[0029] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
[0030] see figure 1 , An orbital inspection robot with autonomous orbital change function, including a traverse system 1, two gripping systems 2 connected to the traverse system 1, and a power system 3;
[0031] see figure 2 , The traverse system 1 includes two traverse components and a sliding block connector 13 connected between the two traverse components. Each traverse component includes a traverse base plate 11, which is fixedly arranged on the traverse base plate 11. The traverse guide rail 12, the traverse slider set on the traverse guide rail 12, the ball screw bracket 14 fixed on the traverse base plate 11, the ball screw nut assembly connected to the ball screw bracket 14, and the connection On the nut connector 18 on the ball screw nut assembly, the traverse guide rails 12 of the two traverse components are parallel to each other, and the traverse sliders of the two traverse components are fixedly connected to the slider connector 13, and the ball screw nut The assembly includes a ball screw drive motor 15 fixed to one end of the ball screw support 14, a ball screw 16 connected to the ball screw support 14 and connected to the drive shaft of the ball screw drive motor 15, and is sleeved on the ball screw The moving nut 17 on the ball screw 16 and the axis of the traverse guide 12 are parallel to each other, the moving nut 17 is fixedly connected with the nut connector 18 sleeved on the ball screw 16, and the top of the ball screw bracket 14 is fixed There is a slide rail 19, the axis of the slide rail 19 is parallel to the axis of the ball screw 16, and the slide rail 19 is slidably provided with a power system traverse slider 110 fixedly connected with the nut connector 18;
[0032] see figure 2 , The two gripping systems 2 are respectively connected to the two transversal components of the transversal system and are respectively located outside the ball screw nut assembly of the corresponding transversal member, and each gripping system includes a base plate fixed to the corresponding transversal 11 on the opening and closing guide rail and the positive and negative screw assembly, the two opening and closing sliders 21 slidably arranged on the opening and closing guide rail, the bottom end of the push rod base 22 fixed on each opening and closing slider 21, connected to each A lifting push rod 23 on a push rod base 22, a pawl 24 fixedly connected to the top of each lifting push rod 23, the positive and negative screw rod assembly includes a positive and negative screw bracket 25 fixed on the traverse base 11, The positive and negative screw drive motor 26 fixed on the positive and negative screw support 25, the positive and negative lead screw 27 connected to the positive and negative screw support 25 and driven by the positive and negative screw drive motor 26, set on the positive and negative screw 27 on the forward nut 28 and reverse nut 29 (see figure 1 ), the axis of the opening and closing guide rail and the axis of the positive and negative screw 27 are parallel to the axis of the ball screw 17, the positive nut 28 and the reverse nut 29 of the positive and negative screw assembly are respectively connected to the two push rod bases 22 one by one Corresponding and fixed connection; wherein each gripping system has two clamping claws 24 on the opposite clamping surface provided with track positioning grooves;
[0033] see figure 2 , The power system 3 includes a mounting base 31, four guide shafts 32 whose bottom ends are fixed on the mounting base 31, a spring 33 sleeved on each guide shaft 32, and a drive motor sleeved on the four guide shafts 32 through bearings. Mounting frame 34, a drive motor 35 mounted on the drive motor mounting frame 34, a drive wheel 36 fixedly connected to the drive shaft of the drive motor 35, two gear mounting seats 37 fixed on the mounting base 31, and each gear The gear transmission unit 38 on the mounting base 37, the opening and closing motor 39, the two sets of hanging wheel mounting brackets 310, and the hanging wheels 311 connected to the top of each set of hanging wheel mounting brackets, the lower end surface of the bottom plate 31 and the two transverse moving parts are installed The traverse slider 110 of the power system is fixedly connected, the bottom end of the spring 33 is fixedly connected to the mounting base 31, the top end of the spring 33 is fixedly connected to the drive motor mounting frame 34, and the drive motor mounting frame 34 is located between the two gear mounting seats 37 The drive motor mounting frame 34 is a rectangular frame structure. A drive wheel 36 is connected between the two opposite frames of the rectangular frame structure. The drive wheel 36 is fixedly connected to the drive shaft of the drive motor 35. The top level of the drive wheel 36 is higher than the drive shaft. The level of the top end of the motor mounting frame 34. The gear transmission group includes a driving gear fixedly connected to the drive shaft of the opening and closing motor 39, and two driven gears respectively meshing with the driving gear. The opening and closing motor 39 is connected to the two gears. The two drive shafts between the seats 37 and the opening and closing motor 39 extending backwards are respectively fixedly connected to the driving gears of the gear transmission sets 38 on the two gear mounting seats, and each set of hanging wheel mounting brackets 310 includes two vertical frames The bottom ends of the two vertical frame bodies are respectively fixedly connected to the two driven gears of the corresponding set of gear transmission sets 38, and the opposite vertical sides of the two vertical frame bodies are connected with vertically arranged Hanging wheel 311.
[0034] The working principle of the present invention:
[0035] (1) Initial state, at this time the hanging wheel 311 of the power system 3 is in the closed state and locked on the initial track 4; two gripping systems 2 (left gripping system 2-1 and right gripping system 2-2 )'S claws 24 are in an open state, located below the initial track 4, such as image 3 Shown
[0036] (2) The lifting push rod 23 of the right grasping system 2-2 drives the two claws 24 to rise, and then the two claws 24 are driven by the positive and negative screw drive motor 26 to close and lock the initial track 4, and the left grasping system The two jaws 24 of 2-1 are still open, such as Figure 4 Shown
[0037] (3) The ball screw drive motor 15 of the traverse component corresponding to the left gripping system 2-1 is activated, the ball screw drive motor 15 of the traverse component corresponding to the right gripping system 2-2 is turned off, and the left gripping system The traverse component corresponding to 2-1 drives the left gripping system 2-1 to move laterally below the track 5, and then the lifting push rod 23 of the left gripping system 2-1 drives the two claws 24 to rise, The two claws 24 are driven by the positive and negative screw drive motor 26 to close and lock the rail 5, at this time the two claws 24 of the right gripping system 2-2 are still locked on the initial rail 4, such as Figure 5 with 6 Shown
[0038] (4) The hanging wheel 311 of the power system is driven and opened by the opening and closing motor 39, and then the ball screw driving motors 15 of the two traverse components of the traverse system 2 are started, thereby driving the power system 3 to traverse to the rail 5 And driven by the opening and closing motor 39 to close and lock the hanging wheel 311 on the rail 5, such as Figure 7 , 8 And 9;
[0039] (5) The two pawls 24 of the right grasping system 2-2 are driven to open by the positive and negative screw drive motor 26, and then the lifting push rod 23 of the right grasping system 2-2 drives the two pawls 24 to lower, right The ball screw drive motor 15 of the traverse component corresponding to the gripping system 2-2 is activated, the ball screw drive motor 15 of the traverse component corresponding to the left gripping system 2-1 is turned off, and the right gripping system 2-2 corresponds to The traversing component drives the right gripping system 2-2 to move horizontally below the rail 5, and the two claws 24 of the right gripping system 2-2 are in an open state, such as Picture 10 with 11 Shown
[0040] (6) The positive and negative screw drive motor 26 of the left grasping system 2-1 drives the two jaws 24 to open, and the lifting push rod 23 of the left grasping system 2-1 drives the two jaws 24 to lower. At this time, The two claws 24 of the left gripping system 2-1 and the right gripping system 2-2 are both located under the rail 5 and are in an open state, and the hanging wheel 311 of the power system 3 is closed and locked on the rail 5;
[0041] (7) After the track change, the drive wheel 36 of the power system is in close contact with the bottom surface of the track change track 5 under the elastic support of the spring 33, so as to provide the friction required for the rotation of the drive wheel 36, and the drive motor 35 starts to drive the drive The wheel 36 rotates, so that the power system 3 drives the entire orbital inspection robot of the present invention to move along the track 5 to realize the function of track inspection.
[0042] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. And variations, the scope of the present invention is defined by the appended claims and their equivalents.
