Wheel type inspection robot holder lifting device

Abstract

The utility model discloses a wheel type inspection robot holder lifting device which comprises a power source, a driving four-bar linkage is arranged at the output end of the power source, a middle shaft connecting device is arranged at the end, away from the power source, of the driving four-bar linkage, and a driven four-bar linkage is arranged on the wall of the middle shaft connecting device. A holder is arranged at the end, away from the center shaft connecting device, of the driven four-bar linkage, and the power source comprises a servo motor. Power is provided for operation of the device through a power source, torque is transmitted to the driving four-connecting-rod, the middle shaft connecting device and the driven four-connecting-rod, the effect that the vertical height of the holder is increased is achieved, operation is rapid, stable and reliable, overall installation is simple, the structure is compact, later maintenance is convenient, and the service life of the holder is prolonged. The driving four-bar linkage and the driven four-bar linkage are simple in structure, small in friction and long in service life, circular motion can be changed into linear motion, the device is easy to maintain, and the total cost is reduced.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of inspection robot, concretely relates to a wheeled inspection robot holder lifting device. BACKGROUND

[0002] In recent years, wheeled inspection robots have been widely used in substation daily inspection field instead of artificial inspection, and the robot inspection improves operation and maintenance quality and efficiency and reduces the working strength of substation operation and maintenance personnel.

[0003] When the robot inspection equipment is inspected, different height and different angle of detection objects need to be detected, in order to ensure that the robot has a wider detection range, a lifting device that can be lifted and compressed and folded is usually added to the holder, and the holder can always keep horizontal with the ground during lifting.

[0004] At present, the lifting device commonly used in the market is a screw rod lifting device, which has the advantages of stable and reliable lifting, high lifting precision, and the disadvantage of small compressible space, but because the screw rod and the guide bearing sliding rail are matched, the quality is large, or a joint robot structure lifting device is used, but three joint drives are needed to complete the lifting and folding and keep the end horizontal with the ground, the operation cost is too high, and the quality is heavy, the advantages are high transmission precision and high compression ratio, or a scissor type lifting structure is used, the relative compression space of the scissor type lifting structure is relatively large, and the disadvantage is that the structure rigidity is not good and the quality is relatively large. UTILITY MODEL CONTENTS

[0005] In order to solve the above technical problems, one technical scheme of the utility model is to provide a wheeled inspection robot holder lifting device, which comprises a power source, the output end of the power source is provided with a driving four-bar linkage, the end of the driving four-bar linkage away from the power source is provided with a middle shaft connecting device, the wall of the middle shaft connecting device is provided with a driven four-bar linkage, the end of the driven four-bar linkage away from the middle shaft connecting device is provided with a holder, and the power source comprises a servo motor.

[0006] Through the above technical scheme, the power source provides power for the operation of the device, the torque is transmitted to the driving four-bar linkage, the middle shaft connecting device and the driven four-bar linkage, the effect of vertical height rising of the holder is achieved, the operation is rapid, stable and reliable, the overall installation is simple, the structure is compact, the maintenance is convenient, the driving four-bar linkage and the driven four-bar linkage have simple structure, small friction and long service life, can change the circular motion into linear motion, are easy to maintain in the device and reduce the overall cost.

[0007] The utility model is further provided with a planetary reducer at the output end of the servo motor, and a transmission large umbrella tooth is arranged at the output end of the planetary reducer.

[0008] Through the technical scheme, the servo motor has high precision, high efficiency and strong stability, has strong overload capacity, the planetary reducer has small volume, large transmission ratio and strong carrying capacity, cooperates with the servo motor, can greatly reduce the rotating speed of the servo motor, increase the output torque, makes the lifting device fast, greatly improves the working efficiency of the wheeled inspection robot.

[0009] The utility model further sets up, the side surface of transmission big sector tooth is engaged with one end of initiative four connecting rods, initiative four connecting rods near transmission big sector tooth one end set limit switch no.

[0010] Through the technical scheme, the torque of the servo motor is increased by two stages of the planetary reducer and the transmission big sector tooth, the load capacity is greatly improved, and the number of specifications of the gimbal that can be carried is increased.

[0011] The utility model further sets up, initiative four connecting rods near transmission big sector tooth one end set limit switch no. 2, initiative four connecting rods near transmission big sector tooth one end is provided with mechanical limit block.

[0012] Through the technical scheme, in order to guarantee the safety in the lifting process, not only mechanical limit block, limit switch no. 1 and limit switch no. 2 are increased, and electronic mechanical double insurance is realized.

[0013] The utility model further sets up, the middle shaft connecting device includes middle shaft adapter driven wheel, middle shaft adapter driving wheel, wire protection support and split type shell.

[0014] The utility model further sets up, the side surface of middle shaft adapter driving wheel is engaged with middle shaft adapter driven wheel, and the wire protection support is in the shape of U.

[0015] The utility model further sets up, initiative four connecting rods, driven four connecting rods and middle shaft connecting device are connected through bolt.

[0016] The utility model has the advantages of the following:

[0017] (1) the power source provides power for the operation of the device, transmits torque to initiative four connecting rods, middle shaft connecting device and driven four connecting rods, achieves the effect that the gimbal vertically rises, runs fast, stable and reliable, and the whole installation is simple, compact in structure, convenient for later maintenance, initiative four connecting rods and driven four connecting rods are simple in structure, small in friction and long in service life, can change circular motion into linear motion, are easy to maintain in the device and reduce overall cost. BRIEF DESCRIPTION OF DRAWINGS

[0018] Fig. 1 It is the first visual angle structure diagram of the utility model wheeled inspection robot gimbal lifting device;

[0019] Fig. 2 is a part structure schematic view of a wheeled inspection robot holder lifting device of the utility model,

[0020] Fig. 3 is another part structure schematic view of a wheeled inspection robot holder lifting device of the utility model.

[0021] Reference signs: 1, power source; 2, driving four connecting rods; 3, middle shaft connecting device; 4, driven four connecting rods; 5, holder; 01, servo motor; 02, planetary reducer; 03, transmission large bevel gear; 04, limit switch one; 05, mechanical limit block; 06, limit switch two; 11, middle shaft adapter driven wheel; 12, middle shaft adapter driving wheel; 13, wire protection support; 14, split type shell. DETAILED DESCRIPTION

[0022] In order to make the utility model's purpose, technical scheme and advantages more clear and intelligible, the following is combined with the drawings and examples, and the utility model is further described in detail. It should be understood that the specific examples described here are only used to explain the utility model, and are not used to limit the utility model.

[0023] As Figs. 1-3 shown, the wheeled inspection robot holder lifting device of the utility model, including power source 1, the output end of power source 1 is provided with driving four connecting rods 2, the end away from power source 1 of driving four connecting rods 2 is provided with middle shaft connecting device 3, the wall of middle shaft connecting device 3 is provided with driven four connecting rods 4, the end away from middle shaft connecting device 3 of driven four connecting rods 4 is provided with holder 5, and power source 1 includes servo motor 01.

[0024] Servo motor 01 and external power supply are electrically connected as prior art, and the person skilled in the art knows that servo motor 01 is high in precision, efficiency and stability, has strong overload capacity, is matched with large planetary reducer 02 that is small in size, large in transmission ratio and strong in carrying capacity, can greatly reduce the rotating speed of servo motor 01, increase output torque, makes the rising speed of the device pushing holder 5 faster, and further greatly improves the working efficiency of the wheeled inspection robot, driving four connecting rods 2 and driven four connecting rods 4 present a certain angle through middle shaft connecting device 3, can make the stress of the whole device more reasonable, and the intelligent body more stable.

[0025] The output end of the servo motor 01 is provided with a planetary reducer 02, the output end of the planetary reducer 02 is provided with a transmission large umbrella gear 03, the side surface of the transmission large umbrella gear 03 is meshed and connected with one end of the driving four-bar linkage 2, the torque is output from the servo motor 01, is increased through the planetary reducer 02, and is further increased through the transmission large umbrella gear 03, at this time, the torque is transmitted to the intersection of the driving four-bar linkage 2, and the driving arm of the driving four-bar linkage 2 is driven to move, at this time, the movement track of the distal end point of the driving arm is an arc, the torque of the servo motor 01 is increased through two stages of the planetary reducer 02 and the transmission large umbrella gear 03, the load capacity is greatly improved, and the specifications and types of the carrying holder 5 can be increased.

[0026] The end of the driving four-bar linkage 2 close to the transmission large umbrella gear 03 is provided with a limit switch one 04, the end of the driving four-bar linkage 2 close to the transmission large umbrella gear 03 is provided with a limit switch two 06, and the end of the driving four-bar linkage 2 close to the transmission large umbrella gear 03 is provided with a mechanical limit block 05, the mechanical limit block 05, the limit switch one 04 and the limit switch two 06 make the device run more safely, and realize electronic and mechanical double insurance.

[0027] The middle shaft connecting device 3 includes a middle shaft adapter driven wheel 11, a middle shaft adapter driving wheel 12, a wire protection support 13 and a split type shell 14, the side surface of the middle shaft adapter driving wheel 12 is meshed with the middle shaft adapter driven wheel 11, the wire protection support 13 is in the shape of U, the wire protection support 13 can separate the wire from the middle shaft adapter driven wheel 11 and the middle shaft adapter driving wheel 12, and avoid winding of the wire.

[0028] The driving four-bar linkage 2, the driven four-bar linkage 4 and the middle shaft connecting device 3 are all connected through bolts, the middle shaft adapter driving wheel 12 and the middle shaft adapter driven wheel 11 are connected together with the driving arm of the driving four-bar linkage 2 through bolts respectively, the movement track of the distal end of the driving four-bar linkage 2 is an arc, through cooperation of the middle shaft adapter driven wheel 11 and the middle shaft adapter driving wheel 12, in combination with the driven four-bar linkage 4, the movement track of the distal end of the driven four-bar linkage 4 is a straight line perpendicular to the ground, and the holder 5 is vertically lifted to a height.

[0029] The utility model discloses a working principle as follows, switch on the power supply and start servo motor 01, and the increase of torque is output from servo motor 01 through planetary reducer 02, passes through a pair of transmission big umbrella tooth 03 again, at this moment, torque is transmitted to the intersection of driving four connecting rods 2, drives driving four connecting rods 2 driving arm movement, because its characteristic driving arm distal end point's movement track is arc, the torque of servo motor 01 is increased through two stages of planetary reducer 02 and transmission big umbrella tooth 03, greatly improves the load capacity, and the specification category of the cloud platform 5 that can be selected to carry increases, and driving four connecting rods 2 one end transmits torque to the middle axle connecting device 3 and is transmitted to driven four connecting rods 4, realizes the movement track of the driving arm distal end of driven four connecting rods 4 as the straight line perpendicular to the ground, and then realizes the vertical motion of cloud platform 5.

[0030] The above only is the embodiment of the utility model, and does not restrict the patent range of the utility model, and the equivalent structure or equivalent flow conversion of the contents of the utility model specification and the drawings, or direct or indirect application in other related technical fields, all are included in the patent protection range of the utility model.

Claims

1. A wheeled inspection robot cloud platform lifting device comprising a power source (1), characterized in that: The output end of the power source (1) is provided with a driving four-bar linkage (2), one end of the driving four-bar linkage (2) away from the power source (1) is provided with a middle shaft connecting device (3), the wall of the middle shaft connecting device (3) is provided with a driven four-bar linkage (4), one end of the driven four-bar linkage (4) away from the middle shaft connecting device (3) is provided with a holder (5), and the power source (1) comprises a servo motor (01).

2. The cloud platform lifting device of the wheeled inspection robot according to claim 1, characterized in that, The output end of the servo motor (01) is provided with a planetary reducer (02), and the output end of the planetary reducer (02) is provided with a transmission large umbrella tooth (03).

3. The cloud lifting device of the wheeled inspection robot according to claim 2, characterized in that, The side surface of the transmission large umbrella tooth (03) is meshed and connected with one end of the driving four-bar linkage (2), and the end of the driving four-bar linkage (2) close to the transmission large umbrella tooth (03) is provided with a limit switch one (04).

4. The cloud platform lifting device of the wheeled inspection robot according to claim 1, characterized in that, The end of the driving four-bar linkage (2) close to the transmission large umbrella tooth (03) is provided with a limit switch two (06), and the end of the driving four-bar linkage (2) close to the transmission large umbrella tooth (03) is provided with a mechanical limiting block (05).

5. The cloud lifting device of the wheeled inspection robot according to claim 1, wherein, The middle shaft connecting device (3) comprises a middle shaft adapter driven wheel (11), a middle shaft adapter driving wheel (12), a wire protection support (13) and a split shell (14).

6. The gimbal lifting device for a wheeled inspection robot according to claim 5, characterized in that, The side surface of the middle shaft adapter driving wheel (12) is meshed with the middle shaft adapter driven wheel (11), and the wire protection support (13) is in the shape of U.

7. The cloud lifting device of the wheeled inspection robot according to claim 1, wherein, The driving four-bar linkage (2), the driven four-bar linkage (4) and the middle shaft connecting device (3) are connected through bolts.

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