bearing rope are respectively fixed to the first connecting block and the second connecting block, and the two first connecting blocks are respectively fixed to two sides of the first supporting seat; tensioning assembly includes first tensioning pulley, second tensioning pulley, mount pad, mounting panel, tensioning rope and tensioning counter weight, two the mount pad is fixed in respectively the both sides of second supporting seat lower part, two the second connecting block passes through first connecting axle and connects, and the both ends of first connecting axle pass two respectively the second connecting block extends the outside, two first tensioning pulley rotate respectively install in the both ends of first connecting axle, two the mount pad passes through second connecting axle and connects, and the both ends of second connecting axle pass two respectively the mount pad extends the outside, two second tensioning pulley rotate respectively install in the both ends of second tensioning connecting axle, two the mounting panel overlaps respectively and locates the both ends of second tensioning pulley, and each the mounting panel all is located one between the mount pad, the second connecting block is located between first supporting seat and the second supporting seat, each the one end of tensioning rope all is fixed in one on the mounting panel, each the other end of tensioning rope is in proper order around locating one first tensioning pulley and one the second tensioning pulley is fixed with one the tensioning counter weight.
10. The pull-type inspection robot according to claim 1, wherein the robot body further includes two steering shafts and at least two first bearings, each steering shaft being fixed to a lower end of the bogie, each steering shaft being rotatably mounted to the body via at least one of the first bearings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210968285.2A CN115342283A (en) | 2022-08-12 | 2022-08-12 | Traction type inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210968285.2A CN115342283A (en) | 2022-08-12 | 2022-08-12 | Traction type inspection robot |
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| Publication Number | Publication Date |
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| CN115342283A true CN115342283A (en) | 2022-11-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210968285.2A Pending CN115342283A (en) | 2022-08-12 | 2022-08-12 | Traction type inspection robot |
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| CN (1) | CN115342283A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116771869A (en) * | 2023-08-17 | 2023-09-19 | 山西科达自控股份有限公司 | Tensioning device for endless rope traction transmission mechanism |
-
2022
- 2022-08-12 CN CN202210968285.2A patent/CN115342283A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116771869A (en) * | 2023-08-17 | 2023-09-19 | 山西科达自控股份有限公司 | Tensioning device for endless rope traction transmission mechanism |
| CN116771869B (en) * | 2023-08-17 | 2023-10-20 | 山西科达自控股份有限公司 | Tensioning device for endless rope traction transmission mechanism |
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