CN213745621U

CN213745621U - Lifting mechanism and inspection robot

Info

Publication number: CN213745621U
Application number: CN202022141838.6U
Authority: CN
Inventors: 房立龙
Original assignee: Zhejiang Huaray Technology Co Ltd
Current assignee: Zhejiang Huaray Technology Co Ltd
Priority date: 2020-09-25
Filing date: 2020-09-25
Publication date: 2021-07-20
Anticipated expiration: 2030-09-25

Abstract

The utility model relates to an elevating system and inspection robot. This elevating system includes base, flexible arm subassembly and drive division, and flexible arm subassembly includes two at least arm sections at least, and two at least arm sections are in place to overlap in proper order by interior and are established, and two adjacent arm sections can relative movement, and outmost arm section is fixed on the base, and the drive division includes: the driving chain wheel is arranged on the base; the rigid chain is arranged in the base, the first end of the rigid chain is connected with the first end of the innermost arm section, and when the driving chain wheel drives the rigid chain to move, the innermost arm section is driven to move so as to adjust the length of the telescopic arm assembly. The lifting mechanism can be stably and reliably lifted, and is effectively prevented from shaking.

Description

Lifting mechanism and inspection robot

Technical Field

The utility model relates to the field of mechanical equipment, especially, relate to an elevating system and inspection robot.

Background

Along with the application of intelligence inspection robot in occasions such as electric power, energy, in order to satisfy the user demand and realize more functions, can carry on some auxiliary device such as cloud platform, ball machine, partial discharge on inspection robot usually, and these auxiliary device realize bigger flexibility through installing on inspection robot's elevating system. Thus, various abundant auxiliary devices (such as sensors or other accessories) are mounted through the lifting mechanism, intelligent inspection is achieved, and the application field of the inspection robot is wider.

For example, unmanned inspection can be realized by mounting a holder or a binocular camera on an elevating mechanism of the inspection robot. For another example, the partial discharge is mounted on the lifting mechanism of the inspection robot, so that the detection of a power grid can be realized, and the like. The existing lifting mechanism (such as a scissor fork mechanism) has the problems that the lifting height is obviously shaken, and the accumulated error of a large number of parts is large, so that the inspection effect is poor.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is necessary to provide an elevating mechanism and an inspection robot to solve the problem of poor stability of the elevating mechanism of the conventional inspection robot.

The utility model provides a pair of lifting mechanism, including base, flexible arm subassembly and drive division, flexible arm subassembly includes two at least arm festivals at least, and two at least arm festivals are target in place in proper order the cover by interior and are established, and two adjacent arm festivals can relative movement, and outmost arm festival is fixed on the base, and the drive division includes: the driving chain wheel is arranged on the base; the rigid chain is arranged in the base, the first end of the rigid chain is connected with the first end of the innermost arm section, and when the driving chain wheel drives the rigid chain to move, the innermost arm section is driven to move so as to adjust the length of the telescopic arm assembly.

So set up, elevating system's base is used for bearing telescopic arm subassembly and drive division etc.. The telescopic arm assembly is used for mounting and supporting the auxiliary device to be mounted, and the telescopic arm assembly comprises at least two arm sections, and any two arm sections can move relatively, so that the whole length of the telescopic arm assembly can be adjusted, and the position of the supported auxiliary device can be adjusted. The rigid chain is meshed with the driving chain wheel and can move under the driving of the driving chain wheel, and the first end of the rigid chain is connected with the first end of the innermost arm section, so that the rigid chain can drive the innermost arm section to move in the moving process, arm sections except the outermost arm section can move in sequence, and the length of the telescopic arm assembly is adjusted. Because the telescopic arm component adopts a structure that at least two arm sections are nested in sequence, the whole stability of the telescopic arm component is good, the telescopic arm component is not easy to shake, the structure is more compact, and the size is favorably reduced. And the rigid chain drive is adopted, so that the structure of the drive part is simpler, and the drive is reliable.

In one embodiment, the limiting member is disposed at the first end of the outer arm section of the two adjacent arm sections, and the limiting member includes an inner limiting section disposed on the inner circumferential surface of the arm section and used for limiting the adjacent inner arm section.

So set up for interior spacing section can be spacing to adjacent, including the arm festival, avoids the arm festival to break away from.

In one embodiment, a protective sleeve is arranged on the inner arm section of the two adjacent arm sections, the protective sleeve is sleeved on the outer peripheral surface of the arm section where the protective sleeve is arranged, and the protective sleeve separates the adjacent arm sections by a preset gap.

So set up, can prevent wearing and tearing each other between two adjacent arm sections through protective sleeve.

In one embodiment, the arm section where the protection sleeve is located is provided with a limiting groove, one part of the protection sleeve is embedded into the limiting groove, and the other part of the protection sleeve protrudes out of the outer peripheral surface of the arm section where the protection sleeve is located.

So set up, can effectively restrict protective sleeve at the axial position of arm festival through spacing recess.

In one embodiment, the base comprises a coiled cavity in which a helical track is provided for housing the rigid chain.

So set up, utilize the spiral track can arrange in order the rigid chain that gets into to coil the chamber for it removes smoothly.

In one embodiment, the lifting mechanism further comprises a first guide member, the first guide member is disposed in the innermost arm section, the first guide member is provided with a first guide groove extending along the moving direction of the arm section, and the rigid chain passes through the first guide groove.

So set up, can make the rigid chain remove more stably to make elevating system go up and down steadily.

In one embodiment, the lifting mechanism further comprises a second guide member disposed in the base, the second guide member having a second guide slot disposed thereon, the second guide slot facing the drive sprocket, the rigid chain passing through the second guide slot and being pressed against the drive sprocket by the second guide member.

So set up, the second guide can compress tightly the rigid chain on drive sprocket for drive sprocket can drive the rigid chain reliably and remove.

In one embodiment, the second guide groove comprises a first groove section and a second groove section, and the first groove section is communicated with the second groove section and has an included angle.

By the arrangement, the moving direction of the rigid chain can be changed, so that the rigid chain can move in the required direction.

In one embodiment, the first end of the arm section of the innermost layer is provided with a bearing seat, and the bearing seat comprises: the fixing plate is arranged at the first end of the arm section at the innermost layer; the fixing plate is arranged at intervals on the fixing plate, a connecting plate is connected between the fixing plate and the fixing plate, and the first end of the rigid chain is fixedly connected to the connecting plate.

So set up, can other auxiliary device of easy to assemble, and make the first end of rigid chain more convenient fixed.

The utility model also provides an inspection robot, inspection robot includes the robot main part and sets up elevating system in the robot main part, elevating system is foretell elevating system.

The utility model provides a patrol and examine robot has the lift reliable and stable, rock less advantage.

Drawings

Fig. 1 is a schematic perspective view of a lifting mechanism according to an embodiment of the present invention;

fig. 2 is a schematic front view of a lifting mechanism according to an embodiment of the present invention;

fig. 3 is a schematic side view of a lifting mechanism according to an embodiment of the present invention;

fig. 4 is a schematic cross-sectional structural view of a lifting mechanism according to an embodiment of the present invention;

FIG. 5 is an enlarged view of a portion of FIG. 4 at A;

fig. 6 is a partially enlarged schematic view of a portion B in fig. 4.

Description of reference numerals:

10. a base; 20. an arm section; 31. a drive sprocket; 32. a drive motor; 40. a rigid chain; 51. an outer limiting section; 52. an inner limiting section; 60. a protective sleeve; 71. a spiral track; 80. a first guide member; 90. a second guide member; 91. an adjustment member; 101. a fixing plate; 102. fixing the disc; 103. a connecting plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work all belong to the protection scope of the present invention.

It will be understood that when an element is referred to as being "mounted on" another element, it can be directly mounted on the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1-6, the present invention provides a lifting mechanism for installing an auxiliary device (such as a cradle head, a partial discharge device, etc.) in an intelligent inspection robot.

The lifting mechanism comprises a base 10, a telescopic arm assembly and a driving part, the telescopic arm assembly at least comprises at least two arm sections 20, the at least two arm sections 20 are sequentially sleeved from inside to inside, the two adjacent arm sections 20 can move relatively, the arm section 20 on the outermost layer is fixed on the base 10, the driving part comprises a driving chain wheel 31 and a rigid chain 40, and the driving chain wheel 31 is arranged on the base 10; the rigid chain 40 is disposed in the base 10, and a first end of the rigid chain 40 is connected to a first end of the innermost arm segment 20 and drives the innermost arm segment 20 to move when the drive sprocket 31 drives the rigid chain 40 to move, so as to adjust the length of the telescopic arm assembly.

The base 10 of the lift mechanism is used to carry a telescopic arm assembly, a drive section, and the like. The telescopic arm assembly is used for mounting and supporting auxiliary devices needing to be mounted, and the telescopic arm assembly comprises at least two arm sections 20, the arm section 20 at the outermost layer is fixed on the base 10, and any two arm sections 20 can move relatively, so that the whole length of the telescopic arm assembly can be adjusted, and the position of the supported auxiliary device can be adjusted. The rigid chain 40 is meshed with the driving chain wheel 31, the rigid chain 40 can move under the driving of the driving chain wheel 31, and the first end of the rigid chain 40 is connected with the first end of the innermost arm section 20, so that the rigid chain 40 can drive the innermost arm section to move in the moving process, and further the arm sections 20 except the outermost arm section 20 can move in sequence, and the length of the telescopic arm assembly is adjusted. Because the telescopic arm component adopts the structure that at least two arm sections 20 are nested in sequence, the whole stability of the telescopic arm component is good, the telescopic arm component is not easy to shake, the structure is more compact, and the size is reduced. And the rigid chain 40 is adopted for driving, so that the structure of the driving part is simpler, and the driving is reliable.

In this embodiment, an example in which the elevating mechanism is mounted in the inspection robot to mount the auxiliary device in the inspection robot will be described. It will be appreciated that in other embodiments, the lifting mechanism may be used in any suitable application where length or height adjustment is required, such as unmanned vehicles, power or energy patrols, and the like.

As shown in fig. 1, in the present embodiment, the base 10 may be of any suitable structure as long as the telescopic arm assembly or the like can be reliably mounted. For example, the susceptor 10 includes a partition plate, a side plate, and the like. The two partition plates are arranged at intervals, and the side plate is connected between the two partition plates to support the two partition plates. A space such as a coil chamber for mounting the driving part and accommodating the extra rigid chain 40 is formed between the two partition plates.

The coiling chamber is provided with a helical track 71 for receiving the rigid chain 40 as shown in figure 4. The spiral track 71 can be through set up the deflector at coiling the intracavity, enclose into the spiral track through the deflector to make the rigid chain 40 that moves out from the arm section 20 of inlayer get into in the spiral track 71, and move along spiral track 71, thereby realize coiling at coiling the intracavity, can avoid the irregular winding of rigid chain 40 together like this, guarantee the reliability that telescopic arm subassembly removed.

Of course, in other embodiments, the base 10 may have other structures, and the present embodiment does not limit this.

The drive section is used to drive the movement of the arm segment 20 in the telescopic arm assembly. In the present embodiment, the driving part includes a driving motor 32 and a driving sprocket 31. The driving motor 32 is provided on the partition of the base 10 at the lower layer, the driving motor 32 having an output shaft on which the driving sprocket 31 is provided.

The rigid chain 40 is engaged with the driving sprocket 31 so that the rigid chain 40 can be driven to move when the driving sprocket 31 rotates.

Optionally, in order to ensure reliable meshing of the rigid chain 40 with the driving sprocket 31 and thus reliable transmission, the lifting mechanism further includes a second guide 90, the second guide 90 is disposed in the base 10, a second guide groove is disposed on the second guide 90, the second guide groove faces the driving sprocket 31, and the rigid chain 40 passes through the second guide groove and is pressed against the driving sprocket 31 by the second guide 90. By providing the second guide 90, it is possible to reverse the movement of the rigid chain 40, for example, by changing it from a horizontal movement to a vertical movement, on the one hand, by means of the second guide 90, and on the other hand, to ensure that the two are engaged to ensure the reliability of the transmission.

In this embodiment, the second guide groove includes a first groove section and a second groove section, and the first groove section and the second groove section are communicated and have an included angle. The included angle between the first groove section and the second groove section can be different according to different changing directions. For example, in the present embodiment, the first slot segment and the second slot segment are angled at 90 ° to enable the rigid chain 40 to be converted from horizontal motion to vertical motion, or vice versa.

In this embodiment, in order to form the second guide groove, the second guide member is an L-shaped guide member 90, which may be made of any suitable material.

Optionally, an adjusting member 91 is provided on a side plate of the base 10, and the adjusting member 91 is screwed with the side plate. And the portion of the adjuster 91 extending into the base 10 contacts the second guide 90 so that the second guide 90 abuts the rigid chain 40 and the drive sprocket 31. The adjustment member 91 may be a bolt, a screw, or the like.

As shown in fig. 4, the telescopic arm assembly in this embodiment comprises a plurality of sequentially nested arm segments 20. Among two adjacent arm sections 20, a limiting member is arranged at the first end of the outer arm section 20, and the limiting member includes an inner limiting section 52, and the inner limiting section 52 is arranged on the outer peripheral surface of the arm section 20 and is used for limiting the adjacent arm section 20.

As shown in fig. 5, in order to facilitate installation of the limiting member, the inner limiting segment 52 of the limiting member is located at the first end of the arm section 20, the limiting member further includes an outer limiting segment 51, the inner limiting segment 52 and the outer limiting segment 51 are arranged in parallel, and a connecting segment is connected between the inner limiting segment 52 and the outer limiting segment 51, so that a groove formed between the inner limiting segment 52 and the outer limiting segment 51 can be used for accommodating the first end of the arm section 20, thereby implementing installation of the limiting member on the arm section 20. In order to ensure the reliability, the limiting part can be fixedly connected with the arm section through a screw.

Optionally, in order to enable the inner arm segment 20 to drive the adjacent outer arm segment 20 to move, in two adjacent arm segments 20, the inner arm segment 20 is provided with a protective sleeve 60, the protective sleeve 60 is sleeved on the outer circumferential surface of the located arm segment 20, and the protective sleeve 60 spaces the adjacent arm segments 20 by a preset gap. This prevents adjacent arm segments 20 from directly contacting and rubbing against each other, thereby protecting the arm segments 20.

The protective sleeve 60 may be of POM (polyoxymethylene) material to enhance wear resistance. Of course, in other embodiments, the protective sleeve 60 may be made of any other suitable material. Because at least part of the protection sleeve 60 protrudes out of the outer peripheral surface of the arm section 20, after the inner arm section 20 of two adjacent arm sections 20 extends to a certain length, the protection sleeve 60 on the inner arm section 20 contacts with the inner limiting section 52 of the outer arm section 20, and the inner arm section 20 pushes the outer arm section 20 to move, so that power transmission is realized.

In order to limit the protection sleeve 60, a limiting groove is formed in the arm section 20 where the protection sleeve 60 is located, a part of the protection sleeve 60 is embedded into the limiting groove, and the other part of the protection sleeve 60 protrudes out of the outer peripheral surface of the arm section 20 where the protection sleeve 60 is located. The limiting groove can limit the movement of the protective sleeve 60 along the moving direction of the arm section.

Further, the protection sleeve 60 may be fixed to the arm segment 20 by screws or the like, which is not limited in this embodiment.

As shown in fig. 6, the lifting mechanism further includes a first guide member 80, the first guide member 80 is disposed in the arm section 20 at the innermost layer, and the first guide member 80 is provided with a first guide groove extending in the moving direction of the arm section 20, through which the rigid chain 40 passes. The first guide 80 can guide the movement of the rigid chain 40, so that the movement of the rigid chain 40 is more smooth.

The material, shape, size, etc. of the first guide 80 may be determined as needed, but the embodiment is not limited thereto. For example, the first guide 80 may be a rectangular block, a portion of the rigid chain 40 is located in the first guide groove, and the roller of the rigid chain 40 is caught on the first guide 80 to achieve a better guiding effect.

Optionally, in order to facilitate installation of the auxiliary device and to facilitate improvement of adaptability to different auxiliary devices, the first end of the arm section 20 of the innermost layer is provided with a bearing seat, the bearing seat comprises a fixing plate 101 and a fixing plate 102, and the fixing plate 101 is arranged at the first end of the arm section 20 of the innermost layer; the fixed plate 102 is spaced from the fixed plate 101, a connecting plate 103 is connected between the fixed plate 102 and the fixed plate 101, and the first end of the rigid chain 40 is fixedly connected to the connecting plate 103. In this way, on the one hand, the connecting plate 103 can facilitate the fixing of the first end of the rigid chain 40, and the fixing plate 102 can be adapted to the installation requirements of different auxiliary devices.

Of course, in other embodiments, the carrying seat may have other structures as long as the auxiliary device can be provided with a mounting position.

The operation of the lifting mechanism will be described below with reference to fig. 4:

when the lifting mechanism needs to be lifted, the driving motor 32 rotates to rotate the driving chain wheel 31 to drive the rigid chain to move, and then the first end of the rigid chain 40 moves upwards to drive the arm section 20 of the innermost layer to move upwards through the connecting plate 103 and the fixing plate 101. When the innermost arm segment 20 moves to the point where the protective sleeve 60 contacts the inner stop segment 52 on the adjacent arm segment 20, the innermost arm segment 20 can no longer move relative to the adjacent arm segment 20. At this point, the rigid chain 40 continues to move, which causes the innermost arm segment 20 to move upward with the adjacent arm segment 20, thus achieving sequential extension of the arm segments 20 until the desired height is reached.

Conversely, when the arm sections are retracted, the first end of the rigid chain 40 moves downward and drives the innermost arm section 20 to move downward until the outer limiting section 51 of the innermost arm section 20 contacts the inner limiting section 52 of the adjacent arm section 20, and pushes the adjacent arm section to move downward until the required height is reached.

According to the utility model discloses an on the other hand provides a patrol and examine robot, patrol and examine the robot and include the robot main part and set up the elevating system in the robot main part, and elevating system is foretell elevating system. The lifting mechanism utilizes the rigid chain lifting principle, and drives the rigid chain 40 to realize the lifting of the telescopic arm component through the driving chain wheel 31.

Since the rigid chain passes through the second guide 90 of the L-shape, switching from the horizontal direction to the vertical direction can be achieved, thereby achieving vertical lifting. The driving motor 32 can drive the driving sprocket 31 to rotate through the speed reducer, thereby driving the rigid chain 40. The lifting mechanism has good structure integration, can be suitable for different AGV (unmanned vehicles) or robots, and has the lifting regulation function.

This elevating system carries out transmission and lift control through the rigid chain, has solved among the prior art the problem that manufacturing cost is high, the installation is complicated that the screw transmission goes up and down to exist, has also avoided current scissors to go up and down to exist rocking seriously, the problem of cost and weight height.

This elevating system passes through driving motor drive sprocket, drives the rigid chain motion through drive sprocket, and the rigid chain becomes vertical lift motion through the second guide (like the plastic guide) of L nature, and the first end of rigid chain is installed on the connecting plate, and the fixed disk on the connecting plate is used for installing equipment such as camera, and the height when not rising the state can be reduced to the nested height that can reduce of multistage arm section. The lifting device is compact in design, the maximum lifting height is realized by using the minimum mounting space, the lifting device can be quickly lifted and stably moved, the lifting device exceeds a conventional lifting mechanism, the mounting and assembling are simple, the overall cost is low, and the load is large.

The features of the above-described embodiments may be arbitrarily combined, and for the sake of brevity, all possible combinations of the features in the above-described embodiments are not described, but should be construed as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the features.

It will be appreciated by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be taken as limiting the present invention, and that suitable modifications and variations of the above embodiments are within the scope of the invention as claimed.

Claims

1. The utility model provides a lifting mechanism, its characterized in that includes base (10), telescopic arm subassembly and drive division, telescopic arm subassembly includes two at least arm festival (20), two at least arm festival (20) are located in proper order by interior and are established, and adjacent two arm festival (20) can relative movement, and outmost arm festival (20) are fixed on base (10), the drive division includes:

a drive sprocket (31), the drive sprocket (31) being disposed on the base (10);

the rigid chain (40) is arranged in the base (10), the first end of the rigid chain (40) is connected with the first end of the arm section (20) at the innermost layer, and when the driving chain wheel (31) drives the rigid chain (40) to move, the arm section (20) at the innermost layer is driven to move, so that the length of the telescopic arm assembly is adjusted.

2. The lifting mechanism according to claim 1, wherein a limiting member is disposed at the first end of the outer arm segment (20) of the two adjacent arm segments (20), and the limiting member comprises an inner limiting section (52), and the inner limiting section (52) is disposed on the inner circumferential surface of the arm segment (20) and is used for limiting the adjacent inner arm segment (20).

3. The lifting mechanism according to claim 1, characterized in that a protective sleeve (60) is arranged on the inner arm section (20) of two adjacent arm sections (20), the protective sleeve (60) is sleeved on the outer circumferential surface of the arm section (20), and the protective sleeve (60) separates the adjacent arm sections (20) by a preset gap.

4. The lifting mechanism as claimed in claim 3, characterized in that the arm section (20) on which the protective sleeve (60) is located is provided with a limiting groove, a part of the protective sleeve (60) is embedded in the limiting groove, and the other part of the protective sleeve (60) protrudes from the outer circumferential surface of the arm section (20) on which the protective sleeve (60) is located.

5. The lifting mechanism according to claim 1, characterized in that the base (10) comprises a coiled cavity in which a helical track (71) is provided for housing the rigid chain (40).

6. The lifting mechanism according to claim 1, characterized in that the lifting mechanism further comprises a first guide member (80), the first guide member (80) being provided in the innermost arm segment (20), and the first guide member (80) being provided with a first guide groove extending in the moving direction of the arm segment (20), the rigid chain (40) passing through the first guide groove.

7. The lifting mechanism according to claim 1, characterized in that it further comprises a second guide (90), said second guide (90) being arranged in said base (10), said second guide (90) being provided with a second guide slot, said second guide slot facing said drive sprocket (31), said rigid chain (40) passing through said second guide slot and being pressed against said drive sprocket (31) by said second guide (90).

8. The lift mechanism of claim 7, wherein the second guide channel comprises a first channel section and a second channel section, the first channel section and the second channel section being in communication and having an included angle.

9. The lifting mechanism according to claim 1, characterized in that the first end of the innermost arm segment (20) is provided with a bearing seat comprising:

a fixing plate (101), the fixing plate (101) being disposed at a first end of the arm section (20) at an innermost layer;

the fixing plate (102) is arranged at intervals on the fixing plate (101), a connecting plate (103) is connected between the fixing plate (102) and the fixing plate (101), and the first end of the rigid chain (40) is fixedly connected to the connecting plate (103).

10. An inspection robot, characterized in that, the inspection robot includes a robot main body and a lifting mechanism provided on the robot main body, the lifting mechanism is the lifting mechanism of any one of claims 1-9.