Traveling mechanism of industrial automatic line patrol high-precision robot

Abstract

The utility model discloses an industrial automatic line patrol high-precision robot walking mechanism, which belongs to the field of line patrol robots and comprises a bearing frame, side supporting plates are fixedly mounted at four corners of the upper surface of the bearing frame through connecting rods, a driving rotating wheel is rotatably arranged between the two side supporting plates, and adjusting assemblies are arranged on the surfaces of the side supporting plates. A driving assembly is arranged on the outer surface of the adjusting assembly, a cable part is arranged between the driving rotating wheels on the upper side and the lower side, a detection mechanism is fixedly installed on the lower surface of the bearing frame, and the adjusting assembly comprises rotating shafts fixedly installed in the driving rotating wheels. And the driving rotating wheels on the upper side and the lower side are tightly attached to the cable, so that the transmission stability of the robot walking mechanism in the rotating process is improved, and the stability of the robot walking mechanism in the walking process is greatly improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of line inspection robot, concretely is industrial automation line inspection high accuracy robot walking mechanism. BACKGROUND

[0002] Line inspection robot is with mobile robot as carrier, with visible light camera, infrared thermal imager, other detection instrument as load system, is mainly used to the transmission line and its line corridor autonomous inspection, inspection image and data robot body automatic storage and remote wireless transmission, ground remote wireless monitoring and remote control, electric energy on -line real -time supply, background inspection operation management and analysis diagnosis function.

[0003] According to the search, the Chinese utility model patent discloses a kind of line inspection robot along conductor (publication number: CN207542678U), including inspection robot platform, inspection robot walking device and inspection component;Inspection robot walking device walks along conductor and is connected with the inspection robot platform described;Inspection component is set on the inspection robot platform;Inspection robot walking device includes setting in the active walking component of the front end of inspection robot platform and setting in the following component of the rear end of inspection robot platform;Inspection component is set between active walking component and following component;Including setting in the work arm of both sides of inspection robot platform and setting in the camera device of the top of work arm.The utility model discloses by setting active walking component and following component, set inspection component between active walking component and following component, guarantee reliable operation of inspection component.

[0004] The above patent, although by setting active walking component and following component, set inspection component between active walking component and following component, guarantee reliable operation of inspection component.The conductor anti-disengagement component of the utility model can effectively guarantee that conductor is located in conductor groove, and moreover, the operation of active walking component and following component is not affected, the camera device of the utility model is set by first rotary motor and second rotary motor, so that camera can be rotated by 306 °, and the angle and range of detection are adjusted according to needs, but the walking part of the device is not good in adjustment in use process, so that the walking process of line inspection robot is not smooth enough, and the stability of the device in working process is reduced.

[0005] Therefore, the utility model provides industrial automation line inspection high accuracy robot walking mechanism to solve the above problems. UTILITY MODEL CONTENTS

[0006] (1) technical problem solved

[0007] The utility model provides industrial automation line inspection high accuracy robot walking mechanism, and aims at solving the problems proposed in the background art.

[0008] (ii) Technical Solution

[0009] To achieve the above object, the utility model provides the following technical scheme:

[0010] Including the bearing frame, the four corners of the upper surface of bearing frame are fixedly installed with side support plate through connecting rod, the driving runner is rotationally arranged between the two side support plates, the surface of side support plate is provided with adjusting assembly, the outer surface of adjusting assembly is provided with drive assembly, the cable piece is arranged between the driving runner of upper and lower sides, the lower surface of bearing frame is fixedly installed with detection mechanism;

[0011] The adjusting assembly includes a rotating shaft fixedly installed in the driving runner, the side surface of the side support plate is provided with an adjusting sliding groove, the sliding groove is slidably connected with a sliding block, the rotating shaft is rotatably connected in the sliding block, the rotating shaft is rotatably connected to the surface of the side support plate, the lower surface of the sliding block is fixedly installed with a connecting column, the bottom of the connecting column is fixedly installed with a horizontal plate, the side surface of the horizontal plate is rotatably connected with an adjusting rod through a hinge seat, the other end of the adjusting rod is rotatably connected with a moving plate, one side of the side support plate is fixedly installed with a clamping plate, the side surface of the clamping plate is fixedly installed with an electric push rod, the other end of the electric push rod is fixedly installed with a moving plate.

[0012] As a preferred technical scheme of the application, the two sides of the moving plate are fixedly installed with guide pieces, the guide pieces are slidably connected with guide columns inside, and the guide columns are fixedly installed on the side surface of the clamping plate.

[0013] As a preferred technical scheme of the application, the drive assembly includes a first sliding groove formed in the inner wall of the adjusting sliding groove, the two ends of the rotating shaft are fixedly installed with rotating columns, the side surface of the side support plate is fixedly installed with a drive motor, the output end of the drive motor is fixedly installed with a rotating column, the outer surface of the rotating column is fixedly installed with a third belt pulley, and the outer surfaces of the two third belt pulleys are overlapped with a belt.

[0014] As a preferred technical scheme of the application, the outer surface of the rotating column is rotatably connected with a driven part, the driven part is slidably connected to the side surface of the side support plate, and the surface of the driven part is rotatably connected with a transfer shaft.

[0015] As a preferred technical scheme of the application, the transfer shaft and the outer surface of the rotating column below are fixedly installed with transmission gears, the transmission gears on both sides are connected with each other, the transfer shaft and the outer surface of the rotating column above are rotatably connected with driven rods, and the other ends of the two driven rods are rotatably connected with a connecting shaft.

[0016] As a preferred technical scheme of the present application, the connecting shaft and the outer surface of the upper rotating column are fixedly installed with first belt pulleys, the outer surfaces of the connecting shaft and the middle shaft are fixedly installed with second belt pulleys, and the outer surfaces of the first belt pulleys and the second belt pulleys are transmissionally connected with a belt.

[0017] (Three) beneficial effects

[0018] 1、Through the setting of the adjusting assembly, the lower driving rotary wheel is driven to move by the electric push rod, so that the upper and lower driving rotary wheels actively clamp the cable, the upper and lower driving rotary wheels are tightly attached to the cable, so that the stability of transmission during rotation is greatly improved, and the stability of the robot walking mechanism during walking is greatly improved.

[0019] 2、Through the setting of the driving assembly and the adjusting assembly, the distance between the lower driving rotary wheel and the upper driving rotary wheel can be adjusted by the adjusting assembly, so that the upper and lower driving rotary wheels are in a suitable position, when the upper and lower driving rotary wheels are in a position within the specified range, the upper and lower driving rotary wheels are synchronously rotated by the driving motor, and the rotation directions of the upper and lower driving rotary wheels are opposite, compared with single-side driving, the driving position of double-side driving makes the transmission more stable. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a structural schematic view of the industrial automation line patrol high-precision robot walking mechanism.

[0021] Figure 2 It is a front view structural schematic view of the industrial automation line patrol high-precision robot walking mechanism.

[0022] Figure 3 It is a top view structural schematic view of the industrial automation line patrol high-precision robot walking mechanism.

[0023] Figure 4 It is a structural schematic view of the adjusting assembly and the driving assembly in the industrial automation line patrol high-precision robot walking mechanism.

[0024] Figure 5 It is Figure 4 It is an enlarged structural schematic view of position A.

[0025] In the figure:

[0026] 1, bearing frame; 2, side support plate; 3, driving rotary wheel; 4, adjusting assembly; 401, rotating shaft; 402, sliding block; 403, connecting column; 404, cross plate; 405, adjusting rod; 406, moving plate; 407, electric push rod; 5, driving assembly; 502, driving motor; 503, driven part; 504, middle shaft; 505, transmission gear; 506, driven rod; 507, first belt pulley. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the utility model will be apparently and completely described in connection with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all the other embodiments obtained by the ordinary skilled in the art without creative labor fall within the scope of protection of the utility model.

[0028] The utility model provides an industrial automation line patrol high accuracy robot walking mechanism, including bearing frame 1, the four corners of bearing frame 1 upper surface are fixedly installed with side support plate 2 through connecting rod, the both sides side support plate 2 are rotatably provided with drive runner 3, the surface of side support plate 2 is provided with adjusting assembly 4, the outer surface of adjusting assembly 4 is provided with drive assembly 5, the both sides drive runner 3 between are provided with cable piece, the lower surface of bearing frame 1 is fixedly installed with detection mechanism,

[0029] Adjusting assembly 4 includes the rotating shaft 401 of fixed mounting in drive runner 3 interior, the side surface of side support plate 2 is set with adjusting sliding slot, the inside sliding connection of adjusting sliding slot has sliding block 402, the inside rotatable connection of sliding block 402 has rotating shaft 401, the rotating shaft 401 of upper side rotates and is connected to the surface of side support plate 2, the lower surface of sliding block 402 is fixedly installed with connecting column 403, the bottom of connecting column 403 is fixedly installed with horizontal plate 404, the side surface of horizontal plate 404 is rotatably connected with adjusting rod 405 through hinged seat, the other end of adjusting rod 405 is rotatably connected with moving plate 406 through hinged seat, between one side side support plate 2 is fixedly installed with clamping plate, the side surface of clamping plate is fixedly installed with electric push rod 407, the other end of electric push rod 407 is fixedly installed with moving plate 406, the both sides of moving plate 406 are fixedly installed with guide, the inside sliding through connection of guide has guide column, and the guide column is fixedly installed on the side surface of clamping plate.

[0030] In the installation, first, the upper drive pulley 3 is placed on the surface of the cable, and then the electric push rod 407 is started to drive the moving plate 406 to move, the moving plate 406 drives the guide on both sides to move, the guide stably slides on the outer surface of the guide column, the moving plate 406 drives the lower adjusting rod 405 to move through the hinge seat, the adjusting rod 405 drives the horizontal plate 404 to move through the hinge seat, the horizontal plate 404 drives the connecting column 403 on both sides to slide upwards, the connecting column 403 slides in the inside of the side support plate 2, the connecting column 403 drives the sliding block 402 at one end to slide in the adjusting slot, the sliding block 402 drives the internal rotating shaft 401 to move, the rotating shaft 401 drives the lower drive pulley 3 to move synchronously, so that the lower drive pulley 3 is tightly attached to the lower surface of the cable, and the drive pulleys 3 on the upper and lower sides are tightly attached to the cable, so that the stability of transmission during rotation is improved, and the stability of the robot walking mechanism when walking is greatly improved.

[0031] The driving assembly 5 comprises a first sliding groove formed in the inner side wall of the adjusting slot, rotating columns are fixedly installed at both ends of the rotating shaft 401, a drive motor 502 is fixedly installed on the side surface of the side support plate 2, a rotating column is fixedly installed on the output end of the drive motor 502, third pulleys are fixedly installed on the outer surfaces of the upper rotating columns, a belt is lapped on the outer surfaces of the two third pulleys, a driven part 503 is rotatably connected to the outer surface of the lower rotating column, the driven part 503 is slidably connected to the side surface of the side support plate 2, a transfer shaft 504 is rotatably connected to the surface of the driven part 503, transmission gears 505 are fixedly installed on the outer surfaces of the lower rotating column and the transfer shaft 504, the transmission gears 505 on both sides are meshingly connected, driven rods 506 are rotatably connected to the outer surfaces of the upper rotating column and the transfer shaft 504, an adapter shaft is rotatably connected to the other end of the two driven rods 506, first pulleys 507 are fixedly installed on the outer surfaces of the adapter shaft and the upper rotating column, second pulleys are fixedly installed on the outer surfaces of the adapter shaft and the transfer shaft 504, and belts are drivingly connected to the outer surfaces of the first pulleys 507 and the second pulleys.

[0032] The sliding block 402 drives the lower rotating column to move in the process of sliding, the rotating column drives the outer driven piece 503 to slide stably on the outer surface of the side support plate 2, the driven piece 503 drives the inner transfer shaft 504 to move, the transfer shaft 504 drives the outer driven rod 506 to move, the driven rod 506 drives the other end of the connecting shaft to move, the connecting shaft moves stably under the support of the other side driven rod 506, when it is needed to move, the driving motor 502 is started to drive the rotating column to rotate, one side of the rotating column drives the other side of the rotating column to rotate through the third belt pulley, the rotating column drives one end of the connecting shaft to rotate through the first belt pulley 507 in the process of rotating, the connecting shaft drives the lower transfer shaft 504 to rotate through the second belt pulley, the transfer shaft 504 drives the outer transmission gear 505 to rotate, the transmission gear 505 drives the transmission gear 505 meshed on one side and the inner rotating column to rotate, the rotating column drives the inner rotating shaft 401 and the outer driving rotary wheel 3 to rotate, so that the driving rotary wheels 3 on the upper and lower sides rotate synchronously, in the process of synchronous rotation and opposite rotation, so that the device can stably perform the line patrol operation.

[0033] The above is only the preferred specific implementation of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. An industrial automation line-patrolling high-precision robot walking mechanism comprising a bearing frame (1), characterized in that: The upper surface of the bearing frame (1) is fixedly installed with side support plates (2) at four corners through connecting rods, driving rotating wheels (3) are rotatably arranged between the two side support plates (2), the surface of the side support plate (2) is provided with an adjusting assembly (4), the outer surface of the adjusting assembly (4) is provided with a driving assembly (5), a cable member is arranged between the upper and lower driving rotating wheels (3), and the lower surface of the bearing frame (1) is fixedly installed with a detection mechanism; The adjusting assembly (4) comprises a rotating shaft (401) fixedly installed in the driving rotating wheel (3), the side surface of the side support plate (2) is provided with an adjusting sliding groove, the inside of the adjusting sliding groove is slidably connected with a sliding block (402), the inside of the sliding block (402) is rotatably connected with the rotating shaft (401), the upper rotating shaft (401) is rotatably connected to the surface of the side support plate (2), the lower surface of the sliding block (402) is fixedly installed with a connecting column (403), the bottom of the connecting column (403) is fixedly installed with a horizontal plate (404), the side surface of the horizontal plate (404) is rotatably connected with an adjusting rod (405) through a hinged seat, the other end of the adjusting rod (405) is rotatably connected with a moving plate (406), one side between the side support plates (2) is fixedly installed with a clamping plate, the side surface of the clamping plate is fixedly installed with an electric push rod (407), and the other end of the electric push rod (407) is fixedly installed with the moving plate (406).

2. The industrial automation line-patrolling high-precision robot walking mechanism according to claim 1, characterized in that: The two sides of the moving plate (406) are fixedly installed with guide members, the inside of the guide member is slidably connected with a guide column, and the guide column is fixedly installed on the side surface of the clamping plate.

3. The industrial automation line-patrolling high-precision robot walking mechanism according to claim 1, characterized in that: The driving assembly (5) comprises a first sliding groove formed in the inner side wall of the adjusting sliding groove, rotating columns are fixedly installed at the two ends of the rotating shaft (401), a driving motor (502) is fixedly installed on the side surface of the side support plate (2), a rotating column is fixedly installed on the output end of the driving motor (502), third belt pulleys are fixedly installed on the outer surfaces of the upper rotating columns, and a belt is lapped on the outer surfaces of the two third belt pulleys.

4. The industrial automation line-patrolling high-precision robot walking mechanism according to claim 3, characterized in that: A driven member (503) is rotatably connected to the outer surface of the lower rotating column, the driven member (503) is slidably connected to the side surface of the side support plate (2), and a transfer shaft (504) is rotatably connected to the surface of the driven member (503).

5. The industrial automation line-patrolling high-precision robot walking mechanism according to claim 4, characterized in that: The transfer shaft (504) and the outer surface of the lower rotating column are fixedly installed with transmission gears (505), the transmission gears (505) on the two sides are meshingly connected, the transfer shaft (504) and the outer surface of the upper rotating column are rotatably connected with driven rods (506), and the other ends of the two driven rods (506) are rotatably connected with a connecting shaft.

6. The industrial automation line-patrolling high-precision robot walking mechanism according to claim 5, characterized in that: First belt pulleys (507) are fixedly installed on the outer surfaces of the connecting shaft and the upper rotating column, second belt pulleys are fixedly installed on the outer surfaces of the connecting shaft and the transfer shaft (504), and the outer surfaces of the first belt pulleys (507) and the second belt pulleys are transmissionally connected with a belt.

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