Walking device of tunnel inspection robot

Abstract

The utility model discloses a walking device of a tunnel inspection robot, and relates to the technical field of tunnel inspection robots, the walking device comprises a track body and a machine body, the vertical section of the track body is of an I-shaped structure, the bottom of the machine body is rotatably connected with a two-way screw rod, and the outer side of the two-way screw rod is sleeved with two stabilizing plates in a threaded mode. Two external threads arranged in a mirror symmetry mode are arranged on the outer side of the two-way screw rod, the two stabilizing plates are arranged on the two external threads in a threaded and sleeving mode correspondingly, and the walking device of the tunnel inspection robot is provided with the stabilizing plates, so that the distance between the two stabilizing plates can be adjusted according to the width size of a track; therefore, the walking device of the tunnel inspection robot can conveniently move on the rails of different sizes, the applicability of the tunnel inspection robot is effectively improved, the device is easy to operate and convenient to use, and the using and adjusting convenience of the tunnel inspection robot can be effectively improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a tunnel inspection robot technical field, concretely is a kind of walking device of tunnel inspection robot. BACKGROUND

[0002] Tunnel inspection robot is composed of robot and monitoring background, navigation facilities and fixed video monitoring device are equipped when necessary, can be carried out cable tunnel inspection operation by full autonomy or remote control mode;For the convenience of tunnel inspection robot accurately according to specified route inspection, track will be installed in tunnel, and tunnel inspection robot moves along track.

[0003] The walking device of current tunnel inspection robot is fixed in structure, thus only the track of specific size specified by factory can be adapted, when replacing track of different size, tunnel inspection robot cannot normally operate and move, thus the applicability of tunnel inspection robot is reduced. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of walking device of tunnel inspection robot to solve the problem of low applicability of current tunnel inspection robot walking device in prior art.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: a kind of walking device of tunnel inspection robot, including track body and machine body, the vertical section of track body is I-shaped structure, the bottom of machine body is rotatably connected with two-way screw rod, two stabilizing plates are threadedly sleeved on the outer side of two-way screw rod, the outer side of two-way screw rod is provided with two mirror image symmetrical outer threads, two stabilizing plates are respectively threadedly sleeved on two outer threads, two stabilizing plates are slidably connected with the bottom of machine body, and the side of two stabilizing plates opposite each other is provided with rolling mechanism, the center of the bottom of machine body is provided with lifting groove, and driving mechanism is arranged in lifting groove.

[0006] Preferably, the driving mechanism includes a lifting plate slidably connected in the lifting groove cavity, two vertical grooves are formed in the inner walls on both sides of the lifting groove, a vertical rod is slidably connected in the vertical groove, the vertical rod is fixedly connected to one side of the lifting plate, two first rollers are rotatably connected to the bottom of the lifting plate, the first rollers are in contact with the top of the track body, a first threaded rod is fixedly connected to the top of the lifting plate, a first rotating tube is threadedly sleeved on the top end of the first threaded rod, a first rotating groove is formed in the top wall inside the lifting groove, the first rotating tube is rotatably connected in the first rotating groove cavity, and the stabilizing plate is located between the two first rollers.

[0007] Preferably, two connecting rods are rotatably connected to the inner wall of the lifting groove, the vertical section of the connecting rod is a hexagonal structure, a sleeve is slidably arranged on the outer side of the two connecting rods, a bevel gear is fixedly connected to one end of the sleeve and one end of the first roller, the two bevel gears are meshingly connected, a fixed block is rotatably arranged on the outer side of the sleeve, the fixed block is fixedly connected to one side of the lifting plate, and a rotating belt is fixedly connected to the end of the connecting rod, and a conveyor belt is drivingly connected between the two rotating belts.

[0008] Preferably, the rolling mechanism comprises a first limiting plate and a second limiting plate, the first limiting plate is fixedly connected to the bottom end of the stabilizing plate, a second threaded rod is fixedly connected to one side of the second limiting plate, a second rotating tube is rotatably arranged on the movable end of the second threaded rod, a second rotating groove is formed in one side of the first limiting plate and is rotatably connected to the second rotating tube, second rollers are rotatably connected to the upper portion and the bottom portion of the first limiting plate and the other side of the second limiting plate, a third roller is rotatably connected to one side of the stabilizing plate, and the third roller is located above the first limiting plate.

[0009] Preferably, a plurality of wire grooves are formed in one side of the first limiting plate, and wire rods are slidably connected in the wire grooves.

[0010] Preferably, three groups of meshingly connected worm gears and worms are rotatably connected to the machine body, one side of each of the three worm gears is fixedly connected to one end of the bidirectional screw rod, one end of the first rotating tube, and one end of the second rotating tube.

[0011] Preferably, a servo motor is installed in the machine body, and the movable end of the servo motor is fixedly connected to the movable end of the connecting rod.

[0012] Compared with the prior art, the application has the following beneficial effects:

[0013] 1. The stabilizing plates can be adjusted according to the width of the track, so that the walking device of the tunnel inspection robot can move on tracks of different sizes, and the applicability of the tunnel inspection robot is effectively improved.

[0014] 2. The first roller can be adjusted according to the thickness of the track, so that the first roller can be in contact with the upper part of the track, thereby further improving the applicability and convenience of use of the tunnel inspection robot. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1It is the whole three-dimensional schematic view of the walking device of the tunnel inspection robot of the utility model;

[0016] Figure 2 It is the cross section structure schematic view of the walking device of the tunnel inspection robot of the utility model;

[0017] Figure 3 It is the cooperation three-dimensional schematic view of the bidirectional screw rod and the stabilizing plate of the walking device of the tunnel inspection robot of the utility model;

[0018] Figure 4 It is the three-dimensional schematic view of the driving mechanism of the walking device of the tunnel inspection robot of the utility model.

[0019] In the drawing, the label 1 is track body, 2 is machine body, 3 is bidirectional screw rod, 4 is stabilizing plate, 5 is driving mechanism, 501 is lifting plate, 502 is first roller, 503 is first threaded rod, 504 is first rotating pipe, 6 is lifting groove, 7 is worm wheel, 8 is worm, 9 is conveyer belt, 10 is connecting rod, 11 is sleeve pipe, 12 is bevel gear, 13 is first limit plate, 14 is second limit plate, 15 is second threaded rod, 16 is second rotating pipe, 17 is wire rod, 18 is servo motor, 19 is second roller, 20 is third roller. DETAILED DESCRIPTION

[0020] The technical scheme in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model, and obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor belong to the protection scope of the utility model.

[0021] Embodiment: as shown in the figure, Figure 1 - Figure 4 The utility model provides a kind of technical scheme of the walking device of the tunnel inspection robot, including track body 1 and machine body 2, track body 1 vertical section is I-shaped structure, machine body 2 bottom is rotatably connected with bidirectional screw rod 3, two stabilizing plates 4 are threadedly covered outside bidirectional screw rod 3, the outside of bidirectional screw rod 3 is provided with two mirror image symmetrical settings outer threads, two stabilizing plates 4 are respectively threadedly covered on two outer threads, two stabilizing plates 4 are slidably connected with the bottom of machine body 2, and the side of two stabilizing plates 4 towards each other is provided with rolling mechanism, lifting groove 6 is set in the center of the bottom of machine body 2, driving mechanism 5 is provided in lifting groove 6;

[0022] The distance between the two stabilizing plates 4 is adjusted according to the thickness and size of the track body 1, so that by rotating the bidirectional screw rod 3, the bidirectional screw rod 3 drives the two stabilizing plates 4 to approach each other and contact the two side walls of the track body 1, so that the machine body 2 can be stably installed on the track body 1.

[0023] As shown in Figure 4 , the driving mechanism 5 comprises a lifting plate 501 slidingly connected in the cavity of the lifting groove 6, two vertical grooves are formed in the inner walls of the two sides of the lifting groove 6, a vertical rod is slidingly connected in the vertical groove, the vertical rod is fixedly connected to one side of the lifting plate 501, two first rollers 502 are rotatably connected to the bottom of the lifting plate 501, the first rollers 502 are in contact with the top of the track body 1, a first threaded rod 503 is fixedly connected to the top of the lifting plate 501, a first rotating pipe 504 is threadedly sleeved at the top end of the first threaded rod 503, a first rotating groove is formed in the top wall inside the lifting groove 6, the first rotating pipe 504 is rotatably connected in the cavity of the first rotating groove, and the stabilizing plate 4 is located between the two first rollers 502;

[0024] By rotating the first rotating pipe 504, the first rotating pipe 504 drives the lifting plate 501 to rise and fall through the first threaded rod 503, so that the first rollers 502 on the lifting plate 501 can contact and abut against the upper part of the track body 1, so that the machine body 2 can adapt to track bodies 1 of different thicknesses and sizes.

[0025] As shown in Figure 4 , two connecting rods 10 are rotatably connected to the inner wall of the lifting groove 6, the vertical cross section of the connecting rod 10 is a hexagonal structure, a sleeve 11 is slidingly sleeved on the outer side of each of the two connecting rods 10, a bevel gear 12 is fixedly connected to one end of the sleeve 11 and one end of the first roller 502, the two bevel gears 12 are meshingly connected to each other, a fixed block is rotatably sleeved on the outer side of the sleeve 11, the fixed block is fixedly connected to one side of the lifting plate 501, a rotating belt is fixedly connected to the end of the connecting rod 10, and a conveyor belt 9 is drivingly connected between the two rotating belts;

[0026] By rotating the connecting rod 10, the connecting rod 10 drives the other connecting rod 10 to rotate through the conveyor belt 9; at the same time, the connecting rod 10 drives the sleeve 11 to rotate, the sleeve 11 drives the first roller 502 to rotate through the bevel gear 12, so that the machine body 2 moves on the track body 1 through the first roller 502;

[0027] The connecting rod 10 is provided to facilitate the lifting movement of the lifting plate 501.

[0028] As shown in Figure 3As shown, the rolling mechanism comprises a first limiting plate 13 and a second limiting plate 14, the first limiting plate 13 is fixedly connected to the bottom end of the stabilizing plate 4, one side of the second limiting plate 14 is fixedly connected with a second threaded rod 15, the movable end of the second threaded rod 15 is rotatably sleeved with a second rotating pipe 16, a second rotating groove in rotational connection with the second rotating pipe 16 is formed in one side of the first limiting plate 13, the upper part and the bottom part of the first limiting plate 13 and the second limiting plate 14, and the other side of the second limiting plate 14 are all rotatably connected with a second roller 19, one side of the stabilizing plate 4 is rotatably connected with a third roller 20, and the third roller 20 is located above the first limiting plate 13.

[0029] By rotating the second rotating pipe 16, the second rotating pipe 16 drives the second limiting plate 14 away from or close to the first limiting plate 13 through the second threaded rod 15, so that the second roller 19 on the second limiting plate 14 is in contact with the recess on the side of the track body 1, thereby improving the stability of the machine body 2 moving on the track body 1.

[0030] As shown in the figure, Figure 3 A plurality of wire grooves are formed in one side of the first limiting plate 13, a wire rod 17 is slidably connected in the wire groove, and the movable end of the wire rod 17 is fixedly connected to one side of the second limiting plate 14.

[0031] The wire rod 17 and the wire groove are slidably connected, thereby improving the stability of the mutual movement of the first limiting plate 13 and the second limiting plate 14.

[0032] As shown in the figure, Figure 1 - Figure 4 Three sets of intermeshing connected worm gears 7 and worms 8 are rotatably connected on the machine body 2, one side of each of the three worm gears 7 is fixedly connected with one end of the bidirectional screw rod 3, one end of the first rotating pipe 504, and one end of the second rotating pipe 16 respectively.

[0033] The stability of the use of one end of the bidirectional screw rod 3, one end of the first rotating pipe 504, and the second rotating pipe 16 is increased by the worm gears 7 and the worms 8, and the movable end of each of the three worms 8 is fixedly connected with a rocker.

[0034] As shown in the figure, Figure 4 A servo motor 18 is installed in the machine body 2, and the movable end of the servo motor 18 is fixedly connected with the movable end of the connecting rod 10.

[0035] The machine body 2 is a tunnel inspection robot, the tunnel inspection robot is installed with a storage battery, the servo motor 18 is electrically connected with the storage battery, and the connecting rod 10 is driven to rotate by the servo motor 18.

[0036] It is apparent for a person skilled in the art that the present application is not restricted to the details of the above exemplary embodiments, but that it can be implemented in other concrete forms without departing from the spirit or the essential characteristics of the present application. Therefore, the embodiments should be considered as exemplary only, and not limiting, the scope of the present application being defined by the appended claims rather than the above description, and all changes coming within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference signs in the claims should not be construed as limiting the claims concerned.

Claims

1. A walking device of a tunnel inspection robot, comprising a track body (1) and a robot body (2), characterized in that: The bottom of the machine body (2) is rotationally connected with a bidirectional screw rod (3), the outer side of the bidirectional screw rod (3) is threadedly sleeved with two stabilizing plates (4), the two stabilizing plates (4) are both slidingly connected with the bottom of the machine body (2), and the opposite sides of the two stabilizing plates (4) are both provided with rolling mechanisms, the center of the bottom of the machine body (2) is provided with a lifting groove (6), and the lifting groove (6) is provided with a driving mechanism (5).

2. The walking device of the tunnel inspection robot according to claim 1, characterized in that: The driving mechanism (5) comprises a lifting plate (501) slidingly connected in the cavity of the lifting groove (6), the bottom of the lifting plate (501) is rotationally connected with two first rollers (502), the first rollers (502) are in contact with the top of the track body (1), the top of the lifting plate (501) is fixedly connected with a first threaded rod (503), the top end of the first threaded rod (503) is threadedly sleeved with a first rotating pipe (504), and the top wall in the lifting groove (6) is formed with a first rotating groove, and the first rotating pipe (504) is rotationally connected in the cavity of the first rotating groove.

3. The walking device of the tunnel inspection robot according to claim 2, characterized in that: The inner wall of the lifting groove (6) is rotationally connected with two connecting rods (10), the outer sides of the two connecting rods (10) are slidingly sleeved with sleeve pipes (11), one end of each of the sleeve pipes (11) and one end of each of the first rollers (502) are fixedly connected with bevel gears (12), the two bevel gears (12) are meshingly connected with each other, the outer sides of the sleeve pipes (11) are rotationally sleeved with fixed blocks, the fixed blocks are fixedly connected to one side of the lifting plate (501), and the end portions of the connecting rods (10) are fixedly connected with rotating belts.

4. The walking device of the tunnel inspection robot according to claim 3, characterized in that: The rolling mechanism comprises a first limiting plate (13) and a second limiting plate (14), the first limiting plate (13) is fixedly connected to the bottom end of the stabilizing plate (4), one side of the second limiting plate (14) is fixedly connected with a second threaded rod (15), the movable end of the second threaded rod (15) is rotationally sleeved with a second rotating pipe (16), one side of the first limiting plate (13) is provided with a second rotating groove in rotation connection with the second rotating pipe (16), the upper portions and the bottom portions of the first limiting plate (13) and the second limiting plate (14) and the other side of the second limiting plate (14) are all rotationally connected with second rollers (19), one side of the stabilizing plate (4) is rotationally connected with a third roller (20), and the third roller (20) is located above the first limiting plate (13).

5. The walking device of the tunnel inspection robot according to claim 4, characterized in that: A plurality of wire grooves are formed in one side of the first limiting plate (13), and wire rods (17) are slidingly connected in the wire grooves, and movable ends of the wire rods (17) are fixedly connected to one side of the second limiting plate (14).

6. The walking device of the tunnel inspection robot according to claim 1, wherein: Three groups of worm wheels (7) and worm gears (8) are rotationally connected to the machine body (2) and are meshingly connected with each other, one side of each of the three worm wheels (7) is fixedly connected with one end of the bidirectional screw rod (3), one end of the first rotating pipe (504) and one end of the second rotating pipe (16).

7. The walking device of the tunnel inspection robot according to claim 1, characterized in that: A servo motor (18) is installed in the machine body (2), and movable ends of the servo motor (18) are fixedly connected with movable ends of the connecting rods (10).

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