CN113401168B

CN113401168B - Track transfer device of inspection robot

Info

Publication number: CN113401168B
Application number: CN202110951906.1A
Authority: CN
Inventors: 朱建廷; 王丽; 秦昌财
Original assignee: Qilu University of Technology
Current assignee: Shandong Youjiang Intelligent Equipment Co ltd
Priority date: 2021-08-19
Filing date: 2021-08-19
Publication date: 2021-11-02
Anticipated expiration: 2041-08-19
Also published as: CN113401168A

Abstract

The invention belongs to the technical field of rail transfer devices, and particularly relates to a rail transfer device of an inspection robot, which comprises a rotating track, wherein an anti-falling device is arranged on the surface of the rotating track, a butt joint hole is formed in the surface of the rotating track, a bearing is arranged on the surface of the rotating track, a connecting rod is fixedly sleeved in the bearing, a fixed shaft is arranged on the surface of the connecting rod, a support leg is arranged on the surface of the fixed shaft, a support platform is bolted on the surface of the support leg, a lap joint track is arranged at one end, far away from the fixed shaft, of the support leg, and a first bevel gear is fixedly sleeved on the surface of the connecting rod; according to the invention, the motor is controlled to drive the second bevel gear to rotate, so that the first gear drives the connecting rod to rotate, the rotating track is butted with the lapped track, and the robot on the rotating track runs along a planned path, so that the purpose of automatic track transfer in a complex track environment can be achieved, the workload is reduced, the working efficiency is improved, and the use cost is reduced.

Description

Track transfer device of inspection robot

Technical Field

The invention belongs to the technical field of track transfer devices, and particularly relates to a track transfer device of an inspection robot.

Background

A robot is an intelligent machine that can work semi-autonomously or fully autonomously. Historically, the earliest robots were found in puppet robots built by the inventor of Liu 25219on the basis of the image of the inventor, which have the capabilities of sitting, standing, worship, lying and the like. The robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings. Wherein the inspection robot undertakes important work. At present, the inspection robot is widely applied to scenes such as power distribution rooms, transformer substation rooms and the like, and the arrangement conditions of indoor equipment are various, so that the working route of the inspection robot is increasingly complex.

Through the search of Chinese patents, the application numbers are as follows: the invention discloses a rail changing device of electric power tunnel inspection equipment at a guide rail turnout, which comprises a movable straight rail, a movable bent rail, a movable rail bracket, a connecting and fixing bracket, a bracket pulley, a driving motor, a driving arm, a driving connecting rod, a sliding rail and a travel switch, wherein the movable straight rail and the movable bent rail are respectively fixed on the movable rail bracket through the fixing and connecting bracket; a driving motor is installed on the sliding rail and connected with a driving arm, the driving arm is connected with a driving connecting rod, and the driving connecting rod is connected with a movable rail bracket through a driving bearing joint; the travel switch is fixed on the slide rail, and the travel switch top plate is fixed on the movable rail bracket. The invention overcomes the difficulty that the conventional electric power tunnel inspection equipment cannot inspect the crossed route in the tunnel, and has practical significance for the mobile inspection in the electric power tunnel by passing through the turnout through the rail transfer device.

In summary, the existing inspection robot is difficult to complete automatic rail transfer in a complex rail environment, manual operation remote control or multi-section rail operation is generally needed, the efficiency is low, mistakes are easy to occur or the rails are complicated, the high-intelligent inspection robot capable of automatically planning the route rail transfer is high in cost, the workload is increased, the working efficiency is reduced, the inspection cost is improved, and the inspection robot does not have an anti-falling function.

Disclosure of Invention

The invention aims to provide an inspection robot orbital transfer device, which solves the problems that the conventional inspection robot in the background art is difficult to automatically transfer orbits under a complex orbit environment, generally needs manual operation and remote control or multi-segment orbit separation, has low efficiency, is easy to make mistakes or has complicated orbits, has higher cost for a high-intelligent inspection robot capable of automatically planning the orbital transfer route, increases the workload, reduces the working efficiency, improves the inspection cost, does not have an anti-falling function, and causes the derailment and falling of the inspection robot.

In order to achieve the purpose, the invention provides the following technical scheme:

the track-changing device of the inspection robot comprises a rotating track, wherein a bearing is arranged on the surface of the rotating track, a connecting rod is fixedly sleeved in the bearing, a fixed shaft is arranged on the surface of the connecting rod, a support foot is arranged on the surface of the fixed shaft, a supporting platform is bolted on the surface of the support foot, a lap joint track is arranged at one end, away from the fixed shaft, of the support foot, a first bevel gear is fixedly sleeved on the surface of the connecting rod, a second bevel gear is meshed on the surface of the first bevel gear, a motor is fixedly sleeved at the axis of the second bevel gear and is bolted with the supporting platform, a butt joint mechanism is arranged on the surfaces of the lap joint track and the rotating track and comprises a sliding block, a spring and a butt joint hole, wherein the sliding block is embedded on the surface of the lap joint track, and the spring is arranged between the sliding block and the inner wall of the lap joint track, the surface of the rotating track is provided with a butt joint hole, and the sliding block is matched with the butt joint hole; the two ends of the rotating track are rotatably connected with anti-falling rods through small bearings, sliding rods are bolted to the surfaces of the anti-falling rods, a lap joint groove is formed in one end of the lap joint track, and the lap joint groove is matched with the anti-falling rods.

Preferably, the diameter of the top of the connecting rod is larger than that of the bottom of the connecting rod, the bottom of the connecting rod is provided with threads, and the connecting rod is further provided with a key groove and an axial through hole.

Preferably, both ends of the rotating track are arc-shaped, and a through hole which is vertical to the bottom surface and penetrates through the circle center is communicated with the connecting rod at the top.

Preferably, the lapping rail and the rotating rail are circular arcs with the same circle center, the circular arcs of the lapping rail are matched with the circular arcs of the rotating rail, and the lapping rail is positioned on the outer side of the rotating rail.

Preferably, the bottom of the rotating track is provided with a mounting hole, a switch is arranged in the mounting hole, and an anti-skid layer is bonded on the surface of the switch.

Preferably, the protective housing is bolted to the surface of the supporting platform, the motor is located inside the protective housing, heat dissipation holes are formed in the surface of the protective housing, and the heat dissipation holes are evenly distributed in the surface of the protective housing.

Preferably, the surface of the rotating track is bolted with two support plates, and the two support plates are respectively positioned at two sides of the thread of the rotating track.

Preferably, the number of the anti-falling rods is four, the four anti-falling rods are uniformly and symmetrically distributed at two ends of the rotating track respectively, and the lengths of the anti-falling rods are matched with the depth of the overlapping groove.

Preferably, the number of the support legs is three, the three support legs are distributed on the outer side of the fixed shaft, one end of each support leg is fixedly connected with the corresponding lap joint rail, and the support legs are bolted to the supporting platform.

Compared with the prior art, the invention provides the track transfer device of the inspection robot, which has the following beneficial effects:

1. according to the invention, the motor is controlled to drive the second bevel gear to rotate, so that the first gear drives the connecting rod to rotate, the rotating track is butted with the lapped track, and the robot on the rotating track runs along a planned path, so that the purpose of automatic track transfer in a complex track environment can be achieved, the workload is reduced, the working efficiency is improved, and the use cost is reduced;

2. according to the invention, when the rotating track is lapped with the lapping track, the anti-falling rod on the rotating track is lapped with the lapping groove on the lapping track, so that the aim of preventing falling can be achieved, the stability of the device is improved, the safety of the inspection robot is ensured, and the working efficiency is improved.

Drawings

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

FIG. 2 is a top view of the structure of the present invention;

FIG. 3 is a perspective view of a rotating track structure of the present invention;

FIG. 4 is a cross-sectional view of the structure after one orbital revolution is completed;

FIG. 5 is a perspective view of a stand leg structure;

FIG. 6 is a perspective view of a connecting rod structure;

FIG. 7 is a partial cross-sectional view taken at A in FIG. 4;

FIG. 8 is a view showing a structure of a lap joint groove;

FIG. 9 is a view of the connection of the fall arrest lever to the swivel track;

in the figure: 1. rotating the track; 2. preventing falling down the rod; 3. a slide bar; 4. a bearing; 5. a connecting rod; 6. a fixed shaft; 7. a support leg; 8. a support platform; 9. overlapping the rails; 10. a first bevel gear; 11. a second bevel gear; 12. a motor; 13. a lap joint groove; 14. a docking mechanism; 15. a thread; 16. a keyway; 17. an axial through hole; 18. a switch; 19. mounting holes; 20. an anti-slip layer; 21. a protective shell; 22. heat dissipation holes; 23. a support plate; 41. a small bearing; 141. a slider; 142. a spring; 143. and (4) butting holes.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1-4 and fig. 7, the present invention provides a technical solution: the track-changing device of the inspection robot comprises a rotating track 1, a bearing 4 is mounted on the surface of the rotating track 1, a connecting rod 5 is fixedly sleeved inside the bearing 4, a fixing shaft 6 is mounted on the surface of the connecting rod 5, a support foot 7 is mounted on the surface of the fixing shaft 6, a support platform 8 is bolted on the surface of the support foot 7, a lap joint track (9) is mounted at one end, away from the fixing shaft 6, of the support foot 7, a first conical gear 10 is fixedly sleeved on the surface of the connecting rod 5, a second conical gear 11 is meshed on the surface of the first conical gear 10, a motor 12 is fixedly sleeved at the axis of the second conical gear 11, the motor 12 is bolted with the support platform 8, a butt joint mechanism 14 is arranged on the surfaces of the lap joint track 9 and the rotating track 1, and the butt joint mechanism 14 comprises a sliding block 141, a spring 142 and a butt joint hole 143; the slider 141 is embedded in the surface of the lapping rail 9, a spring 142 is arranged between the slider 141 and the inner wall of the lapping rail 9, a butt joint hole 143 is formed in the surface of the rotating rail 9, and the slider 141 is matched with the butt joint hole 143. As shown in fig. 3 and 7.

The two ends of the rotating track 1 are rotatably connected with an anti-falling rod 2 through small bearings 41, the surface of the anti-falling rod 2 is bolted with a sliding rod 3, one end of the lapping track 9 is provided with a lapping groove 13, the lapping groove 13 is matched with the anti-falling rod 2, the first gear drives the connecting rod 5 to rotate by driving the second bevel gear 11 to rotate through the control motor 12, so that the rotating track 1 is butted with the lapping rail and a robot on the rotating track 1 runs along a planned path, the aim of automatic track change under a complex track environment can be achieved, the workload is reduced, the working efficiency is improved, the use cost is reduced, the aim of anti-falling function can be achieved by the mode that the anti-falling rod 2 on the rotating track 1 is lapped with the lapping groove 13 on the lapping track 9 when the rotating track 1 is lapped with the lapping track 9, the stability of the device is improved, and the safety of the inspection robot is ensured, the working efficiency is improved.

Referring to fig. 6, in order to facilitate the installation of other accessories and to make the installation of the connecting rod 5 more secure, the diameter of the top of the connecting rod 5 is larger than that of the bottom of the connecting rod 5, the bottom of the connecting rod 5 is provided with a thread 15, and the connecting rod 5 is further provided with a key slot 16 and an axial through hole 17.

Referring to fig. 1 to 3, in order to make the rotating rail 1 and the lapping rail 9 work better, both ends of the rotating rail 1 are arc-shaped, and a through hole with a vertical bottom surface penetrating through the center of a circle is communicated with the connecting rod 5 at the top.

Referring to fig. 1-3 and 8, in order to better fix the rotating track 1 and the overlapping track 9 and ensure the stability of the device, the overlapping track 9 and the rotating track 1 are circular arcs with the same center, the circular arc of the overlapping track 9 is matched with the circular arc of the rotating track 1, and the overlapping track 9 is located outside the rotating track 1.

Referring to fig. 4, in order to facilitate the operation of the device, a mounting hole 19 is formed at the bottom of the rotating track 1, a switch 18 is disposed inside the mounting hole 19, and an anti-slip layer 20 is adhered to the surface of the switch 18.

Referring to fig. 1, 2 and 4, in order to protect the motor 12 and dissipate heat of the motor 12, a protective shell 21 is bolted to the surface of the supporting platform 8, the motor 12 is located inside the protective shell 21, heat dissipation holes 22 are formed in the surface of the protective shell 21, and the heat dissipation holes 22 are uniformly distributed on the surface of the protective shell 21.

Referring to fig. 3, in order to make the rotating rail 1 more firm, two support plates 23 are bolted to the surface of the rotating rail 1, and the two support plates 23 are respectively located at two sides of the thread 15 of the rotating rail 1.

Referring to fig. 2-3 and fig. 9, in order to ensure the stability of the device and further improve the anti-falling capacity, the number of the anti-falling rods 2 is four, and the four anti-falling rods 2 are uniformly and symmetrically distributed at the two ends of the rotating track 1, respectively, and the length of the anti-falling rods 2 is adapted to the depth of the lap joint groove 13.

Referring to fig. 1-2, in order to make the device operate more stably, the number of the supporting legs 7 is three, the three supporting legs 7 are all distributed on the outer side of the fixed shaft 6, one end of each supporting leg 7 is slidably connected with the lapping rail 9, and the supporting legs 7 are bolted with the supporting platform 8.

The working principle is as follows: the inspection robot is placed at an initial position, the rotating track 1 is in butt joint with a lapped track of a track where the inspection robot is located, program parameters are set by the motor 12 as required, the inspection robot starts to work, the inspection robot moves to the center of the rotating track 1, the motor 12 starts to rotate due to the fact that the switch 18 is pressed when the inspection robot moves, the second bevel gear 11 is driven to rotate, the first bevel gear 10 is driven to rotate by the rotation of the second bevel gear 11, the connecting rod 5 is driven to rotate by the rotation of the first bevel gear 10, the rotating track 1 is driven to rotate by the connecting rod, the motor 12 stops working and is self-locked according to the set parameters, at the moment, the rotating track 1 is in butt joint with the lapped track to finish track change, and therefore the purpose of automatic track change under a complex track environment is achieved;

through when rotatory track 1 and overlap joint track 9 overlap joint, the anti-falling pole 2 on the rotatory track 1 and the overlap joint groove 13 lapped mode on the overlap joint track 9 can reach the purpose that has the function of preventing weighing down, have improved the stability of device, have guaranteed the safety of patrolling and examining the robot, have improved work efficiency.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Patrol and examine robot orbital transfer device, including rotation orbit (1), its characterized in that: the surface mounting of rotatory track (1) has bearing (4), connecting rod (5) have been cup jointed to the inside fixed of bearing (4), the surface mounting of connecting rod (5) has fixed axle (6), the surface mounting of fixed axle (6) has support foot (7), support foot's (7) surface bolt joint has supporting platform (8), overlap joint track (9) are installed to the one end that fixed axle (6) were kept away from to support foot (7), the surface mounting of connecting rod (5) has cup jointed first conical gear (10), the surface meshing of first conical gear (10) has second conical gear (11), the axle center department of second conical gear (11) is fixed to be cup jointed motor (12), and motor (12) and supporting platform (8) bolt joint, the surface of overlap joint track (9) and rotatory track (1) is provided with docking mechanism (14), the butt joint mechanism (14) comprises a slide block (141), a spring (142) and a butt joint hole (143); the sliding block (141) is embedded in the surface of the lapping rail (9), a spring (142) is arranged between the sliding block (141) and the inner wall of the lapping rail (9), and the surface of the rotating rail (1) is provided with a butt joint hole (143); the sliding block (141) is matched with the butt joint hole (143); two ends of the rotating track (1) are rotatably connected with an anti-falling rod (2) through small bearings (41), the surface of the anti-falling rod (2) is bolted with a sliding rod (3), one end of the lapping track (9) is provided with a lapping groove (13), and the lapping groove (13) is matched with the anti-falling rod (2); the lapping rail (9) and the rotating rail (1) are arc-shaped with the same circle center, the arc shape of the lapping rail (9) is matched with the arc shape of the rotating rail (1), and the lapping rail (9) is positioned on the outer side of the rotating rail (1).

2. The inspection robot orbital transfer device of claim 1, wherein: the diameter of the top of the connecting rod (5) is larger than that of the bottom of the connecting rod, the bottom of the connecting rod (5) is provided with threads (15), and the connecting rod (5) is further provided with a key groove (16) and an axial through hole (17).

3. The inspection robot orbital transfer device of claim 2, wherein: the two ends of the rotating track (1) are both arc-shaped, and a through hole which is vertical to the bottom surface and penetrates through the circle center is communicated with the connecting rod (5) at the top.

4. The inspection robot orbital transfer device of claim 1, wherein: the anti-skidding type rotary rail is characterized in that a mounting hole (19) is formed in the bottom of the rotary rail (1), a switch (18) is arranged inside the mounting hole (19), and an anti-skidding layer (20) is bonded on the surface of the switch (18).

5. The inspection robot orbital transfer device of claim 4, wherein: the surface of supporting platform (8) is bolted with protective housing (21), and motor (12) are located the inside of protective housing (21), louvre (22) have been seted up on the surface of protective housing (21), and louvre (22) evenly distributed is on the surface of protective housing (21).

6. The inspection robot orbital transfer device of claim 5, wherein: the surface of the rotating track (1) is bolted with two supporting plates (23), and the two supporting plates (23) are respectively positioned on two sides of the thread (15) of the rotating track (1).

7. The inspection robot orbital transfer device of claim 6, wherein: the number of the anti-falling rods (2) is four, the four anti-falling rods (2) are uniformly and symmetrically distributed at two ends of the rotating track (1) respectively, and the length of the anti-falling rods (2) is matched with the depth of the lap joint groove (13).

8. The inspection robot orbital transfer device of claim 7, wherein: the number of the support legs (7) is three, and the three support legs (7) are all distributed on the outer side of the fixed shaft (6).