Rail-mounted lifting inspection robot mobile component assembly

Abstract

This invention discloses a track-mounted lifting inspection robot mobile assembly, including a drive mechanism. One side of the drive mechanism is connected to an active moving mechanism, and an auxiliary moving mechanism is provided on the side of the drive mechanism away from the active moving mechanism. The auxiliary moving mechanism includes a secondary drive bracket, and a No. 1 bolt is inserted inside the secondary drive bracket. The beneficial effects of this invention are: by installing four active rollers, two main limit frames, and a main bottom wheel on the active moving mechanism, the drive mechanism can drive the two active moving rollers on the active moving mechanism to rotate, thereby increasing the stability of the suspended lifting robot during movement and avoiding swaying problems. Furthermore, the auxiliary moving mechanism can be easily installed on some longer inspection robots. By installing the auxiliary moving mechanism and the active moving mechanism on both sides of the top of the robot, the stability of longer inspection robots during movement is increased.

Description

Technical fields:

[0001] This invention belongs to the field of inspection robot technology, and specifically relates to the mobile component assembly of a track-lifting inspection robot. Background technology:

[0002] The track robot adopts a track-inverted servo walking method, equipped with a high-definition camera and infrared thermal imager. It integrates core technologies such as network communication technology, multi-sensor fusion technology, image analysis algorithm, and real-time database technology to achieve long-distance, fully automatic identification of equipment infrared temperature measurement, signal status indicator lights, abnormal identification of equipment appearance, and fully automatic identification and reading of instruments.

[0003] However, in the existing technology, the moving component assembly of the track-mounted lifting inspection robot moves the lifting robot on the track by driving the wheels with a motor. However, there are no auxiliary wheels to support it during the movement, which reduces its stability and causes the robot to sway when it is hanging upside down for inspection, which has certain shortcomings. Summary of the Invention:

[0004] The purpose of this invention is to provide a solution to the above-mentioned problems.

[0005] To address the above problems, the present invention provides a technical solution:

[0006] A track-mounted lifting inspection robot mobile assembly includes a drive mechanism. One side of the drive mechanism is connected to an active movement mechanism. An auxiliary movement mechanism is located on the side of the drive mechanism away from the active movement mechanism. The auxiliary movement mechanism includes a secondary drive bracket. A bolt is inserted inside the secondary drive bracket. Both side walls of the top of the secondary drive bracket are rotatably connected to movable shafts. The ends of the two movable shafts that are close to each other are fixedly connected to the inner wall of the first auxiliary roller. A secondary auxiliary frame is bolted to one side of the top of the secondary drive bracket. The top and bottom ends of the secondary auxiliary frame near the first auxiliary roller are rotatably connected to secondary limit wheels. Secondary auxiliary rollers are rotatably connected to the four corners of the secondary drive bracket below the two movable shafts. A secondary bottom wheel is rotatably connected to the end of the secondary drive bracket above the first bolt away from the drive mechanism. The active movement mechanism includes an active bracket and three... A drive shaft is provided, and a No. 2 bolt is inserted inside the active bracket. Two of the drive shafts are rotatably connected to the top two sides of the active bracket, and the two ends of the other drive shaft are rotatably connected to the bottom two sides of the active bracket. The two ends of the bottom drive shaft located outside the active bracket are fixedly connected to the inner wall of the connecting gear. The ends of the two top drive shafts that are far apart from each other are fixedly connected to the inner wall of the driven gear, and the ends of the two top drive shafts that are close to each other are fixed to the inner wall of the active moving roller. Active rollers are rotatably connected to the four corners of the active bracket located below the two active moving rollers. A main bottom wheel is rotatably connected to the side of the active bracket located above the No. 2 bolt and away from the drive mechanism. The top side of the active bracket is connected to the main auxiliary frame by bolts. The top and bottom ends of the main auxiliary frame near the active moving rollers are movably connected to the main limiting frame.

[0007] The drive mechanism includes a drive motor, which is fixed to the side wall of the fixed base by bolts. The output end of the drive motor passes through the fixed base and is fixed to the inner wall of the drive gear.

[0008] Preferably, the tops of the two connecting gears on both sides are respectively located at the bottom of the two driven gears and mesh with each other, and the side wall of the connecting gear near the main auxiliary frame is meshed with the side wall of the driving gear.

[0009] Preferably, one end of the fixed base is fixedly connected to the end of the active support that is close to it.

[0010] Preferably, the positions of the four auxiliary rollers are parallel to the positions of the four active rollers.

[0011] Preferably, the position of the secondary bottom wheel is parallel to the position of the main bottom wheel.

[0012] Preferably, the positions of the two active moving rollers are parallel to the positions of the two auxiliary rollers.

[0013] Preferably, the positions of the two secondary limiting wheels are parallel to the positions of the two main limiting frames.

[0014] The beneficial effects of this invention are:

[0015] This invention, by installing four active rollers, two main limit frames, and a main bottom wheel on the active moving mechanism, enables the drive mechanism to rotate the two active moving rollers on the active moving mechanism, thereby increasing the stability of the suspended lifting robot during movement and preventing swaying. Furthermore, the auxiliary moving mechanism can be easily installed on some longer inspection robots. By installing the auxiliary moving mechanism and the active moving mechanism on both sides of the top of the robot, the stability of longer inspection robots during movement is further increased. Attached image description:

[0016] For ease of explanation, the present invention will be described in detail below with reference to specific embodiments and accompanying drawings.

[0017] Figure 1 This is a schematic diagram of the structure of the present invention;

[0018] Figure 2 This is a schematic diagram of the auxiliary movement mechanism of the present invention;

[0019] Figure 3 This is a schematic diagram of the auxiliary frame and auxiliary limiting wheel of the auxiliary moving mechanism of the present invention;

[0020] Figure 4 This is a schematic diagram showing the position and structure of the auxiliary bottom wheel in the auxiliary moving mechanism of the present invention;

[0021] Figure 5 This is a schematic diagram of the structure of the driving mechanism and the active movement mechanism of the present invention;

[0022] Figure 6 This is a schematic diagram of the active moving mechanism of the present invention.

[0023] In the diagram: 1. Drive mechanism; 11. Drive motor; 12. Fixed base; 13. Drive gear; 2. Auxiliary moving mechanism; 21. Secondary moving bracket; 22. Bolt No. 1; 23. Movable shaft; 24. Auxiliary roller No. 1; 25. Auxiliary roller No. 2; 26. Secondary auxiliary frame; 27. Secondary limit wheel; 28. Secondary bottom wheel; 3. Active moving mechanism; 31. Active bracket; 32. Bolt No. 2; 33. Transmission shaft; 34. Connecting gear; 35. Driven gear; 36. Active moving roller; 37. Main auxiliary frame; 38. Main limit frame; 39. Drive roller; 310. Main bottom wheel. Detailed implementation method:

[0024] like Figure 1-6As shown, this specific embodiment adopts the following technical solution: a track-lifting inspection robot mobile component assembly, including a drive mechanism 1, one side of which is connected to an active moving mechanism 3, and an auxiliary moving mechanism 2 is provided on the side of the drive mechanism 1 away from the active moving mechanism 3. The auxiliary moving mechanism 2 includes a secondary moving bracket 21, with a first bolt 22 inserted inside the secondary moving bracket 21. The two side walls of the top of the secondary moving bracket 21 are rotatably connected to the movable shaft 23. The ends of the two movable shafts 23 that are close to each other are fixedly connected to the inner wall of the first auxiliary roller 24. A secondary auxiliary frame 26 is bolted to one side of the top of the secondary moving bracket 21. The top and bottom ends of the secondary auxiliary frame 26 that are close to the first auxiliary roller 24 are rotatably connected to secondary limit wheels 27. Secondary auxiliary rollers 25 are rotatably connected to the four corners of the secondary moving bracket 21 located below the two movable shafts 23. A secondary bottom wheel 28 is rotatably connected to the end of the secondary moving bracket 21 located above the first bolt 22 away from the drive mechanism 1. The active moving mechanism 3 includes an active moving mechanism 21. The active support 31 consists of a bracket 31 and three drive shafts 33. A second bolt 32 is inserted inside the active support 31. Two drive shafts 33 are rotatably connected to the top two sides of the active support 31, and the other drive shaft 33 is rotatably connected to the bottom two sides of the active support 31. The two ends of the bottom drive shaft 33 located outside the active support 31 are fixedly connected to the inner wall of the connecting gear 34. The ends of the two top drive shafts 33 that are far apart from each other are fixedly connected to the inner wall of the driven gear 35, and the ends of the two top drive shafts 33 that are close to each other are fixed to the inner wall of the active moving roller 36. Active rollers 39 are rotatably connected to the four corners of the active support 31 below the two active moving rollers 36. A main bottom wheel 310 is rotatably connected to the side of the active support 31 above the second bolt 32 and away from the drive mechanism 1. The top side of the active support 31 is connected to the main auxiliary frame 37 by bolts. A main limiting frame 38 is movably connected to the top and bottom of the main auxiliary frame 37 near the active moving roller 36.

[0025] The drive mechanism 1 includes a drive motor 11, which is fixed to the side wall of the fixed base 12 by bolts. The output end of the drive motor 11 passes through the fixed base 12 and is fixed to the inner wall of the drive gear 13. One end of the fixed base 12 is fixedly connected to the end of the drive bracket 31 that is close to it.

[0026] Specifically, it needs to be explained that, such as Figure 5As shown in this embodiment, the tops of the two connecting gears 34 on both sides are respectively meshed with the bottoms of the two driven gears 35. The side wall of the connecting gear 34 near the main auxiliary frame 37 meshes with the side wall of the active gear 13. The active gear 13 is driven to rotate by the drive motor 11. The active gear 13 drives the two driven gears 35 to rotate through the connecting gear 34 meshing with it. Thus, the two driven gears 35 drive the active moving roller 36 to rotate through the transmission shaft 33. The robot hanging upside down moves by the drive of the active moving roller 36.

[0027] The positions of the four auxiliary rollers 25 are parallel to the positions of the four active rollers 39, the position of the secondary bottom roller 28 is parallel to the position of the main bottom roller 310, the positions of the two active moving rollers 36 are parallel to the positions of the two auxiliary rollers 24, and the positions of the two secondary limit rollers 27 are parallel to the positions of the two main limit frames 38. By having the four auxiliary rollers 25 and the four active rollers 39 abut against the bottom side wall of the track, the secondary bottom rollers 28 and the main bottom rollers 310 abut against the bottom of the track, and the two secondary limit rollers 27 and the two main limit frames 38 abut against the top side of the track, the stable movement effect is improved.

[0028] Specifically: During installation of this invention, the active moving mechanism 3 is connected to the top of the inverted lifting inspection robot below via the second bolt 32 inserted on the active bracket 31. The drive mechanism 1 transmits power to the active moving mechanism 3, thereby moving the robot. If the lifting inspection robot is too long and a single active moving mechanism 3 cannot provide the required stability during movement, an auxiliary moving mechanism 2 can be installed on the top of the lifting inspection robot on the side away from the active moving mechanism 3 from the drive mechanism 1. This can be achieved via the first bolt 22 on the auxiliary bracket 21. Figure 1 As shown, the auxiliary moving mechanism 2 is located to the left of the driving mechanism 1 and plays the role of assisting movement, while the active moving mechanism 3 is located to the right of the driving mechanism 1 and plays the role of active movement through the driving mechanism 1.

[0029] In use, the device operates via the drive motor 11, which drives the active gear 13 to rotate. The active gear 13 then drives the connecting gear 34 meshing with it to rotate. This connecting gear 34 on one side drives the connecting gear 34 on the other side to rotate via the transmission shaft 33. The rotation of the two connecting gears 34, in turn, drives the two active moving rollers 36 to rotate together via the two transmission shafts 33. The two active moving rollers 36 are located on both sides inside the track. The drive mechanism 1 drives the rotation of the two active moving rollers 36, enabling the lifting inspection robot to move. The movement of the lifting inspection robot can also drive the auxiliary moving mechanism 2 to move together. The auxiliary moving mechanism 2 provides a certain degree of auxiliary stabilization during movement. During movement, the four active rollers 39 in the active moving mechanism 3 and the four auxiliary rollers 25 of the auxiliary moving mechanism 2 clamp the outer side walls on both sides of the bottom of the track. The main bottom wheel 310 of the active moving mechanism 3 and the auxiliary rollers 25... The auxiliary bottom wheel 28 of the auxiliary moving mechanism 2 abuts against the bottom of the track. The two main limit frames 38 of the active moving mechanism 3 and the two auxiliary limit wheels 27 of the auxiliary moving mechanism 2 can abut against the top and bottom of one side of the track. In addition, according to the needs of the staff, the same auxiliary auxiliary frame 26 and two auxiliary limit wheels 27 can be installed on the other side of the top of the auxiliary moving support 21 of the auxiliary moving mechanism 2, and the same main auxiliary frame 37 and two main limit frames 38 can be installed on the other side of the top of the active support 31 of the active moving mechanism 3. Through the auxiliary moving mechanism 2, the second auxiliary roller 25, the auxiliary limit wheel 27 and the auxiliary bottom wheel 28 in the auxiliary moving mechanism 2, and the active roller 39, the main bottom wheel 310 and the main limit frame 38 of the active moving mechanism 3, the stability of the lifting inspection robot below can be greatly improved when moving. There will be no shaking problem when moving. It can also be matched with some longer lifting inspection robots.

[0030] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the present invention. Various changes and modifications can be made to the present invention without departing from its spirit and scope. All such changes and modifications fall within the scope of the present invention as claimed, which is defined by the appended claims and their equivalents.

Claims

1. A track-mounted lifting inspection robot mobile component assembly, characterized in that, The utility model provides a drive mechanism (1) one side with initiative moving mechanism (3) is connected, the drive mechanism (1) is provided with the auxiliary moving mechanism (2) away from initiative moving mechanism (3) one side, the auxiliary moving mechanism (2) includes vice dynamic support (21), inside one bolt (22) is inserted to vice dynamic support (21), vice dynamic support (21) top both sides side wall all are rotatably connected with movable shaft (23), two movable shaft (23) are rotatably connected with one auxiliary roller (24) inner wall on the end of each other, vice auxiliary frame (26) is connected to vice dynamic support (21) top one side through bolt, vice auxiliary frame (26) is rotatably connected with vice limiting wheel (27) on the top and bottom of one side close to one auxiliary roller (24), vice dynamic support (21) is rotatably connected with two auxiliary rollers (25) on the four corners below both sides movable shaft (23), vice dynamic support (21) is rotatably connected with vice bottom wheel (28) on the end away from drive mechanism (1) above one bolt (22), initiative moving mechanism (3) includes initiative support (31) and three transmission shaft (33), initiative support (31) inside inserts two bolts (32), wherein two transmission shaft (33) are rotatably connected with initiative support (31) top both sides respectively, and the other transmission shaft (33) both ends are rotatably connected with initiative support (31) bottom both sides respectively, and the transmission shaft (33) of bottom is rotatably connected with the inner wall of engaging gear (34) on the both ends of initiative support (31) outside, and the transmission shaft (33) of top is rotatably connected with the inner wall of driven gear (35) on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft (33) of top is rotatably connected with initiative moving roller (36) inner wall on the end of each other, and the transmission shaft 2. The track-based lift robot mobile assembly of claim 1, wherein: ​ 3. The track-based lift robot mobile assembly of claim 1, wherein: ​ 4. The track-based lift robot mobile assembly of claim 2, wherein: ​ 5. The track-based lift robot mobile assembly of claim 1, wherein: ​ 6. The track-based lift robot mobile assembly of claim 1, wherein: The positions of the auxiliary bottom wheels (28) are parallel to the positions of the main bottom wheels (310).

7. The track-based lift robot mobile assembly of claim 1, wherein: The positions of the two active moving wheels (36) are parallel to the positions of the two auxiliary wheels (24).

8. The track-based lift robot mobile assembly of claim 1, wherein: The positions of the two auxiliary limiting wheels (27) are parallel to the positions of the two main limiting frames (38).

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