A single-motor-driven inspection robot load platform for steering and linear motion

Abstract

The present invention discloses a single-motor driven inspection robot load platform for steering and linear motion, including a load platform body, one end of which is horizontally and rotatably mounted on a slider through a rotating shaft seat, the slider is slidably mounted on a linear guide rail, the linear guide rail is fixedly mounted on the central part of the upper side of a main gear disc, the left and right sides of the main gear disc are parallel to the linear guide rail and are provided with linear racks, the front side of the main gear disc is provided with an arc rack, and the arc rack is connected with two linear racks to form a combined rack; a motor is fixedly mounted on the other end of the load platform body, the output shaft of the motor vertically passes through the main gear disc and is fixedly provided with a gear, and the gear is meshed and connected with the combined rack. The present application can realize all-directional inspection without dead angles in a plane, and the single-motor control can make the maintenance and control of the load platform of the present application simpler, the implementation method is more reliable, and the manufacturing cost is lower.

Description

Technical Field

[0001] The invention relates to the technical field of inspection robots, and in particular to an inspection robot load platform driven by a single motor for steering and linear motion. Background Art

[0002] The inspection robot uses a mobile robot as a carrier, visible light cameras, infrared thermal imagers and other detection instruments as a payload system, and an embedded computer as a control system's hardware and software development platform. It has functions such as obstacle detection, identification and positioning, autonomous operation planning, autonomous obstacle crossing, autonomous inspection of line corridors, inspection images and data, and background inspection operation management and analysis and diagnosis.

[0003] The data center inspection robot used in indoor computer rooms travels along a predetermined planned route in a fixed corridor. When it reaches the scanning position of a control cabinet, it turns on the detection instrument in the terminal box and prepares to inspect the data center control cabinet at this station. The detection instrument of the existing data center inspection robot used in indoor computer rooms is fixed on the robot arm through a load platform. There is no relative movement between the load platform and the inspection robot. The inspection accuracy is completely controlled by the robot. Since there will be certain errors in the operation of the robot, it takes time for the robot to correct its own errors, and the detection efficiency is low. In addition, due to the large size of the robot itself, it cannot reach corners or extreme corners, and it is easy to have detection blind spots. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a single-motor driven inspection robot load platform for steering and linear motion.

[0005] The technical solution adopted by the present invention is:

[0006] A single-motor driven inspection robot load platform for steering and linear motion comprises a load platform body, one end of the load platform body is horizontally rotatably mounted on a slider through a rotating shaft seat, the slider is slidably mounted on a linear guide rail, the linear guide rail is fixedly mounted on the central part of the upper side surface of a main gear disc, the left and right sides of the main gear disc are parallel to the linear guide rail and are provided with linear racks, the front side surface of the main gear disc is provided with an arc rack, and the arc rack is connected with the two linear racks to form a combined rack; a motor is fixedly mounted on the other end of the load platform body, the output shaft of the motor vertically downward passes through the load platform body and is fixedly sleeved with a gear, the gear is meshed and connected with the combined rack for transmission, when the motor drives the gear to move along one end of the combined rack to the other end, the load platform is driven to move linearly from the rear side of the main gear disc to the front side of the main gear disc, and then turns 180 degrees and then moves linearly from the front side of the main gear disc to the rear side of the main gear disc; the rear side surface of the main gear disc is fixedly mounted on one end of a rotating support, and the other end of the rotating support is rotatably connected to a fixed support, and the fixed support is used to fix the inspection robot.

[0007] Furthermore, an inner guide groove is provided on the upper side surface of the main gear plate, and the inner guide groove is composed of two parallel inner linear guide grooves located on both sides of the linear guide rail and an inner circular arc guide groove connecting the two inner linear guide grooves and concentrically arranged with the circular arc rack. An inner guide shaft is provided at one end of the load platform body close to the rotating shaft seat, and an inner guide bearing is fixedly mounted on the inner guide shaft, and the inner guide bearing is in rolling contact with the outer wall of the inner guide groove.

[0008] Furthermore, limiting parts are provided on both sides of the bottom of the slider, the limiting parts and the inner guide shaft are both located in the inner guide groove and the bottom of the slider limiting part is lower than the bottom surface of the inner guide bearing, and a limiting notch is provided at the front end of the inner linear guide groove, and the limiting notch is used to limit the sliding of the slider.

[0009] Furthermore, an outer guide groove is provided on the upper side surface of the main gear plate, and the outer guide groove is located on the outside of the inner guide groove. The outer guide groove consists of two linear outer guide grooves parallel to the linear guide rail and an outer arc guide groove connecting the two linear outer guide grooves and concentrically arranged with the arc rack. An outer guide shaft is provided at one end of the load platform body close to the motor, and an outer guide bearing is fixedly mounted on the outer guide shaft, and the outer guide bearing is in rolling contact with the outer side wall of the outer guide groove.

[0010] Furthermore, the shaft seat is arranged on the load platform body, and a shaft is rotatably arranged in the shaft seat through a deep groove ball bearing. The lower end of the shaft is fixedly connected to the slider, and the upper end of the shaft extends out of the shaft seat and is fixedly connected to the inner ring of the deep groove ball bearing through a locking nut.

[0011] Furthermore, the rotating shaft is a hollow shaft, and the cavity of the rotating shaft is used for passing the wire.

[0012] Beneficial effects of the present invention:

[0013] 1. The present application has a compact structure and can realize horizontal rotation and linear motion by controlling a single motor, thereby making the maintenance and control of the load platform of the present application simpler, the implementation method more reliable, and the manufacturing cost lower.

[0014] 2. When the motor is running in a straight segment, the position of the load platform can be adjusted back and forth. When it rotates to another straight segment through an arc segment, it can also run in the same mode, and the motor can be stopped at any position for detection, thereby forming an all-directional, no-dead-angle inspection in the plane of this application.

[0015] 3. This application can completely and accurately read the signals on the panels at each position, and has technical characteristics such as high precision, high stability, and easy control.

[0016] 4. This application is all rolling friction, the mechanism itself has little wear and tear, and there is no complicated auxiliary control mechanism, so it is more durable. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The three-dimensional structure diagram of the inspection robot load platform of the present invention is shown in FIG. Figure 1 .

[0018] Figure 2 The three-dimensional structure diagram of the inspection robot load platform of the present invention is shown in FIG. Figure 2 .

[0019] Figure 3 It is a partial cross-sectional view of the inspection robot load platform of the present invention.

[0020] Figure 4 It is a three-dimensional structural schematic diagram of the main gear plate of the present invention.

[0021] Figure 5 It is a schematic diagram of the three-dimensional structure of the rotating support of the present invention.

[0022] Figure 6 It is a schematic diagram of the three-dimensional connection structure of the slider and the rotating shaft of the present invention.

[0023] Main reference numerals:

[0024] 1. Fixed support; 2. Rotating support; 3. Load platform body; 41. Linear guide; 42. Slider; 5. Rotating shaft seat; 6. Deep groove ball bearing; 7. Main gear plate; 8. Locking nut; 9. Motor; 10. Rotating shaft; 12. Gear. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present invention more clear, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and a preferred implementation manner.

[0026] Implementation

[0027] See also Figure 1 to Figure 6 This embodiment provides a single-motor driven inspection robot load platform for steering and linear motion, including a fixed support 1, a rotating support 2, a main gear plate 3, a linear guide rail 41, a slider 42, a rotating shaft seat 5 and a load platform body 7.

[0028] One end of the load platform body 3 is horizontally rotatably mounted on the slider 42 through the rotating shaft seat 5, the slider 42 is slidably mounted on the linear guide 41, the linear guide 41 is fixedly mounted on the central part of the upper side of the main gear plate 7, the left and right sides of the main gear plate 7 are parallel to the linear guide 41 and are provided with a first linear rack 711 and a second linear rack 712, the front side of the main gear plate 7 is provided with an arc rack 713, the first linear rack 711, the arc rack 713, and the second linear rack 712 are sequentially connected to form a combined rack 71; the other end of the load platform body 7 is fixedly mounted with a motor 9 The output shaft of the motor vertically passes through the load platform body 3 and is fixedly mounted with a gear 12. The gear 12 is meshed and connected with the combined rack 71. When the motor 9 drives the gear 12 to move along one end of the combined rack 71 to the other end, it drives the load platform 3 to move linearly from the rear side of the main gear disk 7 to the front side of the main gear disk, and then turns 180° and moves linearly from the front side of the main gear disk to the rear side of the main gear disk; the rear side surface of the main gear disk 7 is fixedly installed on the lower end of the rotating support 2, and the upper end of the rotating support 2 is rotatably connected to the fixed support 1, and the fixed support 1 is used to fix the inspection robot.

[0029] The fixed support 1 is fixed on the lifting mechanism of the inspection robot, the upper end of the rotating support 2 is provided with a hinge hole 21, and the fixed support 1 is provided with a hinge shaft. The rotating support 2 and the fixed support 1 are rotatably connected through the hinge shaft and the hinge hole 21. With this design, the installation angle of the rotating support 2 can be adjusted by rotation, thereby ensuring the level of the load platform body 7, and it can be locked by screws after leveling.

[0030] In this embodiment, the shaft seat 5 is designed as an integral unit with the load platform body 7. A shaft 10 is rotatably arranged in the shaft seat 5 through a deep groove ball bearing 6. The lower end of the shaft 10 is fixedly connected to the slider 42. The upper end of the shaft 10 extends out of the shaft seat 5 and is fixedly connected to the inner ring of the deep groove ball bearing 6 through a locking nut 8. Preferably, the shaft 10 is a hollow shaft, and the shaft cavity is used to pass the wire. The wire harness is relatively isolated from the moving part, so as to protect the wire harness.

[0031] In this embodiment, a guide rail mounting portion 74 is provided in the central portion of the upper side surface of the main gear disk 7, and inner guide grooves 72 are opened on both sides of the guide rail mounting portion 74. The inner guide groove 72 is composed of two inner linear guide grooves parallel to the linear guide rail 41 and an inner circular arc guide groove connecting the two inner linear guide grooves and concentrically arranged with the circular arc rack 713; an inner guide shaft 31 is provided at one end of the load platform body 3 close to the rotating shaft seat 5, and an inner guide bearing 311 is fixedly mounted on the inner guide shaft 31, and the inner guide bearing 311 is in rolling contact with the outer wall of the inner guide groove 72.

[0032] Four pillar-shaped limiting parts 421 are provided on both sides of the bottom of the slider 42. The four limiting parts 421 are distributed in pairs on both sides of the linear guide rail 41. The inner side surface of the limiting part 421 slides and fits the side surface of the linear guide rail 41. The slider limiting part 421 and the inner guide shaft 72 are both located in the inner guide groove 72. The inner guide shaft 72 is located at the front side of the slider limiting part 421. The bottom of the slider limiting part 421 is lower than the bottom surface of the guide bearing 721. The front end of the linear guide section of the inner guide groove 72 is provided with a limiting notch 721, that is, the bottom surface of the inner linear guide groove is lower than the bottom surface of the inner arc guide groove. When the gear 12 enters the inner arc guide groove from the inner linear guide groove, the movement of the slider 42 is limited by the limiting notch 721, so that the motor 9 drives the load platform 3 to rotate around the rotating shaft 10, so that it enters the arc section.

[0033] An outer guide groove 73 is provided on the upper side of the main gear plate 7. The outer guide groove 73 is located outside the inner guide groove 72. The outer guide groove 73 is composed of two linear outer guide grooves parallel to the linear guide rail 41 and an outer arc guide groove connecting the two linear outer guide grooves and concentrically arranged with the arc rack 713. An outer guide shaft 32 is provided at one end of the load platform body 7 close to the motor 10. An outer guide bearing 321 is fixedly mounted on the outer guide shaft 32. The outer guide bearing 321 is in rolling contact with the outer side wall of the outer guide groove 73. In this embodiment, there are two outer guide shafts 32, and the two outer guide shafts 32 are symmetrically distributed along the output shaft of the motor 9.

[0034] By cooperating the inner guide shaft 31 with the inner guide groove 72, the outer guide shaft 32 with the outer guide groove 73, and the slider 42 with the linear guide rail 41, when the motor 9 drives the gear 12 to move along one end of the combined rack 71 to the other end, the load platform 3 can stably move linearly from the rear side of the main gear disk 7 to the front side of the main gear disk, then turn 180° and move linearly from the front side of the main gear disk to the rear side of the main gear disk, thereby realizing all-directional inspection without blind spots in the plane.

[0035] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications are also within the protection scope of the present invention.

Claims

1. A single motor driven inspection robot load platform for steering and linear motion, comprising a load platform body, characterized in that: One end of the load platform body is horizontally rotatably mounted on the slider through a rotating shaft seat, and the slider is slidably mounted on the linear guide rail. The linear guide rail is fixedly mounted on the central part of the upper side surface of the main gear disk, and the left and right sides of the main gear disk are parallel to the linear guide rail and are provided with linear racks, and the front side surface of the main gear disk is provided with an arc rack, and the arc rack is connected with the two linear racks to form a combined rack; a motor is fixedly mounted on the other end of the load platform body, and the output shaft of the motor vertically downward passes through the load platform body and is fixedly sleeved with a gear, and the gear is meshed and connected with the combined rack for transmission. When the motor drives the gear to move along one end of the combined rack to the other end, it drives the load platform to move linearly from the rear side of the main gear disk to the front side of the main gear disk, and then turns 180° and moves linearly from the front side of the main gear disk to the rear side of the main gear disk; the rear side surface of the main gear disk is fixedly mounted on one end of the rotating support, and the other end of the rotating support is rotatably connected to the fixed support, and the fixed support is used to fix the inspection robot; An inner guide groove is provided on the upper side of the main gear plate, an inner guide shaft is provided at one end of the load platform body close to the rotating shaft seat, an inner guide bearing is fixedly sleeved on the inner guide shaft, and the inner guide bearing is in rolling contact with the outer wall of the inner guide groove; The shaft seat is arranged on the load platform body, and a shaft is rotatably arranged in the shaft seat through a deep groove ball bearing. The lower end of the shaft is fixedly connected to the slider, and the upper end of the shaft extends out of the shaft seat and is fixedly connected to the inner ring of the deep groove ball bearing through a locking nut.

2. The single-motor driven steering and linear motion inspection robot load platform according to claim 1, characterized in that: The inner guide groove is composed of two parallel inner linear guide grooves located on both sides of the linear guide rail and an inner circular arc guide groove connecting the two inner linear guide grooves and arranged concentrically with the circular arc rack.

3. The single-motor driven steering and linear motion inspection robot load platform according to claim 1, characterized in that: Limiting parts are provided on both sides of the bottom of the slider. The limiting parts and the inner guide shaft are both located in the inner guide groove, and the bottom of the slider limiting part is lower than the bottom surface of the inner guide bearing. A limiting notch is provided at the front end of the inner linear guide groove, and the limiting notch is used to limit the sliding of the slider.

4. The single-motor driven steering and linear motion inspection robot load platform according to claim 1, characterized in that: An outer guide groove is provided on the upper side of the main gear plate, and the outer guide groove is located on the outside of the inner guide groove. The outer guide groove consists of two linear outer guide grooves parallel to the linear guide rail and an outer arc guide groove connecting the two linear outer guide grooves and concentrically arranged with the arc rack. An outer guide shaft is provided at one end of the load platform body close to the motor, and an outer guide bearing is fixedly mounted on the outer guide shaft, and the outer guide bearing is in rolling contact with the outer side wall of the outer guide groove.

5. The single-motor driven steering and linear motion inspection robot load platform according to claim 1, characterized in that: The rotating shaft is a hollow shaft, and the cavity of the rotating shaft is used for passing the wire.

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