Inspection robot for sand filter of water plant

Abstract

The utility model discloses a water plant sand filter inspection robot which comprises a running track and a movable base, the running track is H-shaped, steering shafts are rotatably inserted into the two ends of the top of the movable base, wheel carriers are fixedly connected to the tops of the steering shafts, adjusting sliding blocks are movably inserted into the two sides of the wheel carriers, and the adjusting sliding blocks are movably connected with the movable base. And guide clamping wheels are rotationally connected to one ends of the adjusting sliding blocks in an inserted mode, the two guide clamping wheels are attached to the two sides of the running track correspondingly, and adjusting springs are fixedly connected between the other ends of the adjusting sliding blocks and the wheel frames. On the premise that the driven wheel provides support, two component forces are generated between the guide clamping wheels arranged on the two sides of the running track and the running track in the vertical direction and the horizontal direction respectively, it is ensured that the whole walking mechanism is stable in the moving process, and the guide clamping wheels can move along with extrusion of the running track; and the jamming of the inspection robot caused by excessive friction between the guide clamping wheel and the running track is avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of inspection equipment, and in particular relates to a sand filter tank inspection robot for a water plant. Background Art

[0002] Inspection robots are robots that can perform special inspections and customized inspection tasks in special environments. They can realize autonomous positioning and navigation, and are equipped with specific cameras, such as panoramic cameras or dual-light pan-tilt cameras and a variety of environmental monitoring module sensors. They can capture and sense the surrounding environment in real time, and realize remote online monitoring and data analysis. They can replace manual tasks to complete routine inspections, fault diagnosis, and early warning alarm lights. They help enterprises effectively improve the content and frequency of operation and maintenance, break through the limitations of traditional manual inspections, and realize intelligent operation and maintenance.

[0003] When the inspection robot passes through a curved portion of the running track, the running track is prone to friction with the inspection robot's rollers, causing the inspection robot to jam during movement and resulting in poor inspection results. Utility Model Content

[0004] The utility model aims to solve the problem that the rollers of the inspection robot in the prior art are prone to friction with the surface of the running track during the turning process, causing movement jamming, and proposes the following technical solutions:

[0005] A water plant sand filter tank inspection robot comprises: a running track and a mobile base, wherein the running track is H-shaped, and walking mechanisms are arranged at both ends of the top of the mobile base, and the walking mechanism comprises a wheel frame and a steering shaft, and the steering shaft is rotatably plugged into the mobile base, and adjustment sliders are movably plugged into both sides of the wheel frame, and a guide clamping wheel is rotatably plugged into one end of the adjustment slider, and the two guide clamping wheels are respectively fitted with both sides of the running track, and an adjustment spring is fixedly connected between the other end of the adjustment slider and the wheel frame.

[0006] As a preferred embodiment of the above technical solution, a driving mechanism is arranged inside the mobile base, and the driving mechanism includes a mounting frame and a fixed frame, both ends of the fixed frame are fixedly connected to the mobile base, a driving wheel is rotatably plugged inside the mounting frame, and the driving wheel is in contact with the bottom surface of the running track, a rotating shaft is arranged at one end of the mounting frame, and a stabilizing spring is arranged between the other end of the mounting frame and the fixed frame.

[0007] As a preferred embodiment of the above technical solution, the driving mechanism further includes a power unit, and the driving wheel is fixedly connected to an output end of the power unit.

[0008] As a preferred embodiment of the above technical solution, driven wheels are arranged on both sides of the top of the wheel frame, and the bottoms of the two driven wheels are respectively in contact with both sides of the running track.

[0009] The beneficial effects of the utility model are:

[0010] 1. Under the premise of support provided by the driven wheel, the guide clamping wheels set on both sides of the running track generate two components of force in the vertical direction and the horizontal direction respectively, ensuring the stability of the entire walking mechanism during movement, and the guide clamping wheels will move with the squeezing of the running track to avoid excessive friction between the guide clamping wheels and the running track, which may cause the inspection robot to jam;

[0011] 2. The clamping points of the driving wheel, the two driven wheels and the track are triangular structures, which can ensure that the robot's walking drive structure and the guide rail are always stably in a vertical state. The stabilizing spring applies sufficient elastic force to the driving wheel, which can ensure that the track robot walks close to the track and prevent the track robot from tipping over, thereby solving the problem of the robot shaking during work. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 What is shown is a schematic diagram of the overall structure of the embodiment;

[0013] Figure 2 Shown is a schematic diagram of the installation of the walking mechanism in the embodiment;

[0014] Figure 3 Shown are structural diagrams of various parts of the walking mechanism in the embodiment;

[0015] Figure 4 What is shown is the overall structure diagram of the driving mechanism in the embodiment.

[0016] In the figure: 10, running track; 20, moving base; 30, walking mechanism; 31, wheel frame; 32, steering shaft; 33, driven wheel; 34, clamping wheel; 35, adjustment slider; 36, adjustment spring; 40, driving mechanism; 41, mounting frame; 42, fixing frame; 43, driving wheel; 44, rotating shaft; 45, stabilizing spring; 46, power unit. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the embodiments of the present utility model clearer, the technical solution of the present utility model will be clearly and completely described below in conjunction with the embodiments and the drawings of the specification.

[0018] Example

[0019] Figure 1-Figure 3In the invention, a water plant sand filter tank inspection robot is provided, comprising: a running track 10 and a mobile base 20, wherein the running track 10 is H-shaped, the bottom of the mobile base 20 is used to install cameras, sensors and other detection electrical components, and walking mechanisms 30 are arranged at both ends of the top of the mobile base 20, the walking mechanism 30 comprises a wheel frame 31 and a steering shaft 32, the steering shaft 32 is rotatably plugged into the mobile base 20, and adjustment sliders 35 are movably plugged on both sides of the wheel frame 31, and a guide clamping wheel 34 is rotatably plugged at one end of the adjustment slider 35, and the two guide clamping wheels 34 are respectively fitted with the two sides of the running track 10, and an adjustment spring 36 is fixedly connected between the other end of the adjustment slider 35 and the wheel frame 31.

[0020] Figure 2 and 4 In the figure, a driving mechanism 40 is arranged inside the mobile base 20, and the driving mechanism 40 includes a mounting frame 41 and a fixing frame 42. Both ends of the fixing frame 42 are fixedly connected to the mobile base 20. A driving wheel 43 is rotatably inserted inside the mounting frame 41. The driving wheel 43 is in contact with the bottom surface of the running track 10. A rotating shaft 44 is arranged at one end of the mounting frame 41, and a stabilizing spring 45 is arranged between the other end of the mounting frame 41 and the fixing frame 42. The driving wheel 43 is made of an aviation aluminum frame and rubber material, so that the robot can be grounded through the track to prevent static electricity from being generated, and the tread of the driving wheel 43 increases the friction between the running track 10.

[0021] Figure 4 In the embodiment, the driving mechanism 40 further includes a power unit 46. In this technical solution, the power unit 46 is a motor with a reducer, and the driving wheel 43 is fixedly connected to the output end of the power unit 46.

[0022] Figure 1-Figure 3 In the figure, driven wheels 33 are arranged on both sides of the top of the wheel frame 31, and the bottoms of the two driven wheels 33 are respectively in contact with the two sides of the running track 10, and the two driven wheels 33 provide support for the moving base 20 to reduce the pressure on the guide clamping wheel 34.

[0023] Working principle: When the inspection robot is working, the power unit 46 starts to drive the driving wheel 43 to rotate. Due to the upward push of the stabilizing spring 45 on the mounting frame 41, the driving wheel 43 is closely attached to the surface of the running track 10 and rotates on the surface. The driving wheel 43 rotates to push the mobile base 20 to move on the running track 10, and the driven wheels 33 on both sides of the wheel frame 31 provide support for the mobile base 20, so that the mobile base 20 moves normally on the running track 10;

[0024] When the inspection robot passes through the curved part of the running track 10, the wheel frame 31 deflects a certain angle with the steering shaft 32 as the center, and the walking mechanism 30 as a whole can rotate freely, so that it can move freely on the arc track and dynamically adjust the walking posture. The bottom of the driven wheel 33 fits with the surface of the running track 10. During this process, the guide clamping wheel 34 on one side is squeezed by the running track 10, and the adjustment slider 35 moves accordingly and partially compresses the adjustment spring 36 to avoid excessive friction between the guide clamping wheel 34 and the running track 10, which may cause the inspection robot to jam.

[0025] The above embodiments are only used to illustrate the technical solution of the present invention, but not to limit it.

Claims

1. A water plant sand filter tank inspection robot, comprising: A running track (10) and a movable base (20), wherein the running track (10) is H-shaped and characterized in that a walking mechanism (30) is provided at both ends of the top of the movable base (20), wherein the walking mechanism (30) comprises a wheel frame (31) and a steering shaft (32), wherein the steering shaft (32) is rotatably plugged into the inside of the movable base (20), and adjustment sliders (35) are movably plugged into both sides of the wheel frame (31), and a guide clamping wheel (34) is rotatably plugged into one end of the adjustment slider (35), and the two guide clamping wheels (34) are respectively fitted with the two sides of the running track (10), and an adjustment spring (36) is fixedly connected between the other end of the adjustment slider (35) and the wheel frame (31).

2. A water plant sand filter tank inspection robot according to claim 1, characterized in that: A driving mechanism (40) is arranged inside the movable base (20), and the driving mechanism (40) comprises a mounting frame (41) and a fixed frame (42). Both ends of the fixed frame (42) are fixedly connected to the movable base (20). A driving wheel (43) is rotatably inserted inside the mounting frame (41), and the driving wheel (43) is in contact with the bottom surface of the running track (10). A rotating shaft (44) is arranged at one end of the mounting frame (41), and a stabilizing spring (45) is arranged between the other end of the mounting frame (41) and the fixed frame (42).

3. A water plant sand filter tank inspection robot according to claim 2, characterized in that: The driving mechanism (40) further comprises a power unit (46), and the driving wheel (43) is fixedly connected to an output end of the power unit (46).

4. A water plant sand filter tank inspection robot according to claim 1, characterized in that: Driven wheels (33) are arranged on both sides of the top of the wheel frame (31), and the bottoms of the two driven wheels (33) are respectively in contact with both sides of the running track (10).

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