Hydraulic gallery inspection robot cantilever
By introducing storage box and extrusion plate structure into the cantilever of the hydraulic corridor inspection robot, the lubricant oil is not required to be disassembled and added, and the problem of increasing friction affecting positioning accuracy is solved, which improves work efficiency and reduces leakage Oil risk.
Patent Information
- Application Number
- CN202411289685.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-14
- Publication Date
- 2025-01-03
AI Technical Summary
After a long time of use, the friction between the booms increases, affecting the positioning sensitivity and accuracy of the robot arm. It requires disassembly of equipment to add lubricating oil, which is time-consuming and labor-intensive and affects efficiency.
A cantilever structure including a storage box and an extrusion plate is designed. The lubricating oil in the storage box enters the transmission bearing through the feed pipe, avoiding the need for equipment disassembly, and the lubricating oil consumption is facilitated by the installation of the feed pipe and plug. Add new oil when it is exhausted to reduce the risk of oil leakage.
It improves the working efficiency of the equipment, avoids the necessity of equipment disassembly, reduces the risk of oil leakage when adding lubricant oil, and improves the efficiency and accuracy of the cantilever.
Smart Images
Figure CN119238608A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of inspection robots, and in particular to a hydraulic gallery inspection robot cantilever. Background Art
[0002] In order to ensure the firmness and stability of the dam, it is usually necessary to open a hydraulic corridor inside the dam. The purpose is to be able to observe the internal situation of the dam at any time for emergency treatment. However, the working environment in the hydraulic corridor is complex and there are great safety hazards in manual inspections. Inspection robots are usually required to conduct patrol inspections of the hydraulic corridor.
[0003] In the prior art, for example, Chinese patent CN109968337A discloses a cantilever of a suspended rail tunnel inspection robot, comprising a first drive device, a first connecting rod and a connecting plate; the first drive device comprises a first power output mechanism, a first bearing and a first driving wheel; one end of the connecting plate is used to be fixed to the robot body, and the other end is provided with a through hole, and the first bearing is fixed in the through hole of the connecting plate; the first driving wheel extends toward the first bearing to form a hollow circular protrusion, the protrusion extends into the inner ring of the first bearing and is fixed in contact with the wall, and the protrusion is fixed to the rod body of the first connecting rod by a fixing bolt; the first power output mechanism is installed on the robot body, and the power output end of the first power output mechanism drives the first driving wheel to rotate to drive the first connecting rod to move, and the first connecting rod is provided with a multimodal sensor array for detecting cable tunnels.
[0004] However, in the prior art, when the cantilever of the inspection robot is used in the hydraulic corridor, the friction between the two movable arms increases over a long period of time, which affects the sensitivity and accuracy of the robot arm when positioning. It is necessary to add lubricating oil to the cantilever bearing. Currently, adding lubricating oil to the bearing requires disassembling the robot arm, which is time-consuming and labor-intensive, and affects the efficiency of the robot in photographing the corridor. Summary of the invention
[0005] The purpose of the present invention is to solve the problem in the prior art that the increase will affect the sensitivity and accuracy of the robot arm when positioning, and it is necessary to add lubricating oil to the cantilever bearing. Currently, the robot arm needs to be disassembled to add lubricating oil to the bearing. This method is time-consuming and labor-intensive, and affects the efficiency of the robot in photographing the corridor. A hydraulic corridor inspection robot cantilever is proposed.
[0006] In order to achieve the above-mentioned objectives, the present invention adopts the following technical scheme: a cantilever of a hydraulic corridor inspection robot, comprising a guide rail, a slider being slidably connected to the lower end of the guide rail, one side of the slider being rotatably connected to cantilever No. 1, one side of cantilever No. 1 is provided with a transmission bearing, one side of the transmission bearing is rotatably connected to one side of cantilever No. 1, one side of cantilever No. 1 is fixedly connected to a storage box, one side of the storage box is fixedly connected to a feed pipe, one end of the feed pipe is fixedly connected to one side of the transmission bearing, the inner wall of the storage box is slidably connected to an extrusion plate, the outer side wall of the extrusion plate is sleeved with a sealing gasket, a push rod is fixedly connected to the middle part of one side of the extrusion plate, and the other side of the extrusion plate is fixedly connected to an extrusion spring, one end of the extrusion spring is fixedly connected to the inner wall of the storage box.
[0007] Preferably, the upper end of the storage box is fixedly connected to a feeding pipe, and the outer side wall of the feeding pipe is fixedly connected to a mounting ring.
[0008] Preferably, a connecting rope is fixedly connected to one side of the mounting ring.
[0009] Preferably, one end of the connecting rope is fixedly connected to a plug, one side of the inner wall of the feeding tube is fixedly connected to a sealing ring, and the outer side wall of the sealing ring is clamped with one side of the plug.
[0010] Preferably, a mounting frame is fixedly connected to the other side of the storage box, a clamping block is rotatably connected to one side of the mounting frame, and one side of the clamping block is fitted with one side of the plug.
[0011] Preferably, one side of the transmission bearing is transmission-connected to a second cantilever, and one side of the second cantilever is rotationally connected to a mounting platform.
[0012] Compared with the prior art, the advantages and positive effects of the present invention are:
[0013] 1. In the present invention, by setting the storage box and the extrusion plate, when the cantilever is used for a long time and the friction between the movable arms increases, the cantilever is started first, the position of the storage box is adjusted, and the push rod is pressed to squeeze the lubricating oil in the storage box into the feed pipe, and then enters the transmission bearing through the feed pipe. Therefore, the cooperation between the sealing gasket and the feed pipe can facilitate the addition of lubricating oil to the transmission bearing, avoiding the need to disassemble the equipment and then add lubricating oil to the transmission bearing, thereby improving the working efficiency of the equipment.
[0014] 2. In the present invention, through the setting of the feeding pipe and the plug, when the lubricating oil in the storage box is exhausted, the No. 1 cantilever and the No. 2 cantilever are adjusted to be vertical, the clamping block is pulled, the plug is buckled out, and the lubricating oil is added to the storage box. The structure of the plug and the clamping block can facilitate the addition of lubricating oil to the storage box, and also reduces the possibility of oil leakage when adding lubricating oil to the transmission bearing. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 A schematic diagram of the three-dimensional structure of a cantilever of a hydraulic gallery inspection robot is provided for the present invention;
[0016] Figure 2 The present invention provides a schematic diagram of a side-view stereoscopic structure of a hydraulic gallery inspection robot cantilever;
[0017] Figure 3 for Figure 2 A partial enlarged schematic diagram of the middle A area;
[0018] Figure 4 The present invention provides a schematic cross-sectional structure diagram of a storage box in the cantilever of a hydraulic corridor inspection robot.
[0019] Legend: 1. Guide rail; 2. Slider; 3. Cantilever No. 1; 4. Cantilever No. 2; 5. Transmission bearing; 6. Storage box; 61. Feed pipe; 62. Extrusion plate; 63. Sealing gasket; 64. Push rod; 65. Extrusion spring; 7. Mounting frame; 71. Clamping block; 72. Feeding pipe; 73. Mounting ring; 74. Plug; 75. Sealing ring; 76. Connecting rope; 8. Mounting table. DETAILED DESCRIPTION
[0020] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described below in conjunction with the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.
[0021] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments of the following disclosure.
[0022] Embodiment 1
[0023] like Figure 1-4 As shown, the present invention provides a cantilever of a hydraulic corridor inspection robot, including a guide rail 1, a slider 2 is slidably connected to the lower end of the guide rail 1, one side of the slider 2 is rotatably connected to a cantilever No. 3, a transmission bearing 5 is provided on one side of the cantilever No. 3, one side of the transmission bearing 5 is rotatably connected to one side of the cantilever No. 3, one side of the cantilever No. 3 is fixedly connected to a storage box 6, one side of the storage box 6 is fixedly connected to a feed pipe 61, one end of the feed pipe 61 is fixedly connected to one side of the transmission bearing 5, the inner wall of the storage box 6 is slidably connected to an extrusion plate 62, the outer wall of the extrusion plate 62 is sleeved with a sealing gasket 63, a push rod 64 is fixedly connected to the middle part of one side of the extrusion plate 62, and an extrusion spring 65 is fixedly connected to the other side of the extrusion plate 62, and one end of the extrusion spring 65 is fixedly connected to the inner wall of the storage box 6.
[0024] The following is a detailed description of the specific settings and functions of this embodiment. Through the settings of the storage box 6 and the extrusion plate 62, when the cantilever is used for a long time and the friction between the movable arms increases, first start the cantilever, adjust the position of the storage box 6, press the push rod 64, and squeeze the lubricating oil in the storage box 6 into the feed pipe 61, and then enter the transmission bearing 5 through the feed pipe 61. Therefore, the cooperation between the sealing gasket 63 and the feed pipe 61 can facilitate the addition of lubricating oil to the transmission bearing 5, avoiding the need to disassemble the equipment and then add lubricating oil to the transmission bearing 5, thereby improving the working efficiency of the equipment.
[0025] Embodiment 2
[0026] like Figure 1-4 As shown, the upper end of the storage box 6 is fixedly connected with a feeding pipe 72, the outer side wall of the feeding pipe 72 is fixedly connected with a mounting ring 73, one side of the mounting ring 73 is fixedly connected with a connecting rope 76, one end of the connecting rope 76 is fixedly connected with a plug 74, one side of the inner wall of the feeding pipe 72 is fixedly connected with a sealing ring 75, and the outer side wall of the sealing ring 75 is engaged with one side of the plug 74. The other side of the storage box 6 is fixedly connected with a mounting frame 7, one side of the mounting frame 7 is rotatably connected with a clamping block 71, one side of the clamping block 71 is fitted with one side of the plug 74, one side of the transmission bearing 5 is transmission-connected with the second cantilever 4, and one side of the second cantilever 4 is rotatably connected with a mounting platform 8.
[0027] The effect achieved by the entire embodiment is that, through the setting of the feeding pipe 72 and the plug 74, when the lubricating oil in the storage box 6 is exhausted, the No. 1 cantilever 3 and the No. 2 cantilever 4 are adjusted to be vertical, the clamping block 71 is pulled, the plug 74 is buckled out, and the lubricating oil is added to the storage box 6. The structure of the plug 74 and the clamping block 71 can facilitate the addition of lubricating oil to the storage box 6, and also reduces the possibility of oil leakage when adding lubricating oil to the transmission bearing 5.
[0028] The use method and working principle of this device: when inspecting the hydraulic corridor of the dam, first install the inspection camera on the mounting platform 8, and the slider 2 moves on the guide rail 1. While moving, the No. 1 cantilever 3 and the No. 2 cantilever 4 rotate continuously, so that the camera observes different positions. When the equipment is used for a long time and the friction between the movable arms increases, first start the cantilever, adjust the position of the storage box 6, press the push rod 64, and squeeze the lubricating oil in the storage box 6 into the feed pipe 61, and then enter the transmission bearing 5 through the feed pipe 61, so that the cooperation of the sealing gasket 63 and the feed pipe 61 can facilitate the addition of lubricating oil to the transmission bearing 5. When the lubricating oil in the storage box 6 is exhausted, adjust the No. 1 cantilever 3 and the No. 2 cantilever 4 to be vertical, pull the clamping block 71, buckle the plug 74, and add lubricating oil to the storage box 6. The structure of the plug 74 and the clamping block 71 can facilitate the addition of lubricating oil to the storage box 6, and also reduce the oil leakage when adding lubricating oil to the transmission bearing 5.
[0029] The above are only preferred embodiments of the present invention and are not intended to limit the present invention in other forms. Any technician familiar with the profession may use the technical contents disclosed above to change or modify them into equivalent embodiments with equivalent changes and apply them to other fields. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.
Claims
1. A hydraulic corridor inspection robot cantilever, comprising a guide rail (1), characterized in that: The lower end of the guide rail (1) is slidably connected to a slider (2), one side of the slider (2) is rotatably connected to a cantilever arm (3), one side of the cantilever arm (3) is provided with a transmission bearing (5), one side of the transmission bearing (5) is rotatably connected to one side of the cantilever arm (3), one side of the cantilever arm (3) is fixedly connected to a storage box (6), one side of the storage box (6) is fixedly connected to a feed pipe (61), one end of the feed pipe (61) is fixedly connected to one side of the transmission bearing (5), the inner wall of the storage box (6) is slidably connected to an extrusion plate (62), the outer wall of the extrusion plate (62) is sleeved with a sealing gasket (63), the middle part of one side of the extrusion plate (62) is fixedly connected to a push rod (64), the other side of the extrusion plate (62) is fixedly connected to an extrusion spring (65), one end of the extrusion spring (65) is fixedly connected to the inner wall of the storage box (6).
2. The hydraulic corridor inspection robot cantilever according to claim 1 is characterized in that: The upper end of the storage box (6) is fixedly connected to a feeding pipe (72), and the outer side wall of the feeding pipe (72) is fixedly connected to a mounting ring (73).
3. The hydraulic corridor inspection robot cantilever according to claim 2 is characterized in that: A connecting rope (76) is fixedly connected to one side of the mounting ring (73).
4. The hydraulic corridor inspection robot cantilever according to claim 3 is characterized by: One end of the connecting rope (76) is fixedly connected to a plug (74), one side of the inner wall of the feeding pipe (72) is fixedly connected to a sealing ring (75), and the outer side wall of the sealing ring (75) is clamped with one side of the plug (74).
5. The hydraulic gallery inspection robot cantilever according to claim 1, characterized in that: The other side of the storage box (6) is fixedly connected to a mounting frame (7), one side of the mounting frame (7) is rotatably connected to a clamping block (71), and one side of the clamping block (71) is in contact with one side of the plug (74).
6. The hydraulic corridor inspection robot cantilever according to claim 1, characterized in that: One side of the transmission bearing (5) is transmission-connected to the second cantilever (4), and one side of the second cantilever (4) is rotationally connected to the mounting platform (8).