A multi-layer track inspection robot lift

Abstract

The present invention discloses a lift for a multi-layer track inspection robot, comprising a frame, a column installed on the frame, the column and a lifting slider are engaged and slidably assembled, the upper and lower ends of the lifting slider are respectively assembled with the two ends of a belt, the belt is respectively passed around a first pulley and a second pulley to form a belt transmission mechanism, the first pulley and the second pulley are respectively sleeved on a pulley shaft and a driving shaft, the pulley shaft and the driving shaft are respectively assembled with the column so as to be rotatable in a circle; a support arm is installed on the lifting slider, and the support arm is assembled with the lifting track; the driving shaft is directly or indirectly driven by a worm gear reduction motor, and a sensing plate is also installed on the lifting slider, the sensing plate is used to detect the position of the lifting slider, that is, to position the lifting slider; a plurality of sensor plates are installed on the side of the column along its height direction, and when the sensing plate overlaps with one of the sensor plates, the lifting slider stops moving to realize the positioning of the lifting slider.

Description

Technical Field

[0001] The invention relates to a track type inspection robot, in particular to an elevator for a multi-layer track type inspection robot. Background Art

[0002] Track-mounted inspection robots are one of the main technologies currently used for fixed-line inspections. Their principle is similar to that of subways and cloud rails, that is, they use tracks to guide the robots to walk. The robots are equipped with cameras, sensors and other detection equipment, and can thus conduct inspections using the guidance of the tracks.

[0003] In the process of track change, a lift is generally used to drive a section of track to carry the inspection robot and move it horizontally as a whole, so that the moving track and the target track are aligned, and then the inspection robot is moved to the target track to complete the track change. This method is more suitable for the method where the track is installed below the inspection robot, while the method where the track is installed above the inspection robot and the inspection robot is suspended is unreasonable due to limited horizontal space.

[0004] In response to this, the inventor has designed a multi-layer track-type inspection robot elevator, which can change the track of the inspection robot by carrying the track up and down. Summary of the invention

[0005] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to provide a lift for a multi-layer track-type inspection robot.

[0006] To achieve the above-mentioned purpose, the present invention provides a multi-layer track type inspection robot lift, comprising a frame, a column mounted on the frame, the column and the lifting slider are engaged and slidably assembled, the upper and lower ends of the lifting slider are respectively assembled with the two ends of the belt, the belt is respectively passed around the first pulley and the second pulley to form a belt transmission mechanism, the first pulley and the second pulley are respectively mounted on the pulley shaft and the driving shaft, the pulley shaft and the driving shaft are respectively assembled with the column so as to be rotatable in a circle; the lifting slider is equipped with a support arm, and the support arm is assembled with the lifting track;

[0007] The driving shaft is driven directly or indirectly by a worm gear reduction motor. A sensing plate is also installed on the lifting slider, and the sensing plate is used to detect the position of the lifting slider, that is, to position the lifting slider. A plurality of sensor plates are installed on the side of the column along its height direction. When the sensing plate overlaps with one of the sensor plates, the lifting slider stops moving to achieve the positioning of the lifting slider.

[0008] Preferably, an infrared transmitter and an infrared receiver are respectively installed on each sensor board, the infrared transmitter emits infrared rays, and the infrared receiver receives infrared rays emitted by the infrared transmitter paired with it; when the sensing plate is located at one of the sensor boards, the sensing plate will reflect the infrared rays emitted by the infrared transmitter back to the infrared receiver paired with it, and at this time it is judged that the lifting slider is located at this infrared receiver.

[0009] Preferably, the intermediate shaft is assembled with the worm wheel of the worm gear reduction motor, the worm wheel meshes with the worm part on the worm and forms a worm gear transmission mechanism, the worm is driven to rotate by the motor part, and the worm wheel drives the driving shaft to rotate.

[0010] Preferably, a detection frame and a mounting frame are respectively provided on the support arms of the lifting track and the target track, the detection frame includes a first detection frame upright plate and a second detection frame upright plate, the first detection frame upright plate is installed on the support arm corresponding to the lifting track, the second detection frame upright plate is provided with a detection base plate, and the detection base plate is provided with a detection groove; the mounting frame includes a first mounting upright plate and a second mounting upright plate, the first mounting upright plate is installed on the support arm corresponding to the target track, the second mounting upright plate is provided with an eddy current sensor, the detection end of the eddy current sensor is facing the detection base plate; the eddy current sensor can determine whether the lifting track and the target track are facing each other through the relative position with the detection groove.

[0011] Preferably, when the detection slot is completely aligned with the eddy current sensor, the lifting track and the target track are exactly aligned.

[0012] Preferably, it also includes a connecting sleeve, which is engaged and slidably mounted on the lifting track, and a threaded block is installed on the connecting sleeve, and the threaded block is mounted on the screw rod, and the screw rod is respectively assembled with the first detection frame plate and the second detection frame plate so as to be rotatable in a circular manner and not axially movable, and one end of the screw rod is connected to the output shaft of the connecting motor, and the connecting motor is installed on the straight arm corresponding to the lifting track;

[0013] After the lifting track and the target track have completed the cross-sectional alignment, the connecting motor is started to drive the screw rod to rotate in a circle, and the screw rod drives the threaded block to move toward the target track until the connecting sleeve is put on the target track.

[0014] Preferably, the connecting portion of the connecting sleeve only covers the first lifting track surface and does not cover the second lifting track surface. The first lifting track surface and the second lifting track surface are both arranged on the lifting track, and the second lifting track surface cooperates with the main guide wheel of the inspection robot.

[0015] Preferably, a connecting bevel is provided on one end of the connecting sleeve facing the target track, and the connecting bevel is used to guide the connecting sleeve to be sleeved on the target track.

[0016] Preferably, the bottom surfaces of the detection base plate and the second mounting vertical plate can be respectively fitted with the top surface of the connecting sleeve and can be slidably assembled.

[0017] Preferably, a guiding slope is provided on a side of the second mounting plate facing the connecting sleeve, and the guiding slope is used to guide the end of the connecting sleeve to enter between the second mounting plate and the target track.

[0018] The beneficial effects of the present invention are:

[0019] The present invention has a simple structure and realizes the track change of the inspection robot by lifting the track. When the track needs to be changed, the lifting track only needs to be moved in the vertical direction until it is basically aligned with the cross-section of the target track (within the error range), and then the inspection robot enters the target track through the lifting track to complete the track change. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the present invention.

[0021] Figure 2 It is a structural schematic diagram of the present invention.

[0022] Figure 3 It is a partial structural schematic diagram of the present invention.

[0023] Figure 4 It is a partial structural schematic diagram of the present invention.

[0024] Figure 5 It is a partial structural schematic diagram of the present invention.

[0025] Figure 6 It is a partial structural schematic diagram of the present invention.

[0026] Figure 7 It is a schematic diagram of the local structure of the present invention located at the column.

[0027] Figure 8 It is a schematic diagram of the structure of the connection between the track and the target track.

[0028] Fig. 9 It is a cross-sectional view of the connecting sleeve being mounted on the first rail. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0030] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0031] The relevant structure of the inspection robot of this embodiment can be found in the Chinese invention patent application entitled “A patrol robot hoisting track assembly” and the Chinese invention patent application entitled “A patrol robot walking mechanism” filed on the same day as the present case.

[0032] See also Figure 1-Figure 7 The multi-layer rail inspection robot elevator of this embodiment includes a frame 110, on which a column 120 is installed. The column 120 is engaged with a lifting slider 130 and can be slidably assembled. The upper and lower ends of the lifting slider 130 are respectively assembled with the two ends of the belt 410, and the belt 410 is respectively passed around the first pulley 411 and the second pulley 412 to form a belt transmission mechanism. The first pulley 411 and the second pulley 412 are respectively mounted on the pulley shaft 530 and the driving shaft 510, and the pulley shaft 530 and the driving shaft 510 are respectively assembled with the column 120 so that they can rotate in a circle; the lifting slider 130 is installed with a support arm 140, and the support arm 140 is assembled with the lifting track 310 by bolts, so that when the lifting slider 130 moves, the lifting track 310 can be driven to rise and fall synchronously.

[0033] The driving shaft 510 is assembled with the worm wheel 212 of the worm gear reduction motor 210 through the intermediate shaft 520. The worm wheel 212 meshes with the worm part on the worm 213 to form a worm gear transmission mechanism. The worm 213 is driven to rotate by the motor part 211. After the motor part 211 is started, it can drive the worm 213 to rotate in a circle, thereby driving the worm wheel 212 to rotate. The worm wheel 212 drives the driving shaft 510 to rotate, thereby driving the lifting slider 130 to rise and fall along the column 120 through the belt. Preferably, the worm 213 is also assembled with a hand wheel 220. When the speed is adjusted, there is no electricity, and manual operation is required, the worm can be driven to rotate by the hand wheel 220, thereby driving the lifting slider 130 to rise and fall.

[0034] Preferably, the lifting slider 130 is also equipped with a sensing plate 150, which is used to detect the position of the lifting slider 130, that is, to position the lifting slider 130. Specifically, a plurality of sensor plates 160 are installed along the height direction of the side of the column 120, and an infrared transmitter 231 and an infrared receiver 232 are installed on each sensor plate 160, respectively. The infrared transmitter 231 transmits infrared rays, and the infrared receiver receives infrared rays emitted by the infrared transmitter 231 paired therewith. When in use, when the sensing plate 150 is located at the sensor plate 160, the sensing plate 150 will reflect the infrared rays emitted by the infrared transmitter 231 back to the infrared receiver 232 paired therewith, and at this time, it is determined that the lifting slider 130 is located at the infrared receiver 232, and the lifting slider 130 stops moving to achieve the positioning of the lifting slider 130.

[0035] When in use, one lift corresponds to multiple target tracks 320 in the vertical direction. When track change is required, the lift track 310 only needs to be moved in the vertical direction until it is basically aligned with the cross section of the target track 320 (within the error range), and then the inspection robot enters the target track 320 through the lift track 310 to complete the track change. However, this method needs to solve the following problems:

[0036] 1. How to achieve precise positioning of the lifting track 310 and the target track 320, with an accuracy of at least millimeter level, preferably micrometer level.

[0037] 2. How can the inspection robot smoothly pass through the connection between the lifting track 310 and the target track 320? Because there is a gap between the lifting track 310 and the target track 320, and in order to facilitate the lifting and lowering of the lifting track, this gap is at least at the decimeter level. At this time, even if the inspection robot can pass through, it will still produce a large vibration, and it is easy to cause the secondary guide wheel to be directly stuck at the connection between the lifting track 310 and the target track 320, resulting in the inability to change tracks or even derailment.

[0038] The inventor has made the following improvements to this:

[0039] See also Figure 8-Figure 9For the first point, the inventors install a detection frame 170 and a mounting frame 190 on the support arms 140 of the lifting track 310 and the target track 320, respectively. The detection frame 170 includes a first detection frame stand plate 171 and a second detection frame stand plate 172. The first detection frame stand plate 171 is installed on the support arm 140 corresponding to the lifting track 310, and a detection base plate 180 is installed on the second detection frame stand plate 172. The detection base plate 180 is provided with a detection slot 181; the mounting frame 190 includes a first mounting stand plate 191 and a second mounting stand plate 192. The first mounting stand plate 191 is installed on the support arm 140 corresponding to the target track 320, and an eddy current sensor 250 is installed on the second mounting stand plate 192. The detection end of the eddy current sensor 250 is directly opposite to the detection base plate 180. When in use, the eddy current sensor 250 can determine whether the lifting track 310 and the target track 320 are directly opposite by the relative position with the detection slot 181. Specifically, the accuracy of the eddy current sensor can reach tens of microns, and when the detection slot 181 facing it gradually faces it, the signal strength of the eddy current sensor will change, and this signal is strongest when the detection slot 181 is completely opposite to the eddy current sensor. Therefore, when the detection slot 181 is completely opposite to the eddy current sensor, the lifting track 310 and the target track 320 are exactly opposite, which can achieve accurate positioning of the lifting track 310 and the target track 320. In this embodiment, the eddy current sensor can be replaced by a Hall sensor, and a magnet is installed in the detection slot 181. At this time, positioning can also be achieved by detecting the magnetic field of the magnet through the Hall sensor, but its accuracy is not high and it is easily disturbed.

[0040] For the second point, the inventor designed a connecting sleeve 330, which is engaged and slidably mounted on the lifting track 310, and a threaded block 332 is installed on the connecting sleeve 330, and the threaded block 332 is mounted on the screw 540, and the screw 540 is respectively assembled with the first detection frame plate 171 and the second detection frame plate 172 to be rotatable in a circular manner and not axially movable, and one end of the screw 540 is connected to the output shaft of the connecting motor 240, and the connecting motor 240 is mounted on the straight arm 140 corresponding to the lifting track 310. After the lifting track and the target track are positioned in the cross section, the connecting motor 240 is started, thereby driving the screw 540 to rotate in a circular manner, and the screw 540 drives the threaded block 332 to move toward the target track until the connecting sleeve 330 is mounted on the target track 320. At this time, although the connecting sleeve 330 has a certain thickness, the walking wheel 01 and the auxiliary guide wheel are both suspended structures, so this thickness can be easily crossed. Preferably, the connecting portion 333 of the connecting sleeve 330 only covers the first lifting track surface 111, and does not cover the second lifting track surface 112. The first lifting track surface 111 and the second lifting track surface 112 are both arranged on the lifting track, and the second lifting track surface 112 cooperates with the main guide wheel 02. Since the main guide wheel 02 on the inspection robot is fixed relative to the walking mechanism, and its diameter is relatively large, it can easily cross the gap between the lifting track 310 and the target track 320. Therefore, not setting a connecting sleeve connection can prevent the main guide wheel from getting stuck, and can simplify the structure of the connecting sleeve, thereby reducing costs. Through the design of the connecting sleeve 330, it is possible to prevent the auxiliary guide wheel from getting stuck between the lifting track and the target track, and it is also possible to ensure that the walking wheel smoothly passes through the connecting sleeve and transitions to the target track, thereby achieving a smooth track change of the inspection robot.

[0041] Preferably, a connection bevel 331 is provided on one end of the connection sleeve 330 facing the target track 320 , and the connection bevel 331 is used to guide the connection sleeve 331 to be sleeved on the target track 320 .

[0042] Preferably, the bottom surfaces of the detection base plate 180 and the second mounting plate 192 can be fitted and slidably assembled with the top surface of the connecting sleeve 330. This design can provide guidance for the movement of the connecting sleeve 180 on the one hand, and can make the connecting sleeve more stable in the cross-sectional direction when connecting the lifting track and the target track on the other hand, thereby preventing the connecting sleeve from being skewed in the cross-sectional direction when the inspection robot passes through the connecting sleeve.

[0043] Preferably, a guiding slope 1921 is provided on a side of the second mounting plate 192 facing the connecting sleeve, and the guiding slope 1921 is used to guide the end of the connecting sleeve 330 to enter between the second mounting plate 192 and the target track.

[0044] The matters not described in detail in the present invention are all known technologies to those skilled in the art.

[0045] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A multi-layer track inspection robot lift, characterized by: The machine comprises a frame, a column is installed on the frame, the column is engaged with a lifting slider and can be slidably assembled, the upper and lower ends of the lifting slider are respectively assembled with the two ends of the belt, the belt is respectively passed around the first pulley and the second pulley to form a belt transmission mechanism, the first pulley and the second pulley are respectively mounted on the pulley shaft and the driving shaft, the pulley shaft and the driving shaft are respectively assembled with the column so as to be rotatable in a circle; the lifting slider is equipped with a support arm, and the support arm is assembled with the lifting track; The driving shaft is driven directly or indirectly by a worm gear reduction motor, and a sensing plate is also installed on the lifting slider, which is used to detect the position of the lifting slider, that is, to position the lifting slider; a plurality of sensor plates are installed on the side of the column along its height direction, and when the sensing plate overlaps with one of the sensor plates, the lifting slider stops moving to realize the positioning of the lifting slider; A detection frame and a mounting frame are respectively mounted on the support arms of the lifting track and the target track, the detection frame comprises a first detection frame stand plate and a second detection frame stand plate, the first detection frame stand plate is mounted on the support arm corresponding to the lifting track, a detection base plate is mounted on the second detection frame stand plate, and a detection slot is arranged on the detection base plate; the mounting frame comprises a first mounting plate and a second mounting plate, the first mounting plate is mounted on the support arm corresponding to the target track, an eddy current sensor is mounted on the second mounting plate, and the detection end of the eddy current sensor is facing the detection base plate; the eddy current sensor can judge whether the lifting track and the target track are facing each other through the relative position with the detection slot; It also includes a connecting sleeve, which is engaged and slidably mounted on the lifting track, and a threaded block is installed on the connecting sleeve, and the threaded block is mounted on the screw rod, and the screw rod is respectively assembled with the first detection frame plate and the second detection frame plate so as to be rotatable in a circular manner and not axially movable, and one end of the screw rod is connected to the output shaft of the connecting motor, and the connecting motor is installed on the straight arm corresponding to the lifting track; After the lifting track and the target track have completed the cross-section alignment, the connecting motor is started to drive the screw to rotate in a circle, and the screw drives the threaded block to move toward the target track until the connecting sleeve is put on the target track; The connecting part of the connecting sleeve only covers the first lifting track surface and does not cover the second lifting track surface. The first lifting track surface and the second lifting track surface are both arranged on the lifting track, and the second lifting track surface cooperates with the main guide wheel of the inspection robot.

2. The multi-layer rail inspection robot lift as claimed in claim 1, characterized in that: An infrared transmitter and an infrared receiver are respectively installed on each sensor board. The infrared transmitter emits infrared rays, and the infrared receiver receives infrared rays emitted by the infrared transmitter paired with it. When the sensing plate is located at one of the sensor boards, the sensing plate will reflect the infrared rays emitted by the infrared transmitter back to the infrared receiver paired with it. At this time, it is judged that the lifting slider is located at this infrared receiver.

3. The multi-layer rail inspection robot lift as claimed in claim 1, characterized in that: The intermediate shaft is assembled with the worm wheel of the worm gear reduction motor, and the worm wheel is meshed with the worm part on the worm to form a worm gear transmission mechanism. The worm is driven to rotate by the motor part, and the worm wheel drives the driving shaft to rotate.

4. The multi-layer rail inspection robot lift as claimed in claim 1, characterized in that: When the detection slot is completely aligned with the eddy current sensor, the lifting track and the target track are exactly aligned.

5. The multi-layer rail inspection robot lift as claimed in claim 1, characterized in that: A connecting bevel is provided on one end of the connecting sleeve facing the target track, and the connecting bevel is used to guide the connecting sleeve to be sleeved on the target track.

6. The multi-layer rail inspection robot lift as claimed in claim 1, characterized in that: The bottom surfaces of the detection base plate and the second mounting vertical plate can respectively fit with the top surface of the connecting sleeve and can be slidably assembled.

7. The multi-layer rail inspection robot lift as claimed in claim 6, characterized in that: A guiding slope is provided on one side of the second mounting vertical plate facing the connecting sleeve, and the guiding slope is used to guide the end of the connecting sleeve to enter between the second mounting vertical plate and the target track.

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