Rope pulling driving system of linear hanging rail inspection robot

Abstract

The utility model relates to the field of robot inspection, in particular to a linear hanging rail inspection robot rope pulling driving system which comprises a suspended rail and a sliding table moving along the suspended rail, a pan-tilt camera is arranged on the sliding table, winding devices are arranged at the two ends of the suspended rail respectively, pulling ropes are wound on the winding devices, and the pulling ropes are connected with the sliding table through a wire. And the free end of the traction rope is connected with the sliding table. A complex motor driving structure on a traditional robot body is omitted, the winding devices arranged at the two ends of the track are pulled through the pulling rope, all-weather uninterrupted work can be carried out, and meanwhile the maintenance cost is reduced.

Description

Technical Field

[0001] This utility model relates to the field of robot inspection, and in particular to a rope-driven system for a linear rail inspection robot. Background Technology

[0002] Currently, rail-mounted inspection robots are mainly used in power grid distribution rooms, chemical plant control rooms, data centers, and other scenarios. The power supply methods for rail-mounted inspection robots sold on the market are mainly as follows: (1) The robot body carries a lithium battery as a power supply method, which has the advantages of flexible deployment and no wiring. (2) The track is equipped with a conductive copper strip, and the front end of the track is equipped with a power box, which is connected to AC 220V power supply and stepped down to 24V to connect to the sliding contact line for power supply. The robot takes power through the contact line current collector. After being powered by the above two methods, the drive wheel is driven by the motor in the robot body to move. The lithium battery power supply solution cannot work continuously around the clock. The inspection robot needs to be stopped for 3-4 hours to charge before it can work. The sliding contact line power supply solution will significantly increase the manufacturer's later maintenance costs (replacement of sliding contact line and transmission system). Utility Model Content

[0003] Based on the above problems, the purpose of this utility model is to provide a rope-driven system for a linear rail-mounted inspection robot. This utility model adopts the following technical solution:

[0004] This utility model provides a linear track inspection robot rope-driven system, including a suspended track and a slide table that moves along the suspended track. A pan-tilt camera is installed on the slide table. The feature is that both ends of the suspended track are provided with winding devices, and a traction rope is wound on the winding devices. The free end of the traction rope is connected to the slide table.

[0005] Preferably, the winding device includes a base plate, and a housing is provided above the base plate, with a rope hole on the housing through which the traction rope passes;

[0006] A motor platform is provided on the base plate, and a first stepper motor is mounted on the motor platform. The power output shaft of the first stepper motor is connected to the winding wheel through a reducer, and the traction rope is wound on the winding wheel.

[0007] Preferably, the bottom of the motor platform is connected to the base plate via a linear module, and the linear module drives the motor platform to move.

[0008] Preferably, the linear module includes two slide rails and a slider arranged on the slide rails, the slider being fixed to the bottom of the motor platform, and the slide rails being fixed to the base plate;

[0009] A lead screw is provided between the two slide rails. One end of the lead screw is provided with a bearing seat, and the other end is poweredly connected to a second stepper motor. The bearing seat and the second stepper motor are both mounted on the base plate. A lead screw nut is threaded onto the lead screw and is fixed to the bottom of the motor platform.

[0010] Preferably, the upper part of the suspended track is provided with parallel wire suspension rails, and the wire suspension rails are provided with multiple sliding rings for suspending drag cables.

[0011] Preferably, the slide table includes a frame, and guide wheel assemblies are provided at both ends of the frame, the guide wheel assemblies rolling along the suspended track.

[0012] Preferably, the guide wheel assembly includes two upper clamping wheels and two lower clamping wheels, the upper clamping wheels are mounted on the platform, and the lower clamping wheels are connected to the platform through vertically arranged elastic components;

[0013] A side clamping wheel is provided on the outer side of the upper clamping wheel, and the side clamping wheel is connected to the frame through the laterally arranged elastic component.

[0014] Preferably, the elastic component includes a U-shaped seat, a guide rod is provided between the two side plates of the U-shaped seat, a wheel seat is slidably connected to the guide rod, and the lower clamping wheel or the side clamping wheel is mounted on the wheel seat; a spring is provided on the guide rod, one end of the spring abuts against the side plate of the U-shaped seat, and the other end abuts against the wheel seat;

[0015] The bottom plate of the U-shaped seat is provided with a guide groove, and the bottom of the wheel seat is slidably connected in the guide groove.

[0016] Preferably, a pull wire seat is provided in the middle of the platform, the free end of the traction rope is connected to the pull wire seat, and guide wheels are provided at both ends of the platform, with the traction rope passing under the guide wheels.

[0017] Compared with the prior art, the beneficial technical effects of this utility model are as follows:

[0018] This invention eliminates the complex motor drive structure on the traditional robot body, replacing it with a winding device arranged at both ends of the track that pulls the robot through a traction rope, enabling continuous operation around the clock while reducing maintenance costs. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings.

[0020] Figure 1 This is a front view structural diagram of the rope-driven system of the linear rail-mounted inspection robot of this utility model;

[0021] Figure 2 This is a structural diagram of the winding device of this utility model;

[0022] Figure 3 This is a structural diagram of the linear module of this utility model;

[0023] Figure 4 This is a structural diagram of the slide table of this utility model;

[0024] Figure 5 This is a structural diagram of the elastic component of this utility model.

[0025] Explanation of reference numerals in the attached diagram: 1. Suspended track; 2. Slide table; 201. Platform; 202. Guide wheel assembly; 202-1. Upper clamping wheel; 202-2. Lower clamping wheel; 202-3. Side clamping wheel; 202-4. Elastic component; 202-4-1. U-shaped seat; 202-4-2. Guide rod; 202-4-3. Wheel seat; 202-4-4. Spring; 202-4-5. Guide groove; 203. Cable holder; 204. Guide wheel; 3. Pan-tilt camera; 4. Winding device; 401. Base plate; 402. Housing; 403. Rope hole; 404. Motor platform; 405. First stepper motor; 406. Reducer; 407. Winding reel; 408. Linear module; 408-1. Slide rail; 408-2. Slider; 408-3. Lead screw; 408-4. Bearing seat; 408-5. Second stepper motor; 408-6. Lead screw nut; 5. Traction rope; 6. Wire rod rail; 7. Suspended drag cable; 8. Slide rail ring. Detailed Implementation

[0026] To make the technical problems, technical solutions and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments.

[0027] like Figure 1 As shown, this embodiment discloses a linear track-mounted inspection robot cable-driven system, including a suspended track 1, which is typically fixed to the roof by a hanger. A movable slide 2 is mounted on the suspended track 1, and a pan-tilt camera 3 is mounted on the slide 2. A wire guide rail 6 is arranged side-by-side on the upper part of the suspended track 1, and multiple wire guide rings 8 are provided on the wire guide rail 6 for suspending a trailing cable 7. The trailing cable 7 is electrically connected to the pan-tilt camera 3.

[0028] In this embodiment, a winding device 4 is provided at both ends of the suspended track 1. The winding device 4 is fixed on the ground, and a traction rope 5 is wound around the winding device 4. The free end of the traction rope 5 passes around the guide wheels at both ends of the suspended track 1 and is connected to the slide table 2. The winding devices 4 at both ends cooperate to complete the winding and unwinding, thereby pulling the slide table 2 to move on the suspended track 1.

[0029] like Figure 2 As shown, the winding device 4 includes a base plate 401, and a housing 402 is provided on the top of the base plate 401. The housing 402 is fixed to the base plate 401 by screws. The housing 402 is provided with a rope hole 403 through which the traction rope 5 passes. A motor platform 404 is provided on the base plate 401. A first stepper motor 405 is installed on the motor platform 404. The power output shaft of the first stepper motor 405 is poweredly connected to the winding wheel 407 through a reducer 406. The traction rope 5 is wound on the winding wheel 407.

[0030] In this embodiment, the bottom of the motor platform 404 is connected to the base plate 401 via a linear module 408. The linear module 408 drives the motor platform 404 to move, thereby adjusting the position of the winding wheel 407 to facilitate the winding and release of the traction rope 5.

[0031] like Figure 3 As shown, the linear module 408 includes two slide rails 408-1 and a slider 408-2 arranged on the slide rails 408-1. The slider 408-2 is fixed to the bottom of the motor platform 404, and the slide rails 408-1 are fixed to the base plate 401. A lead screw 408-3 is provided between the two slide rails 408-1. One end of the lead screw 408-3 is provided with a bearing seat 408-4, and the other end is poweredly connected to the second stepper motor 408-5. The bearing seat 408-4 and the second stepper motor 408-5 are both mounted on the base plate 401. A lead screw nut 408-6 is threaded onto the lead screw 408-3, and the lead screw nut 408-6 is fixed to the bottom of the motor platform 404.

[0032] It should be noted that both the first stepper motor 405 and the second stepper motor 408-5 require stepper drivers for control.

[0033] like Figure 4 As shown, the slide table 2 includes a frame 201, with guide wheel assemblies 202 at both ends of the frame 201, which roll along the suspended track 1. A pull cable seat 203 is provided in the middle of the frame 201, and the free end of the traction rope 5 is connected to the pull cable seat 203. Guide wheels 204 are provided at both ends of the frame 201, and the traction rope 5 passes under the guide wheels 204.

[0034] The guide wheel assembly 202 includes two upper clamping wheels 202-1 and two lower clamping wheels 202-2. The upper clamping wheels 202-1 are mounted on the platform 201, and the lower clamping wheels 202-2 are connected to the platform 201 through vertically arranged elastic components 202-4. Under the action of the elastic components 202-4, the lower clamping wheels 202-2 cooperate with the upper clamping wheels 202-1 to clamp the suspended track 1 in the middle.

[0035] A side clamping wheel 202-3 is provided on the outside of the upper clamping wheel 202-1. The side clamping wheel 202-3 is connected to the platform 201 through a horizontally arranged elastic component 202-4. Similarly, the two side clamping wheels 202-3 on both sides cooperate to clamp the suspended track 1 in the middle under the action of the elastic component 202-4.

[0036] like Figure 5 As shown, the elastic component 202-4 includes a U-shaped seat 202-4-1, which is fixed on the frame 201. A guide rod 202-4-2 is provided between the two side plates of the U-shaped seat 202-4-1. A wheel seat 202-4-3 is slidably connected to the guide rod 202-4-2. The lower clamping wheel 202-2 or the side clamping wheel 202-3 is installed on the wheel seat 202-4-3. A spring 202-4-4 is provided on the guide rod 202-4-2. One end of the spring 202-4-4 abuts against the side plate of the U-shaped seat 202-4-1, and the other end abuts against the wheel seat 202-4-3. A guide groove 202-4-5 is provided on the bottom plate of the U-shaped seat 202-4-1, and the bottom of the wheel seat 202-4-3 is slidably connected in the guide groove 202-4-5.

[0037] The embodiments described above are merely preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model. Various modifications and improvements made to the technical solutions of the present utility model by those skilled in the art without departing from the spirit of the present utility model should fall within the protection scope defined by the claims of the present utility model.

Claims

1. A linear hanging rail inspection robot rope-pulling driving system, comprising a suspended rail (1) and a sliding table (2) moving along the suspended rail (1), a cloud platform camera (3) being arranged on the sliding table (2), characterized in that: Both ends of the suspended track (1) are provided with winding devices (4), and a traction rope (5) is wound on the winding device (4). The free end of the traction rope (5) is connected to the slide (2).

2. The linear rail inspection robot cable-pulley drive system of claim 1, wherein: The winding device (4) includes a base plate (401), and a housing (402) is provided above the base plate (401). The housing (402) is provided with a rope hole (403) through which the traction rope (5) passes. A motor platform (404) is provided on the base plate (401), and a first stepper motor (405) is installed on the motor platform (404). The power output shaft of the first stepper motor (405) is poweredly connected to the winding wheel (407) through a reducer (406), and the traction rope (5) is wound on the winding wheel (407).

3. The linear rail inspection robot rope-pulley drive system of claim 2, wherein: The bottom of the motor platform (404) is connected to the base plate (401) via a linear module (408), and the linear module (408) drives the motor platform (404) to move.

4. The straight rail inspection robot rope-pulley drive system of claim 3, wherein: The linear module (408) includes two slide rails (408-1) and a slider (408-2) arranged on the slide rails (408-1). The slider (408-2) is fixed to the bottom of the motor platform (404), and the slide rails (408-1) are fixed to the base plate (401). A lead screw (408-3) is provided between the two slide rails (408-1). One end of the lead screw (408-3) is provided with a bearing seat (408-4), and the other end is poweredly connected to the second stepper motor (408-5). The bearing seat (408-4) and the second stepper motor (408-5) are both mounted on the base plate (401). A lead screw nut (408-6) is threaded onto the lead screw (408-3), and the lead screw nut (408-6) is fixed to the bottom of the motor platform (404).

5. The linear rail inspection robot cable-pulley drive system of claim 1, wherein: The upper part of the suspended track (1) is provided with a wire hanging rail (6) arranged side by side, and the wire hanging rail (6) is provided with a plurality of sliding rings (8) for hanging the drag cable (7).

6. The linear rail inspection robot cable-pulley drive system of claim 1, wherein: The slide (2) includes a frame (201), and guide wheel sets (202) are provided at both ends of the frame (201). The guide wheel sets (202) roll along the suspended track (1).

7. The linear rail inspection robot rope-pulley drive system of claim 6, wherein: The guide wheel assembly (202) includes two upper clamping wheels (202-1) and two lower clamping wheels (202-2). The upper clamping wheels (202-1) are mounted on the platform (201), and the lower clamping wheels (202-2) are connected to the platform (201) through vertically arranged elastic components (202-4). A side clamping wheel (202-3) is provided on the outer side of the upper clamping wheel (202-1), and the side clamping wheel (202-3) is connected to the frame (201) through the laterally arranged elastic component (202-4).

8. The linear rail inspection robot rope-pulley drive system of claim 7, wherein: The elastic component (202-4) includes a U-shaped seat (202-4-1), a guide rod (202-4-2) is provided between the two side plates of the U-shaped seat (202-4-1), the guide rod (202-4-2) is slidably connected to a wheel seat (202-4-3), and the lower clamping wheel (202-2) or the side clamping wheel (202-3) is mounted on the wheel seat (202-4-3); a spring (202-4-4) is provided on the guide rod (202-4-2), one end of the spring (202-4-4) abuts against the side plate of the U-shaped seat (202-4-1), and the other end abuts against the wheel seat (202-4-3); The bottom plate of the U-shaped seat (202-4-1) is provided with a guide groove (202-4-5), and the bottom of the wheel seat (202-4-3) is slidably connected in the guide groove (202-4-5).

9. The linear rail inspection robot rope-pulley drive system of claim 6, wherein: A cable holder (203) is provided in the middle of the frame (201), and the free end of the traction rope (5) is connected to the cable holder (203). Guide wheels (204) are provided at both ends of the frame (201), and the traction rope (5) passes under the guide wheels (204).

Images