CN117260816B - Front obstacle removing device for robot inspection - Google Patents
Front obstacle removing device for robot inspection Download PDFInfo
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- CN117260816B CN117260816B CN202311566655.0A CN202311566655A CN117260816B CN 117260816 B CN117260816 B CN 117260816B CN 202311566655 A CN202311566655 A CN 202311566655A CN 117260816 B CN117260816 B CN 117260816B
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- 238000007689 inspection Methods 0.000 title claims abstract description 40
- 238000005086 pumping Methods 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- 238000005520 cutting process Methods 0.000 claims abstract description 21
- 238000001125 extrusion Methods 0.000 claims abstract description 8
- 238000003825 pressing Methods 0.000 claims description 34
- 238000007789 sealing Methods 0.000 claims description 28
- 230000000670 limiting effect Effects 0.000 claims description 11
- 230000004888 barrier function Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000008188 pellet Substances 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention relates to the technical field of inspection robots, in particular to a front obstacle clearance device for robot inspection, which comprises a supporting part, a plurality of supporting parts and a plurality of connecting parts, wherein the supporting part comprises a robot body arranged on a high-voltage cable, a camera arranged on the robot body, a roller arranged on the robot body and a hinge arranged on the robot body; the cutting component comprises a clamping assembly arranged on the robot body, a pushing assembly arranged on the robot body, a rotating assembly arranged on the robot body, an extrusion assembly arranged on the rotating assembly and a cutting assembly arranged on the extrusion assembly; the reciprocating component comprises a pumping assembly arranged on the rotating assembly, a transmission assembly arranged on the pumping assembly and a guide assembly arranged on the rotating assembly.
Description
Technical Field
The invention relates to the technical field of inspection robots, in particular to a robot inspection front barrier removal device.
Background
The common robot inspection robot is mainly an inspection robot on a road, can automatically move, can automatically scan road conditions, and can automatically remove obstacles on the road, so that the automatic inspection obstacle removal is realized.
In the use, to the barrier on the high tension cable (like balloon, the plastic bag of hanging on the high tension cable, and some other dirt that need clean), current inspection robot can not carry out fine clearance, and common mode is the instrument clearance or climb high clearance for the workman, and whichever mode is comparatively inconvenient, and climbing danger coefficient is high, if no matter, can cause the damage to the circuit of high tension cable again to how carry out the inspection of barrier on the high tension cable and the cleanness of barrier through the robot becomes the problem that the society needs to solve.
Disclosure of Invention
The invention is provided in view of the problems that in the prior art, the inspection robot cannot perform very good obstacle clearing on the high-voltage cable, workers use tools to clear or climb up to clear, risk factors are high, and operation is inconvenient.
Therefore, the invention aims to provide a robot inspection front obstacle clearance device.
In order to solve the technical problems, the invention provides the following technical scheme: the device comprises a supporting component, a supporting component and a hinge, wherein the supporting component comprises a robot body arranged on a cable, a camera arranged on the robot body, a roller arranged on the robot body and a hinge arranged on the robot body; the cutting component comprises a clamping assembly arranged on the robot body, a pushing assembly arranged on the robot body, a rotating assembly arranged on the robot body, an extrusion assembly arranged on the rotating assembly and a cutting assembly arranged on the extrusion assembly; the reciprocating component comprises a pumping assembly arranged on the rotating assembly, a transmission assembly arranged on the pumping assembly, a guide assembly arranged on the rotating assembly and an elastic assembly arranged on the pushing assembly.
As a preferable scheme of the robot inspection front obstacle-removing device, the invention comprises the following steps: the clamping assembly comprises a clamping block fixedly connected to the side wall of the robot body, an arc-shaped plate is fixedly connected to the side wall of the clamping block, a limiting hole is formed in the arc-shaped plate, a mounting frame is fixedly connected to the side wall of the robot body, a cylinder penetrates through the mounting frame and is connected with the mounting frame in a sliding manner, a cap is fixedly connected to the outer end of the cylinder, and the cap is elastically connected with the side wall of the mounting frame through a first spring; wherein, the cylinder is adapted with spacing hole.
As a preferable scheme of the robot inspection front obstacle-removing device, the invention comprises the following steps: the pushing assembly comprises an electric telescopic rod fixedly connected to the robot body, a disc is fixedly connected to the telescopic end of the electric telescopic rod, a moving ring is connected to the robot body in a sliding mode, an annular groove is formed in the moving ring, and a clamping groove is formed in the inner wall of the annular groove; the clamping groove is matched with the disc, and the annular groove is matched with the telescopic end of the electric telescopic rod.
As a preferable scheme of the robot inspection front obstacle-removing device, the invention comprises the following steps: the rotary assembly comprises a support ring fixedly connected to the side wall of the robot body, the moving ring and the support ring are all provided with cuts, the support ring is provided with a plurality of mounting grooves, a rotating shaft is rotationally connected to the mounting grooves, a pressing plate is fixedly connected to the rotating shaft, and a first torsion spring is arranged on the rotating shaft; wherein, also be equipped with the hinge on the removal ring.
As a preferable scheme of the robot inspection front obstacle-removing device, the invention comprises the following steps: the extrusion assembly comprises a first U-shaped sleeve fixedly connected to the pressing plate, a second U-shaped sleeve is arranged on the lower side of the first U-shaped sleeve, transmission shafts are rotatably connected to the first U-shaped sleeve and the second U-shaped sleeve, a first strip-shaped plate is fixedly connected to the transmission shaft on the first U-shaped sleeve, a second strip-shaped plate is arranged on the first strip-shaped plate, and the second strip-shaped plate is fixedly connected with the transmission shaft on the second U-shaped sleeve.
As a preferable scheme of the robot inspection front obstacle-removing device, the invention comprises the following steps: the cutting assembly comprises a triangular cutter fixedly connected to a second U-shaped sleeve, a second torsion spring is arranged on the second U-shaped sleeve, a plurality of support rods are fixedly connected to the pressing plate, and tips are fixedly connected to the support rods; wherein the cutter is positioned at the inner side of the supporting rod.
As a preferable scheme of the robot inspection front obstacle-removing device, the invention comprises the following steps: the pump gas subassembly is including setting up the cavity in first strip shaped plate, sealed sliding connection has first sealing plug in the cavity, be equipped with on the first strip shaped plate and hold the mouth, the second strip shaped plate runs through and holds mouthful and with first sealing plug fixed connection, fixedly connected with pump inflator on the clamp plate, pump inflator upper end is equipped with spacing mouthful, sealed sliding connection has the second sealing plug in the pump inflator, the second sealing plug passes through the inner wall elastic connection of second spring and pump inflator, the lower extreme of pump inflator passes through the upper end sealing intercommunication of air duct and first strip shaped plate.
As a preferable scheme of the robot inspection front obstacle-removing device, the invention comprises the following steps: the transmission assembly comprises a U-shaped block fixedly connected to the second sealing plug, a rotating plate is rotationally connected to the inner wall of the U-shaped block, a turning plate is rotationally connected to the rotating plate, a first riser is fixedly connected to the turning plate, a U-shaped mounting sleeve is fixedly connected to the side wall of the pump inflator, a mounting opening is formed in the mounting sleeve, the first riser is rotationally connected with the inner wall of the mounting sleeve through a connecting shaft, and a second riser is fixedly connected to the first riser.
As a preferable scheme of the robot inspection front obstacle-removing device, the invention comprises the following steps: the guide assembly comprises thread grooves arranged on a plurality of pressing plates, a plurality of pushing plates are fixedly connected to the movable ring, and a plurality of notches are formed in each pushing plate; wherein, a plurality of breach all with second riser looks adaptation on the push pedal.
As a preferable scheme of the robot inspection front obstacle-removing device, the invention comprises the following steps: the elastic component comprises a containing cavity arranged on the movable ring, a baffle is connected in a sliding manner in the containing cavity, the baffle is elastically connected with the inner wall of the containing cavity through a third spring, a connecting rod is fixedly connected to the baffle, the connecting rod penetrates through the movable ring and is connected with the movable ring in a sliding manner, and a small ball is fixedly connected to the tail end of the connecting rod; the small balls are matched with the thread grooves, and the diameter of each small ball is larger than the gap between two adjacent pressing plates.
The robot inspection front barrier removing device has the beneficial effects that: through setting up the cooperation of cutting off part and robot body, can carry out the searching of barrier on the high-voltage cable voluntarily, and can carry out the clearance of barrier voluntarily, through the mode of spike, clearance balloon on the high-voltage cable, clear up the plastic bag of winding on the high-voltage cable through the mode of cutting, and make the cutter control reciprocating motion through the transmission, make the cutting off effect better, thereby it can not carry out fine obstacle's clearance on the high-voltage cable to have solved inspection robot, the workman is cleared up or climbs the clearance with the instrument, risk factor is high, and the inconvenient problem of operation has been reached, automatic inspection to the high-voltage cable, and the effect of automatic obstacle clearance to the barrier.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of 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 other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is an overall schematic diagram of a robot inspection front obstacle-removing device.
Fig. 2 is an external structural schematic diagram of a clamping assembly of the robot inspection front barrier removing device.
Fig. 3 is a schematic diagram of the external structure of the pushing assembly of the robot inspection front obstacle-removing device.
Fig. 4 is a schematic diagram of a cross-sectional structure of a movable ring of the robot inspection front obstacle-removing device.
Fig. 5 is a schematic view of the outer structure of the support ring of the robot inspection front obstacle-removing device.
Fig. 6 is a schematic view of the outer structure of the pressing plate of the robot inspection front obstacle-removing device.
Fig. 7 is a schematic view of the external structure of a screw groove of the robot inspection front obstacle-removing device.
Fig. 8 is a schematic diagram of the external structure of the pumping assembly of the robot inspection front obstacle-removing device.
Fig. 9 is an external structural schematic diagram of a transmission assembly of the robot inspection front obstacle-removing device.
Fig. 10 is a schematic view of an elastic assembly of the robot inspection front obstacle-removing device.
In the figure: 100. a support member; 101. a robot body; 102. a camera; 103. a roller; 104. a hinge; 200. a cutting member; 201. a clamping assembly; 201a, a clamping block; 201b, arcuate plates; 201c, limiting holes; 201d, a mounting frame; 201e, cylinder; 201f, caps; 201g, a first spring; 202. a pushing assembly; 202a, an electric telescopic rod; 202b, a disc; 202c, moving the ring; 202d, an annular groove; 202e, a clamping groove; 203. a rotating assembly; 203a, a support ring; 203b, incisions; 203c, mounting grooves; 203d, a rotating shaft; 203e, pressing plate; 203f, a first torsion spring; 204. an extrusion assembly; 204a, a first U-shaped sleeve; 204b, a second U-shaped sleeve; 204c, a transmission shaft; 204d, a first strip; 204e, a second strip-shaped plate; 205. a cutting assembly; 205a, a cutter; 205b, a second torsion spring; 205c, supporting rods; 205d, tip; 300. a reciprocating member; 301. a pumping assembly; 301a, cavity; 301b, a first sealing plug; 301c, a receiving port; 301d, pump cylinder; 301e, a limit port; 301f, a second sealing plug; 301g, a second spring; 301h, an air duct; 302. a transmission assembly; 302a, U-shaped blocks; 302b, rotating plate; 302c, turning plates; 302d, a first riser; 302e, mounting a sleeve; 302f, a mounting port; 302g, connecting shaft; 302h, a second vertical plate; 303. a guide assembly; 303a, thread grooves; 303b, push plate; 303c, notch; 304. an elastic component; 304a, a receiving cavity; 304b, baffles; 304c, a third spring; 304d, connecting rods; 304e, pellets.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present invention is not limited to the specific embodiments disclosed below.
Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Example 1
Referring to fig. 1 to 6, a first embodiment of the present invention provides a robot inspection front obstacle removing device capable of automatically removing obstacles on a high voltage cable, comprising a supporting member 100 including a robot body 101 disposed on the high voltage cable, a camera 102 disposed on the robot body 101, a roller 103 disposed on the robot body 101, and a hinge 104 disposed on the robot body 101; the cutting component 200 comprises a clamping assembly 201 arranged on the robot body 101, a pushing assembly 202 arranged on the robot body 101, a rotating assembly 203 arranged on the robot body 101, a squeezing assembly 204 arranged on the rotating assembly 203 and a cutting assembly 205 arranged on the squeezing assembly 204; the reciprocating member 300 comprises a pumping assembly 301 arranged on the rotating assembly 203, a transmission assembly 302 arranged on the pumping assembly 301, a guiding assembly 303 arranged on the rotating assembly 203, and an elastic assembly 304 arranged on the pushing assembly 202.
Specifically, the robot body 101 is composed of two semicircular shells, the inner wall is provided with a circuit, the internal circuit of the robot is not described in detail herein, when the robot is not in use, the robot body 101 can be stopped on a shelf at a high-voltage cable cross arm, a wireless charging tray can be arranged on the shelf to charge the robot body 101, a plurality of rollers 103 are arranged on the robot body 101, the rollers 103 can perform self-locking so that the robot body 101 stays at a certain position of the high-voltage cable, the rollers 103 can extend outwards or retract inwards so as to prevent a damper on the high-voltage cable from being damaged, and the camera 102 can find the obstacle on the high-voltage cable so as to perform timely treatment.
Further, the clamping assembly 201 comprises a clamping block 201a fixedly connected to the side wall of the robot body 101, an arc-shaped plate 201b is fixedly connected to the side wall of the clamping block 201a, a limiting hole 201c is formed in the arc-shaped plate 201b, a mounting frame 201d is fixedly connected to the side wall of the robot body 101, a cylinder 201e penetrates through and is connected to the mounting frame 201d in a sliding mode, a cap 201f is fixedly connected to the outer end of the cylinder 201e, and the cap 201f is elastically connected with the side wall of the mounting frame 201d through a first spring 201 g; wherein, the cylinder 201e is matched with the limit hole 201 c; the limiting hole 201c extends into the wall of the mounting frame 201d, the cylinder 201e can enter the mounting frame 201d, a better limiting effect is kept, the pushing assembly 202 comprises an electric telescopic rod 202a fixedly connected to the robot body 101, a disc 202b is fixedly connected to the telescopic end of the electric telescopic rod 202a, a moving ring 202c is slidingly connected to the robot body 101, an annular groove 202d is formed in the moving ring 202c, and a clamping groove 202e is formed in the inner wall of the annular groove 202 d; the clamping groove 202e is matched with the disc 202b, and the annular groove 202d is matched with the telescopic end of the electric telescopic rod 202 a.
Preferably, the rotating assembly 203 comprises a supporting ring 203a fixedly connected to the side wall of the robot body 101, wherein the robot body 101, the moving ring 202c and the supporting ring 203a are all provided with a notch 203b, the supporting ring 203a is provided with a plurality of mounting grooves 203c, the mounting grooves 203c are rotationally connected with a rotating shaft 203d, the rotating shaft 203d is fixedly connected with a pressing plate 203e, and the rotating shaft 203d is provided with a first torsion spring 203f; wherein, the movable ring 202c is also provided with a hinge 104; the extrusion assembly 204 comprises a first U-shaped sleeve 204a fixedly connected to a pressing plate 203e, a second U-shaped sleeve 204b is arranged on the lower side of the first U-shaped sleeve 204a, transmission shafts 204c are rotatably connected to the first U-shaped sleeve 204a and the second U-shaped sleeve 204b, a first strip-shaped plate 204d is fixedly connected to the transmission shaft 204c on the first U-shaped sleeve 204a, a second strip-shaped plate 204e is arranged on the first strip-shaped plate 204d, and the second strip-shaped plate 204e is fixedly connected with the transmission shaft 204c on the second U-shaped sleeve 204 b; the cutting assembly 205 comprises a triangular cutter 205a fixedly connected to a second U-shaped sleeve 204b, a second torsion spring 205b is arranged on the second U-shaped sleeve 204b, a plurality of support rods 205c are fixedly connected to a pressing plate 203e, and tips 205d are fixedly connected to the plurality of support rods 205 c; wherein the cutter 205a is located on the inner side of the support bar 205 c.
It should be noted that when the two semicircular shells of the robot body 101 are folded, the arc plate 201b is inserted into the mounting frame 201d, and when the two semicircular shells are completely attached, the cylinder 201e is opposite to the limit hole 201c, the telescopic end of the electric telescopic rod 202a extends into the annular groove 202d, the notch 203b divides the robot body 101, the moving ring 202c and the supporting ring 203a into two parts, and the two parts are rotationally connected by the hinge 104, the pressing plate 203e is provided with a plurality of pressing plates 203e, and the plurality of pressing plates 203e are arranged along the side wall of the supporting ring 203a in an equal radian, and the second torsion spring 205b is provided, so that the cutter 205a is kept horizontal when downward, and the tip 205d of the cutter 205a cuts the high-voltage cable when the cutter 205a is inclined downward at the pressing plate 203 e.
When in use, firstly, the two hemispherical shells of the robot body 101 are placed on the outer side of a high-voltage cable, then the cap 201f is stirred, the cap 201f is enabled to move outwards, the cylinder 201e moves outwards, the first spring 201g is stretched, then the two hemispherical shells are folded, the roller 103 is enabled to prop against the side wall of the high-voltage cable, when the two hemispherical shells are folded, the arc-shaped plate 201b enters the mounting frame 201d, the limiting hole 201c is enabled to be opposite to the cylinder 201e, then the cap 201f is loosened, under the action of the first spring 201g, the cylinder 201e is automatically reset, the cylinder 201e is enabled to be inserted into the limiting hole 201c, limiting of the robot body 101 is carried out, then the roller 103 rolls, the camera 102 shoots pictures, inspection is carried out, whether a balloon, a plastic bag and the like are hung on the high-voltage cable is observed, when the obstacle is found, then the electric telescopic rod 202a is extended to enable the disc 202b to move leftwards, so that the moving ring 202c moves leftwards, when the moving ring 202c moves leftwards, the plurality of pressing plates 203e can be pushed to move, the rotating shaft 203d rotates, when the rotating shaft 203d rotates, the pressing plates 203e are slowly changed from inclination to horizontal, during the process of changing the pressing plates 203e to horizontal, firstly, the tip 205d on the supporting rod 205c moves, the balloon hung on the high-voltage cable can be punctured, the balloon falls off, for plastic bags and the like, during the process, the second U-shaped sleeve 204b is propped against the high-voltage cable, along with the movement of the pressing plates 203e, the first U-shaped sleeve 204a downwards, the first strip-shaped plate 204d moves to drive the second strip-shaped plate 204e to move, so that the second U-shaped sleeve 204b slides rightwards on the high-voltage cable, the lower end of the second U-shaped sleeve 204b is flush with the lower end of the cutter 205a, and during the rightwards movement of the second U-shaped sleeve 204b, the cutter 205a is capable of cutting off a plastic bag or the like wound on a high voltage cable to the right, and then the plastic bag automatically drops under the action of gravity, thereby realizing removal of obstacles.
To sum up, through setting up cutting member 200, can carry out the searching of obstacle on the high tension cable voluntarily to can carry out the clearance of obstacle voluntarily, need not the workman and clear up with the instrument, perhaps climb and clear up, guarantee workman's safety, and convenient to use.
Example 2
Referring to fig. 5 to 9, in a second embodiment of the present invention, unlike the previous embodiment, the present invention provides a pumping assembly 301 of a robot inspection front barrier removing device, which solves the problem of how to slide a cutter 205a left and right and ensure a cutting effect, and includes a cavity 301a disposed in a first strip plate 204d, a first sealing plug 301b is sealingly and slidingly connected in the cavity 301a, a receiving opening 301c is disposed on the first strip plate 204d, a second strip plate 204e penetrates the receiving opening 301c and is fixedly connected with the first sealing plug 301b, a pumping cylinder 301d is fixedly connected on a pressing plate 203e, a limit opening 301e is disposed at the upper end of the pumping cylinder 301d, a second sealing plug 301f is sealingly and slidingly connected in the pumping cylinder 301d, the second sealing plug 301f is elastically connected with the inner wall of the pumping cylinder 301d through a second spring 301g, and the lower end of the pumping cylinder 301d is sealingly and slidingly connected with the upper end of the first strip plate 204d through an air duct 301 h.
Specifically, the accommodating port 301c and the limiting port 301e are mainly configured to balance air pressure, so that the first sealing plug 301b and the second sealing plug 301f cannot move due to air pressure problems, the diameter of the pump cylinder 301d is larger than that of the cavity 301a, and therefore enough air pressure is used for pushing the first sealing plug 301b to move.
Further, the transmission assembly 302 includes a U-shaped block 302a fixedly connected to the second sealing plug 301f, a rotating plate 302b is rotatably connected to an inner wall of the U-shaped block 302a, a turning plate 302c is rotatably connected to the rotating plate 302b, a first riser 302d is fixedly connected to the turning plate 302c, a U-shaped mounting sleeve 302e is fixedly connected to a side wall of the pump cylinder 301d, a mounting opening 302f is formed in the mounting sleeve 302e, the first riser 302d is rotatably connected to an inner wall of the mounting sleeve 302e through a connecting shaft 302g, a second riser 302h is fixedly connected to the first riser 302d, the turning plate 302c is arc-shaped, and the lower end of the mounting opening 302f is flush with the top of the pump cylinder 301 d; the guiding component 303 comprises a thread groove 303a arranged on a plurality of pressing plates 203e, a plurality of pushing plates 303b are fixedly connected to the moving ring 202c, notches 303c are formed in the pushing plates 303b, and elastic balls are fixedly connected to the inner walls of the pressing plates 203 e; wherein, the notches 303c on the plurality of pushing plates 303b are matched with the second riser 302 h.
When the movable ring 202c rotates, the telescopic end of the electric telescopic rod 202a slides in the annular groove 202d to guide, meanwhile, the disc 202b slides in the clamping groove 202e to prevent the movable ring 202c from being separated from the electric telescopic rod 202a, when the movable ring 202c continues to move leftwards, the elastic ball enters the threaded groove 303a, at the moment, the movable ring 202c is pushed continuously, the movable ring 202c rotates, when the movable ring 202c rotates, the notch 303c of the push plate 303b on the movable ring 202c is matched with the second riser 302h, the second riser 302h moves outwards, the first riser 302d moves outwards, the second riser 302c moves towards the second sealing plug 301f, the second sealing plug 301f moves downwards, the second spring 301g compresses, the gas in the pump sealing knife 301d is pumped into the cavity 301a, the first sealing plug 301b moves downwards, the second strip 204e moves downwards obliquely, the second U-shaped sleeve 204b moves rightwards, the second riser 205a moves rightwards, the second riser 205b moves leftwards, and the cutter blade 301g moves leftwards, and the cutter blade 205b moves leftwards, and the cutter blade 301g moves upwards, and the cutter blade 301b moves leftwards, and the cutter blade 205b moves upwards.
To sum up, by continuing to push the moving ring 202c, the moving ring 202c rotates, and then the cutter 205a can reciprocate left and right through transmission, so that the same effect as a pull saw is formed, the effect of cutting the plastic bag is better, the success rate of cutting the plastic bag is ensured, and the obstacle clearing effect is ensured.
Example 3
Referring to fig. 10, in a third embodiment of the present invention, unlike the previous embodiment, the present embodiment provides an elastic assembly 304 of a robot inspection front barrier removing device, which solves the problem of how to ensure that a small ball 304e enters a thread groove 303a, and includes a receiving cavity 304a disposed on a moving ring 202c, a baffle 304b slidably connected in the receiving cavity 304a, the baffle 304b elastically connected to an inner wall of the receiving cavity 304a through a third spring 304c, a connecting rod 304d fixedly connected to the baffle 304b, the connecting rod 304d penetrating through the moving ring 202c and slidably connected to the moving ring 202c, and a small ball 304e fixedly connected to an end of the connecting rod 304 d; wherein the small ball 304e is matched with the thread groove 303a, and the diameter of the small ball 304e is larger than the gap between two adjacent pressing plates 203 e.
In use, the accommodating cavity 304a is provided with a through hole, so that the ball 304e can be completely accommodated in the through hole, the side wall of the movable ring 202c is guaranteed to be attached to the pressing plate 203e, when the ball 304e is not opposite to the threaded groove 303a, the ball 304e is retracted into the through hole, the connecting rod 304d moves, the baffle 304b moves, the third spring 304c compresses, when the ball 304e is opposite to the threaded groove 303a, the third spring 304c rebounds, the ball 304e enters the threaded groove 303a, the cooperation between the ball 304e and the threaded groove 303a is guaranteed to be stable, the diameter of the ball 304e is larger than the gap between two adjacent pressing plates 203e, and therefore the ball 304e is guaranteed not to be separated from the threaded groove 303a when moving to different pressing plates 203 e.
In summary, by the expansion and contraction of the small ball 304e, a space for accommodating the small ball 304e is provided, so that when the small ball 304e is not aligned with the thread groove 303a, the small ball 304e is prevented from abutting between the movable ring 202c and the pressing plate 203e, the stability of the cooperation of the small ball 304e and the thread groove 303a is ensured, and the rotation stability of the movable ring 202c is ensured.
It is important to note that the construction and arrangement of the present application as shown in a variety of different exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters (e.g., temperature, pressure, etc.), mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter described in this application. For example, elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of present invention. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present inventions. Therefore, the invention is not limited to the specific embodiments, but extends to various modifications that nevertheless fall within the scope of the appended claims.
Furthermore, in order to provide a concise description of the exemplary embodiments, all features of an actual implementation may not be described (i.e., those not associated with the best mode presently contemplated for carrying out the invention, or those not associated with practicing the invention).
It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure.
It should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention may be modified or substituted without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered in the scope of the claims of the present invention.
Claims (1)
1. The utility model provides a leading obstacle clearance device of robot inspection which characterized in that: comprising the steps of (a) a step of,
a support member (100) including a robot body (101) provided on a cable, a camera (102) provided on the robot body (101), a roller (103) provided on the robot body (101), and a hinge (104) provided on the robot body (101);
a cutting member (200) comprising a snap-in assembly (201) provided on the robot body (101), a pushing assembly (202) provided on the robot body (101), a rotating assembly (203) provided on the robot body (101), a pressing assembly (204) provided on the rotating assembly (203), and a cutting assembly (205) provided on the pressing assembly (204);
a reciprocating member (300) including a pumping assembly (301) provided on the rotating assembly (203), a transmission assembly (302) provided on the pumping assembly (301), a guide assembly (303) provided on the rotating assembly (203), and an elastic assembly (304) provided on the pushing assembly (202);
the clamping assembly (201) comprises a clamping block (201 a) fixedly connected to the side wall of the robot body (101), an arc-shaped plate (201 b) is fixedly connected to the side wall of the clamping block (201 a), a limiting hole (201 c) is formed in the arc-shaped plate (201 b), a mounting frame (201 d) is fixedly connected to the side wall of the robot body (101), a cylinder (201 e) penetrates through and is connected to the mounting frame (201 d) in a sliding mode, a cap (201 f) is fixedly connected to the outer end of the cylinder (201 e), and the cap (201 f) is elastically connected with the side wall of the mounting frame (201 d) through a first spring (201 g);
wherein the cylinder (201 e) is matched with the limit hole (201 c);
the pushing assembly (202) comprises an electric telescopic rod (202 a) fixedly connected to the robot body (101), a disc (202 b) is fixedly connected to the telescopic end of the electric telescopic rod (202 a), a moving ring (202 c) is connected to the robot body (101) in a sliding mode, an annular groove (202 d) is formed in the moving ring (202 c), and a clamping groove (202 e) is formed in the inner wall of the annular groove (202 d);
the clamping groove (202 e) is matched with the disc (202 b), and the annular groove (202 d) is matched with the telescopic end of the electric telescopic rod (202 a);
the rotating assembly (203) comprises a supporting ring (203 a) fixedly connected to the side wall of the robot body (101), notches (203 b) are formed in the robot body (101), the moving ring (202 c) and the supporting ring (203 a), a plurality of mounting grooves (203 c) are formed in the supporting ring (203 a), a rotating shaft (203 d) is rotationally connected to the mounting grooves (203 c), a pressing plate (203 e) is fixedly connected to the rotating shaft (203 d), and a first torsion spring (203 f) is arranged on the rotating shaft (203 d);
wherein, the movable ring (202 c) is also provided with a hinge (104);
the extrusion assembly (204) comprises a first U-shaped sleeve (204 a) fixedly connected to a pressing plate (203 e), a second U-shaped sleeve (204 b) is arranged on the lower side of the first U-shaped sleeve (204 a), transmission shafts (204 c) are rotatably connected to the first U-shaped sleeve (204 a) and the second U-shaped sleeve (204 b), a first strip-shaped plate (204 d) is fixedly connected to the transmission shafts (204 c) on the first U-shaped sleeve (204 a), a second strip-shaped plate (204 e) is arranged on the first strip-shaped plate (204 d), and the second strip-shaped plate (204 e) is fixedly connected with the transmission shafts (204 c) on the second U-shaped sleeve (204 b);
the cutting assembly (205) comprises a triangular cutter (205 a) fixedly connected to a second U-shaped sleeve (204 b), a second torsion spring (205 b) is arranged on the second U-shaped sleeve (204 b), a plurality of supporting rods (205 c) are fixedly connected to the pressing plate (203 e), and tips (205 d) are fixedly connected to the supporting rods (205 c);
wherein the cutter (205 a) is positioned on the inner side of the supporting rod (205 c);
the pumping assembly (301) comprises a cavity (301 a) arranged in a first strip-shaped plate (204 d), a first sealing plug (301 b) is connected in the cavity (301 a) in a sealing sliding manner, a containing opening (301 c) is formed in the first strip-shaped plate (204 d), a second strip-shaped plate (204 e) penetrates through the containing opening (301 c) and is fixedly connected with the first sealing plug (301 b), a pumping cylinder (301 d) is fixedly connected to a pressing plate (203 e), a limit opening (301 e) is formed in the upper end of the pumping cylinder (301 d), a second sealing plug (301 f) is connected in the pumping cylinder (301 d) in a sealing sliding manner, the second sealing plug (301 f) is elastically connected with the inner wall of the pumping cylinder (301 d) through a second spring (301 g), and the lower end of the pumping cylinder (301 d) is communicated with the upper end of the first strip-shaped plate (204 d) in a sealing manner through an air guide pipe (301 h);
the transmission assembly (302) comprises a U-shaped block (302 a) fixedly connected to a second sealing plug (301 f), a rotating plate (302 b) is rotatably connected to the inner wall of the U-shaped block (302 a), a turning plate (302 c) is rotatably connected to the rotating plate (302 b), a first vertical plate (302 d) is fixedly connected to the turning plate (302 c), a U-shaped mounting sleeve (302 e) is fixedly connected to the side wall of the pump cylinder (301 d), a mounting opening (302 f) is formed in the mounting sleeve (302 e), the first vertical plate (302 d) is rotatably connected with the inner wall of the mounting sleeve (302 e) through a connecting shaft (302 g), and a second vertical plate (302 h) is fixedly connected to the first vertical plate (302 d);
the guide assembly (303) comprises thread grooves (303 a) arranged on a plurality of pressing plates (203 e), a plurality of pushing plates (303 b) are fixedly connected to the movable ring (202 c), and notches (303 c) are formed in the pushing plates (303 b);
wherein, the notches (303 c) on a plurality of pushing plates (303 b) are matched with the second vertical plates (302 h);
the elastic assembly (304) comprises a containing cavity (304 a) arranged on the moving ring (202 c), a baffle plate (304 b) is connected in a sliding manner in the containing cavity (304 a), the baffle plate (304 b) is elastically connected with the inner wall of the containing cavity (304 a) through a third spring (304 c), a connecting rod (304 d) is fixedly connected to the baffle plate (304 b), the connecting rod (304 d) penetrates through the moving ring (202 c) and is connected with the moving ring (202 c) in a sliding manner, and a small ball (304 e) is fixedly connected to the tail end of the connecting rod (304 d);
wherein the small ball (304 e) is matched with the thread groove (303 a), and the diameter of the small ball (304 e) is larger than the gap between two adjacent pressing plates (203 e).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311566655.0A CN117260816B (en) | 2023-11-23 | 2023-11-23 | Front obstacle removing device for robot inspection |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311566655.0A CN117260816B (en) | 2023-11-23 | 2023-11-23 | Front obstacle removing device for robot inspection |
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| CN117260816A CN117260816A (en) | 2023-12-22 |
| CN117260816B true CN117260816B (en) | 2024-02-02 |
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| CN202311566655.0A Active CN117260816B (en) | 2023-11-23 | 2023-11-23 | Front obstacle removing device for robot inspection |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN117260816A (en) | 2023-12-22 |
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