Towing cable winding and unwinding device of inspection robot and towing cable winding and unwinding method of towing cable winding and unwinding device
By designing the angle fine-tuning device for retracting and retracting cables and retracting cable limiting devices, the problem of lack of limiting and angle adjustment of cables during the retracting and retracting of cables by inspecting robots is solved, and efficient and flexible cable management and use are achieved.
Patent Information
- Application Number
- CN202411960371.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-30
- Publication Date
- 2025-03-04
AI Technical Summary
The existing inspection robot streamer collection and dropping device lacks limit and angle fine-tuning functions during the cable collection and dropping process, resulting in the lack of fixing and dropping directions on the outside of the cable and difficult to adjust.
A patrol robot retracting and dropping streamer device including a fine-tuning device for retracting and retracting and retracting and retracting and retracting and retracting and retracting and retracting and retracting and retracting and retracting and retracting and retracting and retracting and retracting and retracting and retracting and retracting and retracting and retracting and retracting and retracting and retracting and retracting and retracting and retracting is designed. The retracting and retracting cable angle fine-tuning device achieves fine-tuning of the cable angle through the ball screw and the self-locking ball nut. The retracting and retracting cable limiting device achieves the limiting and multi-speed adjustment of the cable through the adjustable limiting plate and positioning cast iron rod.
It realizes effective management of inspection robot cables, avoids cable entanglement, can fine-tune the cable angle, adapt to different usage needs, and improves the efficiency and flexibility of inspection robots to collect and drop streamers.
Smart Images
Figure CN119551515A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of cable retracting and deploying devices, and in particular to a cable retracting and deploying device of a patrol robot and a cable retracting and deploying method thereof. Background Art
[0002] Inspection robots integrate embedded technology, sensor technology, electronics and electrical, path planning, artificial intelligence and automatic control technologies. In recent years, they have been attracting the attention of many scientists. Automatic inspection robots have a wide range of applications, including autonomous driving, nuclear power plant maintenance, unknown area detection, unmanned engineering product transportation, etc. Inspection robots play an increasingly important role in modern equipment. Currently, most inspection robots in the industry provide themselves with batteries as a power source, and use built-in motors to drive the robots to walk and complete inspection tasks. During the use of wired inspection robots, the corresponding cables will be connected to the outside, and the placement and recovery of the cables require the use of a retractable towing cable device to control the retraction and release.
[0003] A Chinese patent discloses a wire-retracting and releasing device for a patrol robot system (authorization announcement number CN 209411534U). The patented technology includes: a square shell and a device body, the lower side of the square shell is open and covers the device body; the device body includes: a left vertical plate and a right vertical plate, the left vertical plate and the right vertical plate are connected by an upper square beam and a lower square beam arranged transversely on the front and rear sides, and the left fixed plate and the right fixed plate arranged at intervals on the left and right sides are slidably connected to the upper square beam and the lower square beam at both ends. The beneficial effect of the present invention is that it provides a wire-retracting and releasing device for a patrol robot system, which can realize the wire-retracting and wire-releasing of a drag chain or a cable, can effectively manage the drag chain or the cable, can avoid the drag chain or the cable from being entangled, has a significant effect, and is easy to promote and apply in the industry.
[0004] However, when the above-mentioned cable retracting and releasing device is used, the outer side of the cable is not limited during the cable retracting and releasing process, and the direction of the retracting and releasing process is not easy to fine-tune. Therefore, those skilled in the art provide a cable retracting and releasing device for an inspection robot and a cable retracting and releasing method thereof to solve the problems raised in the above-mentioned background technology. Summary of the invention
[0005] The object of the present invention is to provide a tow cable retrieval and release device for an inspection robot and a tow cable retrieval and release method thereof, so as to solve the problems raised in the above-mentioned background technology.
[0006] To achieve the above object, the present invention provides the following technical solutions: A cable-retracting and -releasing device for an inspection robot and a cable-retracting and -releasing method thereof, comprising a stable fixing seat, a first cast iron mounting bracket being fixed on the top of the stable fixing seat, a second cast iron mounting bracket being fixed on the top of the stable fixing seat, a third cast iron mounting bracket being fixed on the top of the stable fixing seat, a fourth cast iron mounting bracket being fixed on the top of the stable fixing seat, a first servo motor being mounted on one side of the first servo motor, a second servo motor being fixed on one side of the third cast iron mounting bracket, a cable-retracting and -releasing angle fine-tuning device being arranged between the third cast iron mounting bracket and the fourth cast iron mounting bracket, a reinforced mounting bracket being fixed between the third cast iron mounting bracket and the reinforced mounting bracket, a cable-retracting and -releasing shaft being fixed on the outer side of an output shaft of the first servo motor, a plurality of positioning mounting holes being provided in the interior of the cable-retracting and -releasing shaft, a cable-retracting and -releasing position limiting device being arranged on the outer side of the cable-retracting and -releasing shaft, and a chamfer being provided on the top of the stable fixing seat; The cable retracting and releasing angle fine-tuning device comprises a ball screw, the outer side of the ball screw is threadedly connected with a self-locking ball nut, the outer side of the self-locking ball nut is fixed with a movable positioning sleeve, the outer side of the fourth cast iron mounting bracket is fixed with a brake, a guide carbon steel rod is fixed between the corresponding surfaces of the third cast iron mounting bracket and the fourth cast iron mounting bracket, a first connecting frame is fixed to the bottom of the movable positioning sleeve, a second connecting frame is fixed to the bottom of the self-locking ball nut, a movable guide sleeve is fixed to the bottom of the first connecting frame and the second connecting frame, a connecting carbon steel block is installed on the outer side of the movable guide sleeve, a carbon steel connecting mounting plate is fixed to the end of the connecting carbon steel block away from the movable guide sleeve, two guide movable brackets are fixed to the outer side of the carbon steel connecting mounting plate, a guide retracting and releasing cable connecting rod is fixed between the corresponding surfaces of the two guide movable brackets, and a retracting and releasing clamping locking mechanism is fixed to the bottom of the movable guide sleeve; The retractable clamping and locking mechanism includes an installation support plate, two connecting shells are fixed at the bottom of the installation support plate, a third servo motor is fixed to an inner wall of one side of the connecting shell, a metal eccentric wheel is fixed to the outer side of the output shaft of the third servo motor, an internal installation plate is fixed between the inner walls of both sides of the connecting shell, a installation spring is connected to one side of the internal installation plate, a movable pad is connected to one end of the installation spring, a guide column is fixed to the outer side of the movable pad, a support pad is installed at one end of the guide column, a metal support rod is fixed to one side of the support pad, and a clamping positioning sleeve is fixed to the end of the metal support rod away from the support pad.
[0007] As a further solution of the present invention: the output shaft of the second servo motor is fixedly connected to the ball screw, and the movable guide sleeve is movably sleeved on the outer side of the guide carbon steel rod.
[0008] As a further solution of the present invention: a through hole is provided inside the third cast iron mounting bracket, and the size of the through hole is adapted to the size of the ball screw.
[0009] As a further solution of the present invention: a through hole is provided inside the fourth cast iron mounting bracket, and the size of the through hole matches the size of the ball screw, and one end of the ball screw is mounted in cooperation inside the brake.
[0010] As a further solution of the present invention: a connecting hole is provided inside the movable positioning sleeve, and the size of the connecting hole is adapted to the size of the ball screw.
[0011] As a further solution of the present invention: the cable retracting and releasing limit device includes a cable retracting and releasing limit plate, a positioning and fixing sleeve is fixed on one side of the cable retracting and releasing limit plate, a positioning and fixing shell is fixed on the top of the positioning and fixing sleeve, a reset spring is provided on the inner top wall of the positioning and fixing shell, the bottom of the reset spring is connected to a limiting cast iron plate, a positioning cast iron rod is fixed to the bottom of the limiting cast iron plate, and a movable cast iron column is installed on the top of the limiting cast iron plate.
[0012] As a further solution of the present invention: a cast iron handle plate is fixed on the top of the movable cast iron column, and the size of the positioning cast iron rod is adapted to the size of the cable retracting shaft.
[0013] As a further solution of the present invention: a mounting hole is provided inside the positioning and fixing shell, and the size of the mounting hole is adapted to the size of the positioning cast iron rod.
[0014] As a further solution of the present invention: a limiting hole is opened inside the positioning and fixing sleeve, and the size of the limiting hole is adapted to the size of the positioning cast iron rod; the outer side of the cast iron handle plate is provided with anti-slip grooves, and the cable retracting and releasing limit plate and the positioning and fixing sleeve are both movably connected to the outer side of the cable retracting and releasing shaft.
[0015] The present invention relates to a cable retracting and releasing method for a cable retracting and releasing device of an inspection robot. When the cable of the inspection robot is retracted and released, one end of the cable is fixedly connected to the inspection robot, and the cable is wound around the outside of a cable retracting and releasing shaft. When the inspection robot moves after being released, a first servo motor needs to be started to allow the output shaft of the first servo motor to drive the cable retracting and releasing shaft to rotate. The cable retracting and releasing shaft rotates to assist in releasing the cable outside the cable retracting and releasing shaft. When the angle needs to be fine-tuned when releasing the cable as the inspection robot moves, a second servo motor can be started to allow the output shaft of the second servo motor to drive the ball screw to rotate. After the ball screw rotates, it can drive a self-locking ball nut on the outside of the ball screw to move in a horizontal direction. At this time, the self-locking ball nut can drive the moving positioning sleeve to move horizontally. The movable guide sleeve can be moved in the horizontal direction, and a second connecting frame is fixed at the bottom of the self-locking ball nut, and a first connecting frame is fixed at the bottom of the movable positioning sleeve, so that the first connecting frame and the second connecting frame can drive the movable guide sleeve to move in the horizontal direction. The movable guide sleeve can move in the horizontal direction on the outside of the guide carbon steel rod, and the outside of the movable guide sleeve is fixedly connected to a carbon steel connecting mounting plate by connecting a carbon steel block, and the outside of the carbon steel connecting mounting plate is fixed with a guide cable-retracting connecting rod by a guide movable bracket. During the cable releasing process, the cable is placed on the top of the guide cable-retracting connecting rod, so that the position of the movable guide sleeve and the guide cable-retracting connecting rod is adjusted by adjusting the position of the movable positioning sleeve and the self-locking ball nut. After the position of the guide cable-retracting connecting rod is adjusted, the cable position can be fine-tuned during the cable releasing process. When the angle needs to be fine-tuned during cable reeling, the second servo motor can be started to allow the output shaft of the second servo motor to drive the ball screw to rotate. After the ball screw rotates, it can drive the self-locking ball nut on the outside of the ball screw to move horizontally. The self-locking ball nut can drive the movable positioning sleeve to move horizontally at the same time, so that the first connecting frame and the second connecting frame can drive the movable guide sleeve to move horizontally. The movable guide sleeve can move horizontally on the outside of the guide carbon steel rod. During the cable reeling process, the cable is placed on the top of the guide cable reeling connecting rod, so that the position of the movable guide sleeve and the guide cable reeling connecting rod is adjusted by adjusting the position of the movable positioning sleeve and the self-locking ball nut. After the position of the guide cable reeling connecting rod is adjusted, the cable position can be fine-tuned during the cable reeling process. When the cable of the inspection robot is wound around the outside of the cable retracting and releasing shaft, the positions of the two cable retracting and releasing limit plates can be adjusted according to the use requirements of the cable of the inspection robot. When adjusting the position of the cable retracting and releasing limit plate, the cast iron handle plate can be pulled toward the top, and the movable cast iron column can be driven to move by the cast iron handle plate. The movable cast iron column can drive the limit cast iron plate to move, and allow the limit cast iron plate to squeeze one end of the reset spring. At this time, the limit cast iron plate simultaneously drives the positioning cast iron rod to disengage from the corresponding cable retracting and releasing shaft, unlock the position lock of the positioning fixing sleeve, and then move the positioning fixing sleeve to the outside of the cable retracting and releasing shaft. After the positioning fixing sleeve and the cable retracting and releasing limit plate move to the appropriate position, the cast iron handle plate can be loosened to allow the reset spring in the positioning fixing shell to push the limit cast iron plate to move, and the positioning cast iron rod can be movably inserted into the corresponding cable retracting and releasing shaft, so as to conveniently complete the multi-gear adjustment of the position of the cable retracting and releasing limit plate, thereby meeting the use requirements of the inspection robot for retracting and releasing the towing cable.
[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The device is provided with a cable retracting and releasing angle fine-tuning device. When the inspection robot is retracting and releasing the cable, one end of the cable is fixedly connected to the inspection robot, and the cable is wound around the outside of the cable retracting and releasing shaft. When the inspection robot moves after being released, it is necessary to start the first servo motor to allow the output shaft of the first servo motor to drive the cable retracting and releasing shaft to rotate, and the position of the movable guide sleeve and the guide cable retracting and releasing connecting rod is adjusted by adjusting the position of the movable positioning sleeve and the self-locking ball nut. After the position of the guide cable retracting and releasing connecting rod is adjusted, the cable position in the cable releasing process can be fine-tuned, which achieves the purpose of fine-tuning the cable releasing angle. When the angle needs to be fine-tuned during cable retracting, the cable is placed on the top of the guide cable retracting and releasing connecting rod during the cable retracting process, so that the position of the movable guide sleeve and the guide cable retracting and releasing connecting rod is adjusted by adjusting the position of the movable positioning sleeve and the self-locking ball nut. After the position of the guide cable retracting and releasing connecting rod is adjusted, the cable position in the cable retracting process can be fine-tuned, which is beneficial to the use of the inspection robot to retract and release the towing cable; 2. The device is provided with a cable-retracting and -releasing limit device. When the cable of the inspection robot is wound around the outside of the cable-retracting and -releasing shaft, the positions of the two cable-retracting and -releasing limit plates can be adjusted according to the use requirements of the cable of the inspection robot. After the positioning and fixing sleeve and the cable-retracting and -releasing limit plate are moved to the appropriate positions, the cast iron handle plate can be loosened to allow the reset spring in the positioning and fixing shell to push the limit cast iron plate to move, and the positioning cast iron rod can be movably inserted into the corresponding chamfer, so as to conveniently complete the multi-stage adjustment of the cable-retracting and -releasing limit plate position, thereby meeting the use requirements of the inspection robot for retracting and -releasing the towing cable.
[0017] 3. The device is provided with a retractable clamping and locking mechanism. When the inspection robot is retracting and releasing the towline, the third servo motor in the connection shell is not started, which will not affect the normal retracting and releasing of the towline by the inspection robot. After the inspection robot has completed retracting and releasing the towline, in order to avoid the towline still being retracted and released to affect the normal use and operation of the inspection robot, the towline can be moved to lift it. After the towline is lifted, it is specifically arranged between the two clamping and positioning sleeves, so that the corresponding surfaces of the two clamping and positioning sleeves are clamped on the corresponding outer sides of the towline, thereby completing the clamping and fixing of the towline, which can cooperate with the inspection robot to retract and release the towline. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Figure 1 A stereoscopic diagram of a tow cable retracting and releasing device of an inspection robot and a tow cable retracting and releasing method thereof; Figure 2 A top view of a cable-retracting and -releasing device of an inspection robot and a cable-retracting and -releasing method thereof; Figure 3 It is a front view of a cable-retracting and -releasing device of an inspection robot and a cable-retracting and -releasing method thereof; Figure 4 A side view of a cable-retracting and -releasing device of an inspection robot and a cable-retracting and -releasing method thereof; Figure 5 It is a schematic diagram of the outer structure of a cable-retracting and -releasing device of a patrol robot and a cable-retracting and -releasing method thereof; Figure 6 A side view of a cable-retracting and -releasing device for an inspection robot and a cable-retracting and -releasing angle fine-adjusting device in a cable-retracting and -releasing method; Figure 7 A schematic diagram of the outer structure of the chamfer in a cable-retracting and -releasing device of an inspection robot and a cable-retracting and -releasing method thereof; Figure 8 It is a structural schematic diagram of a cable-retracting and -releasing device for an inspection robot and a cable-retracting and -releasing angle fine-adjusting device in a cable-retracting and -releasing method; Fig. 9 It is a schematic diagram of the outer structure of a movable positioning sleeve in a cable-retracting and -releasing device of an inspection robot and a cable-retracting and -releasing method thereof; Fig.10 A tow cable retracting device and a tow cable retracting method for an inspection robot Fig. 9 A schematic diagram of the enlarged structure of region A; Fig.11 It is a schematic diagram of the outer structure of a carbon steel connecting mounting plate in a cable-retracting and -releasing device of an inspection robot and a cable-retracting and -releasing method thereof; Fig.12 A top view of a cable-retracting and -releasing device of a patrol robot and a cable-retracting and -releasing and -releasing method thereof; Fig.13A side view of a cable-retracting and -releasing device of a patrol robot and a cable-retracting and -releasing method thereof; Fig.14 It is a structural schematic diagram of a cable-retracting and -releasing device of a patrol robot and a cable-retracting and -releasing method thereof; Fig.15 A schematic diagram of the internal structure of a positioning and fixing shell in a cable-retracting and -releasing device of an inspection robot and a cable-retracting and -releasing method thereof; Fig.16 It is a schematic diagram of the outer structure of a retractable clamping and locking mechanism in a cable retractable and retractable towing device of an inspection robot and a cable retractable and retractable towing method; Fig.17 The present invention is a structural schematic diagram of a retractable, clamping and locking mechanism in a cable retractable and retractable towing cable device of an inspection robot and a cable retractable and retractable towing cable method.
[0019] In the figure: 1, stable fixing seat; 2, first cast iron mounting bracket; 3, second cast iron mounting bracket; 4, first servo motor; 5, third cast iron mounting bracket; 6, fourth cast iron mounting bracket; 7, second servo motor; 8, cable retracting angle fine-tuning device; 81, ball screw; 82, self-locking ball nut; 83, movable positioning sleeve; 84, brake; 85, guide carbon steel rod; 86, first connecting frame; 87, second connecting frame; 88, movable guide sleeve; 89, connecting carbon steel block; 810, carbon steel connecting mounting plate; 811, guide movable bracket; 812, guide cable retracting connecting rod; 9, cable retracting limit device; 91, cable retracting Limiting plate; 92, positioning and fixing sleeve; 93, positioning and fixing shell; 94, reset spring; 95, limiting cast iron plate; 96, positioning cast iron rod; 97, movable cast iron column; 98, cast iron handle plate; 10, reinforcement mounting bracket; 11, retractable cable shaft; 12, positioning and mounting hole; 13, chamfer; 14, retractable clamping and locking mechanism; 141, mounting support plate; 142, connecting shell; 143, third servo motor; 144, metal eccentric wheel; 145, internal mounting plate; 146, mounting spring; 147, movable pad; 148, guide column; 149, support pad; 1410, metal support rod; 1411, clamping and positioning sleeve. DETAILED DESCRIPTION
[0020] 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.
[0021] See also Figure 1-17In an embodiment of the present invention, a cable-retracting and towing device of an inspection robot and a cable-retracting and towing method thereof include a stable fixed seat 1, a first cast iron mounting bracket 2 is fixed on the top of the stable fixed seat 1, a second cast iron mounting bracket 3 is fixed on the top of the stable fixed seat 1, a third cast iron mounting bracket 5 is fixed on the top of the stable fixed seat 1, a fourth cast iron mounting bracket 6 is fixed on the top of the stable fixed seat 1, a first servo motor 4 is mounted on one side of the first servo motor 4, a second servo motor 7 is fixed on one side of the third cast iron mounting bracket 5, a cable-retracting and -release angle fine-tuning device 8 is provided between the third cast iron mounting bracket 5 and the fourth cast iron mounting bracket 6, a reinforced mounting bracket 10 is fixed between the third cast iron mounting bracket 5 and the reinforced mounting bracket 10, a cable-retracting and -release shaft 11 is fixed on the outer side of the output shaft of the first servo motor 4, a plurality of positioning mounting holes 12 are provided inside the cable-retracting and -release shaft 11, a cable-retracting and -release limiting device 9 is provided on the outer side of the cable-retracting and -release shaft 11, and a chamfer 13 is provided on the top of the stable fixed seat 1; The cable-retracting and -releasing angle fine-tuning device 8 comprises a ball screw 81, the outer side of the ball screw 81 is threadedly connected with a self-locking ball nut 82, the outer side of the self-locking ball nut 82 is fixed with a movable positioning sleeve 83, the interior of the movable positioning sleeve 83 is provided with a connecting hole, and the size of the connecting hole is adapted to the size of the ball screw 81, a brake 84 is fixed to the outer side of the fourth cast iron mounting bracket 6, a guide carbon steel rod 85 is fixed between the corresponding surfaces of the third cast iron mounting bracket 5 and the fourth cast iron mounting bracket 6, a through hole is provided inside the third cast iron mounting bracket 5, and the size of the through hole is adapted to the size of the ball screw 81, a first connecting frame 86 is fixed to the bottom of the movable positioning sleeve 83, and a second connecting frame 86 is fixed to the bottom of the self-locking ball nut 82 7. A through hole is provided inside the fourth cast iron mounting bracket 6, and the size of the through hole matches the size of the ball screw 81. One end of the ball screw 81 is mounted inside the brake 84. A movable guide sleeve 88 is fixed to the bottom of the first connecting frame 86 and the second connecting frame 87. A connecting carbon steel block 89 is installed on the outer side of the movable guide sleeve 88. A carbon steel connecting mounting plate 810 is fixed to the end of the connecting carbon steel block 89 away from the movable guide sleeve 88. Two guide movable brackets 811 are fixed to the outer side of the carbon steel connecting mounting plate 810. A guide cable connecting rod 812 is fixed between the corresponding surfaces of the two guide movable brackets 811. The output shaft of the second servo motor 7 is fixedly connected to the ball screw 81. The movable sleeve 88 is connected to the movable sleeve of the movable guide sleeve 88. On the outside of the guide carbon steel rod 85, when the inspection robot is retracting and releasing the cable, one end of the cable is fixedly connected to the inspection robot, and the cable is wound around the outside of the cable retracting and releasing shaft 11. When the inspection robot moves after releasing, it is necessary to start the first servo motor 4, so that the output shaft of the first servo motor 4 drives the cable retracting and releasing shaft 11 to rotate, and the cable retracting and releasing shaft 11 is rotated to assist the cable release on the outside of the cable retracting and releasing shaft 11. As the inspection robot moves, when the angle needs to be fine-tuned when releasing the cable, the second servo motor 7 can be started, so that the output shaft of the second servo motor 7 drives the ball screw 81 to rotate. After the ball screw 81 rotates, it can drive the self-locking ball nut 82 on the outside of the ball screw 81 to move horizontally. The ball nut 82 can drive the movable positioning sleeve 83 to move horizontally at the same time, and a second connecting frame 87 is fixed to the bottom of the self-locking ball nut 82, and a first connecting frame 86 is fixed to the bottom of the movable positioning sleeve 83, so that the first connecting frame 86 and the second connecting frame 87 can drive the movable guide sleeve 88 to move horizontally. The movable guide sleeve 88 can move horizontally on the outside of the guide carbon steel rod 85, playing a guiding and limiting role. The outer side of the movable guide sleeve 88 is fixedly connected to a carbon steel connecting mounting plate 810 through a connecting carbon steel block 89, and a guide cable-retracting connecting rod 812 is fixed to the outer side of the carbon steel connecting mounting plate 810 through a guiding movable bracket 811. During the cable release process, the cable is placed on the top of the guide cable-retracting connecting rod 812.Thus, the positions of the movable guide sleeve 88 and the guide cable-releasing and retracting connecting rod 812 are adjusted by adjusting the positions of the movable positioning sleeve 83 and the self-locking ball nut 82. After the position of the guide cable-releasing and retracting connecting rod 812 is adjusted, the cable position can be fine-tuned during the cable-releasing process, thereby achieving the purpose of fine-tuning the cable-releasing and retracting angle. When the angle needs to be fine-tuned during cable-releasing, the second servo motor 7 can be started to allow the output shaft of the second servo motor 7 to drive the ball screw 81 to rotate. After the ball screw 81 rotates, it can drive the self-locking ball nut 82 on the outer side of the ball screw 81 to move in the horizontal direction, and the self-locking ball nut 82 can drive the movable positioning sleeve 83 to move horizontally. 3 and move horizontally at the same time, so that the first connecting frame 86 and the second connecting frame 87 can drive the movable guide sleeve 88 to move horizontally. The movable guide sleeve 88 can move horizontally on the outer side of the guide carbon steel rod 85. During the cable collection process, the cable is placed on the top of the guide cable collection connecting rod 812, so that the positions of the movable guide sleeve 88 and the guide cable collection connecting rod 812 can be adjusted by adjusting the positions of the movable positioning sleeve 83 and the self-locking ball nut 82. After the position of the guide cable collection connecting rod 812 is adjusted, the cable position can be finely adjusted during the cable collection process. The bottom of the movable guide sleeve 88 is fixed with a collection clamping locking mechanism 14; The retractable clamping and locking mechanism 14 includes an installation support plate 141, two connecting shells 142 are fixed to the bottom of the installation support plate 141, a third servo motor 143 is fixed to the inner wall of one side of the connecting shell 142, a metal eccentric wheel 144 is fixed to the outer side of the output shaft of the third servo motor 143, an internal installation plate 145 is fixed between the inner walls of both sides of the connecting shell 142, a mounting spring 146 is connected to one side of the internal installation plate 145, one end of the mounting spring 146 is connected to a movable pad 147, a guide column 148 is fixed to the outer side of the movable pad 147, a support pad 149 is installed at one end of the guide column 148, a metal support rod 1410 is fixed to one side of the support pad 149, and a clamping positioning sleeve 1411 is fixed to the end of the metal support rod 1410 away from the support pad 149.
[0022] As an embodiment of the present invention, the cable limit device 9 includes a cable limit plate 91, a positioning and fixing sleeve 92 is fixed to one side of the cable limit plate 91, a positioning and fixing shell 93 is fixed to the top of the positioning and fixing sleeve 92, a reset spring 94 is provided on the inner top wall of the positioning and fixing shell 93, the bottom of the reset spring 94 is connected to a limited cast iron plate 95, a positioning cast iron rod 96 is fixed to the bottom of the limited cast iron plate 95, and a mounting hole is opened inside the positioning and fixing shell 93, and the size of the mounting hole is the same as that of the fixed cast iron plate 95. The size of the positioning cast iron rod 96 is adapted, a limiting hole is provided inside the positioning fixing sleeve 92, and the size of the limiting hole is adapted to the size of the positioning cast iron rod 96, a movable cast iron column 97 is installed on the top of the limiting cast iron plate 95, and a cast iron handle plate 98 is fixed on the top of the movable cast iron column 97, the size of the positioning cast iron rod 96 is adapted to the size of the cable retracting shaft 11, and the outer side of the cast iron handle plate 98 is provided with anti-slip grooves, the cable retracting limiting plate 91 and the positioning fixing sleeve 92 are both movably sleeved on the outer side of the cable retracting shaft 11, when When the cable of the inspection robot is wound around the outside of the cable retracting shaft 11, the positions of the two cable retracting limit plates 91 can be adjusted according to the use requirements of the cable of the inspection robot. When adjusting the position of the cable retracting limit plate 91, the cast iron handle plate 98 can be pulled toward the top, and the movable cast iron column 97 can be driven to move by the cast iron handle plate 98. The movable cast iron column 97 can drive the limit cast iron plate 95 to move, and let the limit cast iron plate 95 squeeze one end of the reset spring 94. At this time, the limit cast iron plate 95 also drives the positioning cast iron rod 96 is disengaged from the corresponding cable retracting shaft 11, and the positioning fixing sleeve 92 is unlocked and locked, and then the positioning fixing sleeve 92 is moved to the outside of the cable retracting shaft 11. After the positioning fixing sleeve 92 and the cable retracting limit plate 91 are moved to the appropriate positions, the cast iron handle plate 98 can be loosened to allow the return spring 94 in the positioning fixing shell 93 to push the limit cast iron plate 95 to move, and the positioning cast iron rod 96 can be movably inserted into the corresponding cable retracting shaft 11, so that the multi-speed adjustment of the position of the cable retracting limit plate 91 can be easily completed.
[0023] The working principle of the present invention is as follows: the device is provided with a cable retracting and releasing angle fine-tuning device 8. When the inspection robot is retracting and releasing the cable, one end of the cable is fixedly connected to the inspection robot, and the cable is wound around the outside of the cable retracting and releasing shaft 11. When the inspection robot moves after being released, the first servo motor 4 needs to be started to allow the output shaft of the first servo motor 4 to drive the cable retracting and releasing shaft 11 to rotate. The cable retracting and releasing shaft 11 is rotated to assist the cable release on the outside of the cable retracting and releasing shaft 11. As the inspection robot moves, when the angle needs to be fine-tuned when releasing the cable, the second servo motor 7 can be started to allow the output shaft of the second servo motor 7 to drive the ball screw 81 to rotate. After the ball screw 81 rotates, it can drive the ball screw 81 to rotate. The self-locking ball nut 82 on the outside of the ball screw 81 moves in the horizontal direction. At this time, the self-locking ball nut 82 can drive the movable positioning sleeve 83 to move in the horizontal direction at the same time, and a second connecting frame 87 is fixed at the bottom of the self-locking ball nut 82, and a first connecting frame 86 is fixed at the bottom of the movable positioning sleeve 83, so that the first connecting frame 86 and the second connecting frame 87 can drive the movable guide sleeve 88 to move in the horizontal direction. The movable guide sleeve 88 can move in the horizontal direction on the outside of the guide carbon steel rod 85, which plays a guiding and limiting role. The outer side of the movable guide sleeve 88 is fixedly connected to a carbon steel connecting mounting plate 810 by connecting a carbon steel block 89, and the outer side of the carbon steel connecting mounting plate 810 is movable by guiding The bracket 811 is fixed with a guide cable-retracting connecting rod 812. During the cable-releasing process, the cable is placed on the top of the guide cable-retracting connecting rod 812, so that the position of the movable guide sleeve 88 and the guide cable-retracting connecting rod 812 is adjusted by adjusting the position of the movable positioning sleeve 83 and the self-locking ball nut 82. After the position of the guide cable-retracting connecting rod 812 is adjusted, the cable position during the cable-releasing process can be fine-tuned, so that the angle of the cable-retracting can be fine-tuned. When the angle needs to be fine-tuned during cable-retracting, the second servo motor 7 can be started to allow the output shaft of the second servo motor 7 to drive the ball screw 81 to rotate. After the ball screw 81 rotates, it can drive the self-locking ball nut 81 on the outside of the ball screw 81. 2. The self-locking ball nut 82 can drive the movable positioning sleeve 83 to move horizontally at the same time, so that the first connecting frame 86 and the second connecting frame 87 can drive the movable guide sleeve 88 to move horizontally. The movable guide sleeve 88 can move horizontally on the outside of the guide carbon steel rod 85. During the cable collection process, the cable is placed on the top of the guide cable connection rod 812. Therefore, the position of the movable guide sleeve 88 and the guide cable connection rod 812 can be adjusted by adjusting the position of the movable positioning sleeve 83 and the self-locking ball nut 82. After the position of the guide cable connection rod 812 is adjusted, the cable position can be fine-tuned during the cable collection process, which is beneficial to the use of the inspection robot to collect and release the towline;The device is provided with a cable-retracting limit device 9. When the cable of the inspection robot is wound around the outside of the cable-retracting shaft 11, the positions of the two cable-retracting limit plates 91 can be adjusted according to the use requirements of the cable of the inspection robot. When adjusting the position of the cable-retracting limit plate 91, the cast iron handle plate 98 can be pulled toward the top, and the movable cast iron column 97 can be driven to move by the cast iron handle plate 98. The movable cast iron column 97 can drive the limit cast iron plate 95 to move, and the limit cast iron plate 95 squeezes one end of the reset spring 94. At this time, the limiting cast iron plate 95 simultaneously drives the positioning cast iron rod 96 to disengage from the corresponding cable retracting and releasing shaft 11, unlocks the position locking of the positioning fixing sleeve 92, and then moves the positioning fixing sleeve 92 to the outside of the cable retracting and releasing shaft 11. After the positioning fixing sleeve 92 and the cable retracting and releasing limiting plate 91 move to a suitable position, the cast iron handle plate 98 can be loosened to allow the return spring 94 in the positioning fixing housing 93 to push the limiting cast iron plate 95 to move, and the positioning cast iron rod 96 can be movably inserted into the corresponding cable retracting and releasing shaft 11, which can be The multi-gear adjustment of the position of the cable-retracting and -releasing limit plate 91 can be conveniently completed, so as to meet the use requirements of the inspection robot for retracting and releasing the towing cable; during the process of the inspection robot retracting and releasing the towing cable, the third servo motor 143 in the connection shell 142 is not started, which will not affect the normal retracting and releasing of the towing cable by the inspection robot. After the inspection robot has completed the retracting and releasing of the towing cable, in order to avoid the towing cable still being retracted and released to affect the normal use and operation of the inspection robot, the towing cable can be moved and lifted. After the towing cable is lifted, it is specifically set between the two clamping and positioning sleeves 1411, and then the third servo motor 143 is started. The output shaft of the third servo motor 143 drives the metal eccentric wheel 144 to rotate, so that the metal eccentric wheel 144 pushes the movable pad 147 to move, thereby driving the support pad 149 to move through the guide column 148, and moving the clamping and positioning sleeve 1411 at one end of the metal support rod 1410, so that the corresponding surfaces of the two clamping and positioning sleeves 1411 are clamped on the outer side of the corresponding towing cable, and the clamping and fixing of the towing cable is completed, which can cooperate with the inspection robot to retract and release the towing cable. ;
[0024] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.
Claims
1. A cable-retracting device for an inspection robot, comprising a stable fixing seat (1), characterized in that: A first cast iron mounting bracket (2) is fixed on the top of the stable fixing seat (1), a second cast iron mounting bracket (3) is fixed on the top of the stable fixing seat (1), a third cast iron mounting bracket (5) is fixed on the top of the stable fixing seat (1), a fourth cast iron mounting bracket (6) is fixed on the top of the stable fixing seat (1), a first servo motor (4) is mounted on one side of the first servo motor (4), a second servo motor (7) is fixed on one side of the third cast iron mounting bracket (5), and the third cast iron mounting bracket (5) and A cable retracting angle fine-tuning device (8) is provided between the fourth cast iron mounting brackets (6); a reinforced mounting bracket (10) is fixed between the third cast iron mounting bracket (5) and the reinforced mounting bracket (10); a cable retracting shaft (11) is fixed to the outside of the output shaft of the first servo motor (4); a plurality of positioning mounting holes (12) are provided inside the cable retracting shaft (11); a cable retracting limiting device (9) is provided on the outside of the cable retracting shaft (11); and a chamfer (13) is provided on the top of the stable fixing seat (1); The cable retracting and releasing angle fine-tuning device (8) comprises a ball screw (81), the outer side of the ball screw (81) is threadedly connected to a self-locking ball nut (82), the outer side of the self-locking ball nut (82) is fixed with a movable positioning sleeve (83), the outer side of the fourth cast iron mounting bracket (6) is fixed with a brake (84), a guide carbon steel rod (85) is fixed between corresponding surfaces of the third cast iron mounting bracket (5) and the fourth cast iron mounting bracket (6), a first connecting frame (86) is fixed to the bottom of the movable positioning sleeve (83), a second connecting frame (87) is fixed to the bottom of the self-locking ball nut (82), and the first connecting frame (84) is fixed to the outer side of the fourth cast iron mounting bracket (6). A movable guide sleeve (88) is fixed to the bottom of the frame (86) and the second connecting frame (87), a connecting carbon steel block (89) is installed on the outer side of the movable guide sleeve (88), a carbon steel connecting mounting plate (810) is fixed to one end of the connecting carbon steel block (89) away from the movable guide sleeve (88), two guide movable brackets (811) are fixed to the outer side of the carbon steel connecting mounting plate (810), a guide retractable cable connecting rod (812) is fixed between corresponding surfaces of the two guide movable brackets (811), and a retractable clamping locking mechanism (14) is fixed to the bottom of the movable guide sleeve (88); The retractable clamping and locking mechanism (14) comprises a mounting support plate (141), two connecting shells (142) are fixed to the bottom of the mounting support plate (141), a third servo motor (143) is fixed to an inner wall of one side of the connecting shell (142), a metal eccentric wheel (144) is fixed to the outer side of the output shaft of the third servo motor (143), an internal mounting plate (145) is fixed between the inner walls of both sides of the connecting shell (142), a mounting spring (146) is connected to one side of the internal mounting plate (145), one end of the mounting spring (146) is connected to a movable pad (147), a guide column (148) is fixed to the outer side of the movable pad (147), a support pad (149) is installed to one end of the guide column (148), a metal support rod (1410) is fixed to one side of the support pad (149), and a clamping and positioning sleeve (1411) is fixed to the end of the metal support rod (1410) away from the support pad (149).
2. The inspection robot cable retracting and releasing device according to claim 1, characterized in that: The output shaft of the second servo motor (7) is fixedly connected to the ball screw (81), and the movable guide sleeve (88) is movably sleeved on the outside of the guide carbon steel rod (85).
3. The inspection robot cable retracting and releasing device according to claim 1, characterized in that: A through hole is provided inside the third cast iron mounting bracket (5), and the size of the through hole matches the size of the ball screw (81).
4. The inspection robot cable retracting and releasing device according to claim 1, characterized in that: A through hole is provided inside the fourth cast iron mounting bracket (6), and the size of the through hole matches the size of the ball screw (81), and one end of the ball screw (81) is mounted inside the brake (84).
5. The inspection robot cable retracting and releasing device according to claim 1, characterized in that: A connecting hole is provided inside the movable positioning sleeve (83), and the size of the connecting hole matches the size of the ball screw (81).
6. The inspection robot cable retracting and releasing device according to claim 1, characterized in that: The cable-retracting and -releasing limiting device (9) comprises a cable-retracting and -releasing limiting plate (91), a positioning and fixing sleeve (92) being fixed on one side of the cable-retracting and -releasing limiting plate (91), a positioning and fixing shell (93) being fixed on the top of the positioning and fixing shell (92), a return spring (94) being provided on the inner top wall of the positioning and fixing shell (93), the bottom of the return spring (94) being connected to a limiting cast iron plate (95), a positioning cast iron rod (96) being fixed on the bottom of the limiting cast iron plate (95), and a movable cast iron column (97) being installed on the top of the limiting cast iron plate (95).
7. The inspection robot cable retracting and releasing device according to claim 6, characterized in that: A cast iron handle plate (98) is fixed to the top of the movable cast iron column (97), and the size of the positioning cast iron rod (96) is adapted to the size of the cable retracting shaft (11).
8. The inspection robot cable retracting and releasing device according to claim 6, characterized in that: A mounting hole is provided inside the positioning and fixing housing (93), and the size of the mounting hole matches the size of the positioning cast iron rod (96).
9. The inspection robot cable retracting and releasing device according to claim 6, characterized in that: A limiting hole is provided inside the positioning fixing sleeve (92), and the size of the limiting hole matches the size of the positioning cast iron rod (96); an anti-slip pattern is provided on the outer side of the cast iron handle plate (98); the cable retracting and releasing limiting plate (91) and the positioning fixing sleeve (92) are both movably sleeved on the outer side of the cable retracting and releasing shaft (11).
10. A method for retracting and releasing a tow cable of a patrol robot according to claim 7, characterized in that: First, when the inspection robot is retracting and releasing the cable, one end of the cable is fixedly connected to the inspection robot, and the cable is wound around the outside of the cable retracting and releasing shaft (11). When the inspection robot moves after being released, the first servo motor (4) is started, and the output shaft of the first servo motor (4) drives the cable retracting and releasing shaft (11) to rotate. The cable retracting and releasing shaft (11) is rotated to assist the cable release outside the cable retracting and releasing shaft (11). When the angle needs to be fine-tuned when releasing the cable as the inspection robot moves, the second servo motor (7) is started, and the output shaft of the second servo motor (7) drives the ball screw (81) to rotate. After the ball screw (81) rotates, it can drive the self-locking ball nut (82) outside the ball screw (81) to move in the horizontal direction. At this time, the self-locking ball nut (82) can drive the movable positioning sleeve (83) to move in the horizontal direction at the same time, and the bottom of the self-locking ball nut (82) is fixed with a second connecting frame (87). ), a first connecting frame (86) is fixed at the bottom of the movable positioning sleeve (83), and the first connecting frame (86) and the second connecting frame (87) can drive the movable guide sleeve (88) to move in the horizontal direction. The movable guide sleeve (88) moves in the horizontal direction on the outer side of the guide carbon steel rod (85). The outer side of the movable guide sleeve (88) is fixedly connected to a carbon steel connecting mounting plate (810) through a connecting carbon steel block (89). The outer side of the carbon steel connecting mounting plate (810) is fixed with a guide cable-retracting connecting rod (812) through a guide movable bracket (811). During the cable-releasing process, the cable is placed on the top of the guide cable-retracting connecting rod (812), so that the position of the movable guide sleeve (88) and the guide cable-retracting connecting rod (812) can be adjusted by adjusting the position of the movable positioning sleeve (83) and the self-locking ball nut (82). After the position of the guide cable-retracting connecting rod (812) is adjusted, the cable position can be finely adjusted during the cable-releasing process; Second, when the angle needs to be fine-tuned during cable reeling, the second servo motor (7) is started, and the output shaft of the second servo motor (7) drives the ball screw (81) to rotate. After the ball screw (81) rotates, it can drive the self-locking ball nut (82) on the outside of the ball screw (81) to move in the horizontal direction. The self-locking ball nut (82) drives the movable positioning sleeve (83) to move in the horizontal direction at the same time, so that the first connecting frame (86) and the second connecting frame (87) can drive the movable guide sleeve (88) to move in the horizontal direction. The movable guide sleeve (88) moves in the horizontal direction on the outside of the guide carbon steel rod (85). During the cable reeling process, the cable is placed on the top of the guide cable reeling connecting rod (812), so that the position of the movable guide sleeve (88) and the guide cable reeling connecting rod (812) can be adjusted by adjusting the position of the movable positioning sleeve (83) and the self-locking ball nut (82). After the position of the guide cable reeling connecting rod (812) is adjusted, the cable position can be fine-tuned during the cable reeling process. Third, when the cable of the inspection robot is wound around the outside of the cable retracting shaft (11), the positions of the two cable retracting limit plates (91) are adjusted according to the use requirements of the cable of the inspection robot. When adjusting the position of the cable retracting limit plate (91), the cast iron handle plate (98) is pulled toward the top, and the movable cast iron column (97) is driven to move through the cast iron handle plate (98). The movable cast iron column (97) drives the limit cast iron plate (95) to move, and the limit cast iron plate (95) squeezes one end of the reset spring (94). At this time, the limit cast iron plate (95) simultaneously drives the positioning cast iron rod (96) from the corresponding cable retracting shaft After the positioning and fixing sleeve (92) is released from the inner part of the cable shaft (11), the positioning and fixing sleeve (92) is unlocked and the position lock is unlocked. Then the positioning and fixing sleeve (92) is moved outside the cable shaft (11). After the positioning and fixing sleeve (92) and the cable limit plate (91) are moved to a suitable position, the cast iron handle plate (98) can be loosened to allow the return spring (94) in the positioning and fixing housing (93) to push the limit cast iron plate (95) to move, and the positioning cast iron rod (96) is movably inserted into the corresponding cable shaft (11), so as to conveniently complete the multi-gear adjustment of the position of the cable limit plate (91), thereby meeting the use requirements of the inspection robot for retracting and releasing the towing cable.
Citation Information
Patent Citations
Take-up and pay-off device for inspection robot system
CN209411534U