A power mechanism of an automatic inspection robot

Abstract

This invention discloses an automatic inspection robot power mechanism, comprising: an inspection track; a mounting frame, including a main bracket, wheel frames, and mounting plates; a power structure, with the power mechanism located between the mounting plates; a walking structure, located within the wheel frames above the inspection track, powered by the power mechanism; and a guide clamping structure, located on the inner wall of the side plate of the wheel frames below the inspection track, used to limit the entire mechanism on the inspection track. The beneficial effects of this invention are as follows: the intelligent inspection robot power mechanism of this invention can replace various existing inspection tasks requiring manual carrying of instruments, enabling continuous 24-hour inspection without time restrictions, thus improving inspection efficiency; it can not only be applied to inspection tasks such as power corridors, but also, according to actual production inspection needs, can be combined with various detection instruments required for different scenarios to achieve multi-scenario inspection tasks.

Description

Technical Field

[0001] This invention relates to the field of utility tunnel inspection technology, specifically to a power mechanism for an automatic inspection robot. Background Technology

[0002] With the rapid growth in the scale of urban integrated utility tunnel construction, the workload of daily operation and maintenance of these tunnels is also increasing daily. Currently, the daily inspection mode of utility tunnels still relies mainly on visual inspection by maintenance personnel, supplemented by instrument measurement. The inspection process has problems such as high risk and low accuracy. At the same time, the severe shortage of operation and maintenance management personnel brings great difficulties to the operation and maintenance management of integrated utility tunnels.

[0003] Therefore, the use of intelligent inspection robots to replace manual inspection has become a trend. Due to the complex working conditions inside the tunnel where the utility tunnel is built, and the high accuracy of positioning required during the inspection process, higher requirements are placed on the design of intelligent inspection robots. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides an automatic inspection robot power mechanism, which is achieved through the following technical solution.

[0005] An automatic inspection robot power mechanism includes:

[0006] Inspection track;

[0007] The mounting frame includes a main bracket, a wheel frame, and a mounting plate; the main bracket is sleeved on the outside of the inspection track, the wheel frame is symmetrically fixed to the mounting frame from left to right, and the mounting plate is symmetrically fixed to the outer wall of the wheel frame from front to back;

[0008] The power structure, wherein the power mechanism is located between the mounting plates and is arranged symmetrically on the left and right sides;

[0009] The walking structure is located in the wheel frame above the inspection track. The walking structure is powered by a power mechanism and is used to drive the overall mechanism to move along the inspection track.

[0010] A guide clamping structure is located on the inner wall of the side plate of the wheel frame below the inspection track. The guide clamping structure is adapted to the side of the inspection track and is used to limit the entire mechanism on the inspection track.

[0011] Furthermore, the power structure includes a drive motor and a battery. The drive motor is fixed to the inner wall of the front mounting plate. Two drive motors are symmetrically arranged on the left and right sides. The drive motor has a horizontal forward power shaft. The front mounting plate has a through hole for the power shaft to pass through. A drive wheel is fixed to the power shaft. The battery is fixed to the main bracket. The drive motor is powered by the battery.

[0012] Furthermore, the walking structure includes a driven shaft and walking wheels; the driven shaft is rotatably connected between two side plates of the wheel frame above the inspection track, and a driven wheel corresponding to the drive wheel is fixedly connected to the front end of the driven shaft. The corresponding driven wheel and the drive wheel are linked by a synchronous belt. The walking wheels are fixedly connected to the driven shaft inside the wheel frame, and two walking wheels are symmetrically arranged on each driven shaft.

[0013] Furthermore, the driven wheel and the driving wheel are toothed wheels, and the synchronous belt is a toothed belt adapted to the driving wheel and the driven wheel.

[0014] Furthermore, the traveling wheels are rubber wheels, and the wheel surface of the traveling wheels is in contact with the upper surface of the inspection track.

[0015] Furthermore, a bearing seat is fixedly connected to the wheel frame at the position corresponding to the driven shaft, and the driven shaft is rotatably connected to the wheel frame through the bearing seat.

[0016] Furthermore, a rack is fixedly connected to a sloping position on the inspection track, and a climbing gear adapted to the rack is fixedly connected to the driven shaft between the traveling wheels.

[0017] Furthermore, the guide clamping structure includes a seat plate and a guide frame; the seat plate is fixedly connected to the inner wall of the wheel frame below the inspection track, and a pair of ear plates are symmetrically fixedly connected to the inner side of the seat plate; a rotating seat is fixedly connected to the inner side of the guide frame, and the rotating seat is movably connected between the ear plates; and guide rollers are also symmetrically rotatably connected to the guide frame.

[0018] Furthermore, a shaft is fixedly connected to the center of the rotating base, and a track groove corresponding to the shaft is opened on the ear plate. The shaft is movably connected in the track groove, and a compression spring is fixedly connected between the guide frame and the base plate.

[0019] Furthermore, when the guide roller contacts the side of the inspection track, the compression spring is in a compressed state.

[0020] The beneficial effects of this invention are as follows:

[0021] 1. The intelligent inspection robot power mechanism of the present invention can replace various existing inspection tasks that require manual carrying of instruments, improve the working environment of inspection personnel, and avoid the safety hazards caused by manual inspection in confined spaces, thus ensuring safety.

[0022] 2. The intelligent inspection robot power mechanism of the present invention replaces manual operation, enabling continuous 24-hour inspection without time restrictions, thus improving inspection efficiency;

[0023] 3. The intelligent inspection robot power mechanism of the present invention can not only be applied to inspection tasks such as power corridors, but also, according to the actual inspection needs of production, be combined with the testing instruments required in various scenarios to realize inspection tasks in multiple scenarios. Attached Figure Description

[0024] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description of the specific embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 : An isometric view of the power mechanism of an automatic inspection robot according to the present invention;

[0026] Figure 2 : A three-dimensional schematic diagram of the rear of the power mechanism of an automatic inspection robot according to the present invention;

[0027] Figure 3 : A three-dimensional schematic diagram of the mounting bracket described in this invention;

[0028] Figure 4 : A schematic diagram of the cooperation between the power structure and the walking structure described in this invention;

[0029] Figure 5 : A schematic diagram of the guide clamping structure described in this invention;

[0030] Figure 6 : A schematic diagram of the guide frame described in this invention;

[0031] Figure 7 : A schematic diagram of the fit between the rack and the climbing gear described in this invention.

[0032] The attached figures are labeled as follows:

[0033] 1-Inspection track, 2-Mounting bracket, 21-Main bracket, 22-Wheel frame, 23-Mounting plate, 3-Power structure, 31-Drive motor, 32-Battery, 33-Power shaft, 34-Through hole, 35-Drive wheel, 4-Traveling structure, 41-Driven shaft, 42-Traveling wheel, 43-Driven wheel, 44-Synchronous belt, 45-Bearing seat, 46-Rack, 47-Climbing gear, 5-Guide clamping structure, 51-Seat plate, 52-Guide frame, 53-Ear plate, 54-Rotating seat, 55-Guide roller, 56-Shaft, 57-Race track groove, 58-Compression spring. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] like Figure 1-7 As shown, the present invention has the following three specific embodiments.

[0036] Example 1

[0037] An automatic inspection robot power mechanism includes:

[0038] Inspection track 1;

[0039] Mounting frame 2 includes a main bracket 21, a wheel frame 22 and a mounting plate 23; the main bracket 21 is sleeved on the outside of the inspection track 1, the wheel frame 22 is symmetrically fixed to the mounting frame 2 from left to right, and the mounting plate 23 is symmetrically fixed to the outer wall of the wheel frame 22 from front to back.

[0040] The power structure 3 has a power mechanism located between the mounting plates 23 and arranged symmetrically on the left and right sides.

[0041] The walking structure 4 is located in the wheel frame 22 above the inspection track 1. The walking structure 4 is powered by the power mechanism and is used to drive the overall mechanism to move along the inspection track 1.

[0042] The guide clamping structure 5 is located on the inner wall of the side plate of the wheel frame 22 below the inspection track 1. The guide clamping structure 5 is adapted to the side of the inspection track 1 and is used to limit the overall mechanism on the inspection track 1.

[0043] In this embodiment:

[0044] The guide clamping structure 5 limits the overall mechanism to the inspection track 1 and realizes the steering function of the overall mechanism.

[0045] During the inspection process, the power structure 3 provides power to the walking structure 4, and the walking mechanism makes the whole mechanism move along the inspection track 1. According to the actual needs, the required testing instruments are configured on the main bracket 21 to realize the inspection task of the required scenario.

[0046] Example 2

[0047] Based on Example 1, this example further discloses the specific technical features of the power structure 3 and the walking structure 4.

[0048] The power structure 3 includes a drive motor 31 and a battery 32. The drive motor 31 is fixed to the inner wall of the front mounting plate 23. Two drive motors 31 are symmetrically arranged on the left and right sides. The drive motor 31 is provided with a horizontal forward power shaft 33. The front mounting plate 23 is provided with a through hole 34 for the power shaft 33 to pass through. A drive wheel 35 is fixed to the power shaft 33. The battery 32 is fixed to the main bracket 21. The drive motor 31 is powered by the battery 32.

[0049] Preferably, the walking structure 4 includes a driven shaft 41 and a walking wheel 42; the driven shaft 41 is rotatably connected between two side plates of the wheel frame 22 above the inspection track 1, and a driven wheel 43 corresponding to the drive wheel 35 is fixedly connected to the front end of the driven shaft 41. The corresponding driven wheel 43 and the drive wheel 35 are linked by a synchronous belt 44. The walking wheel 42 is fixedly connected to the driven shaft 41 inside the wheel frame 22, and two walking wheels 42 are symmetrically arranged on each driven shaft 41.

[0050] Preferably, the driven wheel 43 and the driving wheel 35 are toothed wheels, and the synchronous belt 44 is a toothed belt adapted to the driving wheel 35 and the driven wheel 43.

[0051] Preferably, the traveling wheel 42 is a rubber wheel, and the wheel surface of the traveling wheel 42 is in contact with the upper surface of the inspection track 1.

[0052] Preferably, a bearing seat 45 is fixedly connected to the wheel frame 22 at the position corresponding to the driven shaft 41, and the driven shaft 41 is rotatably connected to the wheel frame 22 through the bearing seat 45.

[0053] Preferably, a rack 46 is fixedly connected to a sloped position on the inspection track 1, and a climbing gear 47 adapted to the rack 46 is fixedly connected to the driven shaft 41 between the traveling wheels 42.

[0054] In this embodiment:

[0055] like Figure 4 and 7 The drive motor 31 shown is powered by the battery 32. When the drive motor 31 is working, it drives the power shaft 33 and the drive wheel 35 to rotate. The drive wheel 35 drives the driven wheel 43 to rotate through the synchronous belt 44, thereby driving the driven shaft 41 and the two traveling wheels 42 to rotate. In actual application, the two traveling wheels 42 are arranged on both sides. Under the gravity of the whole mechanism, the traveling wheels 42 are in contact with the upper surface of the inspection track 1. When the traveling wheels 42 rotate, the friction between them and the inspection track 1 makes the whole mechanism move along the inspection track 1.

[0056] To prevent slippage of the overall mechanism at incline and descent points, a rack 46 and a climbing gear 47 are designed to work together. The meshing of the rack 46 and the climbing gear 47 enables the mechanism to move uphill and downhill.

[0057] Example 3

[0058] Based on Example 2, this example further discloses the technical features of the guide clamping structure 5.

[0059] The guide clamping structure 5 includes a seat plate 51 and a guide frame 52. The seat plate 51 is fixed to the inner wall of the wheel frame 22 below the inspection track 1. A pair of ear plates 53 are symmetrically fixed to the inner side of the seat plate 51. A rotating seat 54 is fixed to the inner side of the guide frame 52. The rotating seat 54 is movably connected between the ear plates 53. Guide rollers 55 are also symmetrically rotatably connected to the guide frame 52.

[0060] Preferably, a shaft 56 is fixedly connected to the center of the rotary seat 54, and a track groove 57 corresponding to the shaft 56 is opened on the ear plate 53. The shaft 56 is movably connected in the track groove 57, and a compression spring 58 is fixedly connected between the guide frame 52 and the seat plate 51.

[0061] Preferably, when the guide roller 55 contacts the side of the inspection track 1, the compression spring 58 is in a compressed state.

[0062] In this embodiment:

[0063] like Figure 5 and 6 As shown, during the inspection process, the compression spring 58 can keep the guide rollers 55 on the front and rear sides of the inspection track 1 in close contact, thereby limiting the overall mechanism. At the turning position, the rotation of the turntable 54 can adapt to the change of the arc of the inspection track 1.

[0064] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A power mechanism for an automatic inspection robot, characterized in that, include: Inspection track (1); Mounting frame (2), which includes a main bracket (21), a wheel frame (22) and a mounting plate (23); the main bracket (21) is sleeved on the outside of the inspection track (1), the wheel frame (22) is symmetrically fixed to the mounting frame (2) from left to right, and the mounting plate (23) is symmetrically fixed to the outer wall of the wheel frame (22) from front to back; The power structure (3) is located between the mounting plates (23) and is arranged symmetrically on the left and right sides; The walking structure (4) is located in the wheel frame (22) above the inspection track (1). The walking structure (4) is powered by the power mechanism and is used to drive the overall mechanism to move along the inspection track (1). Guide clamping structure (5), the guide clamping structure (5) is located on the inner wall of the side plate of the wheel frame (22) below the inspection track (1), the guide clamping structure (5) is adapted to the side of the inspection track (1), and the guide clamping structure (5) is used to limit the whole mechanism on the inspection track (1). The power structure (3) includes a drive motor (31) and a battery (32). The drive motor (31) is fixed to the inner wall of the front mounting plate (23). There are two drive motors (31) symmetrically arranged on the left and right sides. The drive motor (31) is provided with a horizontal forward power shaft (33). The front mounting plate (23) is provided with a through hole (34) for the power shaft (33) to pass through. A drive wheel (35) is fixed on the power shaft (33). The battery (32) is fixed on the main bracket (21). The drive motor (31) is powered by the battery (32). The walking structure (4) includes a driven shaft (41) and a walking wheel (42); the driven shaft (41) is rotatably connected between two side plates of the wheel frame (22) above the inspection track (1), and a driven wheel (43) corresponding to the drive wheel (35) is fixedly connected to the front end of the driven shaft (41). The corresponding driven wheel (43) and the drive wheel (35) are linked by a synchronous belt (44). The walking wheel (42) is fixedly connected to the driven shaft (41) inside the wheel frame (22). Two walking wheels (42) are symmetrically arranged on each driven shaft (41). The walking wheel (42) is a rubber wheel. The guide clamping structure (5) includes a seat plate (51) and a guide frame (52); the seat plate (51) is fixed to the inner wall of the wheel frame (22) below the inspection track (1), and a pair of ear plates (53) are symmetrically fixed to the inner side of the seat plate (51). A rotating seat (54) is fixed to the inner side of the guide frame (52), and the rotating seat (54) is movably connected between the ear plates (53). A guide roller (55) is also symmetrically rotated inside the guide frame (52).

2. The power mechanism for an automatic inspection robot according to claim 1, characterized in that, The driven wheel (43) and the driving wheel (35) are toothed wheels, and the synchronous belt (44) is a toothed belt adapted to the driving wheel (35) and the driven wheel (43).

3. The power mechanism for an automatic inspection robot according to claim 1, characterized in that, The wheel surface of the walking wheel (42) is in contact with the upper surface of the inspection track (1).

4. The power mechanism of an automatic inspection robot according to claim 1, characterized in that, A bearing seat (45) is fixed on the wheel frame (22) at the position corresponding to the driven shaft (41), and the driven shaft (41) is rotatably connected to the wheel frame (22) through the bearing seat (45).

5. The power mechanism for an automatic inspection robot according to claim 1, characterized in that, A rack (46) is fixedly connected to a sloped position on the inspection track (1), and a climbing gear (47) adapted to the rack (46) is fixedly connected to the driven shaft (41) between the walking wheels (42).

6. The power mechanism of an automatic inspection robot according to claim 1, characterized in that, The center of the rotating seat (54) is fixedly connected to a shaft (56), and the ear plate (53) is provided with a track groove (57) corresponding to the shaft (56). The shaft (56) is movably connected in the track groove (57), and a compression spring (58) is fixedly connected between the guide frame (52) and the seat plate (51).

7. The power mechanism for an automatic inspection robot according to claim 6, characterized in that, When the guide roller (55) contacts the side of the inspection track (1), the compression spring (58) is in a compressed state.

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