Anti-falling intelligent inspection robot

Abstract

The invention relates to the technical field of inspection robots, and discloses an anti-falling intelligent inspection robot which comprises a robot body, the robot body comprises a shell and further comprises an anti-falling mechanism, the anti-falling mechanism comprises a protection frame, a sleeve is rotationally arranged on the protection frame, a push handle is fixedly arranged on the sleeve, a sliding shaft is arranged in the sleeve in a penetrating mode, and the sliding shaft is arranged on the protection frame in a sliding mode; a rotating wheel is fixedly arranged on the sleeve, a plurality of arc-shaped teeth are arranged on the edge of the rotating wheel, the arc-shaped teeth extend from the edge of the rotating wheel to the outer side of the rotating wheel, and the outer edge of each arc-shaped tooth is arc-shaped; swing claws are arranged on the protective frame in a swinging manner, one ends of the swing claws abut against the outer edges of the arc-shaped teeth, and the other ends of the swing claws abut against the ends of the sliding shafts; the end, away from the swing claw, of the sliding shaft penetrates through the sleeve and is rotationally connected with a friction wheel, a driving wheel and a driven wheel are arranged on the outer side of the friction wheel, the driven wheel is fixedly connected with a winding wheel, a pull rope is wound around the winding wheel, and the pull rope is connected to a shell of the robot in a bolted mode. The robot can be prevented from falling.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and particularly to a fall-preventing intelligent inspection robot. Background Art

[0002] In an aluminum electrolysis workshop, overhead cranes are widely present, which undertake important production responsibilities such as material transportation and equipment hoisting, and have important applications. To ensure the long-term stable operation of the overhead cranes, the workshop usually conducts regular maintenance on the crane tracks. Currently, the maintenance of the tracks is usually carried out by inspection robots.

[0003] When the inspection robot inspects the track, it moves on a single rail. When moving, the walking wheels of the robot are stuck on the track and move along the track. During the long-term inspection work process, the robot is prone to derailment, resulting in a risk of the robot falling and posing a safety hazard. Summary of the Invention

[0004] The present invention aims to provide a fall-preventing intelligent inspection robot to prevent the robot from falling.

[0005] To achieve the above object, the present invention adopts the following technical solution: A fall-preventing intelligent inspection robot, including a robot, the robot includes a housing, and further includes a fall-preventing mechanism. The fall-preventing mechanism includes a protective frame, on which a sleeve is rotatably provided. A push handle is fixed on the sleeve and extends radially along the sleeve. A sliding shaft is inserted into the sleeve, and the sliding shaft is slidably arranged on the protective frame and has a clearance fit with the sleeve. A runner is fixed on the sleeve, and a plurality of arc-shaped teeth are provided on the edge of the runner. The arc-shaped teeth extend from the edge of the runner to the outside of the runner, and the outer edge of the arc-shaped teeth is arc-shaped. A swing claw is swingably provided on the protective frame. The middle of the swing claw is positioned and connected to the protective frame. One end of the swing claw abuts against the outer edge of the arc-shaped teeth, and the other end abuts against the end of the sliding shaft. The end of the sliding shaft away from the swing claw passes through the sleeve and is rotatably connected to a friction wheel. A driving wheel and a driven wheel are provided on the outside of the friction wheel, and the friction wheel is located between the driving wheel and the driven wheel. The driven wheel is fixedly connected to a wire winding wheel, and a pull rope is wound around the wire winding wheel. The end of the pull rope away from the wire winding wheel is located above the housing of the robot and is bolted to the housing of the robot.

[0006] The principle and advantages of this solution are as follows: When the robot derails and tilts, the robot topples to the side of the track and squeezes the push handle, causing the push handle to swing. The push handle drives the sleeve to rotate, and then the rotating wheel rotates. The arc-shaped teeth follow the rotation of the rotating wheel. At this time, the arc-shaped edge of the arc-shaped teeth squeezes the end of the swing claw to swing, causing one end of the swing claw against the arc-shaped teeth to swing outward, and the other end to swing inward under the action of the lever and push against the sliding shaft, causing the sliding shaft to slide and the friction wheel to move between the driving wheel and the driven wheel. The friction wheel transmits the rotational power of the driving wheel to the driven wheel, so that the winding wheel fixed on the driven wheel rotates. The winding wheel winds the pulling rope, and the pulling rope pulls the robot. While pulling the toppled robot upright, the robot is suspended to avoid the robot falling, facilitating the reset of the robot.

[0007] This solution utilizes the toppling action of the robot to trigger the pulling rope to pull the robot, so as to pull the toppled robot upright and suspend it, avoiding the robot from falling, eliminating the safety hazard of the robot falling, and ensuring the safety of the workshop. The design of the push handle also limits the robot to a certain extent, effectively avoiding the derailment and falling of the robot.

[0008] Preferably, as an improvement, a protective frame is erected on the track. There is an installation position on the protective frame, and a pushing plate is provided on the front side of the installation position. The robot is located within the installation position and abuts against the pushing plate.

[0009] Through the above solution, the protective frame is erected on the track. When the robot travels on the track, by pushing against the pushing plate, it can cause the protective frame to move along with the robot on the protective frame, thereby providing real-time protection for the robot and avoiding the robot from falling.

[0010] Preferably, as an improvement, multiple push handles are provided, and the multiple push handles are arranged in sequence along the axial direction of the sleeve.

[0011] Through the above solution, by setting multiple push handles, after the robot topples, it can better contact the push handles, thereby triggering the anti-falling mechanism to work, which can better achieve the purpose of anti-falling.

[0012] Preferably, as an improvement, a pulley is provided on the protective frame. The pulley is located above the robot, and the middle of the pulling rope passes over the pulley.

[0013] Through the above solution, by setting the pulley, the moving direction of the pulling rope is restricted, ensuring that the pulling rope can vertically pull the robot upright.

[0014] Preferably, as an improvement, multiple sets of arc-shaped teeth and swing claws that match each other are provided, and the multiple sets of swing claws are distributed in a circular array around the rotating wheel on the circumference of the sliding shaft.

[0015] Through the above solution, multiple sets of arc teeth and swing claws that match each other are provided. In this way, multiple sets of swing claws can together push and move the sliding shaft, ensuring that the sliding shaft can slide axially, and further enabling effective contact and transmission between the friction wheel, the driving wheel, and the driven wheel.

[0016] Preferably, as an improvement, a torsion spring is connected between the swing claw and the protective frame, and a spring is also provided between the sliding shaft and the protective frame.

[0017] Through the above solution, through the design of the torsion spring and the spring, the swing claw and the sliding shaft can be automatically reset. When the robot is pulled straight by the pull rope and separated from the push handle, the swing claw is reset under the action of the torsion spring and presses the arc teeth, so that the push handle and the sleeve are reset. At the same time, the sliding shaft is also reset under the action of the spring, causing the friction wheel to withdraw from between the driving wheel and the driven wheel.

[0018] Preferably, as an improvement, there are two sets of sleeves, push handles, sliding shafts, driving wheels, driven wheels, friction wheels, and pull ropes, and the two sets of structures are respectively located on both sides of the track.

[0019] Through the above solution, the two sets of structures respectively provide anti-falling protection for the robot in two directions, enhancing the anti-falling protection effect of the robot. Description of the Drawings

[0020] Figure 1 It is a schematic structural diagram of the anti-falling intelligent inspection robot.

[0021] Figure 2 It is a schematic structural diagram of the sleeve, the runner, the sliding shaft, and the swing claw.

[0022] The reference numerals in the accompanying drawings of the specification include: housing 1, protective frame 2, sleeve 3, push handle 4, sliding shaft 5, runner 6, arc teeth 7, swing claw 8, friction wheel 9, driving wheel 10, driven wheel 11, winding wheel 12, pull rope 13, pulley 14, push plate 15, track 16. Detailed Description of the Invention

[0023] The following is a more detailed description through specific embodiments, but the embodiments of the present invention are not limited thereto. Unless otherwise specified, the technical means used in the following embodiments are conventional means well-known to those skilled in the art; the experimental methods used are all conventional methods; the materials, reagents, etc. used can all be obtained from commercial channels.

[0024] Embodiment 1 As Figure 1 shown, the anti-falling intelligent inspection robot includes a robot, the robot includes a housing 1, and further includes an anti-falling mechanism. The anti-falling mechanism includes a protective frame 2. In combination with Figure 2As shown in the figure, a sleeve 3 is rotatably provided on the protective frame 2 through a bearing. A push handle 4 is fixedly provided on the sleeve 3. The push handle 4 extends radially along the sleeve 3. In this embodiment, there are multiple push handles 4, such as 3 push handles 4, and the multiple push handles 4 are arranged in sequence along the axial direction of the sleeve 3. A sliding shaft 5 is inserted into the sleeve 3. The sliding shaft 5 is slidably arranged on the protective frame 2, and there is a clearance fit between the sliding shaft 5 and the sleeve 3. A runner 6 is sleeved and fixed on the sleeve 3. A plurality of arc-shaped teeth 7 are provided on the edge of the runner 6. The arc-shaped teeth 7 extend from the edge of the runner 6 to the outside of the runner 6, and the outer edge of the arc-shaped teeth 7 is an arc gradually away from the center of the runner 6, so that the distance between the edge of the arc-shaped teeth 7 and the edge of the runner 6 shows a trend of gradually increasing or decreasing.

[0025] A swing claw 8 is swingably provided on the protective frame 2. The middle part of the swing claw 8 is positioned and connected to the protective frame 2. One end of the swing claw 8 abuts against the outer edge of the arc-shaped teeth 7, and the other end abuts against the end of the sliding shaft 5. One end of the sliding shaft 5 away from the swing claw 8 passes through the sleeve 3 and is rotatably connected with a friction wheel 9 through a bearing. A driving wheel 10 and a driven wheel 11 are provided on the outside of the friction wheel 9. The friction wheel 9 is located between the driving wheel 10 and the driven wheel 11. When the friction wheel 9 moves between the driving wheel 10 and the driven wheel 11, the friction wheel 9 is in contact with the driving wheel 10 and the friction wheel 9 is in contact with the driven wheel 11 at the same time. In practical applications, the driving wheel 10 is connected with a driving device, such as a motor or a combined structure of a motor and a reducer, etc., to provide power for the driving wheel 10. The driven wheel 11 is fixedly connected with a winding wheel 12. A pull rope 13 is wound on the winding wheel 12. One end of the pull rope 13 away from the winding wheel 12 is located above the robot housing 1 and is bolted to the housing 1 of the robot. A pulley 14 is provided on the protective frame 2. The pulley 14 is located above the robot. The middle part of the pull rope 13 passes over the pulley 14.

[0026] The protective frame 2 is erected on the track 16. An installation position is provided on the protective frame 2. A push plate 15 is provided on the front side of the installation position. The robot is located in the installation position and abuts against the push plate 15.

[0027] In the specific implementation of this embodiment, when the robot moves along the track 16 for inspection, it pushes against the protective frame 2, so that the protective frame 2 moves along with it. The protective frame 2 provides real-time protection for the robot, and the push handle 4 provides anti-falling protection for the robot.

[0028] When the robot derails and topples over, combined with Figure 2Understand that the robot falls on the push handle 4. At this time, the robot squeezes the push handle 4, and the push handle 4 drives the sleeve 3 to rotate. At this time, the runner 6 rotates accordingly. The arc-shaped edge of the arc-shaped tooth 7 squeezes the swing claw 8. Since the edge of the arc-shaped tooth 7 is arc-shaped, the movement of the arc-shaped tooth 7 will cause one end of the swing claw 8 against the arc-shaped tooth 7 to swing outward from the runner 6, and the other end of the swing claw 8 swings inward and pushes against the sliding shaft 5, causing the sliding shaft 5 to move horizontally and deliver the friction wheel 9 between the driving wheel 10 and the driven wheel 11. The driving wheel 10 rotates under the action of external power, and its rotational power is transmitted to the driven wheel 11 through the friction wheel 9. The driven wheel 11 drives the winding wheel 12 to rotate, and the winding wheel 12 winds the pulling rope 13, so that the other end of the pulling rope 13 pulls the robot. Since the pulley 14 is located above the robot, at this time, the pulling rope 13 pulls the robot upright, suspends the robot while making it return directly above the track 16, and keeps the robot in an upright state on the track 16 to prevent the robot from falling.

[0029] Embodiment 2 Based on Embodiment 1, this embodiment is provided with multiple groups of arc-shaped teeth 7 and swing claws 8 that work in matching. The multiple groups of swing claws 8 are distributed around the runner 6 in a circular array on the circumference of the sliding shaft 5. There are three groups of swing claws 8 and arc-shaped teeth 7 that work in matching in this embodiment. And in this embodiment, a torsion spring is connected between the swing claw 8 and the protective frame 2, and a spring is also provided between the sliding shaft 5 and the protective frame 2. At the same time, there are two sets of the sleeve 3, the push handle 4, the sliding shaft 5, the driving wheel 10, the driven wheel 11, the friction wheel 9 and the pulling rope 13, and the two sets of structures are respectively located on both sides of the track 16.

[0030] Based on the implementation process of Embodiment 1, when the runner 6 on one side of the track 16 rotates, the three groups of arc-shaped teeth 7 move together and respectively push the three groups of swing claws 8 to move. The three groups of swing claws 8 together push the sliding shaft 5 to move, so that the sliding shaft 5 can maintain axial sliding and the friction wheel 9 can be smoothly moved between the driving wheel 10 and the driven wheel 11 for power transmission. The two sets of structures on both sides of the track 16 protect the robot from both sides, ensuring the protection effect on the robot.

[0031] During the process of the pulling rope 13 pulling and righting the robot, the robot gradually leaves the push handle 4, and the pressure of the robot on the push handle 4 decreases. At this time, the torsion spring causes the swing claw 8 to swing in the reverse direction and reset, thereby squeezing the arc-shaped tooth 7 in the reverse direction, causing the runner 6 to rotate in the reverse direction, and the push handle 4 also gradually resets accordingly; at the same time, the spring also causes the sliding shaft 5 to gradually move and reset, the friction wheel 9 gradually exits between the driving wheel 10 and the driven wheel 11, the pulling rope 13 gradually stops moving, and finally the pulling rope 13 stops pulling the robot up to prevent the robot from being pulled away from the track 16.

[0032] The above are only embodiments of the present invention, and common general technical solutions and / or characteristics in the solutions are not described in detail herein. It should be noted that for those skilled in the art, without departing from the technical solutions of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect of the present invention and the practicability of the patent. The protection scope claimed in this application shall be subject to the content of its claims, and the specific implementation manners and the like recorded in the specification can be used to interpret the content of the claims.

Claims

1. The anti-falling intelligent inspection robot, including a robot, the robot includes a housing, and is characterized in that: It further includes a fall prevention mechanism. The fall prevention mechanism includes a protective frame. A sleeve is rotatably provided on the protective frame. A push handle is fixed on the sleeve and extends radially along the sleeve. A sliding shaft is inserted into the sleeve. The sliding shaft is slidably arranged on the protective frame and is in clearance fit with the sleeve. A runner is fixed on the sleeve. A plurality of arc-shaped teeth are provided on the edge of the runner. The arc-shaped teeth extend from the edge of the runner to the outside of the runner, and the outer edge of the arc-shaped teeth is arc-shaped. A swing claw is swingably provided on the protective frame. The middle part of the swing claw is positioned and connected to the protective frame. One end of the swing claw abuts against the outer edge of the arc-shaped teeth, and the other end abuts against the end of the sliding shaft. The end of the sliding shaft away from the swing claw passes through the sleeve and is rotatably connected with a friction wheel. A driving wheel and a driven wheel are provided on the outside of the friction wheel. The friction wheel is located between the driving wheel and the driven wheel. The driven wheel is fixedly connected with a wire winding wheel. A pull rope is wound around the wire winding wheel. The end of the pull rope away from the wire winding wheel is located above the robot housing and is bolted to the robot housing.

2. The anti-falling intelligent inspection robot according to claim 1, wherein: The protective frame is erected on the track. An installation position is provided on the protective frame. A push plate is provided on the front side of the installation position. The robot is located in the installation position and abuts against the push plate.

3. The anti-falling intelligent inspection robot according to claim 2, characterized in that: A plurality of push handles are provided. The plurality of push handles are arranged in sequence along the axial direction of the sleeve.

4. The anti-falling intelligent inspection robot according to claim 3, wherein: A pulley is provided on the protective frame. The pulley is located above the robot. The middle part of the pull rope passes over the pulley.

5. The anti-falling intelligent inspection robot according to claim 4, wherein: A plurality of sets of arc-shaped teeth and swing claws that work in cooperation are provided. The plurality of sets of swing claws are distributed in a circular array around the runner on the circumference of the sliding shaft.

6. The anti-falling intelligent inspection robot according to claim 5, characterized in that: A torsion spring is connected between the swing claw and the protective frame. A spring is also provided between the sliding shaft and the protective frame.

7. The anti-falling intelligent inspection robot according to any one of claims 1-6, characterized in that: Two sets of the sleeve, the push handle, the sliding shaft, the driving wheel, the driven wheel, the friction wheel and the pull rope are provided. The two sets of structures are respectively located on both sides of the track.

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