A traction inspection robot

Abstract

This invention discloses a traction-type inspection robot, relating to the field of inspection robot technology. It includes a first support base, a second support base, a robot body, a traction rope, a traction drive mechanism, two load-bearing mechanisms, and multiple lifting hooks. The load-bearing mechanism includes a load-bearing rope and a tensioning assembly. The robot body includes a chassis, two bogies, and two sliding mechanisms. The lower end of each bogie is rotatably mounted on the chassis. Each sliding mechanism is located on the upper part of one bogie and is slidably mounted on the two load-bearing ropes. The traction drive mechanism drives the robot body to move along the load-bearing ropes. The lifting hooks include a main frame, two hangers, and two elastic guide mechanisms. Each hanger is fitted onto one load-bearing rope. The two elastic guide mechanisms are symmetrically arranged on the main frame, and the traction rope can pass between the two elastic guide mechanisms. This traction-type inspection robot has a steering function, a relatively low track weight, low cost, and is easy to construct.

Description

Technical Field

[0001] The invention relates to the technical field of inspection robots, and in particular to a traction-type inspection robot. Background Art

[0002] In the existing scheme, the steel wire that pulls the robot is arranged beside and parallel to the rigid track, and is wound around the wheel at the end of the rigid track. Since the driving steel wire is only tightened at both ends, it can only be arranged in a straight line and cannot achieve the steering function. At the same time, since it uses a rigid track, it has a large dead weight, is difficult to construct and has a high cost. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a traction inspection robot with a steering function, a small track weight, low cost and easy construction.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides a traction inspection robot, comprising a first support seat, a second support seat, a robot body, a traction rope, a traction drive mechanism, two load-bearing mechanisms and a plurality of lifting hooks, wherein the load-bearing mechanism comprises a load-bearing rope and a tensioning assembly, wherein the tensioning assembly is mounted on the second support seat, one end of the load-bearing rope is fixed on the first support seat, and the other end of the load-bearing rope is tensioned by the tensioning assembly; the robot body comprises a vehicle body, two bogies and two sliding mechanisms, wherein the lower end of each of the bogies is rotatably mounted on the vehicle body, each of the sliding mechanisms is arranged on the upper part of one of the bogies, each of the sliding mechanisms is used for being slidably mounted on the two load-bearing ropes, and the traction drive mechanism is used for driving the robot body to move along the load-bearing ropes through the traction ropes; the lifting hook comprises a main frame, two hangers and two elastic guide mechanisms, wherein the two hangers are respectively arranged on both sides of the main frame, each of the hangers is used for being sleeved on one of the load-bearing ropes, and the two elastic guide mechanisms are symmetrically arranged on the main frame, and the traction rope can pass between the two elastic guide mechanisms.

[0006] Preferably, the robot body further comprises two traction rope fixing mechanisms, and each of the traction rope fixing mechanisms is arranged on the upper part of one of the bogies.

[0007] Preferably, the traction drive mechanism includes a driving wheel, a driving component and a driven wheel, the driving wheel is rotatably mounted on the first support seat, the driving component is used to drive the driving wheel to rotate, the driven wheel is rotatably mounted on the second support seat, one end of the traction rope is fixed to one of the traction rope fixing mechanisms, and the other end of the traction rope is sequentially wound around the driven wheel and the driving wheel and fixed to another traction rope fixing mechanism.

[0008] Preferably, the traction rope fixing mechanism includes a connecting plate, two fixing seats, two clamping plates, a plurality of first connecting bolts, a plurality of second connecting bolts and a plurality of nuts, the two fixing seats are fixed to the middle part of the upper surface of the bogie by the plurality of the first connecting bolts, the lower end of the connecting plate is clamped and fixed between the two fixing seats, each of the second connecting bolts passes through the two clamping plates in sequence and is installed with a nut, the upper end of the connecting plate is clamped and fixed between the two clamping plates, one end of the traction rope is clamped and fixed between the two clamping plates of one traction rope fixing mechanism, and the other end of the traction rope is clamped and fixed between the two clamping plates of the other traction rope fixing mechanism.

[0009] Preferably, the clamping plate includes a vertical plate and a clamping block arranged on the upper part of the vertical plate, each of the second connecting bolts passes through the two vertical plates in sequence and is installed with a nut, the upper end of the connecting plate is clamped and fixed between the two vertical plates, one end of the traction rope is clamped and fixed between the two clamping blocks of one traction rope fixing mechanism, and the other end of the traction rope is clamped and fixed between the two clamping blocks of the other traction rope fixing mechanism; the outer side of the clamping block forms a first guiding inclined surface, a first arc surface and a second guiding inclined surface connected in sequence along the length direction, the angle between the two first guiding inclined surfaces of the two clamping blocks is an acute angle, and the angle between the two second guiding inclined surfaces of the two clamping blocks is an acute angle.

[0010] Preferably, the sliding mechanism includes two sliding components, which include a vertical plate, a load-bearing pulley, an anti-falling pulley, an anti-falling pulley bracket, a first positioning bolt, a tension spring, a first bolt, and a second bolt. The two vertical plates are symmetrically fixed on both sides of the upper part of the bogie, the middle part of one side of the anti-falling pulley bracket is rotatably installed on the inner wall of the vertical plate through the first positioning bolt, the anti-falling pulley is rotatably installed on the upper part of the other side of the anti-falling pulley bracket, the first bolt is fixed to the lower part of the other side of the anti-falling pulley bracket, the second bolt is fixed to the inner wall of the vertical plate and is located on one side of the first bolt, the two ends of the tension spring are respectively installed on the first bolt and the second bolt, the load-bearing pulley is rotatably installed on the upper part of the inner wall of the vertical plate, and each load-bearing rope is located between one load-bearing pulley and one anti-falling pulley.

[0011] Preferably, the main frame is an inverted U-shaped bracket, the elastic guide mechanism includes at least one elastic guide component, the elastic guide component includes a traction rope guide pulley, a traction rope retaining frame, a second positioning bolt and a spring, one end of the traction rope retaining frame is rotatably mounted on the lower part of the top surface of the main frame through the second positioning bolt, and the other end of the traction rope retaining frame is rotatably mounted with the traction rope guide pulley, the two ends of the spring are respectively connected to an inner side wall of the main frame and the traction rope retaining frame, and the traction rope can pass between the two traction rope guide pulleys corresponding to the positions in the two elastic guide mechanisms.

[0012] Preferably, the hanging bracket includes a base, a guide block, an arc-shaped plate, a horizontal plate and a third connecting bolt, the two ends of the base are respectively connected to the main frame body and the guide block, the third connecting bolt is used to fix the horizontal plate to the base, the arc-shaped plate is connected to one end of the horizontal plate and is covered on the outside of the load-bearing rope, and the load-bearing rope is located between the arc-shaped plate and the guide block; the lower part of the guide block forms a third guide inclined surface, a second arc-shaped surface and a fourth guide inclined surface in sequence along the length direction, and the angle between the third guide inclined surface and the fourth guide inclined surface is an obtuse angle.

[0013] Preferably, the load-bearing mechanism also includes a first connecting block and a second connecting block, the two ends of the load-bearing rope are respectively fixed to the first connecting block and the second connecting block, and the two first connecting blocks are respectively fixed on both sides of the first supporting seat; the tensioning assembly includes a first tensioning pulley, a second tensioning pulley, a mounting seat, a mounting plate, a tensioning rope and a tensioning counterweight, the two mounting seats are respectively fixed on both sides of the lower part of the second supporting seat, the two second connecting blocks are connected by a first connecting shaft, and the two ends of the first connecting shaft respectively pass through the two second connecting blocks to extend to the outside, the two first tensioning pulleys are respectively rotatably installed on the two ends of the first connecting shaft, and the two The mounting seats are connected by a second connecting shaft, and the two ends of the second connecting shaft respectively pass through the two mounting seats and extend to the outside, the two second tensioning pulleys are respectively rotatably installed on the two ends of the second connecting shaft, the two mounting plates are respectively sleeved on the two ends of the second connecting shaft, and each mounting plate is located between a second tensioning pulley and a mounting seat, the second connecting block is located between the first supporting seat and the second supporting seat, one end of each tensioning rope is fixed to a mounting plate, and the other end of each tensioning rope is sequentially wound around a first tensioning pulley and a second tensioning pulley and fixed with a tensioning counterweight.

[0014] Preferably, the robot body further includes two steering shafts and at least two first bearings, each of the steering shafts is fixed to the lower end of the bogie, and each of the steering shafts is rotatably mounted on the vehicle body through at least one of the first bearings.

[0015] Compared with the prior art, the present invention has achieved the following technical effects:

[0016] The traction inspection robot provided by the present invention includes a first support seat, a second support seat, a robot body, a traction rope, a traction drive mechanism, two load-bearing mechanisms and a plurality of lifting hooks. The load-bearing mechanism includes a load-bearing rope and a tensioning assembly. The track in the present application adopts a load-bearing rope, which has a small deadweight and low cost. It is also flexible and has low requirements for installation accuracy, which is convenient for construction. The lifting hook includes a main frame, two hangers and two elastic guide mechanisms. The two hangers are respectively arranged on both sides of the main frame. Each hanger is used to be sleeved on a load-bearing rope. The two elastic guide mechanisms are symmetrically arranged on the main frame. The traction rope can pass through between the two elastic guide mechanisms. The two elastic guide mechanisms can guide the traction rope and constrain its position. Since the load-bearing rope has a certain flexibility, the load-bearing ropes before and after the lifting hook can be allowed to have a certain angle. By continuously arranging multiple lifting hooks, the steering of the load-bearing rope can be achieved. At the same time, the robot body includes a body, two bogies and two sliding mechanisms. The lower end of each bogie is rotatably installed on the body, and the sliding mechanism at the upper end of each bogie is slidably installed on two load-bearing ropes. By setting up two bogies, it is possible to deflect along the load-bearing ropes, so that the robot body has the ability to turn along the track formed by the load-bearing ropes. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic diagram of the structure of the traction inspection robot provided by the present invention;

[0019] Figure 2 This is a schematic diagram of the structure of the fixed end of the load-bearing rope in the traction inspection robot provided by the present invention;

[0020] Figure 3 A schematic diagram of the structure of the tensioning end of the load-bearing rope in the traction inspection robot provided by the present invention;

[0021] Figure 4 A schematic diagram of a first three-dimensional structure of a lifting hook in a traction-type inspection robot provided by the present invention;

[0022] Figure 5 A second three-dimensional structural schematic diagram of the lifting hook in the traction-type inspection robot provided by the present invention;

[0023] Figure 6 A bottom view of the lifting hook in the traction inspection robot provided by the present invention;

[0024] Figure 7 A schematic diagram of the structure of the robot body in the traction inspection robot provided by the present invention;

[0025] Figure 8 A schematic diagram of the structure of the sliding mechanism and the traction rope fixing mechanism in the traction type inspection robot provided by the present invention;

[0026] Fig. 9 This is a schematic diagram of the structure of the traction inspection robot provided by the present invention when the robot body passes through the lifting hook;

[0027] Fig.10 This is a schematic structural diagram of the traction-type inspection robot provided by the present invention when the robot body performs turning motion.

[0028] Explanation of reference numerals: 100, traction inspection robot; 1, first support seat; 2, second support seat; 3, robot body; 31, body; 32, bogie; 33, vertical plate; 34, anti-falling pulley bracket; 35, anti-falling pulley; 36, first positioning bolt; 37, first bolt; 38, second bolt; 39, tension spring; 310, load-bearing pulley; 311, fixed seat; 312, connecting plate; 313, vertical plate; 314, clamping block; 3141, first guide inclined surface; 3142, first arc surface; 3143, second guide inclined surface; 315, first connecting bolt; 316, second connecting bolt; 4, traction rope; 5, lifting hook; 51, main Frame; 52, base; 53, guide block; 531, third guide inclined surface; 532, second arc surface; 533, fourth guide inclined surface; 54, arc plate; 55, horizontal plate; 56, third connecting bolt; 57, traction rope retaining frame; 58, second positioning bolt; 59, traction rope guide pulley; 510, spring; 6, load-bearing rope; 7, first connecting block; 8, second connecting block; 9, first connecting shaft; 10, mounting seat; 11, second connecting shaft; 12, mounting plate; 13, first tensioning pulley; 14, second tensioning pulley; 15, tensioning rope; 16, tensioning weight; 17, driving wheel; 18, driving motor; 19, motor support; 20, driven wheel. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] The purpose of the present invention is to provide a traction inspection robot with a steering function, a small track deadweight, low cost and convenient construction.

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] like Figure 1-Figure 10 As shown, the present embodiment provides a traction-type inspection robot 100, including a first support seat 1, a second support seat 2, a robot body 3, a traction rope 4, a traction drive mechanism, two load-bearing mechanisms and a plurality of lifting hooks 5, the load-bearing mechanism including a load-bearing rope 6 and a tensioning assembly, the tensioning assembly is mounted on the second support seat 2, one end of the load-bearing rope 6 is fixed on the first support seat 1, and the other end of the load-bearing rope 6 is tensioned by the tensioning assembly. The track in the present embodiment adopts the load-bearing rope 6, which has a small dead weight, low cost, flexibility, low requirements for installation accuracy, and is easy to construct. The robot body 3 includes a body 31, two bogies 32 and two sliding mechanisms. The lower end of each bogie 32 is rotatably mounted on the body 31. Each sliding mechanism is arranged on the upper part of a bogie 32. Each sliding mechanism is used for sliding installation on two load-bearing ropes 6. The traction drive mechanism is used to drive the robot body 3 to move along the load-bearing ropes 6 through the traction ropes 4. The lifting hook 5 includes a main frame 51, two hangers and two elastic guide mechanisms. The two hangers are respectively arranged on both sides of the main frame 51. Each hanger is used for being mounted on a load-bearing rope 6. The hanger plays the role of lifting and fixing the load-bearing rope 6. The two elastic guide mechanisms are symmetrically arranged on the main frame 51. The traction rope 4 can pass through the two elastic guide mechanisms. The two elastic guide mechanisms can guide the traction rope 4 and constrain its position. Fig.10 As shown, since the load-bearing rope 6 has a certain flexibility, the load-bearing rope 6 before and after the lifting hook 5 can be allowed to have a certain angle, and the load-bearing rope 6 can be turned by continuously arranging multiple lifting hooks 5. At the same time, the robot body 3 is provided with two bogies 32 so that it can be deflected along the load-bearing rope 6, so that the robot body 3 has the ability to turn along the track formed by the load-bearing rope 6. In addition, by arranging the lifting hooks 5 according to a certain trajectory, the robot body 3 can also achieve complex path movements such as climbing and descending. It can be seen that the robot body 3 has the ability to turn, climb and descend along the track formed by the load-bearing rope 6, and is not limited to walking in a straight line, which solves the problems of the traction inspection robot 100 being difficult to turn, limited climbing and descending angles, and unable to be arranged according to any route.

[0033] Specifically, the robot body 3 further includes two traction rope fixing mechanisms, each of which is disposed on the upper portion of a bogie 32. In this embodiment, each of the traction rope fixing mechanisms is disposed in the middle portion of the upper surface of a bogie 32.

[0034] Specifically, the traction drive mechanism includes a driving wheel disc 17, a driving component and a driven wheel disc 20. The driving wheel disc 17 is rotatably mounted on the first support seat 1. The driving component is used to drive the driving wheel disc 17 to rotate. The driven wheel disc 20 is rotatably mounted on the second support seat 2. One end of the traction rope 4 is fixed to a traction rope fixing mechanism. The other end of the traction rope 4 is sequentially wound around the driven wheel disc 20 and the driving wheel disc 17 and fixed to another traction rope fixing mechanism. When working, the driving component drives the driving wheel disc 17 to rotate, and the traction rope 4 is driven to move along the track, thereby driving the robot body 3 to move along the load-bearing rope 6. It should be noted that the traction drive mechanism can also adopt a method of arranging winches at both ends. One end is loosened and the other end is tightened to drag the robot body 3 forward.

[0035] In this specific embodiment, the driving wheel disc shaft at the lower part of the driving wheel disc 17 is rotatably mounted on the first support seat 1 through the second bearing, and the driving wheel disc 17 is located above the first support seat 1; the driving component includes a driving motor 18 and a motor support 19, the motor support 19 is fixed below the first support seat 1, the driving motor 18 is mounted on the motor support 19, and the output shaft of the driving motor 18 is connected to the driving wheel disc shaft through a coupling. The driven wheel disc shaft at the lower part of the driven wheel disc 20 is rotatably mounted on the second support seat 2 through the third bearing, and the driven wheel disc 20 is located above the second support seat 2.

[0036] like Figure 7 and Figure 8 As shown, the traction rope fixing mechanism includes a connecting plate 312, two fixing seats 311, two clamping plates, a plurality of first connecting bolts 315, a plurality of second connecting bolts 316 and a plurality of nuts. The two fixing seats 311 are fixed to the middle part of the upper surface of the bogie 32 by a plurality of first connecting bolts 315. The lower end of the connecting plate 312 is clamped and fixed between the two fixing seats 311. Each second connecting bolt 316 passes through the two clamping plates in sequence and is installed with a nut, that is, the two clamping plates are locked and fixed by the second connecting bolts 316 and the nuts. The upper end of the connecting plate 312 is clamped and fixed between the two clamping plates. One end of the traction rope 4 is clamped and fixed between the two clamping plates of one traction rope fixing mechanism, and the other end of the traction rope 4 is clamped and fixed between the two clamping plates of the other traction rope fixing mechanism.

[0037] In this specific embodiment, the clamping plate includes a vertical plate 313 and a clamping block 314 disposed on the upper part of the vertical plate 313. Each second connecting bolt 316 passes through the two vertical plates 313 in sequence and is installed with a nut, that is, the two vertical plates 313 are locked and fixed by the second connecting bolt 316 and the nut, the upper end of the connecting plate 312 is clamped and fixed between the two vertical plates 313, one end of the traction rope 4 is clamped and fixed between the two clamping blocks 314 of one traction rope fixing mechanism, and the other end of the traction rope 4 is clamped and fixed between the two clamping blocks 314 of the other traction rope fixing mechanism. Specifically, after the two vertical plates 313 are butt-jointed, a first clamping groove for accommodating the connecting plate 312 is formed at the lower part, and after the two clamping blocks 314 are butt-jointed, a second clamping groove for accommodating the traction rope 4 is formed at the upper part, and after the two vertical plates 313 are locked and fixed by the second connecting bolt 316 and the nut, the upper end of the connecting plate 312 is clamped and fixed in the first clamping groove, and the traction rope 4 is clamped and fixed in the second clamping groove. like Fig. 9 As shown, the outer side of the clamping block 314 forms a first guide inclined surface 3141, a first arc surface 3142 and a second guide inclined surface 3143 connected in sequence along the length direction, the angle between the first guide inclined surface 3141 and the second guide inclined surface 3143 is an obtuse angle, the angle between the two first guide inclined surfaces 3141 of the two clamping blocks 314 is an acute angle, and the angle between the two second guide inclined surfaces 3143 of the two clamping blocks 314 is an acute angle, that is, the front and rear ends of the two clamping blocks 314 form a wedge structure after docking. The wedge structure can squeeze the two elastic guide mechanisms apart, so that the robot body 3 can pass through the lifting hook 5 smoothly. After passing through the lifting hook 5, the two elastic guide mechanisms are closed again to continue to provide the function of maintaining the position of the traction rope 4.

[0038] Specifically, the sliding mechanism includes two sliding components, and the sliding components include a vertical plate 33, a load-bearing pulley 310, an anti-falling pulley 35, an anti-falling pulley bracket 36, a first positioning bolt 36, a tension spring 39, a first bolt 37 and a second bolt 38. The two vertical plates 33 are symmetrically fixed to the two sides of the upper part of the bogie 32, and the middle part of one side of the anti-falling pulley bracket 36 is rotatably mounted on the inner wall of the vertical plate 33 through the first positioning bolt 36, that is, the first positioning bolt 36 is fixed to the inner wall of the vertical plate 33, and the middle part of one side of the anti-falling pulley bracket 36 is rotatably sleeved on the first positioning bolt 36, and the anti-falling pulley 35 is rotatably mounted on the upper part of the other side of the anti-falling pulley bracket 36, and the first bolt The bolt 37 is fixed to the lower part of the other side of the anti-drop pulley bracket 36, the second bolt 38 is fixed to the inner wall of the vertical plate 33 and is located on one side of the first bolt 37, the two ends of the tension spring 39 are respectively installed on the first bolt 37 and the second bolt 38, the load-bearing pulley 310 is rotatably installed on the upper part of the inner wall of the vertical plate 33, each load-bearing rope 6 is located between a load-bearing pulley 310 and an anti-drop pulley 35, the load-bearing pulley 310 is located above the load-bearing rope 6, and the anti-drop pulley 35 is located below the load-bearing rope 6. The anti-drop pulley 35 is pressed on the load-bearing rope 6 under the action of the tension spring 39, and holds the load-bearing rope 6 together with the load-bearing pulley 310 to prevent the robot body 3 from falling under external interference. The robot body 3 in this embodiment adopts the design of four load-bearing pulleys 310, so that its pitch stability is higher.

[0039] like Figure 4-Figure 6 As shown, the main frame 51 is an inverted U-shaped bracket, and the elastic guide mechanism includes at least one elastic guide component, which includes a traction rope guide pulley 59, a traction rope retainer 57, a second positioning bolt 58 and a spring 510. One end of the traction rope retainer 57 is rotatably installed on the lower part of the top surface of the main frame 51 through the second positioning bolt 58, that is, the second positioning bolt 58 is fixed to the lower part of the top surface of the main frame 51, one end of the traction rope retainer 57 is rotatably sleeved on the second positioning bolt 58, and the other end of the traction rope retainer 57 is rotatably installed with the traction rope guide pulley 59, and the two ends of the spring 510 are respectively connected to an inner side wall of the main frame 51 and the traction rope retainer 57. Under the action of the spring 510, the two traction rope guide pulleys 59 in corresponding positions in the two elastic guide mechanisms are in contact. The traction rope 4 can pass between two traction rope guide pulleys 59 with corresponding positions in the two elastic guide mechanisms, that is, the traction rope 4 passes through the groove formed between the two traction rope guide pulleys 59 after docking. The two traction rope guide pulleys 59 with corresponding positions can constrain the traction rope 4 to the center of the track.

[0040] In this specific embodiment, Figure 6As shown, the elastic guide mechanism includes two elastic guide components, the two elastic guide components in one elastic guide mechanism are symmetrically arranged on one side of the lower part of the main frame body 51, and the two elastic guide components in the other elastic guide mechanism are symmetrically arranged on the other side of the lower part of the main frame body 51.

[0041] like Figure 4 As shown, the hanger includes a base 52, a guide block 53, an arc plate 54, a horizontal plate 55 and a third connecting bolt 56. The two ends of the base 52 are respectively connected to the main frame body 51 and the guide block 53. The third connecting bolt 56 is used to fix the horizontal plate 55 on the base 52. The arc plate 54 is connected to one end of the horizontal plate 55 and is covered on the outside of the load-bearing rope 6. The load-bearing rope 6 is located between the arc plate 54 and the guide block 53. The arc plate 54 and the guide block 53 complete the position limitation of the load-bearing rope 6. Figure 5 As shown, the lower part of the guide block 53 forms a third guide inclined surface 531, a second curved surface 532 and a fourth guide inclined surface 533 in sequence along the length direction, and the angle between the third guide inclined surface 531 and the fourth guide inclined surface 533 is an obtuse angle. When the robot body 3 moves to the lifting hook 5, the anti-falling pulley 35 moves downward under the squeezing action of the guide block 53, so that the sliding component of the robot body 3 can pass through the guide block 53. By setting the lower part of the guide block 53 as the third guide inclined surface 531, the second curved surface 532 and the fourth guide inclined surface 533, it is more convenient for the anti-falling pulley 35 to pass through the guide block 53; after the robot body 3 moves through the lifting hook 5, the anti-falling pulley 35 moves upward under the action of the tension spring 39, returns to its original position and then holds the load-bearing rope 6 together with the load-bearing pulley 310.

[0042] The load-bearing mechanism in this embodiment also includes a first connecting block 7 and a second connecting block 8, the two ends of the load-bearing rope 6 are respectively fixed on the first connecting block 7 and the second connecting block 8, and the two first connecting blocks 7 are respectively fixed on both sides of the first support seat 1; the tensioning assembly includes a first tensioning pulley 13, a second tensioning pulley 14, a mounting seat 10, a mounting plate 12, a tensioning rope 15 and a tensioning counterweight 16, the two mounting seats 10 are respectively fixed on both sides of the lower part of the second support seat 2, the two second connecting blocks 8 are connected by a first connecting shaft 9, and the two ends of the first connecting shaft 9 respectively pass through the two second connecting blocks 8 and extend to the outside, and the two first tensioning pulleys 13 are respectively rotatably installed on the two ends of the first connecting shaft 9. The two mounting seats 10 are connected by a second connecting shaft 11, and the two ends of the second connecting shaft 11 respectively pass through the two mounting seats 10 and extend to the outside, the two second tensioning pulleys 14 are respectively rotatably installed on the two ends of the second connecting shaft 11, the two mounting plates 12 are respectively sleeved on the two ends of the second connecting shaft 11, and each mounting plate 12 is located between a second tensioning pulley 14 and a mounting seat 10, the second connecting block 8 is located between the first support seat 1 and the second support seat 2, one end of each tensioning rope 15 is fixed on a mounting plate 12, and the other end of each tensioning rope 15 is sequentially wound around a first tensioning pulley 13 and a second tensioning pulley 14 and fixed with a tensioning counterweight 16. In this specific embodiment, the two first connection blocks 7 are connected by a third connection shaft, and the third connection shaft is fixed to the lower surface of the first support seat 1, thereby realizing the fixed connection between the first connection block 7 and the first support seat 1 and the first support seat 1. In this embodiment, the two first connection blocks 7 are connected by the third connection shaft, and the two second connection blocks 8 are connected by the first connection shaft 9, thereby ensuring that the distance between the two first connection blocks 7 is equal to the distance between the two second connection blocks 8. It should be noted that the tensioning assembly can also adopt a bolt tensioning or spring tensioning structure.

[0043] When in use, the first support seat 1 and the second support seat 2 are fixed, and multiple lifting hooks 5 are installed on the two load-bearing ropes 6 as needed. The multiple lifting hooks 5 are fixed along a certain trajectory. Under the action of the tensioning counterweight 16, the two load-bearing ropes 6 are pulled and tensioned. By setting up multiple lifting hooks 5, the load-bearing ropes 6 are prevented from hanging too much under a large span, and at the same time, they play a guiding role in the curved path.

[0044] The robot body 3 in this embodiment further includes two steering shafts and at least two first bearings. Each steering shaft is fixed to the lower end of the bogie 32, and each steering shaft is rotatably mounted on the vehicle body 31 through at least one first bearing.

[0045] In this specific embodiment, the load-bearing rope 6 is a load-bearing steel cable, which is a relatively thick hard steel cable used to bear the weight of the robot body 3 and lift the robot body 3. The traction rope 4 is a traction steel cable, which is a relatively thin multi-strand soft steel cable used to pull the robot body 3 to move it. The tension rope 15 is a tension steel cable.

[0046] The present specification uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A traction inspection robot, characterized in that: It includes a first support seat, a second support seat, a robot body, a traction rope, a traction drive mechanism, two load-bearing mechanisms and a plurality of lifting hooks, the load-bearing mechanism includes a load-bearing rope and a tensioning assembly, the tensioning assembly is installed on the second support seat, one end of the load-bearing rope is fixed on the first support seat, and the other end of the load-bearing rope is tensioned by the tensioning assembly; the robot body includes a body, two bogies and two sliding mechanisms, the lower end of each bogie is rotatably installed on the body, each sliding mechanism is arranged on the upper part of one bogie, each sliding mechanism is used for sliding installation on the two load-bearing ropes, and the traction drive mechanism is used to drive the robot body to move along the load-bearing rope through the traction rope; the lifting hook includes a main frame, two hangers and two elastic guide mechanisms, the two hangers are respectively arranged on both sides of the main frame, each hanger is used for being sleeved on one load-bearing rope, the two elastic guide mechanisms are symmetrically arranged on the main frame, and the traction rope can pass between the two elastic guide mechanisms.

2. The traction inspection robot according to claim 1, characterized in that: The robot body also includes two traction rope fixing mechanisms, and each of the traction rope fixing mechanisms is arranged on the upper part of one of the bogies.

3. The traction inspection robot according to claim 2, characterized in that: The traction drive mechanism includes a driving wheel, a driving component and a driven wheel, the driving wheel is rotatably mounted on the first support seat, the driving component is used to drive the driving wheel to rotate, and the driven wheel is rotatably mounted on the second support seat, one end of the traction rope is fixed to one of the traction rope fixing mechanisms, and the other end of the traction rope is sequentially wound around the driven wheel and the driving wheel and fixed to another traction rope fixing mechanism.

4. The traction inspection robot according to claim 3, characterized in that: The traction rope fixing mechanism includes a connecting plate, two fixing seats, two clamping plates, a plurality of first connecting bolts, a plurality of second connecting bolts and a plurality of nuts. The two fixing seats are fixed to the middle part of the upper surface of the bogie by the plurality of the first connecting bolts. The lower end of the connecting plate is clamped and fixed between the two fixing seats. Each of the second connecting bolts passes through the two clamping plates in sequence and is installed with a nut. The upper end of the connecting plate is clamped and fixed between the two clamping plates. One end of the traction rope is clamped and fixed between the two clamping plates of one traction rope fixing mechanism, and the other end of the traction rope is clamped and fixed between the two clamping plates of the other traction rope fixing mechanism.

5. The traction inspection robot according to claim 4, characterized in that: The clamping plate includes a vertical plate and a clamping block arranged on the upper part of the vertical plate, each of the second connecting bolts passes through the two vertical plates in sequence and is installed with a nut, the upper end of the connecting plate is clamped and fixed between the two vertical plates, one end of the traction rope is clamped and fixed between the two clamping blocks of one traction rope fixing mechanism, and the other end of the traction rope is clamped and fixed between the two clamping blocks of the other traction rope fixing mechanism; the outer side of the clamping block forms a first guide inclined surface, a first arc surface and a second guide inclined surface connected in sequence along the length direction, the angle between the two first guide inclined surfaces of the two clamping blocks is an acute angle, and the angle between the two second guide inclined surfaces of the two clamping blocks is an acute angle.

6. The traction inspection robot according to claim 1, characterized in that: The sliding mechanism includes two sliding components, and the sliding component includes a vertical plate, a load-bearing pulley, an anti-falling pulley, an anti-falling pulley bracket, a first positioning bolt, a tension spring, a first bolt, and a second bolt. The two vertical plates are symmetrically fixed on both sides of the upper part of the bogie, and the middle part of one side of the anti-falling pulley bracket is rotatably installed on the inner wall of the vertical plate through the first positioning bolt. The anti-falling pulley is rotatably installed on the upper part of the other side of the anti-falling pulley bracket, the first bolt is fixed to the lower part of the other side of the anti-falling pulley bracket, the second bolt is fixed to the inner wall of the vertical plate and is located on one side of the first bolt, the two ends of the tension spring are respectively installed on the first bolt and the second bolt, the load-bearing pulley is rotatably installed on the upper part of the inner wall of the vertical plate, and each of the load-bearing ropes is located between one of the load-bearing pulleys and one of the anti-falling pulleys.

7. The traction inspection robot according to claim 1, characterized in that: The main frame is an inverted U-shaped bracket, and the elastic guide mechanism includes at least one elastic guide component, and the elastic guide component includes a traction rope guide pulley, a traction rope retaining frame, a second positioning bolt and a spring. One end of the traction rope retaining frame is rotatably installed on the lower part of the top surface of the main frame through the second positioning bolt, and the other end of the traction rope retaining frame is rotatably installed with the traction rope guide pulley, and the two ends of the spring are respectively connected to an inner side wall of the main frame and the traction rope retaining frame, and the traction rope can pass between the two traction rope guide pulleys corresponding to the positions in the two elastic guide mechanisms.

8. The traction inspection robot according to claim 1, characterized in that: The hanging bracket includes a base, a guide block, an arc-shaped plate, a horizontal plate and a third connecting bolt, the two ends of the base are respectively connected to the main frame body and the guide block, the third connecting bolt is used to fix the horizontal plate to the base, the arc-shaped plate is connected to one end of the horizontal plate and is covered on the outside of the load-bearing rope, and the load-bearing rope is located between the arc-shaped plate and the guide block; the lower part of the guide block forms a third guide inclined surface, a second arc-shaped surface and a fourth guide inclined surface in sequence along the length direction, and the angle between the third guide inclined surface and the fourth guide inclined surface is an obtuse angle.

9. The traction inspection robot according to claim 1, characterized in that: The load-bearing mechanism also includes a first connecting block and a second connecting block, the two ends of the load-bearing rope are respectively fixed to the first connecting block and the second connecting block, and the two first connecting blocks are respectively fixed on both sides of the first supporting seat; the tensioning assembly includes a first tensioning pulley, a second tensioning pulley, a mounting seat, a mounting plate, a tensioning rope and a tensioning counterweight, the two mounting seats are respectively fixed on both sides of the lower part of the second supporting seat, the two second connecting blocks are connected by a first connecting shaft, and the two ends of the first connecting shaft respectively pass through the two second connecting blocks to the outside, the two first tensioning pulleys are respectively rotatably installed at the two ends of the first connecting shaft, and the two The mounting seats are connected by a second connecting shaft, and the two ends of the second connecting shaft respectively pass through the two mounting seats and extend to the outside, the two second tensioning pulleys are respectively rotatably installed on the two ends of the second connecting shaft, the two mounting plates are respectively sleeved on the two ends of the second connecting shaft, and each mounting plate is located between a second tensioning pulley and a mounting seat, the second connecting block is located between the first supporting seat and the second supporting seat, one end of each tensioning rope is fixed on a mounting plate, and the other end of each tensioning rope is sequentially wound around a first tensioning pulley and a second tensioning pulley and fixed with a tensioning counterweight.

10. The traction inspection robot according to claim 1, characterized in that: The robot body further comprises two steering shafts and at least two first bearings, each of the steering shafts is fixed to the lower end of the bogie, and each of the steering shafts is rotatably mounted on the vehicle body through at least one of the first bearings.

Images