CN115705049A - Track lifting type inspection robot moving assembly - Google Patents
Track lifting type inspection robot moving assembly Download PDFInfo
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- CN115705049A CN115705049A CN202110901397.1A CN202110901397A CN115705049A CN 115705049 A CN115705049 A CN 115705049A CN 202110901397 A CN202110901397 A CN 202110901397A CN 115705049 A CN115705049 A CN 115705049A
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Abstract
The invention discloses a track lifting type inspection robot moving assembly, which comprises a driving mechanism, wherein one side of the driving mechanism is connected with an active moving mechanism, one side of the driving mechanism, which is far away from the active moving mechanism, is provided with an auxiliary moving mechanism, the auxiliary moving mechanism comprises an auxiliary moving support, and a first bolt is inserted into the auxiliary moving support, so that the track lifting type inspection robot moving assembly has the beneficial effects that: according to the invention, the four driving rollers, the two main limiting frames and the main bottom wheels are arranged on the driving moving mechanism, so that the driving mechanism can drive the two driving moving rollers on the driving moving mechanism to rotate, the stability of the suspended lifting type robot can be increased during moving, the problem of shaking is avoided, the suspended lifting type robot can be conveniently arranged on longer inspection robots through the arranged auxiliary moving mechanism, and the auxiliary moving mechanism and the driving moving mechanism are arranged on two sides of the top of the robot, so that the stability of the longer inspection robot during moving is increased.
Description
The technical field is as follows:
the invention belongs to the technical field of inspection robots, and particularly relates to a rail lifting type inspection robot moving assembly.
Background art:
the track robot adopts a track inverted servo walking mode, carries a high-definition camera and an infrared thermal imager, integrates core technologies such as a network communication technology, a multi-sensor fusion technology, an image analysis algorithm, a real-time database technology and the like, and realizes long-distance equipment infrared temperature measurement, full-automatic identification of a signal state indicator lamp, abnormal identification of equipment appearance and full-automatic identification reading of an instrument;
however, in the prior art, when the assembly of the rail lifting type inspection robot moving assembly drives the lifting type robot to walk on the rail, the wheel body is driven to move through the motor, but the auxiliary wheel is not supported in the moving process, so that the stability of the assembly is reduced, the robot hanging upside down below can shake when being inspected, and certain defects are overcome.
The invention content is as follows:
the present invention has been made to solve the above problems.
In order to solve the above problems, the present invention provides a technical solution:
the track lifting type inspection robot moving assembly comprises a driving mechanism, one side of the driving mechanism is connected with an active moving mechanism, one side of the driving mechanism, which is away from the active moving mechanism, is provided with an auxiliary moving mechanism, the auxiliary moving mechanism comprises an auxiliary moving support, a first bolt is inserted into the auxiliary moving support, the side walls of the two sides of the top end of the auxiliary moving support are rotatably connected with moving shafts, the mutually close ends of the two moving shafts are fixedly connected with the inner wall of the first auxiliary roller, one side of the top of the auxiliary moving support is connected with an auxiliary support through a bolt, the top end and the bottom end of the auxiliary support, which are close to the first auxiliary roller, are respectively and movably connected with an auxiliary limiting wheel, four corners of the auxiliary moving support, which are positioned below the moving shafts at the two sides, are respectively and rotatably connected with two auxiliary rollers, one end of the auxiliary moving support, which is positioned above the first bolt and is away from the driving mechanism, is rotatably connected with an auxiliary bottom wheel, the driving moving mechanism comprises a driving support and three transmission shafts, a second bolt is inserted into the driving support, two of the transmission shafts are respectively rotatably connected with two sides of the top end of the driving support, two ends of the other transmission shaft are respectively rotatably connected with two sides of the bottom end of the driving support, two ends of the transmission shaft at the bottom end, which are positioned at the outer side of the driving support, are fixedly connected with the inner wall of the linking gear, one ends of the two transmission shafts at the top end, which are far away from each other, are fixedly connected with the inner wall of the driven gear, one ends of the two transmission shafts at the top end, which are close to each other, are fixed with the inner wall of the driving moving roller, four corners of the driving support, which is positioned below the two driving moving rollers, are respectively rotatably connected with the driving roller, one side of the driving support, which is positioned above the second bolt and is far away from the driving mechanism, is rotatably connected with a main bottom roller, one side of the top of the active support is connected with a main auxiliary frame through a bolt, and the top end and the bottom end of the main auxiliary frame, which are close to one side of the active moving roller, are movably connected with main limiting frames.
The driving mechanism comprises a driving motor, the driving motor is fixed on the side wall of the fixing seat through a bolt, and the output end of the driving motor penetrates through the fixing seat and then is fixed with the inner wall of the driving gear.
Preferably, the tops of the two engaging gears on the two sides are respectively positioned at the bottoms of the two driven gears and are in meshed connection, and the side wall of the engaging gear close to one side of the main auxiliary frame is in meshed connection with the side wall of the driving gear.
Preferably, one end of the fixed seat is fixedly connected with one end, close to the active bracket, of the active bracket.
Preferably, the positions of the four second auxiliary rollers are parallel to the positions of the four driving rollers respectively.
Preferably, the position of the secondary bottom wheels is parallel to the position of the primary bottom wheels.
Preferably, the positions of the two active moving rollers are parallel to the positions of the two first auxiliary rollers.
Preferably, the positions of the two auxiliary limiting wheels are respectively parallel to the positions of the two main limiting frames.
The invention has the beneficial effects that:
according to the invention, the four driving rollers, the two main limiting frames and the main bottom wheels are arranged on the driving moving mechanism, so that the driving mechanism can drive the two driving moving rollers on the driving moving mechanism to rotate, the stability of the suspended lifting type robot can be increased during moving, the problem of shaking is avoided, the suspended lifting type robot can be conveniently arranged on longer inspection robots through the arranged auxiliary moving mechanism, and the auxiliary moving mechanism and the driving moving mechanism are arranged on two sides of the top of the robot, so that the stability of the longer inspection robot during moving is increased.
Description of the drawings:
for ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.
FIG. 1 is a schematic view of the structure of the present invention;
FIG. 2 is a schematic view of an auxiliary moving mechanism according to the present invention;
FIG. 3 is a schematic structural view of an auxiliary frame and an auxiliary limiting wheel of the auxiliary moving mechanism of the present invention;
FIG. 4 is a schematic view of the position structure of the auxiliary bottom wheel in the auxiliary moving mechanism of the present invention;
FIG. 5 is a schematic structural view of a driving mechanism and an active moving mechanism according to the present invention;
fig. 6 is a schematic structural diagram of the active moving mechanism of the present invention.
In the figure: 1. a drive mechanism; 11. a drive motor; 12. a fixed seat; 13. a driving gear; 2. an auxiliary moving mechanism; 21. a secondary movable bracket; 22. a first bolt; 23. a movable shaft; 24. a first auxiliary roller; 25. a second auxiliary roller; 26. a sub-auxiliary frame; 27. an auxiliary limiting wheel; 28. an auxiliary bottom wheel; 3. an active movement mechanism; 31. an active support; 32. a second bolt; 33. a drive shaft; 34. engaging the gears; 35. a driven gear; 36. actively moving the roller; 37. a main auxiliary frame; 38. a main limiting frame; 39. a driving roller; 310. a main bottom wheel.
The specific implementation mode is as follows:
as shown in fig. 1 to 6, the following technical solutions are adopted in the present embodiment: a track lifting type inspection robot moving component assembly comprises a driving mechanism 1, one side of the driving mechanism 1 is connected with an active moving mechanism 3, one side of the driving mechanism 1, which is far away from the active moving mechanism 3, is provided with an auxiliary moving mechanism 2, the auxiliary moving mechanism 2 comprises an auxiliary moving support 21, a first bolt 22 is inserted in the auxiliary moving support 21, the side walls of the two sides of the top end of the auxiliary moving support 21 are rotatably connected with moving shafts 23, the ends, close to each other, of the two moving shafts 23 are fixedly connected with the inner wall of the first auxiliary roller 24, one side of the top of the auxiliary moving support 21 is connected with an auxiliary support 26 through bolts, the top and the bottom of the auxiliary support 26, which is close to one side of the first auxiliary roller 24, are movably connected with auxiliary limiting wheels 27, four corners, below the moving shafts 23, on the two sides, of the auxiliary moving support 21, which is far away from the driving mechanism 1, are rotatably connected with auxiliary bottom wheels 28, the driving moving mechanism 3 comprises a driving support 31 and three transmission shafts 33, a second bolt 32 is inserted in the driving support 31, wherein two transmission shafts 33 are respectively rotatably connected with two sides of the top end of the driving support 31, two ends of the other transmission shaft 33 are respectively rotatably connected with two sides of the bottom end of the driving support 31, two ends of the transmission shaft 33 at the bottom end, which are positioned at the outer side of the driving support 31, are both fixedly connected with the inner wall of the connecting gear 34, the ends, which are far away from each other, of the two transmission shafts 33 at the top end are both fixedly connected with the inner wall of the driven gear 35, the ends, which are close to each other, of the two transmission shafts 33 at the top end are both fixed with the inner wall of the driving moving roller 36, four corners, which are positioned below the two driving moving rollers 36, of the driving support 31, which is positioned above the second bolt 32 and one side, which is far away from the driving mechanism 1, are both rotatably connected with a driving bottom roller 310, one side of the top of the driving support 31 is connected with a main auxiliary frame 37 through a bolt, and the top end and the bottom end of the main auxiliary frame 37, which are close to one side of the driving moving roller 36, are movably connected with a main limiting frame 38.
The driving mechanism 1 comprises a driving motor 11, the driving motor 11 is fixed on the side wall of the fixed seat 12 through a bolt, the output end of the driving motor 11 penetrates through the fixed seat 12 and then is fixed with the inner wall of the driving gear 13, and one end of the fixed seat 12 is fixedly connected with one end of the driving support 31 close to the driving support.
Specifically, as shown in fig. 5, in the embodiment of the present application, the tops of the two engaging gears 34 on two sides are respectively located at the bottoms of the two driven gears 35 and are engaged with each other, the side wall of the engaging gear 34 near one side of the main auxiliary frame 37 is engaged with the side wall of the driving gear 13, the driving gear 13 is driven to rotate by the driving motor 11, the driving gear 13 drives the two driven gears 35 to rotate by the engaging gear 34 engaged with the driving gear, so that the two driven gears 35 drive the driving moving roller 36 to rotate by the transmission shaft 33, and the robot hung upside down is driven by the driving moving roller 36 to move.
The positions of the four second auxiliary rollers 25 are respectively parallel to the positions of the four driving rollers 39, the positions of the auxiliary bottom wheels 28 are parallel to the positions of the main bottom wheels 310, the positions of the two driving moving rollers 36 are respectively parallel to the positions of the two first auxiliary rollers 24, the positions of the two auxiliary limiting wheels 27 are respectively parallel to the positions of the two main limiting frames 38, the four second auxiliary rollers 25 and the four driving rollers 39 abut against the bottom side wall of the track, the auxiliary bottom wheels 28 and the main bottom wheels 310 abut against the bottom of the track, and the two auxiliary limiting wheels 27 and the two main limiting frames 38 abut against one side of the top of the track, so that the stable moving effect is improved.
Specifically, the method comprises the following steps: when the inspection robot is installed, the active moving mechanism 3 is connected with the top of an inverted lifting inspection robot below through a second bolt 32 inserted in an active support 31 and is transmitted to the active moving mechanism 3 through the driving mechanism 1, so that the robot is driven to move, if the lifting inspection robot is long in size and a single active moving mechanism 3 cannot meet the required stability during moving, an auxiliary moving mechanism 2 can be installed on one side, away from the active moving mechanism 3, of the top of the lifting inspection robot on the driving mechanism 1, the auxiliary moving mechanism 2 is located on the left side of the driving mechanism 1 as shown in fig. 1 and plays an auxiliary moving effect, and the active moving mechanism 3 is located on the right side of the driving mechanism 1 and plays an active moving effect through driving of the driving mechanism 1;
when the device is used, the driving motor 11 drives the driving gear 13 to rotate through the work of the driving motor 11, the driving gear 13 drives the engaging gear 34 on one side which is engaged with the driving gear 13 to rotate, the engaging gear 34 on one side drives the engaging gear 34 on the other side to rotate through the transmission shaft 33, the rotation of the two engaging gears 34 drives the two active moving rollers 36 to rotate together through the two transmission shafts 33, the two active moving rollers 36 are positioned on two sides in the track, the driving mechanism 1 drives the two active moving rollers 36 to rotate, so that the lifting inspection robot can move, the lifting inspection robot moves and can drive the auxiliary moving mechanism 2 to move together, the auxiliary moving mechanism 2 can play a certain auxiliary stabilizing effect when moving, the outer side walls of two sides of the bottom of the track are clamped by the four active rollers 39 in the active moving mechanism 3 and the four auxiliary rollers 25 No. two in the auxiliary moving mechanism 2, the main bottom wheels 310 of the active moving mechanism 3 and the auxiliary bottom wheels 28 of the auxiliary moving mechanism 2 are propped against the bottom of the track, the two main limiting frames 38 of the active moving mechanism 3 and the two auxiliary limiting wheels 27 of the auxiliary moving mechanism 2 can be propped against the upper part and the lower part of the top of one side of the track, and the device can be used for installing the same auxiliary frame 26 and the two auxiliary limiting wheels 27 at the other side of the top of the auxiliary moving frame 21 of the auxiliary moving mechanism 2, installing the same main frame 37 and the two main limiting frames 38 at the other side of the top of the active frame 31 of the active moving mechanism 3 according to the requirements of workers, and arranging the auxiliary moving mechanism 2, the second auxiliary rollers 25, the auxiliary limiting wheels 27 and the auxiliary bottom wheels 28 in the auxiliary moving mechanism 2 and the active rollers 39, the auxiliary bottom wheels 28 and the active rollers 39 of the active moving mechanism 3, main bottom wheel 310 and main spacing 38 can make the over-and-under type of below patrol and examine the robot when removing, and stability obtains great improvement, when removing, the problem that rocks can not appear, and can match some longer over-and-under types of volume and patrol and examine robot collocation and use.
While there have been shown and described what are at present considered to be the fundamental principles of the invention and its essential features and advantages, it will be understood by those skilled in the art that the invention is not limited by the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.
Claims (8)
1. Track over-and-under type patrols and examines robot and removes subassembly assembly, its characterized in that, including actuating mechanism (1), actuating mechanism (1) one side is connected with initiative moving mechanism (3), one side that initiative moving mechanism (3) were kept away from in actuating mechanism (1) is provided with supplementary moving mechanism (2), supplementary moving mechanism (2) are including vice support (21), vice support (21) inside is inserted and is equipped with a bolt (22), vice support (21) top both sides lateral wall all is rotated with loose axle (23) and is connected, two the one end that loose axle (23) are close to each other all is connected with the inner wall fixed connection of a supplementary gyro wheel (24), vice support (21) top one side has vice auxiliary frame (26) through bolted connection, vice auxiliary frame (26) are close to the top and the equal swing joint in bottom of a supplementary gyro wheel (24) one side have vice spacing wheel (27), vice support (21) are located the four corners below of both sides loose axle (23) and all rotate and are connected with No. two supplementary gyro wheel (25) of assistance, vice support (21) are located the top of a bolt (22) and the equal swing joint has two initiative supporting mechanisms (31) and insert and have the initiative screw bolt (31) to move the mechanism (31), vice support (31) and insert and have the inside and be connected with two auxiliary mechanism (31), wherein two transmission shaft (33) rotate with initiative support (31) top both sides respectively and are connected, another the both ends of transmission shaft (33) rotate with initiative support (31) bottom both sides respectively and are connected, the bottom transmission shaft (33) are located the both ends in initiative support (31) outside all with the inner wall fixed connection who links up gear (34), two on top the one end that transmission shaft (33) kept away from each other all with the inner wall fixed connection of driven gear (35), two on top one end that transmission shaft (33) are close to each other all with the inner wall fixed of initiative removal gyro wheel (36), four corners that initiative support (31) are located two initiative removal gyro wheel (36) below all rotates and is connected with initiative gyro wheel (39), one side that initiative support (31) are located No. two bolt (32) tops and keep away from actuating mechanism (1) is rotated and is connected with main bottom wheel (310), initiative support (31) top one side is connected with main auxiliary frame (37) through the bolt, main auxiliary frame (37) are close to the top and the equal activity of bottom of initiative removal gyro wheel (36) one side and are connected with spacing frame (38).
2. The rail elevation type inspection robot moving assembly according to claim 1, wherein: the driving mechanism (1) comprises a driving motor (11), the driving motor (11) is fixed on the side wall of the fixing seat (12) through a bolt, and the output end of the driving motor (11) penetrates through the fixing seat (12) and then is fixed with the inner wall of the driving gear (13).
3. The rail elevation type inspection robot moving assembly according to claim 1, wherein: the tops of the two connecting gears (34) on the two sides are respectively positioned at the bottoms of the two driven gears (35) and are in meshed connection, and the side wall of the connecting gear (34) close to one side of the main auxiliary frame (37) is in meshed connection with the side wall of the driving gear (13).
4. The rail elevation type inspection robot moving assembly according to claim 2, wherein: one end of the fixed seat (12) is fixedly connected with one end, close to the driving support (31).
5. The rail elevation type inspection robot moving assembly according to claim 1, wherein: the positions of the four second auxiliary rollers (25) are respectively parallel to the positions of the four driving rollers (39).
6. The rail elevation type inspection robot moving assembly according to claim 1, wherein: the position of the secondary bottom wheels (28) is parallel to the position of the primary bottom wheels (310).
7. The rail elevation type inspection robot moving assembly according to claim 1, wherein: the positions of the two active moving rollers (36) are parallel to the positions of the two first auxiliary rollers (24).
8. The rail elevation type inspection robot moving assembly according to claim 1, wherein: the positions of the two auxiliary limiting wheels (27) are respectively parallel to the positions of the two main limiting frames (38).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110901397.1A CN115705049A (en) | 2021-08-06 | 2021-08-06 | Track lifting type inspection robot moving assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110901397.1A CN115705049A (en) | 2021-08-06 | 2021-08-06 | Track lifting type inspection robot moving assembly |
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| Publication Number | Publication Date |
|---|---|
| CN115705049A true CN115705049A (en) | 2023-02-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110901397.1A Pending CN115705049A (en) | 2021-08-06 | 2021-08-06 | Track lifting type inspection robot moving assembly |
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| CN (1) | CN115705049A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116729329A (en) * | 2023-08-09 | 2023-09-12 | 广东省公路建设有限公司湾区特大桥养护技术中心 | Chassis of inspection vehicle, inspection vehicle and inspection method |
| CN116873777A (en) * | 2023-09-05 | 2023-10-13 | 河南中冶起重机集团有限公司 | Rail-passing crane with stable assembly and butt joint |
-
2021
- 2021-08-06 CN CN202110901397.1A patent/CN115705049A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116729329A (en) * | 2023-08-09 | 2023-09-12 | 广东省公路建设有限公司湾区特大桥养护技术中心 | Chassis of inspection vehicle, inspection vehicle and inspection method |
| CN116729329B (en) * | 2023-08-09 | 2023-10-31 | 广东省公路建设有限公司湾区特大桥养护技术中心 | Chassis of inspection vehicle, inspection vehicle and inspection method |
| CN116873777A (en) * | 2023-09-05 | 2023-10-13 | 河南中冶起重机集团有限公司 | Rail-passing crane with stable assembly and butt joint |
| CN116873777B (en) * | 2023-09-05 | 2023-11-21 | 河南中冶起重机集团有限公司 | Rail-passing crane with stable assembly and butt joint |
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