CN217143962U - Lifting wheel type inspection robot - Google Patents

Abstract

The utility model discloses a robot is patrolled and examined to wheeled lift, which comprises a carriage body, bottom of the vehicle body both sides are provided with two drive wheels and two directive wheels respectively, are located the drive wheel top the automobile body top is provided with safety cover one, is located safety cover one side the automobile body top has lifting unit through screw fixed mounting, there is rotating assembly at the lifting unit top through screw fixed mounting, the rotating assembly top is provided with safety cover two, just two sides of safety cover all rotate to be connected with and patrol and examine the camera. This kind of wheeled robot of patrolling and examining goes up and down through the lifting unit who sets up, can make to patrol and examine the camera and possess the function of going up and down, conveniently carries out the actual measurement to equipment such as manometer, the signal lamp that the mounted position is higher or the overall arrangement span is big, improves this robot of patrolling and examining's practicality.

Description

Lifting wheel type inspection robot

Technical Field

The utility model relates to a patrol and examine the robotechnology field, specifically be a wheeled robot of patrolling and examining goes up and down.

Background

With the development of the smart grid system, the coverage range of the transformer substation and the power line is wider and wider. In order to ensure the safe and stable operation of the power equipment and timely discover the defects or hidden dangers of the equipment, the field operation personnel are required to perform patrol inspection on the field equipment regularly or irregularly for a long time, the workload is large, the patrol inspection is easily caused to be not in place due to the influences of environmental factors, personnel quality and other factors, the detection data is not accurate, and the patrol efficiency and quality often cannot achieve the expected effect. Aiming at the problems of low efficiency and low quality of manual inspection, the automatic inspection is carried out on the power transmission line by using the power inspection robot, so that the automatic inspection robot can replace manual work, has high reliability and efficiently completes tasks.

But traditional robot of patrolling and examining is patrolling and examining when equipment such as 500kV GIS chamber portion manometer, signal lamp, because the mounted position is than higher, the overall arrangement span is great, and traditional robot of patrolling and examining is difficult to realize the actual measurement to lead to patrolling and examining the practicality of robot and reduce. Therefore, the lifting wheel type inspection robot is improved, and the lifting wheel type inspection robot is provided.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model provides a following technical scheme:

the utility model relates to a lifting wheel type inspection robot, which comprises a vehicle body, two sides of the bottom of the vehicle body are respectively provided with two driving wheels and two steering wheels, the lifting wheel is positioned at one side of the periphery of the vehicle body, one side of the periphery of the vehicle body is provided with a distance measuring camera, the distance measuring camera is positioned at two sides of the distance measuring camera, one side of the periphery of the vehicle body is provided with two anti-collision sensors, the top of the vehicle body is provided with a first protective cover, one side of the protective cover is provided with a laser radar, the top of the vehicle body is positioned at one side of the first protective cover, the top of the lifting assembly is fixedly provided with a lifting assembly through screws, the top of the lifting assembly is provided with a second protective cover, two sides of the second protective cover are both rotatably connected with an inspection camera, one side of the rotating assembly is fixedly provided with a tow chain, the bottom of the tow chain is fixedly installed with the top of the vehicle body, and a plurality of signal wires for signal transmission are arranged in the drag chain.

As the utility model discloses a preferred technical scheme, lifting unit includes a lift section of thick bamboo one, there is the apron at a lift section of thick bamboo top through bolt fixed mounting, a lift section of thick bamboo inner wall is seted up threadedly, just a lift section of thick bamboo inner wall threaded connection has a hollow screw one.

As a preferred technical scheme of the utility model, a second lift section of thick bamboo has been cup jointed to a first periphery of lift section of thick bamboo, two bottoms of lift section of thick bamboo are provided with installation end one, just an inside set up screw hole one of installation end, a hollow screw bottom with a periphery of installation end is rotated and is connected, screw hole one inside threaded connection has hollow screw two.

As a preferred technical scheme of the utility model, a lift section of thick bamboo three has been cup jointed to the two peripheries of a lift section of thick bamboo, three bottoms of a lift section of thick bamboo are provided with installation end two, just two inside set up threaded hole two of installation end, two bottoms of hollow screw with the two outer circulations of installation end are connected.

As a preferred technical scheme of the utility model, the shell has been cup jointed to three peripheries of a lift section of thick bamboo, shell bottom fixed mounting has driving motor, the driving motor top is provided with the drive shaft, the drive shaft periphery is helicitic texture, the drive shaft top with the shell bottom runs through mutually, just the drive shaft periphery with two inside threaded connection of screw hole.

As a preferred technical scheme of the utility model, a plurality of spacing groove one has been seted up at the shell top, a lift section of thick bamboo three a lift section of thick bamboo two and a plurality of spacing groove two has all been seted up to a lift section of thick bamboo inner wall, a lift section of thick bamboo three a lift section of thick bamboo two and a lift section of thick bamboo periphery all is provided with the spacing of a plurality of.

As a preferred technical scheme of the utility model, joint groove one has been seted up to the drive shaft periphery, hollow screw one with joint groove two has all been seted up to two peripheries of hollow screw, just hollow screw one with two inner walls of hollow screw all are provided with the joint strip.

As a preferred technical scheme of the utility model, the rotating assembly includes the protective housing, the protective housing bottom through the screw with apron top fixed mounting, just the inside fixed mounting of protective housing has the rotating electrical machines, the output shaft at rotating electrical machines top with flange dish fixed mounting is passed through to two bottoms of safety cover.

The utility model has the advantages that:

1. according to the lifting wheel type inspection robot, the inspection camera can have a lifting function through the arranged lifting assembly, so that the actual measurement of equipment such as a pressure gauge, a signal lamp and the like which are higher in installation position or large in layout span is facilitated, and the practicability of the inspection robot is improved;

2. according to the lifting wheel type inspection robot, the lifting of the lifting cylinder III at the top of the shell, the lifting of the lifting cylinder II in the lifting cylinder III and the lifting of the lifting cylinder I in the lifting cylinder II can be limited through the limiting groove I, the limiting groove II and the limiting strip, the stability during lifting is improved, and the lifting cylinder III, the lifting cylinder II and the lifting cylinder can be prevented from rotating once along with the rotation of the driving shaft, the hollow screw II and the hollow screw I in the lifting process;

3. this kind of machine people is patrolled and examined to lift wheeled, through the joint groove one, joint groove two and the joint strip that sets up, can carry on spacingly when drive shaft, hollow screw two and hollow screw one are installed each other, realize drive shaft, hollow screw two and hollow screw one and coaxially rotate, and stretch out and draw back each other when not disturbing the rotation.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is an overall schematic diagram of the lifting wheel type inspection robot of the utility model;

fig. 2 is a schematic view of the lifting assembly of the lifting wheel type inspection robot of the utility model;

fig. 3 is a schematic sectional view of a lifting assembly of the lifting wheel type inspection robot of the present invention;

fig. 4 is a schematic view of a driving motor of the lifting wheel type inspection robot of the present invention;

fig. 5 is a schematic view of a hollow screw of the lifting wheel type inspection robot of the utility model;

fig. 6 is a schematic view of a second lifting cylinder of the lifting wheel type inspection robot of the utility model;

figure 7 is the utility model relates to a wheeled inspection robot's of lift rotating assembly split schematic diagram.

In the figure:

1. a vehicle body;

2. a drive wheel;

3. a ranging camera;

4. an anti-collision sensor;

5. a laser radar;

6. a rotating assembly; 601. a protective shell; 602. a rotating electric machine;

7. a lifting assembly; 701. a first lifting cylinder; 702. a cover plate; 703. a hollow screw I; 7031. a second clamping groove; 7032. a clamping strip; 704. a second lifting cylinder; 7041. a first mounting end; 7042. a first threaded hole; 705. a hollow screw II; 706. a third lifting cylinder; 7061. a second mounting end; 7062. a second threaded hole; 7063. a second limiting groove; 7064. a limiting strip; 707. a housing; 7071. a first limiting groove; 708. a drive motor; 7081. a drive shaft; 7082. a first clamping groove;

8. a second protective cover;

9. a polling camera;

10. and (4) dragging the chain.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.

Example (b): as shown in figures 1-7, the lifting wheel type inspection robot of the utility model comprises a vehicle body 1, two driving wheels 2 and two steering wheels are respectively arranged on two sides of the bottom of the vehicle body 1, a distance measuring camera 3 is arranged on one side of the periphery of the vehicle body 1 on one side of the driving wheels 2, two anti-collision sensors 4 are arranged on one side of the periphery of the vehicle body 1 on two sides of the distance measuring camera 3, a first protective cover is arranged on the top of the vehicle body 1 on the top of the driving wheels 2, a laser radar 5 is arranged on one side of the protective cover, a lifting component 7 is fixedly arranged on the top of the vehicle body 1 on one side of the first protective cover through screws, a rotating component 6 is fixedly arranged on the top of the lifting component 7 through screws, a second protective cover 8 is arranged on the top of the rotating component 6, the inspection camera 9 is rotatably connected on two sides of the protective cover 8, a drag chain 10 is fixedly arranged on one side of the rotating component 6, the bottom of the drag chain 10 is fixedly installed with the top of the vehicle body 1, and a plurality of signal wires for signal transmission are arranged inside the drag chain 10.

The lifting assembly 7 comprises a first lifting cylinder 701, a cover plate 702 is fixedly mounted at the top of the first lifting cylinder 701 through a bolt, threads are formed in the inner wall of the first lifting cylinder 701, and a first hollow screw 703 is connected to the inner wall of the first lifting cylinder 701 through threads.

Through the lifting unit 7 who sets up, can make and patrol and examine the function that camera 9 possesses the lift, conveniently carry out the actual measurement to equipment such as manometer, the signal lamp that the mounted position is higher or the overall arrangement span is big, improve this practicality of patrolling and examining the robot to and through the hollow screw 703 that sets up, can drive a lift section of thick bamboo 701 when hollow screw 703 rotates and rise or descend.

The periphery of the first lifting cylinder 701 is sleeved with a second lifting cylinder 704, the bottom of the second lifting cylinder 704 is provided with a first mounting end 7041, a first threaded hole 7042 is formed in the first mounting end 7041, the bottom of the first hollow screw 703 is rotatably connected with the periphery of the first mounting end 7041, and a second hollow screw 705 is in threaded connection with the inside of the first threaded hole 7042.

Through the second hollow screw 705, and the second hollow screw 705 is in threaded connection with the inside of the first threaded hole 7042, the second lifting cylinder 704 can be driven to ascend or descend when the second hollow screw 705 rotates.

The periphery of the second lifting cylinder 704 is sleeved with a third lifting cylinder 706, the bottom of the third lifting cylinder 706 is provided with a second mounting end 7061, a second threaded hole 7062 is formed in the second mounting end 7061, and the bottom of the second hollow screw 705 is rotatably connected with the periphery of the second mounting end 7061.

The second hollow screw 705 is convenient to rotate and connect through the second mounting end 7061.

Wherein, shell 707 has been cup jointed to three 706 peripheries of lift section of thick bamboo, and shell 707 bottom fixed mounting has driving motor 708, and driving motor 708 top is provided with drive shaft 7081, and drive shaft 7081 periphery is the helicitic texture, and drive shaft 7081 top and shell 707 bottom run through, and drive shaft 7081 periphery and two threaded hole 7062 internal thread are connected.

The driving shaft 7081 can be driven to rotate by the arranged driving motor 708, and the outer periphery of the driving shaft 7081 is in threaded connection with the inner part of the second threaded hole 7062, so that the driving shaft 7081 rotates to drive the third lifting cylinder 706 to lift in the shell 707.

Wherein, the top of the shell 707 is provided with a plurality of first limit grooves 7071, the inner walls of the third lifting cylinder 706, the second lifting cylinder 704 and the first lifting cylinder 701 are provided with a plurality of second limit grooves 7063, and the peripheries of the third lifting cylinder 706, the second lifting cylinder 704 and the first lifting cylinder 701 are provided with a plurality of limit strips 7064.

Through the arrangement of the first limit groove 7071, the second limit groove 7063 and the limit strip 7064, the lifting of the third lifting cylinder 706 on the top of the shell 707, the lifting of the second lifting cylinder 704 in the third lifting cylinder 706 and the lifting of the first lifting cylinder 701 in the second lifting cylinder 704 can be limited, the stability during lifting is improved, and the third lifting cylinder 706, the second lifting cylinder 704 and the first lifting cylinder 701 are prevented from rotating along with the rotation of the driving shaft 7081, the second hollow screw 705 and the first hollow screw 703 in the lifting process.

Wherein, the periphery of the driving shaft 7081 is provided with a first clamping groove 7082, the peripheries of the first hollow screw 703 and the second hollow screw 705 are provided with a second clamping groove 7031, and the inner walls of the first hollow screw 703 and the second hollow screw 705 are provided with clamping strips 7032.

Through the clamping groove I7082, the clamping groove II 7031 and the clamping strip 7032, the driving shaft 7081, the hollow screw II 705 and the hollow screw I703 can be limited when being installed mutually, coaxial rotation of the driving shaft 7081, the hollow screw II 705 and the hollow screw I703 is achieved, and mutual stretching and retraction are achieved when rotation is not interfered.

The rotating assembly 6 comprises a protective shell 601, the bottom of the protective shell 601 is fixedly mounted with the top of the cover plate 702 through screws, a rotating motor 602 is fixedly mounted inside the protective shell 601, and an output shaft at the top of the rotating motor 602 is fixedly mounted with the bottom of the second protective cover 8 through a flange plate.

Can drive safety cover two 8 when starting through the rotating electrical machines 602 that sets up and rotate, make things convenient for two 8 both sides of safety cover to rotate the camera 9 of patrolling and examining of connecting and carry out the multi-angle rotation and patrol and examine, conveniently use.

The working principle is as follows: when the inspection robot is used, the inspection robot is started, the inspection robot is controlled to move to a place needing inspection through a remote control center, when equipment with a higher position or a larger span is inspected, firstly, the driving motor 708 drives the driving shaft 7081 to rotate, so that the lifting cylinder III 706 in threaded connection with the driving shaft is lifted, due to the limiting effect of the clamping groove II 7031 and the clamping strip 7032, the driving shaft 7081 drives the hollow screw II 705 to rotate at the top of the mounting end II 7061, at the moment, the lifting cylinder II 704 in threaded connection with the hollow screw II is driven to lift along with the rotation of the hollow screw II 705, and similarly, the hollow screw II 705 drives the hollow screw I703 to rotate at the top of the mounting end I7041, and finally, when the hollow screw I rotates, the lifting cylinder I703 in threaded connection with the hollow screw I is driven to rotate;

in the process, the lifting of the lifting cylinder three 706 on the top of the shell 707, the lifting of the lifting cylinder two 704 in the lifting cylinder three 706 and the lifting of the lifting cylinder one 701 in the lifting cylinder two 704 can be limited by the aid of the first limiting groove 7071, the second limiting groove 7063 and the limiting strip 7064, the stability in lifting is improved, the lifting cylinder three 706, the lifting cylinder two 704 and the lifting cylinder one 701 are prevented from rotating along with the rotation of the driving shaft 7081, the hollow screw two 705 and the hollow screw one 703 in the lifting process, the driving shaft 7081, the hollow screw two 705 and the hollow screw one 703 can be limited when the driving shaft 7081, the hollow screw two 705 and the hollow screw one 703 are mounted with each other, and the driving shaft 7081, the hollow screw two 705 and the hollow screw one 703 can rotate coaxially without interfering with rotation and can be stretched out and drawn back with each other.

Finally, it should be noted that: in the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (8)

1. The lifting wheel type inspection robot comprises a vehicle body (1) and is characterized in that two driving wheels (2) and two steering wheels are arranged on two sides of the bottom of the vehicle body (1) respectively, a distance measuring camera (3) is arranged on one side of the periphery of the vehicle body (1) on one side of the driving wheels (2), two anti-collision sensors (4) are arranged on one side of the periphery of the vehicle body (1) on two sides of the distance measuring camera (3), a first protective cover is arranged on the top of the vehicle body (1) on the top of the driving wheels (2), a laser radar (5) is arranged on one side of the first protective cover, a lifting assembly (7) is fixedly installed on the top of the vehicle body (1) on one side of the first protective cover through screws, a rotating assembly (6) is fixedly installed on the top of the lifting assembly (7) through screws, a second protective cover (8) is arranged on the top of the rotating assembly (6), just safety cover two (8) both sides all rotate and are connected with and patrol and examine camera (9), rotating assembly (6) one side fixed mounting has tow chain (10), tow chain (10) bottom with automobile body (1) top fixed mounting, just tow chain (10) inside is provided with a plurality of signal lines that are used for signal transmission.

2. The lifting wheel type inspection robot according to claim 1, wherein the lifting assembly (7) comprises a first lifting cylinder (701), a cover plate (702) is fixedly mounted at the top of the first lifting cylinder (701) through a bolt, the inner wall of the first lifting cylinder (701) is threaded, and a first hollow screw (703) is connected to the inner wall of the first lifting cylinder (701) in a threaded manner.

3. The lifting wheel type inspection robot according to claim 2, wherein a second lifting cylinder (704) is sleeved on the periphery of the first lifting cylinder (701), a first mounting end (7041) is arranged at the bottom of the second lifting cylinder (704), a first threaded hole (7042) is formed in the first mounting end (7041), the bottom of the first hollow screw (703) is rotatably connected with the periphery of the first mounting end (7041), and a second hollow screw (705) is connected with the inner threads of the first threaded hole (7042).

4. The lifting wheel type inspection robot according to claim 3, wherein a third lifting cylinder (706) is sleeved on the periphery of the second lifting cylinder (704), a second mounting end (7061) is arranged at the bottom of the third lifting cylinder (706), a second threaded hole (7062) is formed in the second mounting end (7061), and the bottom of the second hollow screw (705) is rotatably connected with the periphery of the second mounting end (7061).

5. The lifting wheel type inspection robot according to claim 4, wherein a shell (707) is sleeved on the periphery of the third lifting cylinder (706), a driving motor (708) is fixedly mounted at the bottom of the shell (707), a driving shaft (7081) is arranged at the top of the driving motor (708), the periphery of the driving shaft (7081) is in a threaded structure, the top of the driving shaft (7081) penetrates through the bottom of the shell (707), and the periphery of the driving shaft (7081) is in threaded connection with the inside of the second threaded hole (7062).

6. The lifting wheel type inspection robot according to claim 5, wherein a plurality of first limiting grooves (7071) are formed in the top of the housing (707), a plurality of second limiting grooves (7063) are formed in the inner walls of the third lifting cylinder (706), the second lifting cylinder (704) and the first lifting cylinder (701), and a plurality of limiting strips (7064) are arranged on the peripheries of the third lifting cylinder (706), the second lifting cylinder (704) and the first lifting cylinder (701).

7. The lifting wheel type inspection robot according to claim 5, wherein a first clamping groove (7082) is formed in the periphery of the driving shaft (7081), a second clamping groove (7031) is formed in the peripheries of the first hollow screw (703) and the second hollow screw (705), and clamping strips (7032) are arranged on the inner walls of the first hollow screw (703) and the second hollow screw (705).

8. The elevating wheeled inspection robot according to claim 2, wherein the rotating assembly (6) comprises a protective shell (601), the bottom of the protective shell (601) is fixedly mounted with the top of the cover plate (702) through screws, a rotating motor (602) is fixedly mounted inside the protective shell (601), and an output shaft at the top of the rotating motor (602) is fixedly mounted with the bottom of the second protective cover (8) through a flange plate.

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