Host lifting mechanism of thickness-measuring wall-climbing robot
By adjusting the position of the probe through a lifting mechanism, the problem of the wall-climbing robot being unable to make comprehensive measurements on different devices is solved, achieving accurate measurement and protection of the probe.
Patent Information
- Application Number
- CN202520345605.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-03
- Publication Date
- 2025-12-19
- Estimated Expiration
- 2035-03-03
AI Technical Summary
When the wall-climbing robot climbs different devices, the pen-type thickness gauge in a fixed position cannot reach all the surfaces to be measured, resulting in the inability to measure all devices.
A lifting mechanism for the main unit of a thickness-measuring wall-climbing robot was designed. The lifting servo motor drives the gear to rotate, the gear drives the rack to move, and the rack drives the frame and the main unit to move, adjusting the position of the probe head to ensure that the pen-type thickness gauge can contact the surface to be measured by different devices.
It enables accurate measurements on different devices, protects the probe from damage, and improves the comprehensiveness and reliability of measurements.
Smart Images
Figure CN223691745U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the field of thickness measuring robot, specifically a host computer lifting mechanism of thickness measuring wall climbing robot. BACKGROUND
[0002] Into the 21st century, with the rapid development of artificial intelligence, sensing technology and other fields, wall climbing robot ushered in new development opportunities, intelligent sensing and navigation system promotion makes wall climbing robot can more accurately perceive pipeline environment, accurately analyze pipe wall characteristics, and more efficiently plan path in complex environment, improve detection efficiency.
[0003] Wall climbing thickness measuring robot is mainly used for detection of large energy equipment such as thermal power boiler and wind turbine, these equipment is usually located in high altitude or high risk environment, manual detection is difficult, high risk, using robot carries pen type thickness gauge, can realize automatic scanning and thickness measurement, without scaffold, without polishing anticorrosive layer, without any coupling agent, can realize rapid detection of high altitude wall thickness corrosion through remote control system, can detect carbon steel, cast steel, alloy steel, stainless steel, copper, aluminum, titanium and other conductor materials.
[0004] Since the detection head of the pen type thickness gauge needs to be in contact with the measured equipment during thickness measurement by the wall climbing robot, and the shapes and sizes of different measured equipment are different, the pen type thickness gauge in fixed position cannot contact the measured surfaces of all different equipment when the wall climbing robot climbs on different equipment, which results in that the wall climbing robot cannot measure all equipment. CONTENT OF THE UTILITY MODEL
[0005] In order to make up for the shortcomings of the prior art, the detection head of the pen type thickness gauge needs to be in contact with the measured equipment during thickness measurement by the wall climbing robot, and the shapes and sizes of different measured equipment are different, so the pen type thickness gauge in fixed position cannot contact the measured surfaces of all different equipment when the wall climbing robot climbs on different equipment, which results in that the wall climbing robot cannot measure all equipment, the utility model provides a host computer lifting mechanism of thickness measuring wall climbing robot.
[0006] The utility model discloses a kind of mainframe lifting mechanisms of thickness measuring wall-climbing robot, including device body, the device body one side is provided with climbing wheel, working groove is opened in the device body, lifting mechanism is arranged in the working groove, the lifting mechanism includes elevating rudder, the output shaft of the elevating rudder is fixedly connected with gear, the elevating rudder is fixedly connected with working groove, mainframe is arranged in the working groove, the mainframe one end is fixedly connected with probe head, the mainframe outer side is fixedly connected with frame, rack is arranged in the frame front, the gear is engaged with rack, the frame front is fixedly connected with guide rail, the guide rail is slidably connected with sliding block, the sliding block is fixedly connected with working groove.
[0007] Preferably, the frame is provided with a plurality of first threaded holes at one end away from the probe head, a plurality of mainframe binding strips are arranged at one end of the frame, two groups of first screws are arranged at the top and bottom ends of the mainframe binding strip, and the first screws are threadedly connected with the first threaded holes penetrating the mainframe binding strip.
[0008] Preferably, the mainframe is provided with a mainframe baffle at the front, a plurality of second threaded holes are arranged at the front of the mainframe baffle, a plurality of second screws are arranged in the mainframe baffle, and the second screws are threadedly connected with the second threaded holes penetrating the frame.
[0009] Preferably, mounting seats are fixedly connected to the front and rear of one end of the frame close to the probe head, a third threaded hole is arranged at the bottom end of the mounting seat, a plurality of anti-collision bearings are arranged in the mounting seat, a third screw is arranged at the top end of the mounting seat, and the third screw is threadedly connected with the third threaded hole penetrating the top end of the mounting seat and the anti-collision bearing.
[0010] Preferably, an empty groove is arranged at the bottom end of the frame front, a plurality of moving grooves are arranged at the bottom end and top end of the empty groove, the moving grooves penetrate the bottom end and top end of the empty groove, a connecting block is arranged in the moving groove, the connecting block is fixedly connected with the rack, a fourth threaded hole is arranged in the connecting block, a plurality of fourth screws are arranged in the empty groove, and the fourth screws are threadedly connected with the fourth threaded hole penetrating the moving groove.
[0011] Preferably, a fifth threaded hole is arranged at one end of the rack away from the probe head, a fifth screw is threadedly connected in the fifth threaded hole, one end of the fifth screw penetrates the frame in the empty groove, a spring is sleeved outside the fifth threaded hole, and the two ends of the spring are fixedly connected with the rack and the frame.
[0012] The utility model has the advantages that:
[0013] The utility model discloses a lifting mechanism's structural design realizes when the rudder motor works and drives gear rotation, and the gear rotation drives the rack to move, and the rack drives frame and host movement, therefore only the rudder motor rotates, and the host will move to adjust the function of the position of the detection head of host one end, solves the pen type thickness gauge's detection head and the equipment to be measured to contact when the wall -climbing robot carries out thickness measuring work, and the appearance and size of different equipment to be measured are not same, so when the wall -climbing robot is on different equipment and climbs, the fixed position pen type thickness gauge cannot contact all different equipment's surface to be measured, this can lead to the wall -climbing robot cannot measure all equipment's problem. BRIEF DESCRIPTION OF DRAWINGS
[0014] In order to more clearly illustrate the technical scheme in the embodiment of the utility model or prior art, the following will be briefly introduced the drawing needed to be used in the embodiment or prior art description, obviously, the drawing in the following description only some embodiments of the utility model, for ordinary skilled person in the art, under the premise of not paying the creative labor, still can obtain other drawings according to these drawings.
[0015] Figure 1 It is the device body three-dimensional structural schematic drawing of the utility model;
[0016] Figure 2 It is the working groove position structural schematic drawing of the utility model;
[0017] Figure 3 It is the lifting mechanism front three-dimensional structural schematic drawing of the utility model;
[0018] Figure 4 It is the lifting mechanism dismounting structural schematic drawing of the utility model;
[0019] Figure 5 It is the empty slot internal section view structural schematic drawing of the utility model.
[0020] In the drawing: 1, device body;2, climbing wheel;3, working groove;4, lifting rudder machine;5, gear;6, host;7, detection head;8, frame;9, rack;10, guide rail;11, sliding block;12, first threaded hole;13, host binding strip;14, first screw;15, host baffle;16, second threaded hole;17, second screw;18, mounting seat;19, third threaded hole;20, anti-collision bearing;21, third screw;22, empty slot;23, moving groove;24, connecting block;25, fourth threaded hole;26, fourth screw;27, fifth threaded hole;28, fifth screw;29, spring. DETAILED DESCRIPTION
[0021] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative efforts fall within the scope of the present application.
[0022] Please refer to Figures 1-5 As shown in FIG. 1, a main machine lifting mechanism of a thickness measuring wall climbing robot, comprising a device body 1, a climbing wheel 2 is arranged on one side of the device body 1, a working groove 3 is arranged in the device body 1, a lifting mechanism is arranged in the working groove 3, the lifting mechanism comprises a lifting rudder 4, an output shaft of the lifting rudder 4 is fixedly connected with a gear 5, the lifting rudder 4 is fixedly connected with the working groove 3, a main machine 6 is arranged in the working groove 3, a detection head 7 is fixedly connected at one end of the main machine 6, the main machine 6 is fixedly connected with a frame 8 at the outside, a rack 9 is arranged at the front of the frame 8, the gear 5 is engaged with the rack 9, a guide rail 10 is fixedly connected at the front of the frame 8, the guide rail 10 is slidingly connected with a sliding block 11, the sliding block 11 is fixedly connected with the working groove 3;
[0023] When the device body 1 climbs to the corresponding measured equipment through the climbing wheel 2, the lifting rudder 4 works to drive the gear 5 to rotate, the gear 5 drives the rack 9 to move through the rotation, and the rack 9 drives the frame 8 and the main machine 6 to move, so as long as the lifting rudder 4 rotates, the main machine 6 will move to adjust the position of the detection head 7 at one end of the main machine 6, so that the detection head 7 can contact the measured equipment.
[0024] Further, as shown in FIG. 2, a plurality of first threaded holes 12 are arranged at one end of the frame 8 away from the detection head 7, a plurality of main machine 6 binding strips are arranged at one end of the frame 8, two groups of first screws 14 are arranged at the top and bottom of the main machine 6 binding strip, and the first screws 14 are threadedly connected with the first threaded holes 12 through the main machine 6 binding strip; Figure 4
[0025] Further, as shown in FIG. 3, a plurality of second threaded holes 16 are arranged at the front of the main machine 6, a plurality of second screws 17 are arranged in the main machine 6, and the second screws 17 are threadedly connected with the second threaded holes 16 through the frame 8; Figure 4
[0026] Further, as shown in FIG. 4, mounting seats 18 are fixedly connected at the front and rear of one end of the frame 8 close to the detection head 7, a third threaded hole 19 is arranged at the bottom of the mounting seat 18, a plurality of anti-collision bearings 20 are arranged in the mounting seat 18, a third screw 21 is arranged at the top of the mounting seat 18, and the third screw 21 is threadedly connected with the third threaded hole 19 through the top of the mounting seat 18 and the anti-collision bearing 20; Figure 4
[0027] In operation, the installation of the host 6 binding strip and the host 6 blocking piece can make the host 6 not shake when moving, and the host 6 blocking piece is attached to the frame 8, so that there is no gap between the two, which ensures the accuracy of the host 6 and the probe head 7 when measuring. Since the host 6 needs to be moved close to the measured device, the probe head 7 will contact the measured device when moving. In order to prevent the probe head 7 from being damaged, the anti-collision bearing 20 absorbs a certain impact force, thereby protecting the probe head 7.
[0028] Further, as shown in Figure 5 , the front end of the frame 8 is provided with a hollow groove 22, and a plurality of moving grooves 23 are provided at the bottom and top of the hollow groove 22. The moving grooves 23 pass through the bottom and top of the hollow groove 22, and a connecting block 24 is arranged inside the moving groove 23. The connecting block 24 is fixedly connected with the rack 9, and a fourth threaded hole 25 is formed in the connecting block 24. A plurality of fourth screws 26 are arranged in the hollow groove 22, and the fourth screws 26 are screwed into the fourth threaded hole 25 through the moving groove 23;
[0029] Further, as shown in Figure 5 , the rack 9 is provided with a fifth threaded hole 27 at the end away from the probe head 7, and a fifth screw 28 is screwed into the fifth threaded hole 27. One end of the fifth screw 28 penetrates the frame 8 inside the hollow groove 22, and a spring 29 is sleeved outside the fifth threaded hole 27, and the two ends of the spring 29 are fixedly connected with the rack 9 and the frame 8;
[0030] In operation, the rack 9 is not directly fixedly connected with the frame 8, but is screwed into the fourth threaded hole 25 in the connecting block 24 fixedly connected with the rack 9 through the fourth screw 26. In this way, the rack 9 and the connecting block 24 can move in the moving groove 23, but the rack 9 needs to drive the frame 8 and the host 6 to move, so the fifth screw 28 is connected with one end of the rack 9 and the fifth threaded hole 27 and penetrates the frame 8, and the spring 29 fixedly connected with the rack 9 and the frame 8 is sleeved on the fifth threaded hole 27. In this way, under the elastic force of the spring 29, the connecting block 24 fixedly connected with the rack 9 always abuts against the top of the moving groove 23, and the rack 9 is always relatively stationary with the frame 8 without being affected by other external forces. In this way, the rack 9 can drive the frame 8 and the host 6 to move, and the design of the spring 29 structure between the rack 9 and the frame 8 can make the frame 8 approach the measured device when it is lowered. If the probe head 7 suddenly collides with the measured device, the spring 29 will be compressed, so that the compression of the spring 29 will absorb the impact force, protecting the host 6 and the frame 8 from being damaged.
[0031] The working principle is that when the device body 1 climbs on the corresponding measured equipment through the climbing wheel 2, the elevator 4 works to drive the gear 5 to rotate, the gear 5 drives the rack 9 to move through the rotation, and the rack 9 drives the frame 8 and the main machine 6 to move, so as to adjust the position of the detection head 7 at one end of the main machine 6, so that the detection head 7 can contact the measured equipment, the installation of the main machine 6 and the main machine 6 blocking piece can prevent the main machine 6 from shaking when moving, and the main machine 6 blocking piece is attached to the frame 8 and the second main machine 6, so that there is no gap between them, so as to ensure the accuracy of the main machine 6 and the detection head 7 during the measurement work. Since the main machine 6 needs to be moved to the detection head 7 to closely contact the measured equipment, the detection head 7 will contact the measured equipment when moving. In order to prevent the detection head 7 from being damaged, the anti-collision bearing 20 absorbs a certain impact force, thereby protecting the detection head 7. When the frame 8 descends to approach the measured equipment, if the detection head 7 suddenly collides with the measured equipment, the spring 29 will be compressed, so that the compression of the spring 29 can absorb the impact force, thereby protecting the main machine 6 and the frame 8 from being damaged.
[0032] The basic principle, main features and advantages of the utility model are shown and described above. It should be understood by those skilled in the art that the utility model is not limited by the above embodiments, and the above embodiments and descriptions in the specification are only to illustrate the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model can also have various changes and improvements, and these changes and improvements all fall within the scope of the claimed utility model.
Claims
1. A main machine lifting mechanism of a thickness measuring wall climbing robot, characterized in that: Including device body (1), one side of device body (1) is provided with climbing wheel (2), work groove (3) is set up inside device body (1), lifting mechanism is set up inside work groove (3), lifting mechanism includes elevator (4), the output shaft of elevator (4) is fixedly connected with gear (5), elevator (4) is fixedly connected with work groove (3), main machine (6) is set up inside work groove (3), one end of main machine (6) is fixedly connected with detection head (7), the outside of main machine (6) is fixedly connected with frame (8), rack (9) is set up in the front of frame (8), gear (5) is engaged with rack (9), guide rail (10) is fixedly connected with the front of frame (8), guide rail (10) is slidably connected with sliding block (11), sliding block (11) is fixedly connected with work groove (3).
2. The main machine lifting mechanism of the thickness measuring wall climbing robot according to claim 1, characterized in that: The end of frame (8) away from detection head (7) is provided with a plurality of first threaded holes (12), one end of frame (8) is provided with a plurality of main machine (6) binding strips, the top and bottom of main machine (6) binding strip are provided with two groups of first screws (14), the first screw (14) is screwed into the first threaded hole (12) through the main machine (6) binding strip.
3. The main machine lifting mechanism of the thickness measuring wall climbing robot according to claim 2, characterized in that: The front of main machine (6) is provided with main machine (6) baffle, a plurality of second threaded holes (16) are set up in the front of main machine (6) baffle, a plurality of second screws (17) are set up inside main machine (6) baffle, the second screw (17) is screwed into the second threaded hole (16) through the frame (8).
4. The main machine lifting mechanism of the thickness measuring wall climbing robot according to claim 3, characterized in that: The front and rear of one end of frame (8) close to detection head (7) are fixedly connected with mounting seat (18), third threaded hole (19) is set up in the bottom of mounting seat (18), a plurality of anti-collision bearings (20) are set up inside mounting seat (18), third screw (21) is set up in the top of mounting seat (18), third screw (21) is screwed into the third threaded hole (19) through the top of mounting seat (18) and anti-collision bearing (20).
5. The main machine lifting mechanism of the thickness measuring wall climbing robot according to claim 4, characterized in that: The front bottom of frame (8) is provided with an empty slot (22), a plurality of moving grooves (23) are set up in the bottom and top of empty slot (22), the moving groove (23) penetrates the bottom and top of empty slot (22), the connection block (24) is set up inside the moving groove (23), the connection block (24) is fixedly connected with rack (9), the fourth threaded hole (25) is set up inside the connection block (24), a plurality of fourth screws (26) are set up inside the empty slot (22), the fourth screw (26) is screwed into the fourth threaded hole (25) through the moving groove (23).
6. The main machine lifting mechanism of the thickness measuring wall climbing robot according to claim 5, characterized in that: The end of rack (9) away from detection head (7) is provided with fifth threaded hole (27), fifth threaded hole (27) is screwed into fifth screw (28), one end of fifth screw (28) penetrates frame (8) in the inside of empty slot (22), spring (29) is sleeved outside fifth threaded hole (27), both ends of spring (29) are fixedly connected with rack (9) and frame (8).