CN218226629U

CN218226629U - Electroplate garden underground pipe gallery and patrol and examine robot actuating mechanism

Info

Publication number: CN218226629U
Application number: CN202221167514.2U
Authority: CN
Inventors: 张畅畅; 周强; 鲁进新
Original assignee: Jinyuan Jingzhou Environmental Protection Technology Co ltd
Current assignee: Jinyuan Jingzhou Environmental Protection Technology Co ltd
Priority date: 2022-05-16
Filing date: 2022-05-16
Publication date: 2023-01-06
Anticipated expiration: 2032-05-16

Abstract

The utility model provides an electroplating park underground pipe gallery inspection robot actuating mechanism, including track, drive protective housing, transmission treatment facility, camera and controlling means, orbital sliding surface is connected with the drive protective housing, and the bottom of drive protective housing is fixed even to have the transmission treatment facility, and transmission treatment facility's bottom surface one side fixedly connected with camera, the inside of drive protective housing is provided with drive arrangement, and a plurality of recess has all been seted up on the surface of two action wheels, and is a plurality of the equal fixedly connected with slipmat in inside of recess. The utility model discloses a plurality of from the driving wheel and be provided with the slipmat in the inside from the driving wheel have all been seted up at action wheel and the surface from the driving wheel, have increased the action wheel under the effect of slipmat and have followed driving wheel and orbital frictional force to the phenomenon that skids takes place for the effectual action wheel that prevents when rail surface rolls guarantees to patrol and examine the normal operating walking of robot, and then guarantees the time and the work of patrolling and examining.

Description

Electroplate garden underground pipe gallery and patrol and examine robot actuating mechanism

Technical Field

The utility model relates to a robot technical field is patrolled and examined to the corridor especially relates to an electroplating park underground pipe gallery patrols and examines robot actuating mechanism.

Background

With the construction and rapid development of urban electric power facilities, many domestic cities adopt underground cables to transmit electric energy successively, so that the urban landscape is improved, and the contradiction between bottom surface erection and building space is relieved. The safety operation of the power cables and various power facilities in the power tunnel directly affects the reliability and stability of the power supply, so that the inspection of the tunnel is very important. Dangerous factors such as fire, water logging, harmful gas exist in the cable tunnel, and traditional mode of patrolling and examining is given first place to the manual work, and dangerous big, the inefficiency consequently, patrols and examines the robot and use and give birth to. The inspection robot can automatically monitor fire, harmful gas and the like of the electric power tunnel, changes the conventional manual monitoring mode, reduces the labor intensity, reduces the working danger, improves the working efficiency and reduces the cost.

Generally, an inspection robot adopts an electric hoist travelling mechanism, and consists of two driving wheels, two driven wheels, a transmission gear and a motor, wherein the motor drives the driving wheels to rotate so as to realize the movement and the travelling of the inspection robot, but the rigid driving wheels and the driven wheels are easy to slip with a rigid track when moving, so that the normal operation and the travelling of the inspection robot are difficult to ensure, and the inspection time and the inspection work are delayed.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the problem that rigid action wheel and follow driving wheel very easily take place to skid with the rigidity track when moving to be difficult to guarantee to patrol and examine the normal operating walking of robot, and then hinder the problem of the time of patrolling and examining and work.

In order to solve the technical problem, the utility model provides a driving mechanism of an inspection robot for underground pipe galleries in electroplating parks, which comprises a track, a driving protection box, a transmission processing device, a camera and a control device, wherein the surface of the track is connected with the driving protection box in a sliding way, the bottom of the driving protection box is fixedly connected with the transmission processing device, one side of the bottom surface of the transmission processing device is fixedly connected with the camera, the middle part of the front surface of the transmission processing device is fixedly connected with the control device, the driving device is arranged in the driving protection box and comprises an installation U-shaped plate, a driving motor, a pinion, a connecting shaft, a driving wheel and a driven wheel, the middle part of one side of the installation U-shaped plate is provided with a hole, the outer side of the hole is fixedly connected with the driving motor, a through hole of an output shaft of the driving motor extends to the inner side of the installation U-shaped plate and is fixedly connected with the pinion, the inner wall of the U-shaped plate is fixedly connected with four connecting shafts at the left and right corresponding surfaces and positioned at two sides of the connecting shafts, the four connecting shafts are arranged in a one-to-one correspondence manner, wherein two connecting shafts close to one surface of a driving motor are sleeved with two driving wheels which are rotatably connected with the connecting shafts, two driven wheels are sleeved with and connected with the other surface of the driving motor, the two driven wheels are rotatably connected with the connecting shafts, the two driving wheels and the two driven wheels are arranged in a one-to-one correspondence manner, one end sides of the two driving wheels close to the U-shaped plate are fixedly connected with large gears which are meshed with small gears, the surfaces of the two driving wheels are respectively provided with a plurality of grooves, the plurality of grooves are uniformly arranged along the outer circumference of the driving wheels, and the insides of the plurality of grooves are respectively and fixedly connected with an anti-skid pad, and the top of the non-slip mat slightly protrudes out of the groove.

Preferably, the action wheel and the equal fixedly connected with connecting plate in the orbital one side that is close to from the driving wheel, the connecting plate is circular form and sets up with the action wheel is coaxial, and the one side central point that the action wheel was kept away from to the connecting plate puts fixedly connected with branch, and the one end side fixedly connected with auxiliary gear of connecting plate is kept away from to branch.

Preferably, orbital middle part both sides face fixedly connected with about two corresponding gear plates, and two gear plates are located auxiliary gear under and mesh mutually with the gear plate.

Preferably, one end of the driving wheel, which is far away from the U-shaped plate, slightly protrudes out of the connecting shaft, the driving wheel is connected with the supporting rod through the connecting plate, the connecting plate is connected with the auxiliary gear through the supporting rod, and the connecting plate, the supporting rod and the auxiliary gear are coaxially arranged.

Preferably, the output end of the control device is electrically connected with the input end of the operating handle, and the output end of the control device is electrically connected with the input end of the driving motor.

Preferably, the output end of the camera is electrically connected with the input end of the transmission processing equipment, and the transmission processing equipment is wirelessly connected with the wind control center equipment.

Compared with the prior art, the utility model provides an electroplating park underground pipe gallery patrols and examines robot actuating mechanism possesses following beneficial effect:

1. the utility model discloses a driving motor drives two gear wheel rotations and then makes two action wheels rotate on the track, thereby realize patrolling and examining the operation of machine, and all set up a plurality of follow driving wheels and be provided with the slipmat in the inside from the driving wheel at action wheel and the surface from the driving wheel, the slipmat laminates with orbital upper surface mutually when the action wheel is revolved and is rotated the roll with the driven wheel, because the slipmat has certain elasticity and receives the extrusion withdrawal recess when the slipmat is located the centre position between action wheel and the track in, action wheel and driven wheel and orbital frictional force have been increased under the effect of slipmat, thereby the effectual phenomenon that prevents the action wheel and take place to skid when the track surface rolls, guarantee to patrol and examine the normal operating walking of robot, and then guarantee the time and the work of patrolling and examining.

2. The utility model discloses opposite side at the action wheel and follow driving wheel is provided with the connecting plate, branch and, auxiliary gear, and the gear plate that cooperation track both sides set up meshes the transmission and connects, it is rotatory to drive connecting plate and branch when rolling motion takes place at the action wheel and follow the driving wheel, thereby make auxiliary gear at the upper surface rolling motion of gear plate, thereby drive the action wheel and move from the driving wheel, further the phenomenon that has prevented the action wheel and skidded from the driving wheel original place, prevent the action wheel and follow driving wheel swift current behind orbital surface under the effect of meshing simultaneously, the stability of patrolling and examining the robot operation has been guaranteed.

Drawings

FIG. 1 is a perspective view of the inspection machine of the present invention;

fig. 2 is a schematic perspective view of the driving device of the present invention;

fig. 3 is a partially enlarged schematic view of a portion a in fig. 2 according to the present invention;

fig. 4 is a perspective view of the driving wheel of the present invention.

In the figure: 1. a track; 2. driving the protective box; 3. a gear plate; 4. a transmission processing device; 5. a camera; 6. a control device; 7. an operating handle; 8. installing a U-shaped plate; 9. a drive motor; 10. a pinion gear; 11. a connecting shaft; 12. a driving wheel; 13. a driven wheel; 14. a bull gear; 15. a groove; 16. a non-slip mat; 17. a connecting plate; 18. a strut; 19. an auxiliary gear.

Detailed Description

The utility model relates to a driving mechanism of an inspection robot for an underground pipe gallery in an electroplating park, as shown in figures 1-4, comprising a track 1, a driving protection box 2, a transmission processing device 4, a camera 5 and a control device 6, wherein the surface of the track 1 is connected with the driving protection box 2 in a sliding way, the bottom of the driving protection box 2 is fixedly connected with the transmission processing device 4, one side of the bottom surface of the transmission processing device 4 is fixedly connected with the camera 5, the camera 5 is used for shooting the general view of the inside of the pipe gallery and sending the general view to a wind control center through the transmission processing device 4, the middle part of the front surface of the transmission processing device 4 is fixedly connected with the control device 6, the inside of the driving protection box 2 is provided with the driving device, the driving device comprises an installation U-shaped plate 8, a driving motor 9, a pinion 10, a connecting shaft 11, a driving wheel 12 and a driven wheel 13, the middle part of one side of the installation U-shaped plate 8 is provided with a hole and is fixedly connected with the driving motor 9, the through hole of the output shaft of the driving motor 9 extends to the inner side of the mounting U-shaped plate 8 and is fixedly connected with a pinion 10, one corresponding left and right side of the inner wall of the mounting U-shaped plate 8 is fixedly connected with four connecting shafts 11 positioned at two sides of the connecting shafts 11, the positions of the four connecting shafts 11 are arranged in a one-to-one correspondence manner, wherein two connecting shafts 11 close to one side of the driving motor 9 are sleeved with two driving wheels 12, the two driving wheels 12 are rotatably connected with the connecting shafts 11, the other side close to the driving motor 9 is sleeved with two driven wheels 13, the two driven wheels 13 are rotatably connected with the connecting shafts 11, the positions of the two driving wheels 12 and the two driven wheels 13 are arranged in a one-to-one correspondence manner, one end side surfaces of the two driving wheels 12 close to the mounting U-shaped plate 8 are fixedly connected with a bull gear 14, and the two bull gears 14 are engaged with the pinion 10, a plurality of recesses 15 have all been seted up on the surface of two action wheels 12, and a plurality of recesses 15 evenly set up along the outer circumference mode of action wheel 12, the equal fixedly connected with slipmat 16 in inside of a plurality of recesses 15, and the top of slipmat 16 slightly protrudes in the outside of recess 15, slipmat 16 adopts elastic material, and the effect of slipmat 16 has increased action wheel 12 and from the frictional force of driving wheel 13 and track 1, thereby effectually prevent action wheel 12 and from taking place the phenomenon of skidding when track 1 surface rolls from driving wheel 13, guarantee to patrol and examine the normal operating walking of robot, and then guarantee the time and the work of patrolling and examining.

Further, the driving wheel 12 and the driven wheel 13 are fixedly connected with a connecting plate 17 on the side close to the track 1, the connecting plate 17 is circular and is arranged coaxially with the driving wheel 12, a supporting rod 18 is fixedly connected to the central position of the side of the connecting plate 17 away from the driving wheel 12, an auxiliary gear 19 is fixedly connected to the side of the end of the supporting rod 18 away from the connecting plate 17, two gear plates 3 corresponding to each other in the left and right directions are fixedly connected to the two side surfaces of the middle of the track 1, the two gear plates 3 are positioned under the auxiliary gear 19 and are meshed with the gear plates 3, the driving wheel 12 and the driven wheel 13 rotate to drive the connecting plate 17 and the supporting rod 18 to rotate, so that the auxiliary gear 19 rolls on the upper surface of the gear plate 3 to drive the driving wheel 12 and the driven wheel 13 to move, the phenomenon that the driving wheel 12 and the driven wheel 13 slip in place is further prevented, and the driving wheel 12 and the driven wheel 13 are prevented from slipping behind the surface of the track under the meshing effect, and the running stability of the inspection robot is ensured.

Furthermore, one end of the driving wheel 12, which is far away from the U-shaped plate 8, is slightly protruded out of the connecting shaft 11, the driving wheel 12 is connected with the supporting rod 18 through the connecting plate 17, the connecting plate 17 is connected with the auxiliary gear 19 through the supporting rod 18, and the connecting plate 17, the supporting rod 18 and the auxiliary gear 19 are coaxially arranged.

Further, controlling means 6's output and operating handle 7's input electric connection, driving controlling means 6's output and driving motor 9's input electric connection can control controlling means 6 through operating handle 7 to manual operation controls opening of driving motor 9 and closes, and then follows to patrol and examine the robot and walk about in the piping lane.

Further, the output end of the camera 5 is electrically connected with the input end of the transmission processing device 4, and the transmission processing device 4 is wirelessly connected with the wind control center device.

When the inspection robot is used, the wind control center equipment is used for controlling the operation of the control device 6 to further start the operation of the driving motor 9, when the driving motor 9 is started, the output shaft of the driving motor 9 drives the pinion 10 to rotate, the driving wheel 12 is rotationally connected to the connecting shaft 11, then the large gear 14 at the rear end of the driving wheel 12 is meshed with the pinion 10, so that the driving wheel 12 rotates on the connecting shaft 11, then the two driven wheels 13 are matched to realize the operation and the walking of the inspection robot, when the driving wheel 12 and the driven wheels 13 roll on the surface of the track 1, the anti-skid pads 16 are attached to the upper surface of the track, and when the anti-skid pads 16 are positioned at the midpoint position between the driving wheel 12 and the track 1, the anti-skid pads 16 are extruded and retracted into the grooves 15 due to certain elasticity of the anti-skid pads 16, increased action wheel 12 and from driving wheel 13 and track 1's frictional force under slipmat 16's effect, thereby the effectual action wheel 12 that prevents takes place the phenomenon of skidding when rolling on track 1 surface from driving wheel 13, guarantee to patrol and examine the normal operating walking of robot, and then guarantee the time and the work of patrolling and examining, action wheel 12 rotates with rotatory connecting plate 17 and the branch 18 of driving wheel 13 and drive simultaneously, thereby make auxiliary gear 19 roll the motion at the upper surface of toothed plate 3, thereby drive action wheel 12 and move from driving wheel 13, further the phenomenon of skidding in place of action wheel 12 and from driving wheel 13 has been prevented, prevent action wheel 12 and follow driving wheel 13 swift current behind orbital surface under the effect of meshing simultaneously, the stability of patrolling and examining the robot operation has been guaranteed.

It is to be understood that the present invention has been described with reference to certain embodiments, and that various changes or equivalents may be substituted for elements thereof by those skilled in the art without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of the present application are intended to be covered by the present invention.

Claims

1. A driving mechanism of an inspection robot for an underground pipe gallery in an electroplating park comprises a track (1), a driving protection box (2), a transmission processing device (4), a camera (5) and a control device (6), and is characterized in that the surface of the track (1) is connected with the driving protection box (2) in a sliding manner, the bottom of the driving protection box (2) is fixedly connected with the transmission processing device (4), one side of the bottom surface of the transmission processing device (4) is fixedly connected with the camera (5), the middle of the front surface of the transmission processing device (4) is fixedly connected with the control device (6), the driving device is arranged in the driving protection box (2), the driving device comprises a mounting U-shaped plate (8), a driving motor (9), a pinion (10), a connecting shaft (11), a driving motor (9) and a driven wheel (13), a hole is formed in the middle of one side of the mounting U-shaped plate (8) and is fixedly connected with the driving motor (9) at the outer side of the hole, a through hole of an output shaft of the driving motor (9) extends to the inner side of the mounting U-shaped plate (8) to be fixedly connected with one side of the driving motor (10), four connecting shafts (11), two driving motors (11) are sleeved in one-to be corresponding positions one-by one, and two driving motors (11) are connected with two driving motors (11), the two driving wheels (12) are rotatably connected with the connecting shaft (11), the two driven wheels (13) are sleeved and connected on the other side of the driving motor (9), the two driven wheels (13) are rotatably connected with the connecting shaft (11), the two driving wheels (12) and the two driven wheels (13) are arranged in a one-to-one correspondence mode, the side face, close to one end of the U-shaped plate (8), of each driving wheel (12) is fixedly connected with a large gear (14), the two large gears (14) are meshed with a small gear (10), a plurality of grooves (15) are formed in the surfaces of the two driving wheels (12), the grooves (15) are evenly arranged along the outer circumference of the driving wheels (12), anti-slip pads (16) are fixedly connected in the grooves (15), and the tops of the anti-slip pads (16) slightly protrude out of the outer sides of the grooves (15).

2. The electroplating park underground pipe gallery inspection robot driving mechanism according to claim 1, is characterized in that: the equal fixedly connected with connecting plate (17) in the one side of track (1) that is close to of action wheel (12) and follow driving wheel (13), connecting plate (17) are circular form and set up with action wheel (12) is coaxial, and the one side central point department fixedly connected with branch (18) of keeping away from action wheel (12) in connecting plate (17), and the one end side fixedly connected with auxiliary gear (19) of connecting plate (17) are kept away from in branch (18).

3. The electroplating park underground pipe gallery inspection robot driving mechanism according to claim 1, is characterized in that: the middle part both sides face fixedly connected with of track (1) controls gear plate (3) that correspond about two, and two gear plate (3) are located under auxiliary gear (19) and mesh mutually with gear plate (3).

4. The electroplating park underground pipe gallery inspection robot driving mechanism of claim 2, which is characterized in that: one end of the driving wheel (12) far away from the U-shaped plate (8) is slightly protruded out of the connecting shaft (11), the driving wheel (12) is connected with the supporting rod (18) through the connecting plate (17), the connecting plate (17) is connected with the auxiliary gear (19) through the supporting rod (18), and the connecting plate (17), the supporting rod (18) and the auxiliary gear (19) are coaxially arranged.

5. The electroplating park underground pipe gallery inspection robot driving mechanism according to claim 1, is characterized in that: the output end of the control device (6) is electrically connected with the input end of the operating handle (7), and the output end of the control device (6) is electrically connected with the input end of the driving motor (9).

6. The electroplating park underground pipe gallery inspection robot driving mechanism as claimed in claim 1, is characterized in that: the output end of the camera (5) is electrically connected with the input end of the transmission processing equipment (4), and the transmission processing equipment (4) is wirelessly connected with the wind control center equipment.