Self-lifting online inspection robot

Abstract

The invention discloses a self-lifting type online inspection robot which comprises a machine body, a first hook assembly and a second hook assembly. The first hook assembly and the second hook assembly respectively comprise a hook, a lifting rope and an elastic telescopic seat, the elastic telescopic seat is rotatably arranged on the machine body, and the rotation direction of the elastic telescopic seat is perpendicular to the extension direction of the contact line; one end of the lifting rope is connected with the base part of the hook, the other end of the lifting rope penetrates through the elastic telescopic seat and is connected with a take-up and pay-off reel mechanism arranged on the machine body, and a rotation driving mechanism is further arranged at the position, close to the elastic telescopic seat, of the machine body and used for driving and controlling the elastic telescopic seat to rotate to a vertical state and an inclined state deviating from the contact line; and an insertion hole matched with the base part of the hook is formed in the top of the elastic telescopic seat. According to the scheme, the problem that when an existing online inspection robot walks along the contact line in an obstacle crossing mode, due to the fact that a hook assembly of the existing online inspection robot is blocked by a sling of the contact line and other obstacles, the existing online inspection robot is not suitable for the obstacle crossing walking of the online inspection robot can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic inspection of power distribution overhead lines, and in particular to a self-lifting online inspection robot. Background Art

[0002] With the rapid development of electrified railways and urban rail transit, the safety inspection of the contact network status is particularly important. Among them, online inspection robots have broad application prospects in contact network inspection operations due to their high work efficiency and the ability to avoid the dangers of manual operations in high-risk environments.

[0003] Among them, in order to realize the automatic up and down movement of the online inspection robot, the existing inspection robot is usually equipped with a hook and a wire-reeling device at the front and rear ends of the body respectively. The hook is hung on the line and the wire-reeling device connected to the hook rope is used to perform the wire-reeling action, thereby realizing the up and down movement of the robot. For details, please refer to the "Self-lifting Live Insulation Coating Robot and Lifting System" disclosed in the Chinese patent with patent number "CN 210490263U".

[0004] However, existing inspection robots still have many shortcomings; for example, they are not suitable for robots with the function of walking over obstacles on the line. When the robot walks along the wire or contact line to the location of obstacles such as hanging strings, the hook structure will hinder the robot's obstacle-crossing walking. Summary of the Invention

[0005] The present invention discloses a self-lifting online inspection robot to solve the problem that the current online inspection robot is not suitable for overcoming obstacles when walking along the contact line because its hook component may be blocked by obstacles such as the sling of the contact line.

[0006] In order to solve the above problems, the present invention adopts the following technical solutions:

[0007] A self-lifting online inspection robot comprises a body and a first hook assembly and a second hook assembly arranged on the body; the first hook assembly and the second hook assembly respectively comprise a hook, a suspension rope and an elastic telescopic seat, the elastic telescopic seat being rotatably arranged on the body, and the rotation direction of the elastic telescopic seat being perpendicular to the extension direction of the contact line; one end of the suspension rope is connected to the base of the hook, and the other end of the suspension rope passes through the elastic telescopic seat and is connected to a retractable wire reel mechanism arranged on the body, and a rotation drive mechanism is further provided at a position of the body adjacent to the elastic telescopic seat, for driving and controlling the elastic telescopic seat to rotate to a vertical state and an inclined state away from the contact line; a socket adapted to the base of the hook is provided on the top of the elastic telescopic seat.

[0008] Optionally, the elastic telescopic seat includes a cylindrical structure with a socket at the top, a movable seat connected to the elastic member is provided in the cylinder, and the movable seat is used to move up and down along the axial direction of the cylinder when subjected to force; the center position of the movable seat and the bottom of the cylinder are both provided with a threading hole adapted to the sling.

[0009] Optionally, the cylinder is provided with a through hole, which extends from the threading hole at the bottom of the cylinder to the side wall of the cylinder, and the through hole is located on the side of the cylinder corresponding to the back of the hook, so as to avoid the cylinder from the sling during rotation; the connecting end of the sling and the base of the hook is located on the rotation axis of the cylinder, or above the rotation axis of the cylinder.

[0010] Optionally, the body is provided with a support adapted to the elastic telescopic seat, and the elastic telescopic seat is rotatably set on the support via a rotating shaft; the rotation driving mechanism is a telescopic mechanism, and the executing end of the telescopic mechanism cooperates with the rotating shaft via a crank structure, and the rotation of the elastic telescopic seat is controlled by the telescopic movement of the executing end of the telescopic mechanism; the hook is arranged so that the center of gravity is biased toward the side where the back of the hook is located; the connection end of the sling and the base of the hook is located on the rotation axis of the cylinder, or above the rotation axis of the cylinder.

[0011] Optionally, the portion of the crank that cooperates with the execution end of the telescopic mechanism is configured as an arc-shaped structure.

[0012] Optionally, the line-reeling reel mechanism includes a first reel, a second reel and a rotation drive mechanism; the body is provided with a mounting shaft, the first reel and the second reel are rotatably arranged on the mounting shaft, and the first reel and the second reel are both provided with gear rings distributed along the circumference; the rotation drive mechanism includes a drive motor, a first transmission shaft and a second transmission shaft, the output shaft of the drive motor is connected to the first transmission shaft and the second transmission shaft through a transmission assembly, and the first transmission shaft is meshed with the gear ring of the first reel, and the second transmission shaft is meshed with the gear ring of the second reel; the lifting rope of the first hook assembly is connected to the first reel, and the lifting rope of the second hook assembly is connected to the second reel, and the first transmission shaft and the second transmission shaft drive the first reel and the second reel to rotate synchronously in opposite directions through the transmission assembly under the drive of the drive motor, for controlling the reeling and unreeling of the first hook assembly and the second hook assembly.

[0013] Optionally, the transmission assembly includes a first worm gear and a second worm gear; the output shaft of the drive motor is provided with a worm structure, the first worm gear is sleeved on the first transmission shaft, the second worm gear is sleeved on the second transmission shaft, and the first worm gear and the second worm gear are respectively located on both sides of the output shaft of the drive motor, and are engaged with the output shaft of the drive motor through the worm structure.

[0014] Optionally, the axial direction of the output shaft of the drive motor is perpendicular to the axial directions of the first transmission shaft and the second transmission shaft.

[0015] Optionally, the first transmission shaft and the second transmission shaft are configured as transmission shafts with a clutch structure, and the first transmission shaft and the second transmission shaft respectively include a driving shaft and a driven shaft, the driving shaft and the driven shaft are connected via a clutch structure, the driving shaft is connected to the output shaft of the drive motor via a transmission assembly, and the driven shaft is engaged with the ring gear.

[0016] Optionally, the reel mechanism further includes a deceleration assembly; the deceleration assembly includes a drive mechanism, a first friction member and a second friction member, the first friction member and the second friction member are both connected to the drive mechanism, and the first friction member is located adjacent to the first reel, and the second friction member is arranged adjacent to the second reel, and under the control of the drive mechanism, the first friction member and the second friction member respectively have a first state of contact with the first reel and the second reel, and a second state of being away from the first reel and the second reel.

[0017] The technical solution adopted by the present invention can achieve the following beneficial effects:

[0018] The self-lifting online inspection robot disclosed in the present invention is characterized in that, when the robot is online, after the robot body is suspended on the contact line through its obstacle-crossing walking mechanism, the wire reel structure synchronously pays out the wires of the first hook assembly and the second hook assembly, and the elastic telescopic seat drives the hook upward away from the contact line under the action of its own elastic restoring force; then, the rotation drive mechanism drives and controls the elastic telescopic seat and the hook to rotate toward the direction of the back of the hook to an inclined state away from the contact line, so that the hook can avoid the sling and other structures of the contact line, thereby preventing the hook and the sling and other structures from being blocked and affecting the obstacle-crossing walking of the robot body; When going down the line, the rotating drive mechanism drives and controls the elastic telescopic seat and the hook to rotate to a vertical state where the hook is above the contact line, and then the retractable wire reel mechanism synchronously retracts the slings of the first hook assembly and the second hook assembly, so that the hook squeezes the elastic telescopic seat and moves downward to hang on the contact line, and then the obstacle-crossing walking mechanism of the machine body is released to disengage from the contact line, and the retractable wire reel mechanism is controlled to continue to pay out the wire, so that the machine body descends to a height close to the ground to complete the landing; therefore, the present invention can solve the problem that the hook assembly is blocked by obstacles such as the sling of the contact line, thereby affecting the obstacle-crossing walking of the machine body along the contact line. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0020] Figure 1 Schematic diagram of the structure of the self-lifting online inspection robot disclosed in an embodiment of the present invention;

[0021] Figure 2 This is a partially enlarged view of the first part of the self-lifting online inspection robot disclosed in an embodiment of the present invention;

[0022] Figure 3 Schematic diagram of the structure of the reel mechanism for taking up and paying out the wire disclosed in an embodiment of the present invention;

[0023] Figure 4 A side view of a reel mechanism for taking up and paying out a line disclosed in an embodiment of the present invention;

[0024] Figure 5 This is a partial enlarged view of the second part of the self-lifting online inspection robot disclosed in an embodiment of the present invention;

[0025] Figure 6 This is a schematic structural diagram of a hook and an elastic telescopic seat in plug-in engagement according to an embodiment of the present invention;

[0026] Figure 7 This is a structural diagram of the hook and the elastic telescopic seat disclosed in an embodiment of the present invention in a separated state;

[0027] Figure 8 Schematic diagram of the structure of the elastic telescopic seat disclosed in an embodiment of the present invention;

[0028] Figure 9 Schematic diagram of the cross-sectional structure of the elastic telescopic seat disclosed in an embodiment of the present invention;

[0029] Figure 10 Schematic diagram of the structure of the guide assembly disclosed in an embodiment of the present invention;

[0030] Description of reference numerals:

[0031] 100-reeling and reeling mechanism, 110-rotational drive mechanism, 111-worm structure, 112-first worm gear, 113-second worm gear, 120-first reel, 121-first transmission shaft, 122-gear ring, 123-outer eaves, 124-line groove, 130-second reel, 131-second transmission shaft, 140-slide mechanism, 141-first arc portion, 142-second arc portion, 143-first slide, 144-second slide, 145-elastic element,

[0032] 200-body, 201-mounting shaft, 210-first hook assembly, 211-back of the hook, 212-base of the hook, 213-cylinder, 214-through hole, 215-rotating shaft, 216-crank, 217-moving seat, 218-elastic member, 220-second hook assembly, 230-telescopic mechanism, 240-guide assembly, 241-a pair of guide wheels above, 242-a pair of guide wheels below, 243-guide wheel bracket, 250-sling rope, 300-contact line. DETAILED DESCRIPTION

[0033] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and corresponding drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0034] The technical solutions disclosed in various embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0035] Please refer to Figures 1 to 10 As shown, an embodiment of the present invention discloses that this embodiment provides a self-lifting online inspection robot, and the disclosed self-lifting online inspection robot includes a body 200, a first hook assembly 210 and a second hook assembly 220 respectively arranged at the front end and the rear end of the body 200, and a wire reel mechanism 100 arranged on the body 200.

[0036] Among them, the first hook assembly 210 and the second hook assembly 220 respectively include a hook, a suspension rope 250 and an elastic telescopic seat. The elastic telescopic seat is rotatably arranged on the body 200, and the rotation direction of the elastic telescopic seat is perpendicular to the extension direction of the contact line 300; one end of the suspension rope 250 is connected to the base 212 of the hook, and the other end of the suspension rope 250 passes through the elastic telescopic seat and is connected to the retractable wire reel mechanism 100 arranged on the body 200, and the body 200 is also provided with a rotation drive mechanism near the elastic telescopic seat, which is used to drive and control the elastic telescopic seat to rotate to a vertical state and an inclined state away from the contact line 300; the top of the elastic telescopic seat is provided with a socket adapted to the base 212 of the hook.

[0037] When going online, the hooks of the first hook assembly 210 and the second hook assembly 220 are hung on the contact line 300, and then the reel mechanism 100 is controlled to synchronously reel the ropes 250 of the first hook assembly 210 and the second hook assembly 220, so that the machine body 200 rises; when the base 212 of the hook enters the socket of the elastic telescopic seat, the reel mechanism 100 continues to reel in the hook to compress the elastic telescopic seat until the obstacle-crossing walking mechanism of the machine body 200 reaches a height at which it can be suspended on the contact line 300; at this time, the machine body 200 is suspended by its obstacle-crossing walking mechanism Hang on the contact line 300; then, the retractable reel beats the drum to synchronously pay out the rope 250 of the first hook component 210 and the second hook component 220, and the elastic telescopic seat drives the hook upward away from the contact line 300 under the action of its own elastic restoring force; then, the rotation drive mechanism drives and controls the elastic telescopic seat and the hook to rotate in the direction of the back 211 of the hook to a tilted state away from the contact line 300, so that the hook can avoid the sling and other structures of the contact line 300, to avoid the hook and the sling and other structures from being blocked and affecting the obstacle-crossing movement of the body 200.

[0038] When going down the line, the rotating drive mechanism drives the elastic telescopic seat and the hook to rotate to a vertical state where the hook is located above the contact line 300, and then controls the retractable wire reel mechanism 100 to synchronously reel the rope 250 of the first hook assembly 210 and the second hook assembly 220, so that the hook squeezes the elastic telescopic seat and moves downward to hang on the contact line 300; then, the obstacle crossing walking mechanism of the body 200 releases and disengages from the contact line 300, and controls the retractable wire reel mechanism 100 to continue paying out the wire, so that the body 200 descends to a height close to the ground to complete the landing.

[0039] Specifically, as shown in Figure 1 and Figure 5As shown, the body 200 is provided with a support adapted to the elastic telescopic seat, and the elastic telescopic seat is rotatably set on the support through the rotating shaft 215; the rotation drive mechanism cooperates with the rotating shaft 215, so that the rotation of the rotating shaft 215 is driven and controlled by the rotation drive mechanism to drive the elastic telescopic seat to rotate together, so that the hook can rotate toward / away from the direction of the contact line 300.

[0040] At the same time, the elastic telescopic seat includes a cylinder 213 structure with a socket on the top, the cylinder 213 is set on the support through a rotating shaft 215, and a movable seat 217 connected to an elastic member 218 such as a spring or a spring sheet is set in the cylinder 213, and the movable seat 217 can move up and down along the axial direction of the cylinder 213; and, the movable seat 217 and the center position of the bottom of the cylinder 213 are provided with a threading hole, so that the hanging rope 250 of the hook assembly can pass through the elastic telescopic seat and be connected to the corresponding reel, so that the hanging rope 250 can play a guiding role so that the base 212 of the hook can be aligned with the inserted cylinder 213 and cooperate with the movable seat 217 when the reel is reeling.

[0041] Among them, in the process of the rotating drive mechanism driving and controlling the elastic telescopic seat and the hook to rotate in the inclined state and the vertical state, in order to avoid the length of the sling 250 affecting its normal rotation movement, it is usually necessary to control the first reel 120 and the second reel 130 to perform additional corresponding line-winding and releasing actions during the rotation of the elastic telescopic seat and the hook. This not only increases the difficulty of controlling the first reel 120 and the second reel 130, but also makes it easy for the operation risk to be affected by the length of the line-winding and releasing of the sling 250.

[0042] Therefore, this embodiment also improves the structure of the elastic telescopic seat, and opens a through hole 214 in the cylinder 213. The through hole 214 extends from the threading hole at the bottom of the cylinder 213 to the side wall of the cylinder 213, and the through hole 214 is located on the side of the cylinder 213 corresponding to the back 211 of the hook, which is used for the cylinder 213 to avoid the suspension rope 250 during the rotation process; the connection end of the suspension rope 250 and the base 212 of the hook is located on the line of the rotation axis 215 of the cylinder 213, or above the line of the rotation axis 215 of the cylinder 213.

[0043] Through the design of the through hole 214 of the cylinder 213, the influence of the cylinder 213 on the sling 250 can be avoided during the rotation of the elastic telescopic seat and the hook, so that the length of the connection between the sling 250 and the hook can remain unchanged, thereby avoiding the first reel 120 and the second reel 130 from performing additional winding and releasing actions, thereby reducing the control actions and control difficulty of the first reel 120 and the second reel 130, and reducing the influence of the winding and releasing length of the sling 250 on the action process, which is conducive to safe operation.

[0044] At the same time, as an implementable embodiment of the rotation drive mechanism, the rotation drive mechanism can select an existing telescopic mechanism 230, such as an electric telescopic rod or a pneumatic telescopic rod; in order to enable the execution end of the telescopic mechanism 230 to push the rotating shaft 215 to rotate, a crank 216 that cooperates with the execution end of the telescopic mechanism 230 is provided at the end of the rotating shaft 215; at the same time, the hook can adopt an eccentric design with the center of gravity biased toward the side where the back is located.

[0045] When the elastic telescopic seat and the hook need to be rotated to a vertical state, the actuator end of the telescopic mechanism 230 can be extended to push the rotating shaft 215 to rotate through the crank 216, thereby causing the elastic telescopic seat to rotate to a vertical state along with the rotating shaft 215; when the elastic telescopic seat and the hook need to be rotated to an inclined state away from the contact line 300, the actuator end of the telescopic mechanism 230 is retracted. At this time, the gravity effect of the eccentric design of the hook can be used to automatically rotate the elastic telescopic seat and the hook to the inclined state. It is easy to understand that in order to ensure that the crank 216 and the actuator end of the telescopic mechanism 230 can maintain effective contact during the rotation of the crank 216, the area of ​​the crank 216 that cooperates with the actuator end of the telescopic mechanism 230 is preferably designed to have an arc-shaped structure, thereby avoiding the problem of the crank 216 and the actuator end of the telescopic mechanism 230 being stuck.

[0046] In this embodiment, in order to enable the rope 250 passing through the elastic telescopic seat to reliably perform the line-reeling and unreeling action through the reel, the guide assembly 240 preferably adopts the following Figure 10 The structure shown; wherein, the guide assembly 240 includes a guide wheel bracket 243 and two pairs of guide wheels respectively arranged above and below the guide wheel bracket 243, and the guiding direction of the lower pair of guide wheels 242 is toward the direction of the reel, and the upper pair of guide wheels 241 is located below the elastic telescopic seat, and its guiding direction is perpendicular to the guiding direction of the lower pair of guide wheels 243; the suspension rope 250 is located between the pair of guide wheels, so that the upper and lower two pairs of guide wheels can not only guide the suspension rope 250, but also prevent the suspension rope 250 section close to the reel from moving back and forth and left and right, thereby ensuring the reeling and winding effect.

[0047] As an embodiment of the reel mechanism 100, Figures 2 to 4The reel structure for taking up and unwinding the line may include a first reel 120, a second reel 130 and a rotation drive mechanism 110; the body 200 is provided with a mounting shaft 201, and the first reel 120 and the second reel 130 are respectively rotatably arranged on the mounting shaft 201 through a bearing structure, and are in a coaxial flat structure, and the first reel 120 and the second reel 130 are both provided with gear rings distributed along the circumferential direction; the rotation drive mechanism 110 includes a drive motor, a first transmission shaft 121 and a second transmission shaft 131, and the output shaft of the drive motor is connected to the first transmission shaft 121 and the second transmission shaft 131 through a transmission assembly, and the first transmission shaft 121 is engaged with the gear ring of the first reel 120, and the second transmission shaft 131 is engaged with the gear ring of the second reel 130; the rope 250 of the first hook assembly 210 is connected to the first reel 120, and the rope 250 of the second hook assembly 220 is connected to the second reel 130.

[0048] Among them, the first transmission shaft 121 and the second transmission shaft 131 rotate synchronously in opposite directions under the drive of the driving motor through the transmission component, and drive the first reel 120 and the second reel 130 to rotate synchronously in opposite directions, thereby realizing the synchronous retraction and release line control of the suspension rope 250 of the front end hook and the rear end hook of the body 200.

[0049] For example, when the driving motor controls the first reel 120 to rotate clockwise and the second reel 130 to rotate counterclockwise, the line-releasing action can be completed; when the driving motor controls the first reel 120 to rotate counterclockwise and the second reel 130 to rotate clockwise, the line-reeling action can be completed; or, when the driving motor controls the first reel 120 to rotate clockwise and the second reel 130 to rotate counterclockwise, the line-reeling action can be completed; when the driving motor controls the first reel 120 to rotate counterclockwise and the second reel 130 to rotate clockwise, the line-releasing action can be completed.

[0050] Therefore, compared with the existing online inspection robot, it can control the synchronous winding and paying-out rotation of the two reels through one drive motor, reducing the number of drive motors set, which not only reduces the energy consumption of the winding and paying-out control, but also helps to extend the operation time, and makes the design of the winding and paying-out reel mechanism 100 more compact, reduces its occupied space, and is conducive to the lightweight design of the online inspection robot; and, the first reel 120 and the second reel 130 are arranged in a flat manner on the body 200, which is conducive to reducing the design height of the online inspection robot, which can not only save occupied space, but also reduce the problem of the online inspection robot being prone to large swings during walking operations due to its low center of gravity.

[0051] Specifically, if Figure 3As shown, the transmission assembly may include a first worm gear 112 and a second worm gear 113; the output shaft of the driving motor is provided with a worm structure 111, the first worm gear 112 is sleeved on the first transmission shaft 121, and the second worm gear 113 is sleeved on the second transmission shaft 131, and the first worm gear 112 and the second worm gear 113 are respectively located on both sides of the output shaft of the driving motor, and are engaged with the output shaft of the driving motor through the worm structure 111.

[0052] At the same time, the axial direction of the output shaft of the driving motor can be set perpendicular to the axial direction of the first transmission shaft 121 and the second transmission shaft 131, so that the driving motor can be set in a flat manner on the body 200, and the transmission steering of the driving motor can be realized through the worm gear structure 111. The first transmission shaft 121 and the second transmission shaft 131 can be set in a vertical manner on the body 200 in the height direction of the body 200, and the first reel 120 and the second reel 130 are arranged in a flat manner on the body 200 with an upper and lower coaxial rotation structure; in this way, the problem of an increase in the height design size of the body 200 due to the vertical setting of the output shaft of the driving motor can be avoided, thereby effectively reducing the height size design of the body 200 and improving the walking stability of the online inspection robot.

[0053] In the reel mechanism 100 disclosed in this embodiment, in order to cope with the problem that the online inspection robot cannot land from the contact line 300 due to a failure of the driving motor that drives the first transmission shaft 121 and the second transmission shaft 131 to rotate synchronously; the first transmission shaft 121 and the second transmission shaft 131 preferably adopt transmission shafts with a clutch structure.

[0054] It should be noted that the transmission shaft with a clutch structure belongs to the existing technology. In this embodiment, the shaft system structure is applied to the first transmission shaft 121 and the second transmission shaft 131 according to design requirements. It usually includes a driving shaft and a driven shaft, and the driving shaft and the driven shaft are connected by a clutch structure; wherein, the driving shafts of the first transmission shaft 121 and the second transmission shaft 131 are both connected to the output shaft of the drive motor through a transmission assembly, and the driven shafts of the first transmission shaft 121 and the second transmission shaft 131 are respectively engaged with the ring gears of the first reel 120 and the second reel 130.

[0055] When the driving motor that drives the first transmission shaft 121 and the second transmission shaft 131 to rotate synchronously can work normally, the clutch structure is controlled so that the active shaft and the driven shaft of the first transmission shaft 121 and the second transmission shaft 131 are in an engaged state, so that the first reel 120 and the second reel 130 can be controlled by the driving motor through the first transmission shaft 121 and the second transmission shaft 131 to pay out the line synchronously and rotate, so that the online inspection robot can land from the contact line 300.

[0056] When the driving motor that drives the first transmission shaft 121 and the second transmission shaft 131 to rotate synchronously fails, the clutch structure is controlled to separate the driving shaft and the driven shaft of the first transmission shaft 121 and the second transmission shaft 131, so that the driven shaft can rotate freely, so that the first reel 120 and the second reel 130 can automatically rotate under the action of gravity of the online inspection robot to pay out the line, so that the online inspection robot can land from the contact line 300.

[0057] Preferably, if Figure 2 and Figure 3 As shown, the reel mechanism 100 may further include a deceleration assembly; the deceleration assembly includes a driving mechanism, a first friction member and a second friction member, the first friction member and the second friction member are both connected to the driving mechanism, and the first friction member is located adjacent to the first reel 120, and the second friction member is arranged adjacent to the second reel 130. Under the control of the driving mechanism, the first friction member and the second friction member respectively have a first state of contact with the first reel 120 and the second reel 130, and a second state of being away from the first reel 120 and the second reel 130.

[0058] When the driving motor that drives the first transmission shaft 121 and the second transmission shaft 131 to rotate synchronously fails, the clutch structure of the first transmission shaft 121 and the second transmission shaft 131 controls the separation of the active shaft and the driven shaft, and the driving mechanism controls the first friction member to contact the first reel 120 and the second friction member to contact the second reel 130. The contact friction formed in this way can control and reduce the free rotation speed of the first reel 120 and the second reel 130, thereby avoiding safety problems such as damage to the online inspection robot due to free fall off the line under the action of its own gravity.

[0059] In order to facilitate the contact and cooperation between the first reel 120 and the first friction member, and the second reel 130 and the second friction member, the first reel 120 and the second reel 130 can be provided with an annular outer flange protruding along the axial direction; the first friction member and the second friction member can be provided with a first arc portion 141 adapted to the annular outer flange, so that the design of the arc portion and the outer flange can well ensure that the reel and the friction member can form effective contact, which is conducive to controlling the rotation speed of the reel.

[0060] Among them, the first arc-shaped portion 141 is located on the outside of the annular outer eaves portion, and one end of the first arc-shaped portion 141 is rotatably set, and the other end of the first arc-shaped portion 141 is connected to the driving mechanism, so that the first friction member and the first reel 120, the second friction member and the second reel 130 can be contacted / separated by controlling the rotation of the first arc-shaped portion 141 by the driving mechanism. It not only facilitates the installation and setting of the first friction member and the second friction member, but also has the advantage of a simple and effective control structure.

[0061] It is easy to understand that the first friction member and the second friction member can also respectively include a second arc portion 142 adapted to the annular outer eaves portion, and the second arc portion 142 is located on the other side of the annular outer eaves portion opposite to the first arc portion 141, and one end of the second arc portion 142 is rotatably arranged, and the other end of the second arc portion 142 is connected to the driving mechanism, so that a structure that embraces the annular outer eaves portion can be formed through the first arc portion 141 and the second arc portion 142, thereby better improving the contact deceleration effect between the friction member and the reel; wherein the driving mechanism can drive and control the first arc portion 141 and the second arc portion 142 to rotate toward each other to a first state in contact with the annular outer eaves portion, and rotate away from each other to a second state away from the annular outer eaves portion.

[0062] As an implementable embodiment of the driving mechanism, the driving mechanism can select the existing slide mechanism 140, and the slide mechanism 140 is provided with a first slide 143 and a second slide 144 that move relative / oppositely, and the first arc-shaped portions 141 of the first friction member and the second friction member are both connected to the first slide 143, and the second arc-shaped portions 142 of the first friction member and the second friction member are both connected to the second slide 144.

[0063] When the slide mechanism 140 controls the first slide 143 and the second slide 144 to move relative to each other, the first arc portion 141 and the second arc portion 142 of the first friction member rotate relative to each other to the first state in contact with the annular outer edge portion of the first reel 120, and the first arc portion 141 and the second arc portion 142 of the second friction member rotate relative to each other to the first state in contact with the annular outer edge portion of the second reel 130, thereby realizing the decelerated rotation control of the first reel 120 and the second reel 130.

[0064] When the slide mechanism 140 controls the first slide 143 and the second slide 144 to move away from each other, the first arc-shaped portion 141 and the second arc-shaped portion 142 of the first friction member rotate away from each other to the second state separated from the annular outer edge portion of the first reel 120, and the first arc-shaped portion 141 and the second arc-shaped portion 142 of the second friction member rotate away from each other to the second state separated from the annular outer edge portion of the second reel 130, thereby realizing the normal rotation of the first reel 120 and the second reel 130.

[0065] Specifically, the slide mechanism 140 can be an existing pneumatic slide mechanism 140; wherein, preferably, an elastic element 145 can be arranged between the first slide 143 and the second slide 144, so that the elastic element 145 can be compressed when the pneumatic sliding mechanism controls the relative movement of the first slide 143 and the second slide 144. In this way, when the first slide 143 and the second slide 144 need to move oppositely, the restoring force generated by the compression of the elastic element 145 can be used to elastically reset the first slide 143 and the second slide 144, thereby ensuring the reset control effect of the first slide 143 and the second slide 144.

[0066] At the same time, in this embodiment, the clutch structure of the above-mentioned first transmission shaft 121 and the second transmission shaft 131 can use an existing pneumatic clutch structure, so that the pneumatic control system of the pneumatic clutch structure of the first transmission shaft 121 and the second transmission shaft 131 can be integrated with the pneumatic control system of the pneumatic slide mechanism 140 and share an air source device, which is beneficial to reduce the number of air source devices set up and reduce costs.

[0067] The above embodiments of the present invention focus on the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. Considering the simplicity of the text, they will not be repeated here.

[0068] The foregoing is merely an embodiment of the present invention and is not intended to limit the present invention. It will be apparent to those skilled in the art that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. A self-lifting online inspection robot, characterized in that: The invention comprises a machine body and a first hook assembly and a second hook assembly arranged on the machine body; the first hook assembly and the second hook assembly respectively comprise a hook, a hanging rope and an elastic telescopic seat, the elastic telescopic seat being rotatably arranged on the machine body, and the rotation direction of the elastic telescopic seat being perpendicular to the extension direction of the contact line; one end of the hanging rope is connected to the base of the hook, and the other end of the hanging rope passes through the elastic telescopic seat and is connected to the retractable wire reel mechanism arranged on the machine body, and a rotation driving mechanism is further provided at a position of the machine body adjacent to the elastic telescopic seat, for driving and controlling the elastic telescopic seat to rotate to a vertical state and an inclined state deviating from the contact line; a socket adapted to the base of the hook is provided on the top of the elastic telescopic seat.

2. The self-lifting online inspection robot according to claim 1, characterized in that: The elastic telescopic seat includes a cylindrical structure with a socket at the top, a movable seat connected to the elastic member is provided in the cylindrical body, and the movable seat is used to move up and down along the axial direction of the cylindrical body when subjected to force; the center position of the movable seat and the bottom of the cylindrical body are both provided with a threading hole adapted to the sling.

3. The self-lifting online inspection robot according to claim 2, characterized in that: The cylinder is provided with a through hole, which extends from the threading hole at the bottom of the cylinder to the side wall of the cylinder, and the through hole is located on the side of the cylinder corresponding to the back of the hook, so as to allow the cylinder to avoid the sling rope during rotation; the connecting end of the sling rope and the base of the hook is located on the rotation axis of the cylinder, or above the rotation axis of the cylinder.

4. The self-lifting online inspection robot according to any one of claims 1 to 3, characterized in that: The body is provided with a support adapted to the elastic telescopic seat, and the elastic telescopic seat is rotatably set on the support through a rotating shaft; the rotation drive mechanism is a telescopic mechanism, and the execution end of the telescopic mechanism cooperates with the rotating shaft through a crank structure, and the rotation of the elastic telescopic seat is controlled by the telescopic movement of the execution end of the telescopic mechanism; the hook is arranged so that the center of gravity is biased toward the side where the back of the hook is located.

5. The self-lifting online inspection robot according to claim 4, characterized in that: The portion of the crank that cooperates with the execution end of the telescopic mechanism is configured as an arc-shaped structure.

6. The self-lifting online inspection robot according to any one of claims 1 to 3, characterized in that: The reel mechanism for taking up and releasing the wire includes a first reel, a second reel and a rotary drive mechanism; the machine body is provided with a mounting shaft, the first reel and the second reel are rotatably mounted on the mounting shaft, and the first reel and the second reel are both provided with circumferentially distributed gear rings; the rotary drive mechanism includes a drive motor, a first transmission shaft and a second transmission shaft, the output shaft of the drive motor is connected to the first transmission shaft and the second transmission shaft through a transmission assembly, and the first transmission shaft is engaged with the gear ring of the first reel, and the second transmission shaft is engaged with the gear ring of the second reel; The lifting rope of the first hook assembly is connected to the first reel, and the lifting rope of the second hook assembly is connected to the second reel. The first transmission shaft and the second transmission shaft drive the first reel and the second reel to rotate synchronously in opposite directions through the transmission assembly under the drive of the drive motor, so as to control the retraction and release of the first hook assembly and the second hook assembly.

7. The self-lifting online inspection robot according to claim 6, characterized in that: The transmission assembly includes a first worm gear and a second worm gear; the output shaft of the drive motor is provided with a worm structure, the first worm gear is sleeved on the first transmission shaft, and the second worm gear is sleeved on the second transmission shaft, and the first worm gear and the second worm gear are respectively located on both sides of the output shaft of the drive motor, and are engaged with the output shaft of the drive motor through the worm structure.

8. The self-lifting online inspection robot according to claim 7, characterized in that: The axis direction of the output shaft of the driving motor is perpendicular to the axis directions of the first transmission shaft and the second transmission shaft.

9. The self-lifting online inspection robot according to claim 6, characterized in that: The first transmission shaft and the second transmission shaft are configured as transmission shafts with a clutch structure. The first transmission shaft and the second transmission shaft respectively include a driving shaft and a driven shaft. The driving shaft and the driven shaft are connected via a clutch structure. The driving shaft is connected to the output shaft of the drive motor via a transmission assembly, and the driven shaft is engaged with the ring gear.

10. The self-lifting online inspection robot according to claim 9, characterized in that: The reel mechanism also includes a deceleration assembly; the deceleration assembly includes a drive mechanism, a first friction member and a second friction member, the first friction member and the second friction member are both connected to the drive mechanism, and the first friction member is located adjacent to the first reel, and the second friction member is arranged adjacent to the second reel, and under the control of the drive mechanism, the first friction member and the second friction member respectively have a first state of contact with the first reel and the second reel, and a second state of distance from the first reel and the second reel.

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