Suspension climbing type robot for dynamic detection operation

Abstract

The utility model discloses a suspension climbing type dynamic detection operation robot, which is suspended on a track and comprises two sets of walking driving devices arranged on a mounting main body, each set of walking driving device comprises a guide wheel group, a walking wheel group, a transmission wheel train and a driving motor, the guide wheel group is matched with the side surface of the track for guiding, and the walking wheel group is matched with the side surface of the track for driving. The walking wheel set is supported in a groove of the track, the transmission wheel train comprises a motor synchronous wheel, a middle transmission wheel shaft, walking synchronous wheels and a synchronous belt, the output end of the driving motor is connected with the motor synchronous wheel, the motor synchronous wheel drives the middle transmission wheel shaft through the synchronous belt, and then the middle transmission wheel shaft drives the walking synchronous wheels through the synchronous belt. The walking synchronizing wheel is in driving connection with the walking wheel set; and a control device and a detection camera are arranged below the mounting main body. The robot can stably advance along the track in a guiding mode, is not prone to shaking in the advancing process, is good in movement guiding performance, and can reliably and stably conduct dynamic suspension climbing inspection operation on the track.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot application technical field, especially a kind of robot of suspension climbing type dynamic detection operation. BACKGROUND

[0002] At present, various track type inspection robots have been on the market, which are widely used in computer rooms, power stations, coal mines and pipe corridors. The existing track type inspection robots have relatively simple structures, especially the walking driving structure is unreasonable, and most of them use single motor driving. The single motor driving inspection robot can only be applied to the environment with good working conditions and small track slope. After use, it is easy to cause phenomena such as slipping and low-speed crawling, which affects normal inspection work.

[0003] In addition, the existing track type inspection robot has poor guiding performance when traveling on the track. The robot is easy to shake when walking on the track, which reduces the running stability of the robot and is not conducive to long-term reliable work. UTILITY MODEL CONTENT

[0004] In order to solve the above problems, the purpose of the utility model is to provide a robot of suspension climbing type dynamic detection operation, which is provided with a double motor driving and transmission structure, and can reliably and stably perform dynamic suspension inspection operation on the track.

[0005] To achieve the above purpose, the utility model adopts the following technical scheme:

[0006] A robot of suspension climbing type dynamic detection operation is suspended on a track, comprising two sets of walking driving devices arranged on a mounting body, each set of walking driving device comprising a guide wheel set, a walking wheel set, a transmission gear train and a driving motor, the guide wheel set cooperates with the side surface of the track for guiding, the walking wheel set is supported in the groove of the track, the transmission gear train is drivingly connected with the driving motor and the walking wheel set, and a control device and a detection camera are arranged below the mounting body.

[0007] Further, the transmission gear train comprises a motor synchronous wheel, an intermediate transmission shaft, a walking synchronous wheel and a synchronous belt, the output end of the driving motor is connected with the motor synchronous wheel, the motor synchronous wheel drives the intermediate transmission shaft through a synchronous belt, and the intermediate transmission shaft drives the walking synchronous wheel through a synchronous belt, respectively, and the walking synchronous wheel is drivingly connected with the walking wheel set.

[0008] Further, the walking wheel set comprises two load-bearing walking rollers, and the two load-bearing walking rollers are respectively supported and rolled in the grooves on both sides of the track.

[0009] Further, three intermediate synchronous wheels are arranged in the intermediate transmission shaft for synchronously driving the walking synchronous wheel.

[0010] Further, the guide wheel group includes four guide rollers, each of which is arranged on the mounting body through a floating mounting arm, and each of the guide rollers is provided with a guide groove to guide rolling along the lower side edge of the track.

[0011] Further, the floating mounting arms on the left and right sides of the track are provided with elastic stretching devices.

[0012] Further, the mounting body is provided with a charging battery and a charging module connected with the control device.

[0013] Further, the track is composed of I-beams or H-shaped steel.

[0014] The utility model has the advantages of the following beneficial effects:

[0015] The utility model discloses a walking driving device arranged in front and back in the inspection robot, and each walking driving device is provided with independent guide wheel group, walking wheel group, transmission gear and driving motor, a plurality of guide rollers are arranged in the guide wheel group and are attached to the lower side edge of the track, and the two walking driving devices are combined to drive the torque, and the control is flexible, which is convenient for driving the inspection robot to move forward and backward, ensures that the inspection robot can stably guide along the track, and the movement is not easy to shake and has good movement guiding performance. And the driving motor in each walking driving device drives the walking wheel group independently through the transmission gear, and the load walking roller that can roll and support in the groove on the two sides of the track is arranged in the walking wheel group, so that the movement transmission is reliable, and the inspection robot can reliably and stably carry out dynamic suspension inspection operation on the track. BRIEF DESCRIPTION OF DRAWINGS

[0016] Fig. 1 It is a three-dimensional schematic view of the robot of the utility model for suspension and climbing type dynamic detection operation.

[0017] Fig. 2 It is a three-dimensional schematic view of the walking driving device part of the utility model.

[0018] Fig. 3 It is a top view schematic view of the walking driving device part of the utility model.

[0019] EXPLANATION OF REFERENCE NUMERALS:

[0020] 1, track; 2, installation main body; 3, walking driving device; 31, guide wheel set; 311, guide roller; 312, floating installation arm; 32, walking wheel set; 321, load-bearing walking roller; 33, transmission gear train; 331, motor synchronous wheel; 332, intermediate transmission axle; 333, walking synchronous wheel; 334, synchronous belt; 34, driving motor; 4, control device; 5, detection camera; 6, elastic tension device. DETAILED DESCRIPTION

[0021] The utility model will be made further detailed explanation in combination with the drawings and specific embodiment:

[0022] Referring to Figs. 1-3 As shown in the drawings, a kind of robot of suspension climbing type dynamic detection operation is suspended on track 1, the track 1 is connected by I-beam or H-shaped steel processing, track 1 is equipped with support frame and installation stand or hanger is connected, can install connection to form the track 1 of stable support, including two sets of walking driving device 3 on installation main body 2, walking driving device 3 will not interfere with support frame etc. when moving on track 1 installation component. Each set of the walking driving device 3 includes guide wheel set 31, walking wheel set 32, transmission gear train 33 and driving motor 34, the guide wheel set 31 cooperates with the side of track 1 and is guided, the walking wheel set 32 is supported in the groove of track 1, the walking wheel set 32 includes two load-bearing walking rollers 321, two load-bearing walking rollers 321 are respectively supported in the groove of track 1 two sides. Transmission gear train 33 is drivingly connected with driving motor 34 and walking wheel set 32, the guide wheel set 31 includes four guide rollers 311, each guide roller 311 is arranged on installation main body 2 by floating installation arm 312, each guide roller 311 is equipped with guide groove and is guided and rolled along the lower edge of track 1;Between the floating installation arm 312 of the left and right sides of track 1, elastic tension device 6 is equipped, and two floating installation arms 312 are respectively pulled tightly towards the side of track 1, so that it has better guiding effect, and elastic tension device 6 includes tension spring, gas spring etc. Control device 4 and detection camera 5 are provided below installation main body 2, and installation main body 2 is equipped with rechargeable battery and charging module and is connected with control device 4, to realize automatic control and inspection.

[0023] The transmission wheel system 33 comprises a motor synchronous wheel 331, an intermediate transmission wheel shaft 332, a walking synchronous wheel 333 and a synchronous belt 334, the output end of the driving motor 34 is connected to the motor synchronous wheel 331, the motor synchronous wheel 331 drives the intermediate transmission wheel shaft 332 through a synchronous belt 334, the intermediate transmission wheel shaft 332 drives the walking synchronous wheel 333 through a synchronous belt 334 respectively, and the walking synchronous wheel 333 is drivingly connected to the walking wheel set 32. Three intermediate synchronous wheels are arranged in the intermediate transmission wheel shaft 332 and are used for synchronously driving the walking synchronous wheel 333.

[0024] The driving motor 34 can be controlled in positive and reverse rotation respectively, and two sets of walking driving devices 3 are used to flexibly realize the forward movement, pause and backward movement of the robot in the suspension type dynamic detection operation, and the patrol inspection operation is convenient and efficient.

[0025] The above merely describes the specific implementation of the present application, and does not limit the patent range of the present application, and any equivalent structural transformation, direct or indirect application in other related technical fields by using the content of the present application specification and drawings are also included in the patent protection range of the present application.

Claims

1. A robot for suspended dynamic inspection jobs of climbing type, suspended to a track (1), characterized in that: Including two sets of walking driving devices (3) arranged on the installation body (2), each set of the walking driving device (3) includes a guide wheel group (31), a walking wheel group (32), a transmission gear train (33) and a driving motor (34), the guide wheel group (31) cooperates with the side of the track (1) to guide, the walking wheel group (32) is supported in the groove of the track (1), the transmission gear train (33) is drivingly connected with the driving motor (34) and the walking wheel group (32), the control device (4) and the detection camera (5) are arranged below the installation body (2).

2. The hanging-climbing dynamic detection operation robot according to claim 1, characterized in that: The transmission gear train (33) includes a motor synchronous wheel (331), an intermediate transmission wheel shaft (332), a walking synchronous wheel (333) and a synchronous belt (334), the output end of the driving motor (34) is connected with the motor synchronous wheel (331), the motor synchronous wheel (331) drives the intermediate transmission wheel shaft (332) through a synchronous belt (334), the intermediate transmission wheel shaft (332) drives the walking synchronous wheel (333) through a synchronous belt (334), and the walking synchronous wheel (333) is drivingly connected with the walking wheel group (32).

3. The robot for hanging and climbing dynamic inspection work according to claim 2, characterized in that: The walking wheel group (32) includes two load-bearing walking rollers (321), and the two load-bearing walking rollers (321) are respectively supported and rolled in the grooves on the two sides of the track (1).

4. The robot for hanging and climbing dynamic inspection work according to claim 3, characterized in that: The intermediate transmission wheel shaft (332) is provided with three intermediate synchronous wheels for synchronously driving the walking synchronous wheel (333).

5. The hanging-climbing dynamic detection operation robot according to claim 1, characterized in that: The guide wheel group (31) includes four guide rollers (311), each guide roller (311) is arranged on the installation body (2) through a floating mounting arm (312), and each guide roller (311) is provided with a guide groove and is guided and rolled along the lower edge of the track (1).

6. The robot for hanging and climbing dynamic inspection work according to claim 5, characterized in that: The floating mounting arms (312) on the left and right sides of the track (1) are provided with elastic stretching devices (6).

7. The robot for hanging and climbing dynamic inspection work according to claim 1, characterized in that: The installation body (2) is provided with a charging battery and a charging module connected with the control device (4).

8. The robot for hanging and climbing dynamic inspection work according to claim 1, characterized in that: The track (1) is composed of I-shaped steel or H-shaped steel.

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