CN210256117U

CN210256117U - Walking device of inspection robot

Info

Publication number: CN210256117U
Application number: CN201921355171.0U
Authority: CN
Inventors: 张继鹏; 苏锦智; 刘慧博
Original assignee: Baotou Changan Permanent Magnet Motor Co ltd
Current assignee: Baotou Changan Permanent Magnet Motor Co ltd
Priority date: 2019-08-20
Filing date: 2019-08-20
Publication date: 2020-04-07
Anticipated expiration: 2029-08-20

Abstract

The utility model discloses a walking device of a line inspection robot, which relates to the technical field of line inspection robots and comprises a moving frame, wherein a double-shaft motor is fixed on the moving frame, two connecting plates are vertically fixed on the moving frame, each connecting plate is provided with a driven runner and a driving runner for clamping a cable up and down, the connecting plates are provided with lifting components for adjusting the longitudinal position of the driven shaft, and a limiting mechanism is connected between the driven runner and the driving runner; the utility model discloses can drive the initiative runner through the actuating mechanism who sets up and rotate, the initiative runner is realized this device with cable friction transmission and is removed along the cable, the driven runner of setting passes through lifting unit and initiative runner to the cable centre gripping, realizes the steady movement of this device, and the stop gear of setting can carry out the direction with the walking direction quadrature to driven runner and initiative runner and carry out spacingly, guarantee the inseparable transmission of initiative runner and cable, has promoted the walking stationarity of inspection robot greatly.

Description

Walking device of inspection robot

Technical Field

The utility model relates to a patrol line robot technical field specifically is a patrol line robot running gear.

Background

The inspection robot takes a mobile robot as a carrier, takes a visible light camera, an infrared thermal imager and other detection instruments as a load system, and is mainly used for autonomous inspection of a power transmission line and a line corridor thereof, automatic storage and remote wireless transmission of a robot body for inspecting images and data, ground remote wireless monitoring and remote control, online real-time supply of electric energy, background inspection operation management, analysis and diagnosis and other functions.

The patent with the publication number of CN207542678U discloses a line inspection robot walking along a lead, which comprises an inspection robot platform, an inspection robot walking device and an inspection assembly; the inspection robot walking device walks along the lead and is connected with the inspection robot platform; the inspection component is arranged on the inspection robot platform; the inspection robot walking device comprises an active walking component arranged at the front end of an inspection robot platform and a following component arranged at the rear end of the inspection robot platform; the inspection assembly is arranged between the active walking assembly and the following assembly; the robot platform comprises a working arm arranged on two sides of the inspection robot platform and a camera device arranged at the top of the working arm. Although the device can realize automatic inspection of cables, the adjustability of the walking part of the device is poor in the using process, so that the walking process of the inspection robot is not stable enough, and therefore the walking device of the inspection robot is provided at present to solve the technical problem.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a walking device of inspection robot to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model provides a walking device of inspection robot, is fixed with the biax motor including removing the frame on removing the frame, remove and vertically be fixed with two connecting plates on the frame, all be equipped with driven runner and the initiative runner to centre gripping about the cable on every connecting plate, be equipped with on removing the frame and be used for driving initiative runner pivoted actuating mechanism, the last coaxial driven shaft that is fixed with of driven runner offers the spout that supplies the driven shaft to slide to run through on the connecting plate, be equipped with the lifting unit who is used for adjusting the vertical position of driven shaft on the connecting plate, be connected with stop gear between driven runner and the initiative runner.

As an improved scheme of the utility model: the driving mechanism comprises a worm coaxially fixed with an output shaft of the double-shaft motor, a worm wheel is connected to the worm in a meshed mode, and a driving shaft is coaxially fixed between the worm wheel and the driving rotating wheel.

As an improved scheme of the utility model: the lifting assembly comprises an upper arc block and a lower arc block which are slidably embedded in the sliding groove and abutted to the driven shaft, the upper arc block is connected with a longitudinal screw rod pivoted with the connecting plate through threads, a hand wheel I is fixed at the upper end of the longitudinal screw rod, and a limiting spring is fixedly connected between the lower arc block and the connecting plate.

As an improved scheme of the utility model: the limiting mechanism comprises a sleeve sleeved on the driving shaft, a limiting sleeve is vertically fixed on the sleeve, a guide pillar is slidably mounted on the limiting sleeve, and an adjusting sleeve block coaxially connected with the driven shaft is fixed at the upper end of the guide pillar.

As an improved scheme of the utility model: and a return spring is fixed between the sleeve and the guide post.

As an improved scheme of the utility model: the adjusting sleeve block is slidably embedded with a transversely arranged inserting column, the inserting column is slidably embedded with the driven shaft and connected with the driven shaft, a transverse screw rod in threaded connection with the inserting column is pivoted on the adjusting sleeve block, and a hand wheel II is fixed at the end of the transverse screw rod.

As an improved scheme of the utility model: the bottom of the moving frame is coaxially fixed with a threaded rod I and a threaded rod II which are driven by a servo motor and have opposite screw thread turning directions, a threaded sleeve block is sleeved on the threaded rod I and the threaded rod II in a threaded manner, and a clamping plate is vertically fixed at the bottom of the threaded sleeve block.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses can drive the initiative runner through the actuating mechanism who sets up and rotate, the initiative runner is realized this device with cable friction transmission and is removed along the cable, the driven runner of setting passes through lifting unit and initiative runner to the cable centre gripping, realizes the steady movement of this device, and the stop gear of setting can carry out the direction with the walking direction quadrature to driven runner and initiative runner and carry out spacingly, guarantee the inseparable transmission of initiative runner and cable, has promoted the walking stationarity of inspection robot greatly.

Drawings

Fig. 1 is a schematic view of the internal structure of the present invention;

FIG. 2 is an enlarged view of portion A of FIG. 1;

fig. 3 is a schematic view of a partial structure of the lifting assembly of the present invention;

fig. 4 is a schematic view of a partial structure of the middle limiting mechanism of the present invention;

fig. 5 is a schematic view of the connection three-dimensional structure of the middle moving frame, the threaded rod I and the threaded rod II of the present invention.

In the figure: 1-moving frame, 2-worm, 3-worm wheel, 4-driving rotating wheel, 5-longitudinal screw rod, 6-hand wheel II, 7-connecting plate, 8-driven rotating wheel, 9-cable, 10-limiting sleeve, 11-servo motor, 12-double-shaft motor, 13-sleeve, 14-driving shaft, 15-threaded rod I, 16-threaded rod II, 17-threaded rod II, 18-threaded sleeve block, 19-hand wheel II, 20-adjusting sleeve block, 21-bevel gear III, 22-upper arc block, 23-driven shaft, 24-limiting spring, 25-lower arc block, 26-transverse screw rod, 27-guide column, 28-reset spring, 29-chute and 30-inserting column.

Detailed Description

The technical scheme of the patent is further described in detail by combining the following specific embodiments:

example 1

Please refer to fig. 1-5, a walking device of inspection robot, including removing frame 1, remove and be fixed with biax motor 12 on the frame 1, it is vertically fixed with two connecting plates 7 to remove on the frame 1, all is equipped with driven runner 8 and initiative runner 4 to cable 9 centre gripping from top to bottom on every connecting plate 7, be equipped with on removing frame 1 and be used for driving 4 pivoted actuating mechanism of initiative runner, the coaxial driven shaft 23 that is fixed with on the driven runner 8, set up the spout 29 that supplies driven shaft 23 to slide to run through on the connecting plate 7, be equipped with the lifting unit who is used for adjusting the vertical position of driven shaft 23 on the connecting plate 7, be connected with stop gear between driven runner 8 and the initiative runner 4.

The driven rotating wheel 8 and the driving rotating wheel 4 in the device clamp the cable 9 from the upper side and the lower side, and when the driving rotating wheel 4 is driven to rotate by the arranged driving mechanism, the friction effect of the driving rotating wheel 4 and the cable 9 realizes that the device moves along the cable 9.

Specifically, actuating mechanism includes and is connected with worm wheel 3 with the coaxial fixed worm 2 of 12 output shafts of biax motor, the meshing on the worm 2, and coaxial being fixed with drive shaft 14 between worm wheel 3 and the initiative runner 4, and biax motor 12 drive worm 2 is rotatory, and worm wheel 3 that worm 2 drive and mesh with it is rotatory, and worm wheel 3 passes through drive shaft 14 and drives initiative runner 4 and rotate, and then realizes the removal of this device.

In order to adapt to cables 9 with different diameters and improve the moving stability of the device, the device is also provided with a lifting assembly which comprises an upper arc block 22 and a lower arc block 25 which are embedded in a sliding groove 29 in a sliding mode and abutted to a driven shaft 23, the upper arc block 22 is in threaded connection with a longitudinal screw rod 5 pivoted with a connecting plate 7, the upper end of the longitudinal screw rod 5 is fixed with a hand wheel I6, and a limiting spring 24 is fixedly connected between the lower arc block 25 and the connecting plate 7.

Through the setting, rotatory hand wheel I6 can drive vertical lead screw 5 rotatory, position control about vertical lead screw 5 drives the last arc piece 22 of threaded connection with it, go up arc piece 22 and carry out the centre gripping to driven shaft 23 with lower arc piece 25, carry out the slide adjusting of vertical direction under spacing spring 24's elastic action, driven runner 8 has the interval between the initiative runner 4 to carry out the adaptability according to the external diameter size of cable 9 and adjusts promptly, guarantee the stable transmission effect of initiative runner 4 and cable 9.

Example 2

In order to further improve the walking stability of the walking device, on the basis of the embodiment 1, the walking device is further provided with a limiting mechanism which specifically comprises a sleeve 13 sleeved on the driving shaft 14, a limiting sleeve 10 is vertically fixed on the sleeve 13, a guide pillar 27 is slidably mounted on the limiting sleeve 10, an adjusting sleeve block 20 coaxially connected with the driven shaft 23 is fixed at the upper end of the guide pillar 27, and a return spring 28 is fixed between the sleeve 13 and the guide pillar 27.

After the traveling device is hung on a cable 9, the limiting sleeve 10 is rotated to enable the adjusting sleeve block 20 connected with the limiting sleeve to correspond to the center of the driven shaft 23, the adjusting sleeve block 20 is slidably embedded with the transversely arranged inserting column 30, the inserting column 30 is slidably embedded and connected with the driven shaft 23, the adjusting sleeve block 20 is pivoted with a transverse screw rod 26 in threaded connection with the inserting column 30, and the end part of the transverse screw rod 26 is fixed with a hand wheel II 19.

Revolve and twist hand wheel II19 and drive horizontal lead screw 26 and rotate, horizontal lead screw 26 drives the post 30 of inserting of threaded connection with it along adjusting sleeve block 20 lateral shifting, until inserting inside post 30 extends to insert the driven shaft 23, driven shaft 23 rotates with driven shaft 23 and is connected, driven runner 8 and the left and right sides of initiative runner 4 are spacing by elevating module this moment, can effectively avoid the walking in-process, the side slippage has been promoted greatly to cable 9 from driven runner 8 and initiative runner 4.

In order to clamp the detection equipment of the inspection robot conveniently, a threaded rod I15 and a threaded rod II16 which are driven by a servo motor 11 and have opposite thread turning directions are coaxially fixed at the bottom of the movable frame 1, threaded sleeve blocks 18 are sleeved on the threaded rod I15 and the threaded rod II16 in a threaded manner, and a clamping plate 17 is vertically fixed at the bottoms of the threaded sleeve blocks 18.

The servo motor 11 that sets up can drive threaded rod I15 and threaded rod II16 simultaneously rotatory, and threaded rod I15 and threaded rod II16 drive the screw sleeve piece 18 on it simultaneously and move in opposite directions, and then drive the fixed grip block 17 in bottom and move in opposite directions, finally realize the centre gripping fixed action to check out test set.

To sum up, the utility model discloses can drive initiative runner 4 through the actuating mechanism who sets up and rotate, initiative runner 4 realizes this device along cable 9 with cable 9 friction drive and removes, and driven runner 8 of setting passes through lifting unit and initiative runner 4 to cable 9 centre gripping, realizes the steady movement of this device, and the stop gear who sets up can carry out with the direction of walking direction quadrature to driven runner 8 and initiative runner 4 and carry out spacingly, guarantees the inseparable transmission of initiative runner 4 and cable 9, has promoted the walking stationarity of patrolling the line robot greatly.

It should be noted that, although the present specification describes embodiments, each embodiment does not include only a single technical solution, and such description of the specification is only for clarity, and those skilled in the art should take the specification as a whole, and the technical solutions in the embodiments may be appropriately combined to form other embodiments understood by those skilled in the art, and the above-mentioned embodiments only express the preferred embodiments of the technical solutions, and the description thereof is more specific and detailed, but should not be construed as limiting the scope of the claims of the technical solutions. It should be noted that, for those skilled in the art, without departing from the concept of the present invention, several modifications, improvements and substitutions can be made, which all fall within the protection scope of the present technical solution. The protection scope of this technical solution patent should be subject to the appended claims.

Claims

1. The utility model provides a walking device of inspection robot, is fixed with biax motor (12) including removing frame (1) on removing frame (1), its characterized in that, remove and vertically be fixed with two connecting plates (7) on frame (1), all be equipped with driven runner (8) and initiative runner (4) to centre gripping about cable (9) on every connecting plate (7), be equipped with on removing frame (1) and be used for driving initiative runner (4) pivoted actuating mechanism, coaxial fixedly on driven runner (8) has driven shaft (23), sets up spout (29) that supply driven shaft (23) to slide to run through on connecting plate (7), be equipped with the lifting unit who is used for adjusting driven shaft (23) longitudinal position on connecting plate (7), be connected with stop gear between driven runner (8) and the initiative runner (4).

2. The walking device of the inspection robot according to claim 1, wherein the driving mechanism comprises a worm (2) coaxially fixed with an output shaft of the double-shaft motor (12), a worm wheel (3) is engaged and connected to the worm (2), and a driving shaft (14) is coaxially fixed between the worm wheel (3) and the driving wheel (4).

3. The walking device of the inspection robot according to claim 1, wherein the lifting assembly comprises an upper arc block (22) and a lower arc block (25) which are slidably embedded in the sliding groove (29) and abutted to the driven shaft (23), a longitudinal screw rod (5) pivoted with the connecting plate (7) is connected to the upper arc block (22) in a threaded manner, a hand wheel I (6) is fixed at the upper end of the longitudinal screw rod (5), and a limiting spring (24) is fixedly connected between the lower arc block (25) and the connecting plate (7).

4. The walking device of the inspection robot according to claim 2, wherein the limiting mechanism comprises a sleeve (13) sleeved on the driving shaft (14), a limiting sleeve (10) is vertically fixed on the sleeve (13), a guide post (27) is slidably mounted on the limiting sleeve (10), and an adjusting sleeve block (20) coaxially connected with the driven shaft (23) is fixed at the upper end of the guide post (27).

5. The patrol robot walking device according to claim 4, wherein a return spring (28) is fixed between the sleeve (13) and the guide post (27).

6. The walking device of the inspection robot according to claim 4, wherein the adjusting sleeve block (20) is slidably embedded with a transversely arranged inserting column (30), the inserting column (30) is slidably embedded and connected with the driven shaft (23), the adjusting sleeve block (20) is pivoted with a transverse screw rod (26) in threaded connection with the inserting column (30), and a hand wheel II (19) is fixed at the end of the transverse screw rod (26).

7. The walking device of the inspection robot according to claim 1, wherein a threaded rod I (15) and a threaded rod II (16) which are driven by a servo motor (11) and have opposite thread turning directions are coaxially fixed at the bottom of the movable frame (1), a thread sleeve block (18) is sleeved on each of the threaded rod I (15) and the threaded rod II (16), and a clamping plate (17) is vertically fixed at the bottom of the thread sleeve block (18).