Hanging type robot

Abstract

The utility model discloses a mounting type robot, and belongs to the field of robots. Comprising a machine body, the upper portion of the machine body is provided with a groove-shaped structure which is used for containing a rail and provided with an upward opening, the two sides of the groove-shaped structure in the machine body are each provided with a set of power wheels, the rotating axes of the power wheels are vertically arranged, and the power wheels are connected with a power motor; a group of unpowered walking wheels are arranged on each of the two sides of the groove-shaped structure in the machine body; the rotating axes of the unpowered walking wheels are horizontally arranged or the outer ends of the unpowered walking wheels are downwards inclined; and the lower part of the machine body is connected with a functional module. According to the mounting type robot, the U-shaped structure with the groove-shaped structure is adopted in the robot body, the track is contained in the groove-shaped structure when the mounting type robot is used, the power wheels and the unpowered walking wheels can be arranged in the robot body through the structure, the size of the mounting type robot is reduced, and the complexity of the structure is reduced.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a mountable robot. Background Technology

[0002] Mounted robots are robots used in indoor environments (such as factory ceilings), tunnel walls, and other applications. They are mounted on fixed tracks on the ceiling and move along those tracks. Examples include inspection robots for tunnels or factories, and firefighting robots for tunnels.

[0003] Taking inspection robots as an example, they can provide safer, more efficient, and more accurate inspection services, saving enterprise users time and labor costs, and have become indispensable intelligent devices in many industries. In the transportation sector, inspection robots are often used for the inspection of tunnels and other road sections. Generally, a walking track needs to be set up on the top of the tunnel, and the mounted robot walks on the walking track and performs the corresponding functions.

[0004] Existing mount-mounted robots are generally large in size and have complex structures, which limits their application. Utility Model Content

[0005] This utility model provides a mountable robot with the advantages of small size and simple structure.

[0006] The technical solution provided by this utility model is as follows:

[0007] A mountable robot includes a body, the upper part of which is provided with an upwardly opening groove-shaped structure for accommodating a track, wherein:

[0008] Inside the fuselage, a set of power wheels is provided on each side of the groove-shaped structure. The rotation axis of the power wheels is vertically arranged, and the power wheels are connected to a power motor.

[0009] Inside the body, a set of unpowered walking wheels is provided on each side of the groove-shaped structure. The rotation axis of the unpowered walking wheels is set horizontally or the outer end is set downward.

[0010] Functional modules are connected to the lower part of the fuselage.

[0011] Furthermore, the machine body is provided with a power-taking mechanism, which includes a power receiving device for contacting the sliding contact line. The power receiving device is connected to the power motor via a wire. The power receiving device is connected to a lifting device, which includes a pull-down mechanism for pulling the power receiving device down and a reset mechanism for resetting the power receiving device upward.

[0012] Furthermore, the pull-down mechanism includes a pull wire and a winding motor. The winding motor is connected to a winding roller via an output shaft. The upper end of the pull wire is directly or indirectly connected to the power receiving device, and the lower end is connected to the winding roller.

[0013] Furthermore, a rope-passing plate is provided above the winding roller, and a rope-passing hole is provided on the rope-passing plate, through which the pull wire passes;

[0014] The winding roller is equipped with a rope pressing plate, which presses and connects the lower end of the pull wire to the winding roller.

[0015] Furthermore, the power receiving device includes a power receiving plate, a pantograph support is connected below the power receiving plate, an insulating block is provided between the pantograph support and the power receiving plate, and the upper end of the pull wire is connected to the pantograph support;

[0016] The bottom of the insulating block is connected to a first set of vertical guide shafts. The first set of guide shafts passes through the pantograph support and can move up and down relative to the pantograph support. A first damping spring is provided on the first set of guide shafts between the pantograph support and the insulating block. The first set of guide shafts extends downward from the bottom end of the pantograph support, and a limit ring is provided at the bottom end of the first set of guide shafts.

[0017] Furthermore, the power receiving device includes a brush, which is disposed on the upper part of the brush holder, and the brush holder is made of insulating material or has an insulating layer;

[0018] A guide block is provided below the brush holder, and a second set of vertical guide shafts is connected to the bottom of the brush holder. The second set of guide shafts passes through the guide block and can move up and down relative to the guide block. A second damping spring is provided on the second set of guide shafts between the guide block and the brush holder.

[0019] Guide plates are provided on both sides of the brush holder, and the guide plates extend downwards from the brush holder. The guide block is located in the guide space formed by the two guide plates.

[0020] Furthermore, the reset mechanism includes a base frame, a first connecting arm, a second connecting arm, and a tension spring;

[0021] The base frame is fixed inside the fuselage. The first connecting arm and the second connecting arm are arranged in parallel. One end of the first connecting arm and the second connecting arm is rotatably connected to the base frame, and the other end is rotatably connected to the guide block or pantograph support. The first connecting arm, the guide block / pantograph support, the second connecting arm and the base frame form a parallelogram structure in sequence.

[0022] One end of the tension spring is connected to the first connecting arm, and the other end is connected to the second connecting arm. The tension spring is in a tensioned state, and when the guide block / pantograph support moves downward, the tension spring tends to elongate.

[0023] Furthermore, the second connecting arm is located below the first connecting arm, and a limit switch is provided below the second connecting arm;

[0024] The number of the power receiving device and the reset mechanism are two, respectively located on both sides of the groove structure. The number of the winding motor is one, and the winding rollers are symmetrically distributed on both sides of the winding motor.

[0025] Furthermore, the functional modules include one or more of the following: lidar, camera, speaker, microphone, slippage detection module, and meteorological module.

[0026] Furthermore, inside the fuselage, a set of unpowered guide wheels is provided on each side of the groove-shaped structure. The rotation axis of the unpowered guide wheels is vertically arranged, and the unpowered guide wheels are located below the power wheels.

[0027] This utility model has the following beneficial effects:

[0028] The attached robot of this utility model adopts a U-shaped structure with a groove structure. When in use, the track is accommodated in the groove structure. This structure allows both the powered wheels and the unpowered walking wheels to be set inside the body, reducing the size of the attached robot and reducing the complexity of the structure. Attached Figure Description

[0029] Figure 1 This is an overall schematic diagram of the mounted robot of this utility model;

[0030] Figure 2 for Figure 1 Internal structure diagram;

[0031] Figure 3 for Figure 2 Side view;

[0032] Figure 4 A schematic diagram of a track for mounting robots;

[0033] Figure 5 This is a schematic diagram of the power receiving device and its power extraction mechanism in Example 1;

[0034] Figure 6 This is a schematic diagram of the power receiving device and its power extraction mechanism in Example 2. Detailed Implementation

[0035] To make the technical problems, technical solutions and advantages of this utility model clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0036] This utility model provides a mountable robot 8, such as Figure 1-6 As shown, the device includes a fuselage 801. The upper part of the fuselage 801 is provided with an upward-opening groove structure 802 for accommodating a track. This groove structure 802 extends through the fuselage 801 in the front-rear direction, and the groove structure 802 makes the cross-section of the fuselage 801 U-shaped. Specifically:

[0037] Inside the fuselage 901, a set of drive wheels 803 is arranged on each side of the groove-shaped structure 802. There can be one or more drive wheels 803 in a set, and the two sets of drive wheels 803 are preferably arranged symmetrically. The rotation axis of the drive wheel 803 is arranged vertically, that is, the drive wheel 803 is arranged horizontally. The drive wheel 803 is connected to a power motor 804 to provide power to the drive wheel 803.

[0038] Inside the fuselage 801, a set of unpowered traveling wheels 805 is provided on each side of the groove structure 802. There are multiple sets of unpowered traveling wheels 805. The rotation axis of the unpowered traveling wheels 805 is set horizontally or the outer end is set downward, that is, the unpowered traveling wheels 805 are set vertically or inclined.

[0039] The mounted robot 8 of this utility model is applicable to an inverted T-shaped track. For example, the track 1 includes a vertically arranged wall panel 101 and a horizontally arranged tread plate 102 located at the bottom of the wall panel 101. The wall panel 101 and the tread plate 102 are integrally formed into an inverted T-shape. The top surface of the tread plate 102 forms symmetrical walking treads 103 on both sides of the wall panel 101. Two sets of powered wheels 803 contact the two sides of the wall panel 101, providing power for movement. Two sets of unpowered walking wheels 805 contact the walking treads 103, providing support and guidance for the mounted robot. Whether the rotation axis of the unpowered walking wheels 805 is horizontal or its outer end is inclined downwards depends on whether the walking treads 103 are horizontal or inclined.

[0040] The lower part of the body 801 is connected to a functional module, which can be determined according to the actual task performed by the mounted robot. For example, assuming the mounted robot is used for highway tunnel inspection, the functional module may include one or more of the following: LiDAR 806, camera 807, speaker 808, microphone 809, slippage detection module 810, and weather module 811.

[0041] Specifically, there are two lidar 806 and two cameras 807. The two lidar 806 are respectively located at the front and rear ends of the bottom of the body 801, and the two cameras 807 are also respectively located at the front and rear ends of the lower part of the body 801. The speaker 808, the microphone 809, the slippage detection module 810 and the weather module 811 are located at the bottom of the body 801.

[0042] The attached robot of this utility model adopts a U-shaped structure with a groove structure. When in use, the track is accommodated in the groove structure. This structure allows both the powered wheels and the unpowered walking wheels to be set inside the body, reducing the size of the attached robot and reducing the complexity of the structure.

[0043] Existing mounted robots require a continuous and stable power supply during long-term operation, typically via cable power. However, when moving within tunnels, traditional cable power supply suffers from problems such as cable wear, tangling, and management difficulties, leading to unstable power supply.

[0044] To solve the above problems, this utility model provides a power-taking mechanism 4 (or 5) on the body 801. The power-taking mechanism 4 (or 5) includes a power receiving device 402 (or 502) for contacting the sliding contact line. The power receiving device 402 (or 502) is connected to the power motor 804 via a wire to supply power to the power motor 804. The power receiving device 402 (or 502) is connected to a lifting device, which includes a pull-down mechanism 507 for pulling the power receiving device 402 (or 502) downward and a reset mechanism 508 for resetting the power receiving device upward.

[0045] This invention relates to a power-gathering mechanism designed to solve the problem of continuous and stable power supply for mounted robots during movement. The robot is powered via a sliding contact line, and a lifting device automatically raises and lowers the receiving device to contact or disconnect from the contact line, ensuring the robot receives power when needed. This solves the problems of cable wear, tangling, and management difficulties associated with existing cable power supply methods, providing a continuous and stable power supply and improving the reliability and efficiency of the power supply system. Both power intake and disconnection are automatically controlled, reducing human intervention, improving work efficiency, and offering a simple structure and convenient maintenance. The lifting mechanism of the receiving device ensures reliable contact with the contact line when needed, reducing the possibility of poor contact, and disconnects when not needed, avoiding prolonged contact between the receiving device and the contact line, thus reducing wear and increasing service life.

[0046] This utility model does not limit the specific structural form of the pull-down mechanism. In one example, the pull-down mechanism 507 includes a pull wire 519 and a winding motor 520. The winding motor 520 is connected to a winding roller 522 through an output shaft 521. The upper end of the pull wire 519 is directly or indirectly connected to the power receiving device 402 (or 502), and the lower end is connected to the winding roller 522.

[0047] When a pull is required, the winding motor 520 rotates, driving the winding roller 522 to wind the pull wire 520 onto the winding roller 522, thereby pulling the power receiving device 402 (or 502) downward. The pull wire 519 can be a high-strength rope such as steel wire rope, polyester rope, or polyethylene rope.

[0048] A rope guide plate 523 is provided above the winding roller 522, and a rope guide hole 524 is provided on the rope guide plate 523, through which the pull wire 519 is threaded. When the winding motor 520 pulls and releases the pull wire 519, the rope guide plate 523 straightens the pull wire through the rope guide hole 524 to prevent tangling and twisting.

[0049] To facilitate fixing the pull wire 519, a rope pressing plate 525 is provided on the winding roller 522. The rope pressing plate 525 presses and connects the lower end of the pull wire 519 to the winding roller 522. Preferably, the rope pressing plate 525 can be a part of the winding roller 522. After the rope pressing plate 525 is connected to the winding roller 522, a complete roller is formed.

[0050] The power receiving device of this utility model has various specific structural forms. Two examples are given below:

[0051] Example 1:

[0052] The power receiving device 402 includes a power receiving plate, with a pantograph support 407 connected below it to serve as structural support. The upper end of the pull cable 519 is connected to the pantograph support 407. An insulating block 408 is provided between the pantograph support 407 and the power receiving plate to insulate the power receiving plate from other structures.

[0053] The bottom of the insulating block 408 is connected to a vertical first set of guide shafts 409. The first set of guide shafts 409 passes through the pantograph support 407 and can move up and down relative to the pantograph support 407. A first damping spring 410 is provided on the first set of guide shafts 409 between the pantograph support 407 and the insulating block 408 to provide a buffering effect when the receiving plate contacts the sliding contact line. The first set of guide shafts 409 extends downward from the bottom end of the pantograph support 407, and a limit ring 411 is provided at the bottom end of the first set of guide shafts 409 to prevent the first set of guide shafts 409 from coming upward out of the pantograph support 407.

[0054] Example 2:

[0055] The power receiving device 502 includes a brush, which is mounted on the upper part of a brush holder 509. The brush holder 509 serves as a support for the brush and is used for connection with other components. The brush holder 509 is made of insulating material or has an insulating layer, used to insulate the brush from other structures.

[0056] A guide block 510 is provided below the brush holder 509. A second set of vertical guide shafts 511 is connected to the bottom of the brush holder 509. The second set of guide shafts 511 passes through the guide block 510 and can move up and down relative to the guide block 510. A second damping spring 512 is provided on the second set of guide shafts 511 between the guide block 510 and the brush holder 509 to provide a buffering effect when the brush contacts the sliding contact line.

[0057] Guide plates 513 are provided on both sides of the brush holder 509. The guide plates 513 extend downwards from the brush holder 509. The guide block 510 is located in the guide space formed by the two guide plates 513, providing guidance for the up and down movement of the guide block 510.

[0058] This utility model does not limit the specific structural form of the reset mechanism. As an example, the reset mechanism 508 includes a base frame 514, a first connecting arm 515, a second connecting arm 516, and a tension spring 517.

[0059] The base frame 514 is fixed inside the fuselage 801. The first connecting arm 515 and the second connecting arm 516 are arranged in parallel. One end of the first connecting arm 515 and the second connecting arm 516 is rotatably connected (e.g., hinged) to the base frame 514, and the other end is rotatably connected to the guide block 510 or the pantograph support 407. The first connecting arm 515, the guide block 510 / pantograph support 407, the second connecting arm 516, and the base frame 514 sequentially form a parallelogram structure. Because the connection is rotatable, the resulting parallelogram structure can rotate and deform.

[0060] One end of the tension spring 517 is connected to the first connecting arm 515, and the other end is connected to the second connecting arm 516. The tension spring 517 is in a tensile state, and when the guide block 510 / pantograph support 407 moves downward, the tension spring 517 has a tendency to elongate.

[0061] When the pull-down mechanism 507 pulls the guide block 510 / pantograph support 407 downwards, one end of the parallelogram-shaped guide block 510 / pantograph support 407 moves downwards, and the tension spring 517 extends. When the downward force of the pull-down mechanism 507 disappears, the tension spring 517 returns to its original position and shortens, pulling the guide block 510 / pantograph support 407 upwards.

[0062] For the power receiving device 502 in Example 2, the upper end of the pull wire 519 can be connected to the first connecting arm 515 or the second connecting arm 516.

[0063] Preferably, the second connecting arm 516 is located below the first connecting arm 515, and a limit switch 518 is installed below the second connecting arm 516. When the second connecting arm 516 touches the limit switch 518 during its descent, the winding motor is automatically stopped to prevent damage caused by excessive travel.

[0064] Since the sliding contact line has two poles, one positive and one negative, there are two power receiving devices 402 (or 502) and two reset mechanisms 508, located on both sides of the slotted structure 802. There is one winding motor 520, with winding rollers 522 symmetrically distributed on both sides of the winding motor 520, cooperating with the two power receiving devices respectively.

[0065] In one example, a set of unpowered guide wheels 812 is provided on each side of the groove structure 802 inside the fuselage 801, and there is at least one set of unpowered guide wheels 812. The rotation axis of the unpowered guide wheels 812 is vertically arranged, that is, the unpowered guide wheels 812 are horizontally arranged, and the unpowered guide wheels 812 are located below the powered wheels 803. The unpowered guide wheels 812 can cooperate with the side of the step panel 102 for guidance.

[0066] The above description is the preferred embodiment of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications should also be considered within the protection scope of this utility model.

Claims

1. A mountable robot, characterized in that, Including the fuselage, the upper part of the fuselage is provided with an upwardly opening groove-shaped structure for accommodating the track, wherein: Inside the fuselage, a set of power wheels is provided on each side of the groove-shaped structure. The rotation axis of the power wheels is vertically arranged, and the power wheels are connected to a power motor. Inside the body, a set of unpowered walking wheels is provided on each side of the groove-shaped structure. The rotation axis of the unpowered walking wheels is set horizontally or the outer end is set downward. Functional modules are connected to the lower part of the fuselage.

2. The mounted robot according to claim 1, characterized in that, The machine body is provided with a power-taking mechanism, which includes a power receiving device for contacting the sliding contact line. The power receiving device is connected to the power motor through a wire. The power receiving device is connected to a lifting device, which includes a pull-down mechanism for pulling the power receiving device down and a reset mechanism for resetting the power receiving device upward.

3. The mounted robot according to claim 2, characterized in that, The pull-down mechanism includes a pull wire and a winding motor. The winding motor is connected to a winding roller via an output shaft. The upper end of the pull wire is directly or indirectly connected to the power receiving device, and the lower end is connected to the winding roller.

4. The mounted robot according to claim 3, characterized in that, A rope-passing plate is provided above the winding roller, and a rope-passing hole is provided on the rope-passing plate, through which the pull wire passes; The winding roller is equipped with a rope pressing plate, which presses and connects the lower end of the pull wire to the winding roller.

5. The mounted robot according to claim 3, characterized in that, The power receiving device includes a power receiving plate, a pantograph support is connected below the power receiving plate, an insulating block is provided between the pantograph support and the power receiving plate, and the upper end of the pull wire is connected to the pantograph support; The bottom of the insulating block is connected to a first set of vertical guide shafts. The first set of guide shafts passes through the pantograph support and can move up and down relative to the pantograph support. A first damping spring is provided on the first set of guide shafts between the pantograph support and the insulating block. The first set of guide shafts extends downward from the bottom end of the pantograph support, and a limit ring is provided at the bottom end of the first set of guide shafts.

6. The mounted robot according to claim 3, characterized in that, The power receiving device includes a brush, which is disposed on the upper part of the brush holder. The brush holder is made of insulating material or has an insulating layer. A guide block is provided below the brush holder, and a second set of vertical guide shafts is connected to the bottom of the brush holder. The second set of guide shafts passes through the guide block and can move up and down relative to the guide block. A second damping spring is provided on the second set of guide shafts between the guide block and the brush holder. Guide plates are provided on both sides of the brush holder, and the guide plates extend downwards from the brush holder. The guide block is located in the guide space formed by the two guide plates.

7. The mounted robot according to claim 6, characterized in that, The reset mechanism includes a base frame, a first connecting arm, a second connecting arm, and a tension spring; The base frame is fixed inside the fuselage. The first connecting arm and the second connecting arm are arranged in parallel. One end of the first connecting arm and the second connecting arm is rotatably connected to the base frame, and the other end is rotatably connected to the guide block or pantograph support. The first connecting arm, the guide block / pantograph support, the second connecting arm and the base frame form a parallelogram structure in sequence. One end of the tension spring is connected to the first connecting arm, and the other end is connected to the second connecting arm. The tension spring is in a tensioned state, and when the guide block / pantograph support moves downward, the tension spring tends to elongate.

8. The mounted robot according to claim 7, characterized in that, The second connecting arm is located below the first connecting arm, and a limit switch is provided below the second connecting arm; The number of the power receiving device and the reset mechanism are two, respectively located on both sides of the groove structure. The number of the winding motor is one, and the winding rollers are symmetrically distributed on both sides of the winding motor.

9. The mounted robot according to claim 1, characterized in that, The functional modules include one or more of the following: lidar, camera, speaker, microphone, slippage detection module, and meteorological module.

10. The mounted robot according to claim 1, characterized in that, Inside the fuselage, a set of unpowered guide wheels is provided on each side of the groove-shaped structure. The rotation axis of the unpowered guide wheels is vertically arranged, and the unpowered guide wheels are located below the powered wheels.

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