Obstacle crossing device for track inspection robot

Abstract

The utility model discloses a track inspection robot obstacle crossing device which comprises a machine body, a front opening is formed in the right end face of the machine body, a rear opening is formed in the left end face of the machine body, a telescopic beam is arranged in the machine body, the right end of the telescopic beam extends outwards from the front opening, and the right end of the telescopic beam extends outwards from the rear opening. The left portion of the telescopic beam extends outwards from the rear opening, the middle of the machine body is fixedly connected with a telescopic beam driving device, the telescopic beam driving device comprises a mounting frame, a driving motor and a driving wheel, the mounting frame is fixedly connected to the bottom of the inner surface of the machine body, and the upper end face of the mounting frame is fixedly connected with the driving motor and the driving wheel. The electric telescopic rod is used for driving the limiting block to move, due to the fact that the limiting block is in sliding fit with the limiting groove, the length of the telescopic beam is increased, the practical applicability of the device is improved, and due to the fact that the T-shaped protrusion is in sliding fit with the T-shaped groove, the movement stability of the telescopic beam is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of inspection robot, especially relates to a track inspection robot obstacle crossing device. BACKGROUND

[0002] At present, track inspection robots have been widely used in various occasions. Generally, common inspection robots are usually provided with special tracks, and such inspection robots work on the special tracks. In some special large occasions, various pipelines, such as fire pipelines, are usually arranged. The fire pipelines are usually fixed in a suspended manner, and the suspended manner needs to hoist a hanger under the ceiling and then fix the pipeline on the hanger. At the same time, the fire pipeline has an interface, and the interface has a flange protrusion. In this way, the hanger and the flange will hinder the laying of the inspection robot track, resulting in great difficulty in laying the track and high cost. In some harsh conditions, the inspection robot track cannot be installed. For example, if an inspection robot capable of walking directly on the existing pipeline can be provided, the above-mentioned problems will be solved.

[0003] The existing patent number CN 221985085 U is a kind of track inspection robot obstacle crossing device, including body, front opening is set on the front end of body, rear opening is set on the rear end of body, one telescopic beam is installed in body, telescopic beam driving device is set in the middle part of body, telescopic beam driving device includes mounting bracket, mounting bracket is fixedly installed in body, driving motor and driving wheel are installed on mounting bracket, two winding grooves are set on the wheel surface of driving wheel, one winding groove is installed with front traction rope, another winding groove is installed with rear traction rope, outer lifting frame is installed on the top of the two ends of telescopic beam, outer lifting frame includes outer lifting rod, outer holding clamp is installed on the top of outer lifting rod, a pair of inner lifting frames are installed on the top of body, inner lifting clamp includes inner lifting rod, inner holding clamp is installed on the top of inner lifting rod.

[0004] In the actual use of the device in the above file, the traction rope may not be uniformly and accurately wound in the corresponding winding groove due to the movement of the telescopic beam when winding, thereby causing entanglement of the traction rope and affecting the actual operation of the device. At the same time, the length of the telescopic beam of the device is limited, and the device cannot effectively cross larger obstacles in the actual use process, thereby reducing the actual applicability of the device. In order to solve the above problems, we propose a kind of track inspection robot obstacle crossing device. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a kind of track inspection robot obstacle crossing device, to solve the existing problems.

[0006] To solve the above technical problems, the utility model is realized by the following technical solutions:

[0007] The utility model discloses a track inspection robot obstacle crossing device, including machine body, the machine body right end surface is opened with the front opening, the machine body left end surface is opened with the rear opening, be equipped with a telescopic beam in the machine body, the right end of telescopic beam extends outward from the front opening, the left part of telescopic beam extends outward from the rear opening, the middle part fixed connection of machine body has telescopic beam drive arrangement, telescopic beam drive arrangement includes mounting bracket, drive motor and drive wheel, the mounting bracket fixed connection is in the machine body inner surface bottom, the mounting bracket upper end surface fixed connection has drive motor and drive wheel, drive motor can rotate clockwise or counterclockwise, the output of drive motor is fixedly connected with drive wheel, the circumferential surface of drive wheel is fixedly connected with two wire grooves, the wire groove in the front is equipped with the front traction rope, another wire groove is equipped with the rear traction rope, the front traction rope one end is fixed in the wire groove, the free end of front traction rope is from the front opening and is connected with the right end of telescopic beam, the rear traction rope one end is fixed in another wire groove, the free end of rear traction rope is from the rear opening and is connected with the left end of telescopic beam, the rear end surface fixed connection of telescopic beam has T-shaped protruding, the rear end of the inner surface of front opening and rear opening is opened with T-shaped groove, the shape and size of T-shaped protruding all are adapted to T-shaped groove, T-shaped protruding and T-shaped groove sliding fit, the inner surface front end fixed connection of front opening and rear opening has the chassis, the upper end surface fixed connection of chassis has the guide ring, the inner wall of guide ring is opened with U-shaped groove, two sliding blocks are slidably connected in the U-shaped groove, the upper end surface fixed connection of sliding block has ring rail, a plurality of auxiliary ball are rotatably embedded in the inner wall of ring rail, the shape and size of ring rail all are adapted to front traction rope and rear traction rope, ring rail and front traction rope and rear traction rope sliding fit, the ball is rotatably embedded between two sliding blocks, the ball is symmetrically protruding the front and rear end surface of sliding block, the ball is closely attached with the inner wall of U-shaped groove, the shape and size of U-shaped groove all are adapted to ball, U-shaped groove and ball sliding fit, the limit groove is slidably connected with the limit block, the limit groove front end all is equipped with the electric telescopic rod fixedly connected with telescopic beam, the output of electric telescopic rod is fixedly connected with the connecting block, the side end surface of connecting block is fixedly connected with the front end surface of limit block.

[0008] The front traction rope is counterclockwise coiled, the rear traction rope is clockwise coiled, the upper end surface of the limiting block is fixedly connected with an outer lifting frame, the outer lifting frame comprises an outer lifting rod and an outer clamping frame, the output end of the outer lifting rod is fixedly connected with the outer clamping frame, the outer clamping frame is clamped when the outer lifting rod completes the lifting action, and is loosened when the outer lifting rod starts the descending action, a pair of inner lifting frames are installed above the top of the machine body, the inner lifting frame comprises an inner lifting rod and an inner clamping frame, the output end of the inner lifting rod is fixedly connected with the inner clamping frame, the inner clamping frame is clamped when the inner lifting rod completes the lifting action, and is loosened when the inner lifting rod starts the descending action, the outer lifting frame and the inner lifting frame work in staggered mode, the maximum extension length of the electric telescopic rod is much smaller than the length of the limiting block, the shape and size of the limiting groove are adapted to the limiting block, the limiting groove and the limiting block are in sliding fit, and the cross sections of the limiting groove and the limiting block are all I-shaped.

[0009] The utility model has the following beneficial effects:

[0010] The utility model discloses through utilizing electric telescopic rod to drive limiting block movement, because the sliding fit of limiting block and limiting groove, and then realize the length of telescopic beam, increase the actual applicability of device, utilize the sliding fit of T-shaped convex and T-shaped groove, and then increase the motion stability of device telescopic beam;

[0011] The utility model discloses through setting ring rail in guide ring, make the winding groove when winding to traction rope, and traction rope can be inserted in ring rail, and ring rail utilizes the ball and rolls in U type groove, can reduce the sliding friction between traction rope and device when moving, set up auxiliary ball in ring rail inner wall, be favorable to reduce the wear and tear of traction rope surface to greatly promote the use security of device, limit the offset amplitude of traction rope simultaneously, make traction rope can be better and wind in winding groove.

[0012] Of course, any product implementing the utility model does not necessarily need to achieve all the advantages described above. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the following will introduce the drawings needed to be used in the embodiment description, and obviously, the drawings in the following description are only some embodiments of the utility model, and for the ordinary skilled in the art, other drawings can also be obtained according to these drawings without creating labor.

[0014] Figure 1 It is an overall structure schematic view of a track inspection robot obstacle crossing device;

[0015] Figure 2 It is a right view of a track inspection robot obstacle crossing device;

[0016] Figure 3 For Figure 2 A-A sectional view;

[0017] Figure 4 A telescopic beam local structure diagram of an obstacle passing device of a track inspection robot;

[0018] Figure 5 A guide ring local structure diagram of an obstacle passing device of a track inspection robot;

[0019] Figure 6 A guide ring internal structure diagram of an obstacle passing device of a track inspection robot.

[0020] In the drawings, the components represented by each reference numeral are listed as follows: 1, machine body; 2, front opening; 3, rear opening; 4, telescopic beam; 5, telescopic beam driving device; 501, mounting frame; 502, driving motor; 503, driving wheel; 6, wire winding groove; 7, front traction rope; 8, rear traction rope; 9, T-shaped protrusion; 10, T-shaped groove; 11, underframe; 12, guide ring; 13, U-shaped groove; 14, sliding block; 15, ring rail; 16, ball; 17, auxiliary ball; 18, limiting groove; 19, limiting block; 20, electric telescopic rod; 21, connecting block; 22, outer lifting frame; 221, outer lifting rod; 222, outer clamping; 23, inner lifting frame; 231, inner lifting rod; 232, inner clamping. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0022] In the description of the present application, it should be understood that the terms "upper", "middle", "outer", "inner" and the like indicate the orientation or positional relationship, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the components or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0023] In the description of the utility model, it is necessary to explain, unless another explicit provision and limitation, the term "installation" "is provided with" "connection" and the like, should be broad sense understanding, for example "connection", can be fixed connection, also can be detachable connection, or integral connection;Can be mechanical connection, also can be electrical connection;Can be directly connected, also can be indirectly connected through the intermediate medium, can be two elements inside the communication. For ordinary skilled person in the art, the specific meaning of the above terms in the utility model can be understood according to specific circumstances.

[0024] Please refer to Figures 1-6As shown, the utility model is a kind of track inspection robot obstacle crossing device, including machine body 1, front opening 2 is set on the right end surface of machine body 1, rear opening 3 is set on the left end surface of machine body 1, and one telescopic beam 4 is equipped in machine body 1, the right end of telescopic beam 4 extends outward from front opening 2, the left part of telescopic beam 4 extends outward from rear opening 3, telescopic beam driving device 5 is fixedly connected in the middle part of machine body 1, telescopic beam driving device 5 includes mounting bracket 501, drive motor 502 and drive wheel 503, mounting bracket 501 is fixedly connected in the inner surface bottom of machine body 1, drive motor 502 and drive wheel 503 are fixedly connected on the upper end surface of mounting bracket 501, drive motor 502 can rotate clockwise or counterclockwise, the output end of drive motor 502 is fixedly connected with drive wheel 503, two wire grooves 6 are fixedly connected on the circumferential surface of drive wheel 503, front traction rope 7 is equipped in front wire groove 6, another wire groove 6 is equipped with rear traction rope 8, one end of front traction rope 7 is fixed in wire groove 6, and the free end of front traction rope 7 is connected with the right end of telescopic beam 4 from front opening 2, one end of rear traction rope 8 is fixed in another wire groove 6, and the free end of rear traction rope 8 is connected with the left end of telescopic beam 4 from rear opening 3, T-shaped protrusion 9 is fixedly connected on the rear end surface of telescopic beam 4, T-shaped groove 10 is set on the inner surface rear end of front opening 2 and rear opening 3, the shape and size of T-shaped protrusion 9 are adapted to T-shaped groove 10, T-shaped protrusion 9 and T-shaped groove 10 are in sliding fit, bottom bracket 11 is fixedly connected on the inner surface front end of front opening 2 and rear opening 3, guide ring 12 is fixedly connected on the upper end surface of bottom bracket 11, U-shaped groove 13 is set on the inner wall of guide ring 12, two sliding blocks 14 are slidably connected in U-shaped groove 13, ring rail 15 is fixedly connected on the upper end surface of sliding block 14, a plurality of auxiliary ball bearings 17 are rotatably embedded in the inner wall of ring rail 15, the shape and size of ring rail 15 are adapted to front traction rope 7 and rear traction rope 8, and ring rail 15 is in sliding fit with front traction rope 7 and rear traction rope 8, ball bearing 16 is rotatably embedded between the two sliding blocks 14, ball bearing 16 is symmetrically protruded from the front and rear end surfaces of sliding block 14, ball bearing 16 is closely attached to the inner wall of U-shaped groove 13, the shape and size of U-shaped groove 13 are adapted to ball bearing 16, and U-shaped groove 13 is in sliding fit with ball bearing 16, limiting groove 18 is set on the left and right ends of telescopic beam 4, limiting block 19 is slidably connected in limiting groove 18, electric telescopic rod 20 fixedly connected with telescopic beam 4 is arranged on the front end of limiting groove 18, the output end of electric telescopic rod 20 is fixedly connected with connecting block 21, and the side end surface of connecting block 21 is fixedly connected with the front end surface of limiting block 19.

[0025] The front traction rope 7 is counterclockwise coiled, the rear traction rope 8 is clockwise coiled, the upper end surface of the limiting block 19 is fixedly connected with an outer lifting frame 22, the outer lifting frame 22 comprises an outer lifting rod 221 and an outer clamping 222, the output end of the outer lifting rod 221 is fixedly connected with the outer clamping 222, the outer clamping 222 is clamped when the outer lifting rod 221 completes the lifting action, and is loosened when the outer lifting rod 221 starts the descending action, a pair of inner lifting frames 23 are installed above the top of the machine body 1, the inner lifting frame 23 comprises an inner lifting rod 231 and an inner clamping 232, the output end of the inner lifting rod 231 is fixedly connected with the inner clamping 232, the inner clamping 232 is clamped when the inner lifting rod 231 completes the lifting action, and is loosened when the inner lifting rod 231 starts the descending action, the outer lifting frame 22 and the inner lifting frame 23 work in staggered time, the maximum extension length of the electric telescopic rod 20 is much smaller than the length of the limiting block 19, the shape and size of the limiting groove 18 are adapted to the limiting block 19, the limiting groove 18 and the limiting block 19 are in sliding fit, and the cross sections of the limiting groove 18 and the limiting block 19 are all I-shaped.

[0026] Please refer to Figures 1-6 As shown in the drawings, the embodiment is a use method of an obstacle crossing device of a track inspection robot: the machine body 1 is provided with a controller, the controller is electrically connected with the telescopic beam driving device 5, the electric telescopic rod 20, the outer lifting frame 22 and the inner lifting frame 23, an infrared positioning detection system (an existing structure, and the specific structure is not shown) is arranged on the right end of the machine body 1 and is electrically connected with the controller, when the detection system detects that there is an obstacle in front of the inspection robot, the detection system sends a signal to the controller of the inspection robot, the controller opens the outer clamping 222 to loosen the track, opens the electric telescopic rod 20, and at the same time, the outer lifting rod 221 descends, the electric telescopic rod 20 is opened, and the limiting block 19 slides in the limiting groove 18 to adjust the length of the telescopic beam 4, at the same time, the driving motor 502 is opened to drive the driving wheel 503 to rotate, and then drive the winding groove 6 to wind the rear traction rope 8 and expand the front traction rope 7, because the T-shaped protrusion 9 and the T-shaped groove 10 are in sliding fit, the telescopic beam 4 moves forward by a distance, and the outer clamping 222 crosses the obstacle, at this time, the outer lifting rod 221 rises, the outer clamping 222 tightly clamps the track after the rising is completed, thereafter, the inner clamping 232 loosens the track, and the inner lifting rod 231 descends, after the inner lifting rod 231 completes the descending action, the driving motor 502 is opened again to drive the machine body 1 to move forward; the above is repeated, so that the inspection robot moves on the track and crosses the obstacle.

[0027] In the description of the specification, the description of the terms "one embodiment", "an example", "a specific example" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the utility model. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0028] The preferred embodiments of the utility model disclosed above are only used for helping to explain the utility model. The preferred embodiments do not describe all the details exhaustively, and also do not limit the utility model to only the specific implementation manners described. Obviously, according to the content of the specification, many modifications and changes can be made. The specification selects and specifically describes these embodiments, in order to better explain the principles and practical applications of the utility model, so that the persons skilled in the art can well understand and utilize the utility model. The utility model is limited only by the claims and the entire scope and equivalents thereof.

Claims

1. A track inspection robot obstacle crossing device, comprising a machine body (1), characterized in that: The machine body (1) has a front opening (2) on its right end face and a rear opening (3) on its left end face. A telescopic beam (4) is installed inside the machine body (1). The right end of the telescopic beam (4) extends outward from the front opening (2), and the left end extends outward from the rear opening (3). A telescopic beam drive device (5) is fixedly connected to the middle of the machine body (1). The telescopic beam drive device (5) includes a mounting frame (501), a drive motor (502), and a drive wheel (503). The mounting frame (501) is fixedly connected to the bottom of the inner surface of the machine body (1). 01) A drive motor (502) and a drive wheel (503) are fixedly connected to the upper end face. The output end of the drive motor (502) is fixedly connected to the drive wheel (503). Two winding grooves (6) are fixedly connected to the peripheral side of the drive wheel (503). A front traction rope (7) is provided in the front winding groove (6), and a rear traction rope (8) is provided in the other winding groove (6). One end of the front traction rope (7) is fixed in the winding groove (6), and the free end of the front traction rope (7) passes through the front opening (2) and connects to the right end of the telescopic beam (4). One end of the rear traction rope (8) is fixed in the other winding groove (6). The free end protrudes from the rear opening (3) and connects to the left end of the telescopic beam (4). A T-shaped protrusion (9) is fixedly connected to the rear end face of the telescopic beam (4). A T-shaped groove (10) is opened at the rear end of the inner surface of the front opening (2) and the rear opening (3). A base frame (11) is fixedly connected to the front end of the inner surface of the front opening (2) and the rear opening (3). A guide ring (12) is fixedly connected to the upper end face of the base frame (11). A U-shaped groove (13) is opened on the inner wall of the guide ring (12). Two sliders (14) are slidably connected in the U-shaped groove (13). A ring rail (15) is fixedly connected to the upper end face of the slider (14). The inner wall of the ring rail (15) is rotatably embedded with... A number of auxiliary balls (17) are provided. A ball (16) is rotatably embedded between the two sliders (14). The ball (16) symmetrically protrudes from the front and rear end faces of the slider (14). The ball (16) is tightly fitted to the inner wall of the U-shaped groove (13). Limiting grooves (18) are provided at both ends of the telescopic beam (4). Limiting blocks (19) are slidably connected to the limiting grooves (18). Electric telescopic rods (20) are fixedly connected to the telescopic beam (4) at the front end of each limiting groove (18). A connecting block (21) is fixedly connected to the output end of the electric telescopic rod (20). The side end face of the connecting block (21) is fixedly connected to the front end face of the limiting block (19). An outer lifting frame (22) is fixedly connected to the upper end face of the limiting block (19). The outer lifting frame (22) includes an outer lifting rod (221) and an outer clamp (222). The output end of the outer lifting rod (221) is fixedly connected to the outer clamp (222). A pair of inner lifting frames (23) are installed above the top of the machine body (1). The inner lifting frame (23) includes an inner lifting rod (231) and an inner clamp (232). The output end of the inner lifting rod (231) is fixedly connected to the inner clamp (232).

2. The obstacle-crossing device for a track inspection robot according to claim 1, characterized in that, The shape and size of the T-shaped protrusion (9) are adapted to the T-shaped groove (10), and the T-shaped protrusion (9) and the T-shaped groove (10) slide together.

3. The obstacle-crossing device for a track inspection robot according to claim 1, characterized in that, The front traction rope (7) is coiled counterclockwise, the rear traction rope (8) is coiled clockwise, and the drive motor (502) can rotate clockwise or counterclockwise.

4. The obstacle-crossing device for a track inspection robot according to claim 1, characterized in that, The shape and size of the U-shaped groove (13) are adapted to the ball (16), and the U-shaped groove (13) and the ball (16) slide together.

5. The obstacle-crossing device for a track inspection robot according to claim 1, characterized in that, The shape and size of the ring rail (15) are adapted to the front traction rope (7) and the rear traction rope (8), and the ring rail (15) slides in conjunction with the front traction rope (7) and the rear traction rope (8).

6. The obstacle-crossing device for a track inspection robot according to claim 1, characterized in that, The maximum extension length of the electric telescopic rod (20) is much smaller than the length of the limiting block (19). The shape and size of the limiting groove (18) are adapted to the limiting block (19). The limiting groove (18) and the limiting block (19) are in sliding fit. The cross-sections of the limiting groove (18) and the limiting block (19) are both I-shaped.

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