CN117103304A

CN117103304A - Inspection robot

Info

Publication number: CN117103304A
Application number: CN202311358272.4A
Authority: CN
Inventors: 陈高灿; 卢彦; 李兵; 刘梦诗
Original assignee: Hefei Xiaobu Intelligent Technology Co ltd
Current assignee: Hefei Xiaobu Intelligent Technology Co ltd
Priority date: 2023-10-19
Filing date: 2023-10-19
Publication date: 2023-11-24

Abstract

The invention relates to the technical field of inspection robots, and particularly discloses an inspection robot which comprises a lifting unit, wherein the lifting unit comprises a base, a U-shaped fixing frame is fixedly connected in the base, guide rails are respectively arranged on the left inner wall and the right inner wall of the U-shaped fixing frame, two sides of a movable plate are connected on the left guide rail and the right guide rail in a sliding manner, a plurality of fixing rods are fixedly connected to the lower end face of the movable plate, the lower ends of the fixing rods penetrate through the bottom of the U-shaped fixing frame, the fixing rods are connected with the bottom of the U-shaped fixing frame in a sliding manner, supporting springs are nested on the fixing rods, and the upper ends and the lower ends of the supporting springs are respectively abutted to the movable plate and the bottom of the U-shaped fixing frame. According to the invention, the rack is arranged on the lower end surface of the track with the gradient, and the tooth and the rack on the inspection robot are utilized to carry out meshing action, so that meshing force is provided for each other, and the inspection robot can be assisted to climb the slope.

Description

Inspection robot

Technical Field

The invention relates to the technical field of inspection robots, in particular to an inspection robot.

Background

The inspection robot mainly aims at the problems of poor manual inspection environment, high risk, low efficiency and the like, and realizes unmanned automatic inspection by replacing inspection modes of manual eye observation, ear hearing, nose smelling and the like with machine equipment. The safety of staff is guaranteed greatly, the labor cost is reduced, and the monitoring efficiency is improved.

The conventional inspection robot is generally a track type inspection robot, two sides of a track are clamped by using clamping wheels, and then the clamping wheels are driven to enable the robot to move along with the track. Although the driving mode can normally travel on a normal gentle slope-free track, if the track has a certain slope, the weight of the robot is not completely distributed on the track, and at the moment, the friction force between the clamping wheel and the track is reduced, so that slipping or insufficient driving force is easily caused, and the robot cannot ascend.

Disclosure of Invention

In order to solve the defects in the prior art, the invention provides the inspection robot, so that the problem that the traditional robot cannot climb a slope due to sliding on the track caused by insufficient friction force when running on the track is solved.

The technical scheme adopted for solving the technical problems is as follows: the invention relates to a patrol robot, which comprises a lifting unit, wherein the lifting unit comprises a base, a U-shaped fixing frame, guide rails, a movable plate, a fixed rod and a supporting spring, wherein the U-shaped fixing frame is fixedly connected in the base, the guide rails are respectively arranged on the left inner wall and the right inner wall of the U-shaped fixing frame, and the two sides of the movable plate are connected on the left guide rail and the right guide rail in a sliding manner; the lower end face of the movable plate is fixedly connected with a plurality of fixing rods; the lower end of the fixing rod penetrates through the bottom of the U-shaped fixing frame, and the fixing rod is in sliding connection with the bottom of the U-shaped fixing frame; the support springs are nested on the fixing rods, and the upper ends and the lower ends of the support springs are respectively abutted to the bottoms of the movable plates and the U-shaped fixing frames.

Preferably, the upper end face fixedly connected with linear bearing of fly leaf, linear bearing's upper end fixed connection is in the lower terminal surface of diaphragm, one side of linear bearing has the stabilizer blade, stabilizer blade fixed connection is in the upper end face of fly leaf, the stabilizer blade upper end passes the diaphragm, stabilizer blade with diaphragm sliding connection, the lower terminal surface fixed connection of diaphragm is in the upper end of U-shaped mount.

Preferably, the upper end fixedly connected with walking unit of elevating unit, the walking unit includes the gyro wheel, the gyro wheel with the stabilizer blade rotates to be connected, set up the circular slot on the gyro wheel, be provided with tooth in the circular slot circumference, tooth and the A gear engagement of below, A gear and B gear engagement, B gear and C gear engagement, C gear and motor output shaft fixed connection, A gear the B gear with C gear all rotates to be connected on the riser, this riser with fly leaf fixed connection.

Preferably, the upper part of the tooth is meshed with a rack, the tooth is matched with the rack, the rack is fixedly connected to the lower end face of the sliding rail, and the rack is arranged in the circular groove.

Preferably, the lifting unit is fixedly connected with an oil supply unit, the oil supply unit comprises an oil storage tank, the oil storage tank is fixedly connected to the base, the oil storage tank is arranged below the U-shaped fixing frame, a piston is connected to the oil storage tank in a sliding manner, a push rod is fixedly connected to the upper end face of the piston, and the push rod extends out of the oil storage tank.

Preferably, the middle part of one side of the oil storage tank is fixedly connected with and communicated with an oil adding pipe, the oil adding pipe is fixedly connected with a one-way valve, one end of the oil adding pipe is fixedly connected with an oil supply tank, and the oil supply tank is fixedly connected to the side wall of the base.

Preferably, the lower end part of one side of the oil storage tank is fixedly connected with an oil guide pipe, the same type of one-way valve is fixedly connected to the oil guide pipe, and the other end of the oil guide pipe extends upwards to the upper part of the circular groove of the roller for lubricating teeth.

Preferably, the oil supply unit upper end fixedly connected with extrusion unit, extrusion unit includes the push pedal, push pedal fixed connection is in the lower extreme of dead lever, the push pedal is in U-shaped mount below, there is the extrusion dish push pedal below, the push pedal with distance between the extrusion dish is L, the lower terminal surface fixed connection of extrusion dish is in the upper end of push rod, the nested tension spring that has on the push rod, tension spring's upper and lower both ends respectively with the terminal surface under the extrusion dish with the up end butt of oil storage tank.

Preferably, the oil storage tank and the oil supply tank are filled with silicone grease type lubricants.

The invention has the beneficial effects that:

(1) According to the invention, the rack is arranged at the lower end of the sliding rail with the gradient, when the robot reaches the position where the robot needs to climb the gradient, teeth at the lower end of the robot are meshed with the rack, and the meshing force between the teeth can assist the robot in climbing the gradient.

(2) When the robot climbs a slope, the teeth and the racks are meshed at the moment, and as the teeth and the racks are just contacted, the grooves on the teeth and the racks are possibly not aligned, extrusion force can be generated, and the movable plate, the linear bearing, the supporting spring and the guide rail designed by the invention are mutually matched, so that the teeth and the racks can be smoothly meshed.

(3) The silicone grease in the oil storage tank can be intermittently smeared on the teeth and the racks from the oil guide pipe to lubricate the teeth and the racks, the intermittent time is controlled by the running state of the robot, when climbing is carried out, the teeth and the racks are engaged, and the rack is arranged below the sliding rail, so that the oil storage tank is extruded by utilizing the displacement of the movable plate and the fixed rod caused by the moment that the teeth are engaged with the racks, and the silicone grease is conveyed to the teeth.

Drawings

The invention will be further described with reference to the drawings and examples.

FIG. 1 is a schematic diagram of the overall connection structure of the present invention;

FIG. 2 is a schematic diagram of a tank connection;

FIG. 3 is a schematic diagram of a fuel supply tank connection structure;

FIG. 4 is an enlarged schematic view of FIG. 1 at A;

fig. 5 is an enlarged schematic view at B in fig. 1.

In the figure:

1. a lifting unit; 11. a U-shaped fixing frame; 12. a movable plate; 13. a support spring; 14. a fixed rod; 15. a support leg; 16. a linear bearing; 17. a guide rail; 18. a cross plate; 19. a base;

2. a walking unit; 21. a roller; 22. a circular groove; 23. teeth; 24. a slide rail; 25. a rack; 26. a gear; 27. a gear B; 28. a C gear;

3. an oil supply unit; 31. an oil storage tank; 32. an oil guide pipe; 33. a one-way valve; 34. an oil adding pipe; 35. a piston; 36. a push rod; 37. an oil supply tank; 38. an oil filling port; 39. air holes;

4. an extrusion unit; 41. a cylinder; 42. an extrusion plate; 43. tension springs.

Detailed Description

The invention is further described in connection with the following detailed description in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.

The embodiment of the invention solves the problem that the strength of the pressed brick is low due to a large number of gaps between materials in a pressing chamber when the existing insulating brick forming die is used for making bricks, and simultaneously solves the problem that the efficiency is low due to the fact that the materials in the pressing chamber are required to be manually added for many times when the materials in the pressing chamber are insufficient.

Embodiment one:

as shown in fig. 1, 4 and 5, the inspection robot comprises a lifting unit 1, wherein the lifting unit 1 comprises a base 19 and a U-shaped fixing frame 11, and the U-shaped fixing frame 11 is fixedly connected in the base 19;

the guide rails 17 are arranged on the left and right inner walls of the U-shaped fixing frame 11;

the movable plate 12 is connected with two sides of the movable plate 12 in a sliding manner on the left and right guide rails 17;

a fixed rod 14, wherein a plurality of fixed rods 14 are fixedly connected to the lower end surface of the movable plate 12; the lower end of the fixing rod 14 passes through the bottom of the U-shaped fixing frame 11, and the fixing rod 14 is in sliding connection with the bottom of the U-shaped fixing frame 11;

the supporting spring 13 is nested on the fixed rod 14, and the upper end and the lower end of the supporting spring 13 are respectively abutted with the bottoms of the movable plate 12 and the U-shaped fixing frame 11;

the upper end face of the movable plate 12 is fixedly connected with a linear bearing 16, the upper end of the linear bearing 16 is fixedly connected with the lower end face of a transverse plate 18, one side of the linear bearing 16 is provided with a supporting foot 15, the supporting foot 15 is fixedly connected with the upper end face of the movable plate 12, the upper end of the supporting foot 15 penetrates through the transverse plate 18, the supporting foot 15 is in sliding connection with the transverse plate 18, and the lower end face of the transverse plate 18 is fixedly connected with the upper end of the U-shaped fixing frame 11.

In an embodiment, a conventional inspection robot generally uses a clamping wheel to be clamped with a rail, and then drives the clamping wheel to rotate, so that the robot slides on the rail, and the clamping wheel and the driving device are not shown in the invention. When the inspection robot is in an inspection state, the rack 25 is arranged at the bottom of the sliding rail 24, the climbing of the robot is assisted by the meshing mode of the teeth 23 and the rack 25, when the teeth 23 and the rack 25 are in contact, the teeth 23 and the racks 25 are possibly not aligned, mutual extrusion force is generated between the teeth 23 and the racks 25, the extrusion force is reversely transmitted to the sliding rail 24 by the rack 25, because the sliding rail 24 is fixedly arranged, the extrusion force can only be transmitted to the roller 21 and the support 15 by the teeth 23, the movable plate 12 moves downwards under the pressure of the support 15 and compresses the support spring 13, the support spring 13 stretches to drive the movable plate 12 to move upwards for resetting after the teeth 23 and the racks 25 are matched, and meanwhile, the support 15 and the roller 21 also move upwards for resetting synchronously, so as to complete the meshing of the teeth 23 and the racks 25, and the cooperation of the teeth 23 and the racks 25 on the inspection robot enables traction force to be increased, and climbing performance of the robot to be improved.

Embodiment two:

as shown in fig. 1, the upper end of the lifting unit 1 is fixedly connected with a walking unit 2, the walking unit 2 comprises a roller 21, the roller 21 is rotationally connected with a supporting leg 15, a circular groove 22 is formed in the roller 21, teeth 23 are circumferentially and internally arranged on the circular groove 22, the teeth 23 are meshed with a gear 26 below, the gear 26 is meshed with a gear 27, the gear 27 is meshed with a gear 28, the gear 28 is fixedly connected with a motor output shaft, the gear 26, the gear 27 and the gear 28 are rotationally connected to a vertical plate, and the vertical plate is fixedly connected with a movable plate 12;

the upper part of the tooth 23 is meshed with a rack 25, the tooth 23 is matched with the rack 25, the rack 25 is fixedly connected to the lower end face of the sliding rail 24, and the rack 25 is arranged in the circular groove 22.

In the embodiment, the motor drives the C gear 28 to rotate after being started, drives the tooth 23 and the circular groove 22 to rotate after being driven by the B gear 27 and the A gear 26, finally enables the roller 21 to rotate in the support leg 15, the upper portion of the tooth 23 is meshed with the rack 25, the tooth 23 rotates to drive the whole base 19 to move, traction force of the inspection robot is provided, the rack 25 is arranged below the sliding rail 24 at some sloping positions, the rack 25 is matched with the tooth 23, larger friction force can be provided, and the inspection robot is assisted to climb a slope.

Embodiment III:

as shown in fig. 1, 2 and 3, the lifting unit 1 is fixedly connected with an oil supply unit 3, the oil supply unit 3 comprises an oil storage tank 31, the oil storage tank 31 is fixedly connected with the base 19, the oil storage tank 31 is under the U-shaped fixing frame 11, a piston 35 is slidably connected with the oil storage tank 31, the upper end surface of the piston 35 is fixedly connected with a push rod 36, and the push rod 36 extends out of the oil storage tank 31;

the middle part of one side of the oil storage tank 31 is fixedly connected and communicated with an oil adding pipe 34, a one-way valve 33 is fixedly connected to the oil adding pipe 34, one end of the oil adding pipe 34 is fixedly connected with an oil supply tank 37, and the oil supply tank 37 is fixedly connected to the side wall of the base 19;

the lower end part of one side of the oil storage tank 31 is fixedly connected with an oil guide pipe 32, the same type of one-way valve 33 is fixedly connected to the oil guide pipe 32, and the other end of the oil guide pipe 32 extends upwards to the upper part of the circular groove 22 of the roller 21 and is used for lubricating the teeth 23;

the upper end of the oil supply unit 3 is fixedly connected with the extrusion unit 4, the extrusion unit 4 comprises a push plate 41, the push plate 41 is fixedly connected to the lower end of the fixed rod 14, the push plate 41 is arranged below the U-shaped fixing frame 11, an extrusion disc 42 is arranged below an output shaft of the push plate 41, the distance between the output shaft of the push plate 41 and the extrusion disc 42 is L, the lower end face of the extrusion disc 42 is fixedly connected to the upper end of the push rod 36, a tension spring 43 is nested on the push rod 36, and the upper end and the lower end of the tension spring 43 are respectively abutted to the lower end face of the extrusion disc 42 and the upper end face of the oil storage tank 31;

the oil storage tank 31 and the oil supply tank 37 are filled with silicone grease lubricant;

in the embodiment, when the teeth 23 and the racks 25 are just contacted, the movable plate 12 descends to drive the fixed rod 14 to descend, the height of the fixed rod 14 descending should be larger than the length of L, when the teeth 23 and the racks 25 are contacted, the push plate 41 pushes the extruding disc 42, the extruding disc 42 pushes the pushing rod 36 to drive the piston 35 to slide downwards in the oil storage tank 31, silicone grease is extruded from the oil guide pipe 32 onto the teeth 23 in the roller 21, lubrication between the teeth 23 and the racks 25 is facilitated, mechanical performance is improved, after the teeth 23 and the racks 25 are meshed, the supporting spring 13 stretches to drive the movable plate 12 to ascend, the movable plate 12 drives the fixed rod 14 to ascend, the fixed rod 14 drives the push plate 41 to ascend, at the moment, the push plate 41 leaves the extruding disc 42, the stretching spring 43 stretches to drive the extruding disc 42 and the pushing rod 36 to reset upwards, the pushing rod 36 drives the piston 35 to slide upwards in the oil storage tank 31, at the moment, the pressure in the oil storage tank 31 becomes small, the oil filling pipe 34 sucks the silicone grease in the oil supply tank 37 into the oil storage tank 31, the silicone grease supplementing port 38 of the oil supply tank 37 is used for adding the grease pressure balance hole 39.

Note that the silicone grease on the teeth 23 and the rack 25 does not need to be added frequently, so that the intermittent application of the silicone grease to the teeth 23 and the rack 25 is accomplished by using the pressing force caused when the teeth 23 and the rack 25 are just brought into contact and the push plate 41 in cooperation.

The specific working procedure is as follows:

during operation, when the inspection robot encounters a position with a gradient, c is a moving direction, d is a rotating direction, e is a lubricating oil liquid level, a rack 25 is arranged at the bottom of a sliding rail 24, the climbing of the robot is assisted by a mode of meshing the rack 23 and the rack 25, when the rack 23 and the rack 25 come into contact, the tooth grooves on the rack 23 and the rack 25 are possibly misaligned, mutual extrusion force is generated between the rack 23 and the rack 25, the rack 25 reversely transmits the extrusion force to the sliding rail 24, because the sliding rail 24 is fixedly installed, the extrusion force can only be transmitted to a roller 21 and a supporting leg 15 by the rack 23, the movable plate 12 moves downwards under the pressure of the supporting leg 15 and the roller 21 synchronously moves downwards, the supporting spring 13 stretches to drive the movable plate 12 to move upwards for resetting after the tooth grooves on the rack 23 and the rack 25 are matched, and simultaneously the supporting leg 15 and the roller 21 synchronously move upwards for resetting, so that meshing of the rack 25 is completed, and the traction force on the inspection robot is increased by matching the rack 23 and the rack 25, so that the climbing performance of the robot is improved. When the teeth 23 and the racks 25 are just contacted, the movable plate 12 descends to drive the fixed rod 14 to descend, the descending height of the fixed rod 14 is larger than the length of L, when the teeth 23 and the racks 25 are contacted, the push plate 41 can push the extrusion plate 42, the extrusion plate 42 pushes the push rod 36 to drive the piston 35 to slide downwards in the oil storage tank 31, silicone grease is extruded onto the teeth 23 in the roller 21 from the oil guide pipe 32, lubrication between the teeth 23 and the racks 25 is facilitated, mechanical performance is improved, after the teeth 23 and the racks 25 are meshed, the support spring 13 stretches to drive the movable plate 12 to ascend, the movable plate 12 drives the fixed rod 14 to ascend, the fixed rod 14 drives the push plate 41 to ascend, at the moment, the push plate 41 is separated from the extrusion plate 42, the tension spring 43 stretches to drive the extrusion plate 42 and the push rod 36 to reset upwards, the push rod 36 drives the piston 35 to slide upwards in the oil storage tank 31, at the moment, the pressure in the oil storage tank 31 becomes small, the silicone grease in the oil supply tank 37 is sucked into the oil storage tank 31 by the oil supply pipe 34, the silicone grease is filled into the oil tank 38, and the air hole 39 is used for balancing the pressure.

The foregoing has shown and described the basic principles, main features and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the foregoing examples, and that the foregoing description and description are merely illustrative of the principles of this invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a robot patrols and examines, includes elevating unit (1), elevating unit (1) include base (19), U-shaped mount (11), guide rail (17), fly leaf (12), support spring (13) and dead lever (14), its characterized in that:

the U-shaped fixing frame (11) is fixedly connected in the base (19), the guide rails (17) are arranged on the left inner wall and the right inner wall of the U-shaped fixing frame (11), and the two sides of the movable plate (12) are connected on the left guide rail (17) and the right guide rail (17) in a sliding manner;

the lower end surface of the movable plate (12) is fixedly connected with a plurality of fixed rods (14); the lower end of the fixing rod (14) penetrates through the bottom of the U-shaped fixing frame (11), and the fixing rod (14) is in sliding connection with the bottom of the U-shaped fixing frame (11);

the fixing rod (14) is nested with the supporting spring (13), and the upper end and the lower end of the supporting spring (13) are respectively abutted to the bottoms of the movable plate (12) and the U-shaped fixing frame (11).

2. A patrol robot as recited in claim 1, wherein: the upper end face fixedly connected with linear bearing (16) of fly leaf (12), the upper end fixed connection of linear bearing (16) is in the lower terminal surface of diaphragm (18), there is stabilizer blade (15) one side of linear bearing (16), stabilizer blade (15) fixed connection is in the upper end face of fly leaf (12), stabilizer blade (15) upper end passes diaphragm (18), stabilizer blade (15) with diaphragm (18) sliding connection, the lower terminal surface fixed connection of diaphragm (18) is in the upper end of U-shaped mount (11).

3. A patrol robot as recited in claim 2, wherein: the lifting unit is characterized in that the upper end of the lifting unit (1) is fixedly connected with the walking unit (2), the walking unit (2) comprises a roller (21), the roller (21) is rotationally connected with a supporting foot (15), a round groove (22) is formed in the roller (21), teeth (23) are arranged in the circumferential direction of the round groove (22), A gears (26) below the teeth (23) are meshed, A gears (26) are meshed with B gears (27), B gears (27) are meshed with C gears (28), the C gears (28) are fixedly connected with a motor output shaft, the A gears (26), the B gears (27) are rotationally connected with the C gears (28) on a vertical plate, and the vertical plate is fixedly connected with the movable plate (12).

4. A patrol robot according to claim 3, characterized in that: the upper part of the tooth (23) is meshed with the rack (25), the tooth (23) is matched with the rack (25), the rack (25) is fixedly connected to the lower end face of the sliding rail (24), and the rack (25) is arranged in the circular groove (22).

5. A patrol robot as recited in claim 4, wherein: the lifting unit (1) is fixedly connected with an oil supply unit (3), the oil supply unit (3) comprises an oil storage tank (31), the oil storage tank (31) is fixedly connected with the base (19), the oil storage tank (31) is arranged below the U-shaped fixing frame (11), a piston (35) is connected in the oil storage tank (31) in a sliding manner, the upper end face of the piston (35) is fixedly connected with a push rod (36), and the push rod (36) extends out of the oil storage tank (31).

6. A patrol robot as recited in claim 5, wherein: one side middle part fixed connection and the intercommunication of oil storage tank (31) have oil pipe (34) that adds, fixedly connected with check valve (33) on oil pipe (34) that adds, one end and oil supply tank (37) fixed connection of oil pipe (34) that add, oil supply tank (37) fixed connection is in on the lateral wall of base (19).

7. A patrol robot as recited in claim 6, wherein: the oil storage tank is characterized in that an oil guide pipe (32) is fixedly connected to the lower end portion of one side of the oil storage tank (31), the same type of one-way valve (33) is fixedly connected to the oil guide pipe (32), and the other end of the oil guide pipe (32) extends upwards to the upper portion of the circular groove (22) of the roller (21) and is used for lubricating the teeth (23).

8. A patrol robot as recited in claim 5, wherein: the oil supply unit (3) upper end fixedly connected with extrusion unit (4), extrusion unit (4) are in including push pedal (41), push pedal (41) fixed connection is in the lower extreme of dead lever (14), push pedal (41) are in U-shaped mount (11) below, there is extrusion dish (42) push pedal (41) below, the lower terminal surface fixed connection of extrusion dish (42) is in the upper end of push rod (36), the nested tension spring (43) on push rod (36), the upper and lower both ends of tension spring (43) respectively with the terminal surface under extrusion dish (42) with the up end butt of oil storage tank (31).

9. A patrol robot as recited in claim 8, wherein: the oil storage tank (31) and the oil supply tank (37) are filled with silicone grease lubricant.