CN212709369U - Drive wheel, inspection base and inspection system for pipe rack inspection robot - Google Patents

Abstract

The utility model belongs to the technical field of the piping lane is patrolled and examined, concretely relates to piping lane is patrolled and examined robot and is used drive wheel, patrol and examine base and system of patrolling and examining. The driving wheel comprises a wheel shaft and a wheel body coaxially arranged on the wheel shaft, the wheel body comprises a driving gear and a friction wheel, and the driving gear and the friction wheel are coaxial with each other and rotate at the same speed; thereby can avoid rail mounted's piping lane to patrol and examine the robot and appear skidding or the swift current car situation even in climbing or downhill path process to realize the controllable piping lane of operation safety and patrol and examine the function. Another object of the utility model is to provide an inspection base based on the above-mentioned drive wheel to further ensure the stability and reliability of the track type pipe rack inspection robot in climbing or downhill path; the utility model discloses a while still provides a system of patrolling and examining, can patrol and examine the long-time unmanned work that lasts of robot for rail mounted's piping lane and provide basic hardware platform.

Description

Drive wheel, inspection base and inspection system for pipe rack inspection robot

Technical Field

The utility model belongs to the technical field of the piping lane is patrolled and examined, concretely relates to piping lane is patrolled and examined robot and is used drive wheel, patrol and examine base and system of patrolling and examining.

Background

The utility model discloses a pipeline comprehensive pipe gallery, the tunnel space of building in city underground to in the city various pipelines such as electric power, communication, plumbing, gas and municipal administration are concentrated together, make things convenient for relevant departments to implement unified planning, design, construction and management, have that it is little and effectively improve the advantage of city appearance to occupy city space. The safety inspection of the urban underground pipeline comprehensive pipe gallery is an important measure for ensuring the reliable and stable operation of the urban underground pipeline comprehensive pipe gallery; the traditional safety inspection method is a manual inspection method, inspection personnel enter a pipe gallery to inspect the pipe gallery in a visual inspection mode, inspection results are recorded manually, and the problems that the working environment is dangerous, the inspection results have subjectivity, the inspection efficiency is low and the like are obviously caused.

With the increasing progress of the technology, the robot is gradually adopted to replace the manual work to carry out the safe inspection work of the pipe gallery at present. The current inspection robot is mostly crawler-type and track type: although the crawler-type inspection robot has strong obstacle crossing capability, the crawler-type inspection robot has slow action and complex structure, is difficult to effectively turn in a narrow tunnel, and cannot meet the requirement of quick inspection; the track type pipe gallery inspection robot is relatively widely used. However, since the pipe gallery is fluctuant and changeable, and an up-down slope is often provided, the walking track is usually changed along with the fluctuation of the gradient of the pipe gallery; the pipe gallery inspection robot of present rail mounted leads to the fact the drive wheel easily and walks the track coefficient of friction undersize because the drive wheel is conventional gyro wheel or sheave structure, and then leads to the situation of skidding appearing in climbing or downhill path in-process, influences normally to patrol and examine, still can cause the swift current car accident even when serious to the daily safety inspection work of giving the pipe gallery brings huge puzzlement.

Disclosure of Invention

The utility model aims at overcoming the defects of the prior art, providing a driving wheel for a pipe gallery inspection robot with a reasonable structure, which can avoid the skidding or even the sliding of the rail type pipe gallery inspection robot in the climbing or descending process while ensuring the climbing power, thereby realizing the safe inspection function of the pipe gallery with controllable operation; another object of the utility model is to provide an inspection base based on the above-mentioned drive wheel to further ensure the stability and reliability of the track type pipe rack inspection robot in climbing or downhill path; the utility model discloses a while still provides a system of patrolling and examining, can patrol and examine the long-time unmanned work that lasts of robot for rail mounted's piping lane and provide basic hardware platform to effectively promote the actual work efficiency that the robot was patrolled and examined to the piping lane.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a drive wheel for robot is patrolled and examined to piping lane, includes shaft and coaxial arrangement in epaxial wheel body of wheel, its characterized in that: the wheel body comprises a driving gear which is meshed and matched with the racks at the walking track and a friction wheel which is abutted and friction-matched with the surface of the track at the side of the racks, and the driving gear and the friction wheel are coaxial with each other and rotate at the same speed.

Preferably, the friction wheels are divided into two groups and symmetrically arranged on two sides of the driving gear; the fastening screw axially penetrates through the coaxial mounting holes preset at the friction wheels and the driving gear in sequence and then forms a thread fit relation with the fastening nut, so that the friction wheels and the driving gear are tightly pressed to form an integrated structure.

Preferably, the friction wheel and the driving gear of integral type structure rethread key-type cooperation are epaxial in the shaft, and the clamp that is used for spacing friction wheel and driving gear to produce axial action is arranged at the shaft both ends.

Preferably, the friction wheel comprises a hub and an outer tire layer coated at the periphery of the hub.

Preferably, the inspection base applying the driving wheel comprises an outer shell used for fixing an inspection camera; the method is characterized in that: the outer shell is provided with a traveling wheel which is pressed on the upper rail surface of the traveling rail from top to bottom and a driving wheel which is pressed on the lower rail surface of the traveling rail from bottom to top; the driving wheel provides driving force through the power assembly and provides pressure from bottom to top by the spring lifting assembly; the spring lifting assembly comprises a movable plate positioned in the outer shell, a fixed support is arranged on the upper plate surface of the movable plate, and the fixed support is in rotary fit with the driving wheel; a compression spring group capable of driving the movable plate to generate vertical elastic lifting action of lead is arranged between the lower plate surface of the movable plate and the bottom surface of the inner wall of the outer shell; the power assembly is integrally fixed on the movable plate.

Preferably, the power assembly comprises a power motor and a speed reducer which form power matching with each other, a motor gear is coaxially arranged at an output shaft of the speed reducer, a driving gear is coaxially arranged at a wheel shaft of the driving wheel, and power is transmitted between the driving gear and the motor gear through a double number of transmission gears; the motor gears, the transmission gears and the driving gear are parallel to each other in axial line, the driving gear and the motor gears have the same transmission ratio, and the transmission gears have the same transmission ratio.

Preferably, a gear set bin with a vertical plate surface is arranged at one side of the movable plate, and an accommodating cavity is arranged in a cavity of the gear set bin corresponding to each motor gear, each transmission gear and each driving gear; the gear set bin opening is covered with a gear set cover.

Preferably, the fixed support comprises a pressing plate which is matched with the upper plate surface of the movable plate in a fitting manner, two groups of vertical support lugs with parallel plate surfaces are arranged on the pressing plate, and the vertical support lugs are in rotary fit with the driving wheel.

Preferably, an application patrol and examine system of base, its characterized in that: the inspection system also comprises a charging box for charging the inspection base, wherein the charging box is fixed at the starting point or the ending point of the travel of the inspection base at the walking track; the one side of the shell body of base is patrolled and examined to orientation of charging case arranges the head that charges to constitute the electricity connection cooperation between the mouth that charges that arranges with the corresponding face department of shell body.

Preferably, an electric push rod is arranged in the charging box, a charging head is arranged at the top end of the electric push rod, and a avoidance hole for the charging head to pass through is formed in the box wall of the charging box; when the distance between the outer shell and the charging box is smaller than or equal to the maximum stroke of the electric push rod, the electric push rod makes telescopic action so as to extend the charging head out of the avoiding hole and match the charging head at the charging port.

The beneficial effects of the utility model reside in that:

1) and based on current robot of patrolling and examining, the utility model provides a power wheel structure, during the in-service use, or driving gear and friction pulley structure as an organic whole, or both through the drive of different power parts, only need can satisfy driving gear and friction pulley coaxial with fast each other can. Therefore, on the one hand, the friction wheel is in abutting friction fit with the walking track, and the friction force between the friction wheel and the rail surface of the walking track is utilized to ensure that the whole inspection vehicle also has the effective advancing function of the inspection robot along the walking track. On the other hand, the synchronous belt type matching or the gear and rack matching of the driving gears rotating at the same speed relative to the racks at the walking track is adopted, so that the stable climbing and even descending functions of the whole inspection vehicle can be ensured through the meshing of the driving gears even if the slipping condition of the friction wheel occurs by utilizing the meshing property between the driving gears and the racks. In addition, because the synchronous belt between drive gear and rack cooperates, consequently, the controllability of the travelling speed of whole inspection vehicle is also very high, and walking stability also can effectively be promoted.

To sum up, the utility model discloses compact structure and reasonable can avoid rail mounted's piping lane to patrol and examine the robot and appear skidding or the swift current car situation even climbing slope or downhill path in-process to realize the controllable piping lane safety of operation and patrol and examine the function.

2) In practical operation, the relative arrangement positions and the number of the friction wheels and the driving gears can be set as appropriate according to the field conditions, and the limitation of the coaxial and same-speed of the driving gears and the friction wheels is only required to be met. The utility model preferably adopts a structure that two groups of friction wheels are respectively arranged at two sides of a group of driving gears; therefore, when the inspection vehicle is used, the rack and the driving gear are located in the middle of the advancing path of the inspection vehicle, the rack is more convenient to mount, and the advancing guide of the inspection vehicle is more convenient. Through the fastening screw and the fastening nut, the friction wheel and the driving gear can be axially tensioned to form an integrated structure. Afterwards, the fixed effect of relative shaft is realized with the mode that the driving gear rethread key-type was connected and the clamp is spacing to the friction pulley of integral type structure, and its assembly is very simple convenient.

3) For the friction wheel, the utility model preferably uses the assembled wheel body of the wheel hub matched with the outer tire layer; by adopting the assembled wheel body, on one hand, the outer tire layer made of the specified material can be selected according to the field condition so as to ensure the optimal friction force transmission effect relative to the walking track; on the other hand, because the outer tube layer is the friction fit of pressing mode between with the walking track, consequently the outer tube layer must have the motion wearing and tearing situation, removable and the outer tube layer of dismouting obviously can make the whole life and the operational flexibility ratio of drive wheel effectively promote.

4) And on the structure basis of the driving wheel, the utility model also provides an inspection base. The function of patrolling and examining the base lies in will patrolling and examining the camera fixed back, and self can also be along walking the track and produce the reciprocating motion effect to the function is patrolled and examined in the realization. The patrol inspection base realizes the bidirectional clamping function of the relative walking track by utilizing the walking wheels matched with the driving wheels, thereby ensuring the power abutting effect of the friction wheels at the driving wheels and the driving gears and the walking track. The driving wheel provides driving force through the power assembly, and relies on the spring lifting unit to provide from bottom to top to support pressure, and the function of setting for of realization driving wheel that can convenient and fast.

5) For the spring lifting assembly, the movable plate is matched with a compression spring set which can vertically extend and retract; several groups of guide posts can be preset for the compression spring group per se so as to refine the guide effect of the compression spring group.

6) The arrangement of the power assembly is special because: because whole inspection car or inspection robot possess certain weight, the automobile body frame of such weight goes up the slope even on the walking track, and its power provides often needs the bigger motor of moment of torsion and can stably transmit the power transmission equipment of big moment of torsion. The utility model discloses when adopting the power motor of big moment of torsion, utilize the speed reducer to carry out power speed reduction, recycle a plurality of gear trains of direct meshing and realize the direct transmission function of power to ensure the high power work effect of driving wheel department.

7) Because each motor gear, transmission gear and drive gear have formed the ascending power transmission system of vertical, consequently, need set up a set of gear train storehouse to realize the position location and the effect of holding of each gear. Meanwhile, the fixed support is directly fixed above the movable plate so as to realize the rotation matching of the simply supported beam type driving wheel.

8) And on the basis of the structure, the utility model also provides a system of patrolling and examining, aim at utilizes above-mentioned drive wheel and patrols and examines behind the base, can also cooperate the charging case again to realize unmanned long-time sustainable automatic work effect, finally effectively promote the piping lane and patrol and examine the actual work efficiency of robot. When patrolling and examining the camera and patrolling and examining at every turn, or detect that inside battery electric quantity is not enough, or when daily resetting at every turn, in case be close to the charging case, then charging case department electric putter can drive the head that charges and move ahead, and the department of charging that patrols and examines the base is inserted even to the contact. As for the action triggering process of the charging box, the existing proximity type triggering sensor can be completely used, and even the traditional proximity switch and other structures can be adopted, which will not be described herein again.

Drawings

FIG. 1 is a schematic diagram of the operating state of the inspection system;

FIG. 2 is a perspective view of a driving wheel;

FIG. 3 is an exploded view of the structure of FIG. 2;

FIG. 4 is a schematic view of the inspection base with the outer casing removed;

FIG. 5 is an exploded view of the structure of FIG. 4;

FIG. 6 is a front view of FIG. 5;

fig. 7 is a schematic perspective view of the charging box.

The utility model discloses each reference numeral is as follows with the actual corresponding relation of part name:

a-running track 10-driving wheel

11-wheel shaft 12-driving gear 13-friction wheel

13 a-hub 13 b-outer tyre layer 14-hoop

20-outer shell 30-travelling wheel

41-movable plate 42-compression spring set 43-fixed support

43 a-pressing plate 43 b-vertical support lug

51-power motor 52-speed reducer 53-motor gear 54-transmission gear

55-drive gear 56-gear set bin

60-charging box 61-charging head 62-electric push rod 63-avoidance hole

Detailed Description

For ease of understanding, the specific structure and operation of the present invention will be further described herein with reference to fig. 1-7:

the utility model discloses use whole system of patrolling and examining as an example, its concrete structure is shown in fig. 1-7, and the main component part is including arranging base and the charging case 60 of patrolling and examining on walking track a. The charging box 60 is a static member and is fixed at the head end or the tail end of the traveling rail a, so as to perform an online charging function for the battery in the inspection base. The inspection base is a movable part and can do controllable reciprocating motion along the guide direction of the walking track a through the driving wheel 10 and the walking wheel 30, and then the inspection function of the pipe gallery is realized. Wherein:

for the inspection base, the structure is shown in fig. 1-5, and comprises an outer shell 20; the top wall of the outer shell 20 is provided with a mounting arm for mounting four groups of traveling wheels 30, and the four groups of traveling wheels 30 are erected on the upper rail surface of the I-shaped rail-shaped traveling rail a from top to bottom, so that the whole inspection base is hung on the traveling rail a. Within the cavity of the outer housing 20, a compression spring pack 42 is disposed; the bottom end of the compression spring set 42 is fixed on the bottom surface of the inner wall of the outer housing 20, and the movable plate 41 is arranged at the top end of the compression spring set 42. The movable plate 41 is further provided with a fixing bracket 43 formed by the cooperation of a pressing plate 43a and a vertical support lug 43b, so as to fix the driving wheel 10 as shown in fig. 4-6.

A power assembly is fixed at the lower plate surface of the movable plate 41, namely, at the inner cavity of the compression spring set 42. The power assembly comprises a group of power motors 51, a group of speed reducers 52 and a group of power transmission systems. The power transmission system comprises a group of motor gears 53, two groups of transmission gears 54 and a group of driving gears 55; the power transmission system is integrated within gear unit housing 56 with a gear unit cover. Once the power motor 51 is started, the power is firstly decelerated by the speed reducer 52, and then is transmitted upwards step by step through the power transmission system, and finally the driving wheel 10 is driven to rotate.

The driving wheel 10 is constructed as shown in fig. 2 to 3, and includes a set of wheel shafts 11, two sets of friction wheels 13, and a set of driving gears 12. The driving gear 12 is clamped between the two sets of friction wheels 13, and the three form an integrated structure through the fixing function of the fastening screw and the fastening nut, and then the axial and circumferential positioning effects of the three relative to the wheel shaft 11 are ensured by the key connection circumferential limiting mode and the clamping hoop 14 two-end limiting mode. In actual assembly, the wheel shaft 11 of the driving wheel 10 is directly matched on the vertical lug 43b of the fixed bracket 43 in a rotating manner, and then the driving gear 55 is assembled, so that the self-rotating function can be realized as shown in fig. 4-5. In order to prolong the service life of the friction wheel 13, the friction wheel 13 is formed by matching a hub 13a and an outer tyre layer 13b, which is specifically shown in fig. 5.

On the basis of the structure, the utility model discloses still have charging case 60 as the design that fig. 1 and fig. 7 are shown to realize the automatic work effect that can last for a long time of unmanned, finally effectively promote the actual work efficiency that the robot was patrolled and examined to the piping lane. When patrolling and examining the camera and patrolling and examining at every turn, or detect inside battery power not enough, or when daily resetting at every turn, in case be close to charging box 60, then charging box 60 department electric putter 62 can drive charging head 61 and go forward, until the contact inserts the charging port department of patrolling and examining the base even. As for the operation triggering process of the charging box 60, the existing proximity type triggering sensor can be completely used, and even the conventional proximity switch and other structures can be adopted, which will not be described herein again.

Of course, the above-described arrangements are merely illustrative of the structures in the specific embodiments shown in FIGS. 1-7; in practical operation, if the walking track a adopts a straight track instead of an i-shaped track, or the walking wheel 30 has the friction wheel 13 and the driving gear 12 with three groups of four or even more groups, and even the compression spring group 42 adopts other buoyancy suspension structures, these conventional changes made on the original structure and function of the utility model should be regarded as equivalent or similar designs and fall into the protection scope of the utility model.

Claims (10)

1. The utility model provides a drive wheel for robot is patrolled and examined to piping lane, includes wheel axle (11) and the wheel body of coaxial arrangement on wheel axle (11), its characterized in that: the wheel body comprises a driving gear (12) which is meshed and matched with the racks at the walking track and a friction wheel (13) which is abutted and friction-matched with the surface between the rail surfaces at the side of the racks, and the driving gear (12) and the friction wheel (13) are coaxial with each other and rotate at the same speed.

2. The drive wheel for the pipe gallery inspection robot according to claim 1, characterized in that: the friction wheels (13) are divided into two groups and symmetrically arranged on two sides of the driving gear (12); the fastening screw axially penetrates through the friction wheels (13) and the coaxial mounting holes preset at the driving gear (12) in sequence, and then forms a thread fit relation with the fastening nut, so that the friction wheels (13) and the driving gear (12) are pressed to form an integrated structure.

3. The drive wheel for the pipe gallery inspection robot according to claim 2, characterized in that: friction wheel (13) and driving gear (12) rethread key-type connection of integral type structure cooperate on shaft (11), and clamp (14) that are used for spacing friction wheel (13) and driving gear (12) to produce axial action are arranged at shaft (11) both ends.

4. The drive wheel for the pipe rack inspection robot according to claim 1, 2 or 3, characterized in that: the friction wheel (13) comprises a hub (13a) and an outer tire layer (13b) coated on the periphery of the hub (13 a).

5. Inspection base applying a driving wheel (10) according to claim 1 or 2 or 3, comprising an outer casing (20) for fixing an inspection camera; the method is characterized in that: the outer shell (20) is provided with a traveling wheel (30) which is pressed on the upper rail surface of the traveling rail from top to bottom and a driving wheel (10) which is pressed on the lower rail surface of the traveling rail from bottom to top; the driving wheel (10) provides driving force through a power assembly and provides pressure from bottom to top by means of a spring lifting assembly; the spring lifting assembly comprises a movable plate (41) positioned in the outer shell (20), a fixed support (43) is arranged on the upper plate surface of the movable plate (41), and the fixed support (43) is in rotary fit with the driving wheel (10); a compression spring group (42) capable of driving the movable plate (41) to generate vertical elastic lifting action is arranged between the lower plate surface of the movable plate (41) and the bottom surface of the inner wall of the outer shell (20); the power assembly is integrally fixed on the movable plate (41).

6. The inspection base according to claim 5, wherein: the power assembly comprises a power motor (51) and a speed reducer (52) which form power fit with each other, a motor gear (53) is coaxially arranged at the output shaft of the speed reducer (52), a driving gear (55) is coaxially arranged at the wheel shaft (11) of the driving wheel (10), and power is transmitted between the driving gear (55) and the motor gear (53) through a double number of transmission gears (54); the motor gears (53), the transmission gears (54) and the driving gears (55) are parallel to each other in axial line, the driving gears (55) and the motor gears (53) have the same transmission ratio, and the transmission gears (54) have the same transmission ratio.

7. The inspection base according to claim 5, wherein: a gear set bin (56) with a vertical plate surface is arranged at one side of the movable plate (41), and an accommodating cavity is arranged in a cavity of the gear set bin (56) corresponding to each motor gear (53), the transmission gear (54) and the driving gear (55); the gear set bin opening is covered with a gear set cover.

8. The inspection base according to claim 5, wherein: the fixed support (43) comprises a pressing plate (43a) which is matched with the upper plate surface of the movable plate (41) in a fit mode, two groups of vertical support lugs (43b) with mutually parallel plate surfaces are arranged on the pressing plate (43a), and the vertical support lugs (43b) are matched with the driving wheel (10) in a rotating mode.

9. An inspection system using the inspection base of claim 5, wherein: the inspection system also comprises a charging box (60) used for charging the inspection base, wherein the charging box (60) is fixed at the starting point or the ending point of the travel of the inspection base at the walking track; the one side of the outer casing (20) of base is patrolled and examined to orientation of charging case (60) arranges charging head (61) to constitute the cooperation of being connected electrically between the mouth that charges that arranges with the corresponding face department of outer casing (20).

10. The inspection system according to claim 9, wherein: an electric push rod (62) is arranged in the charging box (60), a charging head (61) is arranged at the top end of the electric push rod (62), and an avoidance hole (63) for the charging head (61) to pass through is formed in the box wall of the charging box (60); when the distance between the outer shell (20) and the charging box (60) is smaller than or equal to the maximum stroke of the electric push rod (62), the electric push rod (62) performs telescopic action so as to enable the charging head (61) to extend out of the avoidance hole (63) and be matched with the charging port.

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