Cold-proof walking structure of inspection robot

Abstract

The cold-proof walking structure comprises a robot body, a track groove, walking wheels, a first monitoring probe, a second monitoring probe, a deicing plate and an oil bin, a sealing plate is clamped to one side of the robot body, a driving gear is rotationally connected into the robot body, and an auxiliary gear is meshed with one side of the driving gear; heat pipes are evenly and fixedly connected to the upper side and the lower side in the oil bin, a heating plate is fixedly connected to the side, close to the track groove, of the robot body, connecting pipes are in contact with the two sides of the oil bin, vibrating plates are fixedly connected to one sides of the connecting pipes, and the vibrating plates are located in the oil bin; the lubricating device has the beneficial effects that the heat pipe is arranged to heat the oil bin, vibration generated when the extending brush makes contact with the rotating driving gear is conducted to the connecting pipe and the vibration plate, the vibration plate rapidly moves in the oil bin within a small range, lubricating oil in the oil bin is rapidly melted, and therefore the lubricating efficiency is improved.

Description

Technical Field

[0001] The invention relates to the field of inspection robot production, and in particular to a cold-proof walking structure of the inspection robot. Background Art

[0002] Inspection robots refer to robots that can automatically walk on preset routes and conduct patrol inspections. They are usually equipped with various sensors and cameras to perform real-time detection and data collection of the environment. Inspection robots are usually set up in special operation areas and are suitable for places with large areas and inconvenient for people to go. In some cases, inspection robots need to be equipped with tracks to walk in extremely cold environments.

[0003] When inspection robots move in extremely cold conditions, they usually need to use strong and durable materials, such as high-strength alloys or special plastics, to resist embrittlement and deformation in low-temperature environments, and cooperate with walking mechanisms to achieve movement. In some cases, they also need to cooperate with track snow and ice removal structures to prevent the robot from slipping during operation. However, in extremely cold conditions, the grease inside the inspection robot becomes viscous, resulting in high resistance to the operation of the equipment.

[0004] Therefore, a cold-proof walking structure of an inspection robot is proposed to solve the problem that in extremely cold conditions, the grease inside the robot used to lubricate the gearbox gears becomes viscous, resulting in high resistance to equipment operation. Summary of the invention

[0005] The purpose of the present invention is to provide a cold-proof walking structure for an inspection robot. First, a heat pipe is set to heat the oil in the oil tank, and the vibration generated by the connecting pipe and the extension brush is used to synchronously cause the vibration plate to vibrate, thereby causing the oil in the oil tank to melt quickly, thereby preheating the oil tank and improving the lubrication efficiency. Then, the sharing wheel and auxiliary gear are used to share the rotational pressure of the driving gear, thereby improving the movement stability of the robot body and solving the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a cold-proof walking structure of an inspection robot, comprising a robot body, a track groove, a walking wheel, a first monitoring probe, a second monitoring probe, a deicing plate, and an oil tank, characterized in that a sealing plate is clamped on one side of the robot body, a driving gear is rotatably connected in the robot body, an auxiliary gear is meshed on one side of the driving gear, a pinion is meshed on one side of the auxiliary gear, and the pinion is fixedly connected to the walking wheel;

[0007] Heat pipes are evenly fixedly connected on the upper and lower sides of the oil bin, a heating plate is fixedly connected to the side of the robot body close to the track groove, both sides of the oil bin are in contact with connecting pipes, one side of the connecting pipe is fixedly connected to a vibration plate, the vibration plate is in the oil bin and in contact with the bottom of the oil bin, a sponge column is fixedly connected in the connecting pipe, one end of the sponge column is located in the oil bin, and one side of the sponge column is fixedly connected to an extension brush;

[0008] A trapezoidal block is fixedly connected to the bottom side of the oil bin, an oil return hole is opened at the lowest point of the trapezoidal block on the robot body, and the oil return hole is L-shaped. An oil pump is fixedly connected to the bottom side of the robot body, and the output end of the oil pump is the same as the inside of the oil bin. A distance sensor is fixedly connected to the upper side of the oil bin.

[0009] In a further embodiment, a recess is provided on the upper side of the robot body, a sealing plug is connected to the inner thread of the recess, and the sealing plug is in contact with the oil tank.

[0010] In a further embodiment, the upper side of the sealing plug contacts with a heat-insulating sleeve, the heat-insulating sleeve is inserted into a recess, and the outer side of the heat-insulating sleeve is made of plastic.

[0011] In a further embodiment, a slot is provided in the depression, a protrusion is fixedly connected to the bottom side of the thermal insulation sleeve and the protrusion is in contact with the slot.

[0012] In a further embodiment, positioning holes are opened on both sides of the oil tank, a limiting plate is contacted in the positioning hole, and a spring is contacted on one side of the limiting plate and the spring is located in the positioning hole.

[0013] In a further embodiment, the extension brush is in contact with a driving gear, a sharing wheel is meshed on one side of the driving gear, and the sharing wheel is rotatably connected to the robot body.

[0014] In a further embodiment, an auxiliary groove is provided in the track groove of the robot body, and a contact wheel is rotatably connected in the auxiliary groove.

[0015] In a further embodiment, the robot body is provided with limit grooves on both sides of the track groove, one side of the limit groove is in contact with the deicing plate, one side of the deicing plate is rotatably connected to an adjustment rod, and the adjustment rod is threadedly connected to the robot body.

[0016] In a further embodiment, triangular nails are evenly fixedly connected to one side of the de-icing plate, and the triangular nails have the same walking direction as the robot body.

[0017] In a further embodiment, a guide plate is fixedly connected to one side of the robot body close to the first monitoring probe, and a limiting protrusion is fixedly connected to one side of the guide plate.

[0018] Compared with the prior art, the beneficial effects of the present invention are: the oil tank is heated by arranging a heat pipe, and the vibration generated by the extended brush contacting the rotating drive gear is transmitted to the connecting pipe and the vibration plate, so that the vibration plate moves quickly and slightly in the oil tank, prompting the lubricating oil in the oil tank to melt quickly, thereby promoting lubrication efficiency; at the same time, the adjustable scraper is combined with the triangular nails on the scraper to increase the contact pressure with the track when the robot body moves, which can provide a rapid ice-breaking effect and improve the stability of the robot body movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional structural diagram of the present invention;

[0020] Figure 2 It is a side cross-sectional structural diagram of the present invention;

[0021] Figure 3 It is a front cross-sectional structural diagram of the present invention;

[0022] Figure 4 It is a three-dimensional cross-sectional structural diagram of the oil tank of the present invention;

[0023] Figure 5 It is an enlarged structural diagram of point A of the present invention.

[0024] In the figure: 1. Robot body; 2. Track groove; 3. Travel wheel; 4. First monitoring probe; 5. Second monitoring probe; 6. De-icing plate; 7. Oil tank; 8. Heat pipe; 9. Driving gear; 10. Auxiliary gear; 11. Pinion; 12. Connecting pipe; 13. Sponge column; 14. Extension brush; 15. Trapezoidal block; 16. Oil return hole; 17. Oil pump; 18. Distance sensor; 19. Sealing plug; 20. Insulation sleeve; 21. Positioning hole; 22. Limiting plate; 23. Vibrating plate; 24. Sharing wheel; 25. Contact wheel; 26. Limiting groove; 27. Adjusting rod; 28. Triangular nail; 29. ​​Guide plate; 30. Limiting protrusion; 31. Sealing plate; 32. Heating plate. DETAILED DESCRIPTION

[0025] The following will be described clearly and completely in conjunction with 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.

[0026] Embodiment 1

[0027] In the initial stage of the inspection robot's walking, the oil in the oil tank 7 will solidify in extremely cold weather, increasing equipment wear and affecting subsequent operating efficiency.

[0028] See also Figure 1-5 , This embodiment provides a cold-proof walking structure of an inspection robot, including a robot body 1, a track groove 2, a walking wheel 3, a first monitoring probe 4, a second monitoring probe 5, a deicing plate 6, and an oil tank 7. The first monitoring probe 4 and the second monitoring probe 5 are used to monitor the movement of the robot body 1 and monitor the area to be inspected at the same time. A sealing plate 31 is clamped on one side of the robot body 1. The sealing plate 31 can be opened to observe the internal situation of the robot body 1. A driving gear 9 is connected to the robot body 1 for rotation. An auxiliary gear 10 is meshed on one side of the driving gear 9. A pinion 11 is meshed on one side of the auxiliary gear 10. The driving gear 9 is driven by a driving motor (not shown in the figure, only as a driving source for driving the robot body 1 to move), which will cause the auxiliary gear 10 and the pinion 11 to rotate. The diameter of the driving gear 9 is larger than that of the auxiliary gear 10, and the diameter of the auxiliary gear 10 is larger than that of the pinion 11, which can reduce the speed of the driving motor and increase the torque and output, so as to facilitate the movement of the inspection robot. The driving pinion 11 is fixedly connected to the walking wheel 3;

[0029] Heat pipes 8 are evenly and fixedly connected on both sides of the oil bin 7. The heat pipes 8 are connected to a power source through a wire. The heat pipes 8 heat the oil bin 7 through the power source, which can increase the fluidity of the lubricating oil in the oil bin 7 and facilitate the melting of the lubricating oil. A heating plate 32 is fixedly connected to the side of the robot body 1 close to the track groove 2. The heating plate 32 is connected to an external power source through a wire, which can cause the track groove 2 to be in a state of having a certain temperature and can heat the walking wheel 3. Both sides of the oil bin 7 are in contact with connecting pipes 12, and one side of the connecting pipe 12 is fixedly connected with The vibration plate 23 and the connecting tube 12 move on one side of the driving gear 9, which can facilitate the vibration of the vibration plate 23, thereby promoting the increase of the fluidity of the lubricating oil in the oil bin 7. The vibration plate 23 is in the oil bin 7 and the vibration plate 23 contacts the bottom side of the oil bin 7. The sponge column 13 is fixedly connected to the connecting tube 12. The sponge column 13 absorbs oil inside and transmits it to one side of the extension brush 14, and then contacts the driving gear 9 to be greased with oil, thereby improving the lubrication effect. One end of the sponge column 13 is in the oil bin 7, and one side of the sponge column 13 is fixedly connected to the extension brush 14.

[0030] A trapezoidal block 15 is fixedly connected to the bottom side of the oil bin 7, and an oil return hole 16 is opened at the lowest point of the trapezoidal block 15 on the robot body 1. The oil return hole 16 is L-shaped. An oil pump 17 is fixedly connected to the bottom side of the robot body 1. The output end of the oil pump 17 is the same as the inside of the oil bin 7. A distance sensor 18 is fixedly connected to the upper side of the oil bin 7. The lubricating oil falls onto the trapezoidal block 15 under the action of gravity, and then falls along the two inclined surfaces of the trapezoidal block 15 into the oil return hole 16, and falls back into the oil bin 7 through adsorption by the oil pump 17.

[0031] The sealing plug 19 is in contact with the oil tank 7 . A depression is threadedly connected to the sealing plug 19 . The depression is located on the upper side of the robot body 1 . The sealing plug 19 can be disassembled and assembled to facilitate filling with lubricating oil.

[0032] An insulation sleeve 20 is inserted into the recess, and the insulation sleeve 20 contacts the upper side of the sealing plug 19. By providing the insulation sleeve 20, the outer side of the insulation sleeve 20 is made of plastic, which reduces the solidification speed of the lubricating oil in the oil bin 7.

[0033] The card slot contacts the protrusion, and the protrusion is fixedly connected to the bottom side of the insulation sleeve 20. The card slot is located in the recess. By setting the card slot to cooperate with the protrusion, it is convenient to limit the insulation sleeve 20, increase friction, and facilitate subsequent disassembly.

[0034] Working principle: When the robot body 1 moves, the driving motor drives the driving gear 9, the auxiliary gear 10 and the pinion 11 to rotate, thereby causing the walking wheel 3 to rotate. At this time, the robot body 1 moves on the track, and at the same time adjusts the position of the de-icing plate 6 so that the de-icing plate 6 contacts the track to clear the ice stuck on the track. Before the robot body 1 moves, the heat pipe 8 and the heating plate 32 are used for heating, and at the same time the driving gear 9 will rotate slowly. The vibration generated drives the connecting pipe 12 to move, and causes the vibration plate 23 to vibrate in the oil tank 7. Then the lubricating oil in the oil tank 7 melts faster, which improves the melting efficiency of the oil body, thereby facilitating the movement of the robot body 1 and reducing equipment wear.

[0035] The fluidity of lubricating oil is poor in a condensed state. In an extremely cold environment, the lubrication effect of multiple gears is poor, which will increase wear and affect the walking of the robot body 1.

[0036] See also Figure 1-5 , further improvements are made on the basis of Example 1.

[0037] A spring is arranged in the positioning hole 21, and the spring contacts one side of the limit plate 22, and the limit plate 22 contacts the positioning hole 21. The positioning hole 21 is located on both sides of the oil tank 7. By arranging the spring in conjunction with the movable connecting tube 12, the vibration of the vibration plate 23 can be enhanced, and in conjunction with the heat pipe 8, the hot melting of the lubricating oil in the oil tank 7 can be promoted.

[0038] The robot body 1 is connected to a sharing wheel 24 that rotates inside. The sharing wheel 24 meshes with one side of the driving gear 9. The driving gear 9 contacts the extension brush 14. By setting the sharing wheel 24 and cooperating with the auxiliary gear 10, the vibration at the driving gear 9 can be shared and the rotation stability of the driving gear 9 can be improved.

[0039] The contact wheel 25 is rotatably connected to the auxiliary groove, which is located on one side of the track groove 2. The auxiliary groove is located on the robot body 1. By providing the contact wheel 25, the contact surface between the walking wheel 3 and the track is increased, thereby improving the walking stability of the robot body 1.

[0040] See also Figure 1 and 5 , further improvements are made on the basis of Example 1.

[0041] An adjusting rod 27 is threadedly connected to the robot body 1, and the adjusting rod 27 is rotatably connected to one side of the de-icing plate 6, and the de-icing plate 6 contacts one side of the limiting groove 26. The robot body 1 is located in the track groove 2 and has limiting grooves 26 on both sides. By setting the adjusting rod 27, the de-icing plate 6 can be driven to move to adapt to different tracks.

[0042] The triangular nail 28 is fixedly connected to one side of the de-icing plate 6, and the triangular nail 28 has the same walking direction as the robot body 1. By setting the triangular nail 28, the contact pressure between the de-icing plate 6 and the ice on the track can be increased, thereby improving the crushing and de-icing effect.

[0043] The limiting protrusion 30 is fixedly connected to one side of the guide plate 29, and the guide plate 29 is fixedly connected to the side of the robot body 1 close to the first monitoring probe 4. By setting the guide plate 29 and the limiting protrusion 30, it is easy to drive the broken ice surface to separate and fall, thereby preventing the falling broken ice from affecting the field of view of the first monitoring probe 4 and the second monitoring probe 5.

[0044] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A cold-proof walking structure of an inspection robot, comprising: A robot body (1), a track groove (2), a walking wheel (3), a first monitoring probe (4), a second monitoring probe (5), a deicing plate (6), and an oil tank (7), characterized in that a sealing plate (31) is clamped on one side of the robot body (1), a driving gear (9) is rotatably connected inside the robot body (1), an auxiliary gear (10) is meshed on one side of the driving gear (9), a pinion (11) is meshed on one side of the auxiliary gear (10), and the pinion (11) is fixedly connected to the walking wheel (3); Heat pipes (8) are evenly and fixedly connected on both upper and lower sides of the oil bin (7); a heating plate (32) is fixedly connected to the robot body (1) on the side close to the track groove (2); both sides of the oil bin (7) are in contact with connecting pipes (12); one side of the connecting pipe (12) is fixedly connected to a vibration plate (23); the vibration plate (23) is located in the oil bin (7) and the vibration plate (23) is in contact with the bottom side of the oil bin (7); a sponge column (13) is fixedly connected to the connecting pipe (12); one end of the sponge column (13) is located in the oil bin (7); and one side of the sponge column (13) is fixedly connected to an extension brush (14); A trapezoidal block (15) is fixedly connected to the bottom side of the oil bin (7); an oil return hole (16) is provided at the lowest point of the trapezoidal block (15) in the robot body (1); the oil return hole (16) is in an L-shaped structure; an oil pump (17) is fixedly connected to the bottom side of the robot body (1); the output end of the oil pump (17) is the same as the inside of the oil bin (7); and a distance sensor (18) is fixedly connected to the upper side of the inside of the oil bin (7).

2. The cold-proof walking structure of the inspection robot according to claim 1, characterized in that: The robot body (1) is provided with a recess on its upper side, the recess is internally threaded with a sealing plug (19), and the sealing plug (19) is in contact with the oil bin (7).

3. The cold-proof walking structure of the inspection robot according to claim 2, characterized in that: The upper side of the sealing plug (19) contacts with a heat-insulating sleeve (20), the heat-insulating sleeve (20) is inserted into a recess, and the outer side of the heat-insulating sleeve (20) is made of plastic.

4. The cold-proof walking structure of the inspection robot according to claim 3, characterized in that: A slot is provided in the recess, and a protrusion is fixedly connected to the bottom side of the thermal insulation sleeve (20), and the protrusion is in contact with the slot.

5. The cold-proof walking structure of the inspection robot according to claim 1, characterized in that: Positioning holes (21) are provided on both sides of the oil bin (7), a limiting plate (22) is in contact with the positioning hole (21), and a spring is in contact with one side of the limiting plate (22), and the spring is located in the positioning hole (21).

6. The cold-proof walking structure of the inspection robot according to claim 5, characterized in that: The extension brush (14) is in contact with the driving gear (9), one side of the driving gear (9) is meshed with a sharing wheel (24), and the sharing wheel (24) is rotatably connected to the robot body (1).

7. The cold-proof walking structure of the inspection robot according to claim 6, characterized in that: The robot body (1) is provided with an auxiliary groove located in the track groove (2), and a contact wheel (25) is rotatably connected in the auxiliary groove.

8. The cold-proof walking structure of the inspection robot according to claim 7, characterized in that: The robot body (1) is located in the track groove (2) and has limit grooves (26) on both sides. One side of the limit groove (26) is in contact with the deicing plate (6). One side of the deicing plate (6) is rotatably connected to an adjustment rod (27). The adjustment rod (27) is threadedly connected to the robot body (1).

9. The cold-proof walking structure of the inspection robot according to claim 8, characterized in that: A triangular nail (28) is evenly and fixedly connected to one side of the deicing plate (6), and the triangular nail (28) has the same walking direction as the robot body (1).

10. The cold-proof walking structure of the inspection robot according to claim 9, characterized in that: A guide plate (29) is fixedly connected to one side of the robot body (1) close to the first monitoring probe (4), and a limiting protrusion (30) is fixedly connected to one side of the guide plate (29).

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