Climbing device for rail type inspection robot

Abstract

The utility model discloses a climbing device for a rail type inspection robot, and relates to the technical field of inspection robots. The device comprises a guide rail mechanism and a walking mechanism, the guide rail mechanism and the walking mechanism are used in cooperation, a climbing mechanism used in cooperation is arranged between the walking mechanism and the guide rail mechanism, and a mounting mechanism used in cooperation with the guide rail mechanism is arranged on the climbing mechanism. The guide rail mechanism comprises a flat rail I, an arc rail I, a vertical rail, an arc rail II and a flat rail II which are matched for use; through the arrangement and use of the climbing mechanism, the two corresponding lantern rings can be conveniently driven to move in the opposite direction or the back direction, so that the two corresponding gears can be driven to move in the opposite direction or the back direction through the rotating pipe, the gears and the toothed belt can be conveniently and stably meshed and separated, the tooth hitting phenomenon can be avoided, and the service life is prolonged; and a gear can be driven to rotate and is matched with a toothed belt to realize stable climbing.

Description

A climbing device for a track-mounted inspection robot Technical Field

[0001] This utility model relates to the field of inspection robot technology, specifically a climbing device for a track-type inspection robot. Background Technology

[0002] Track-mounted inspection robots are intelligent devices that move along a preset track. They are mainly used in high-risk environments in industries such as power, chemical, and petroleum. They can achieve fully autonomous identification of equipment temperature, vibration, instrument data, etc.

[0003] However, most existing track-based inspection robots rely on friction to roll uphill, which makes them prone to slipping and unable to climb steadily. Some track-based inspection robots rely on gears and toothed belts to mesh and climb, but they are prone to tooth breakage during use.

[0004] To address the aforementioned problems, this application proposes a climbing device for a track-mounted inspection robot. Summary of the Invention

[0005] To address the problems of slippage that easily occurs when existing track-mounted inspection robots rely on friction for rolling uphill and tooth breakage that easily occurs when relying on gears and belts for uphill meshing, the purpose of this utility model is to provide a climbing device for track-mounted inspection robots.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a climbing device for a track-type inspection robot, comprising a guide rail mechanism and a walking mechanism, the guide rail mechanism and the walking mechanism being used in conjunction, and a climbing mechanism being provided between the walking mechanism and the guide rail mechanism for use in conjunction, the climbing mechanism being provided with a mounting mechanism for use in conjunction with the guide rail mechanism, the guide rail mechanism including a first flat rail, a first arc rail, a vertical rail, a second arc rail, and a second flat rail for use in conjunction, and each of the first flat rail, the first arc rail, the vertical rail, the second arc rail, and the second flat rail can be detachably provided with a hanging rod for use in conjunction, the walking mechanism including a walking frame, a driving component and a walking shaft being provided in conjunction within the walking frame, and the walking shaft being rotatably inserted into the walking frame, a walking wheel being fixedly sleeved on the walking shaft, and the walking wheel being able to contact the first flat rail, the first arc rail, the vertical rail, the second arc rail, or the second flat rail.

[0007] Preferably, the climbing mechanism includes a toothed belt and an electric push rod. The toothed belt is detachably connected to a horizontal rail, an arc rail, a vertical rail, an arc rail, and a horizontal rail. The electric push rod is fixedly inserted into the traveling frame, and an L-shaped rod is fixedly connected to the output end of the electric push rod. Symmetrically arranged insertion holes are opened through the traveling frame, and the electric push rod is fixedly inserted into the insertion holes. A collar is fixedly connected to the end of the L-shaped rod, and a rotating tube is rotatably installed on the inner side of the collar. The rotating tube is slidably sleeved on the traveling shaft, and a gear is fixedly sleeved at the end of the rotating tube away from the collar. The gear can mesh with the toothed belt. A symmetrically arranged retaining strip is integrally formed at the end of the traveling shaft, and the retaining strip is slidably inserted into the inner wall of the rotating tube. A symmetrically distributed retaining groove is opened on the inner wall of the rotating tube, and the retaining strip is slidably inserted into the retaining groove. A retaining ring is integrally formed at one end of the rotating tube, and the retaining ring is rotatably inserted into the inner wall of the collar. A ring groove is opened on the inner wall of the collar, and the retaining ring is rotatably inserted into the ring groove.

[0008] Preferably, the installation mechanism includes a screw rod, which is fixedly connected to a toothed belt. The first flat rail, the first curved rail, the vertical rail, the second curved rail, and the second flat rail are all provided with a through groove and a recessed groove for matching use. The screw rod can move through the through groove, and a nut can be threaded onto the screw rod. The nut can fit tightly against the inner wall of the recessed groove.

[0009] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0010] 1. By setting up and using the climbing mechanism, it can easily drive the two corresponding collars to move in opposite directions or back to back. This can drive the two corresponding gears to move in opposite directions or back to back through the rotating tube, thereby enabling the gears and toothed belt to mesh and separate easily and smoothly, thus avoiding tooth breakage and extending service life. It can also drive the gears to rotate and work with the toothed belt to achieve stable climbing.

[0011] 2. The installation mechanism, through groove and countersink facilitates the assembly and disassembly of the toothed belt with flat rail one, arc rail one, vertical rail, arc rail two, and flat rail two, thus facilitating the replacement of the toothed belt. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 is a schematic diagram of the structure of this utility model.

[0014] Figure 2 is a schematic diagram of the installation of the climbing mechanism in this utility model.

[0015] Figure 3 is an enlarged schematic diagram of the structure at point A in Figure 2 of this utility model.

[0016] Figure 4 is an enlarged schematic diagram of the structure at point B in Figure 2 of this utility model.

[0017] Figure 5 is an enlarged schematic diagram of the structure at point C in Figure 4 of this utility model.

[0018] In the diagram: 1. Guide rail mechanism; 11. Flat rail one; 12. Curved rail one; 13. Vertical rail; 14. Curved rail two; 15. Flat rail two; 16. Through groove; 17. Sinking groove; 2. Traveling mechanism; 21. Traveling frame; 22. Drive assembly; 23. Traveling shaft; 24. Traveling wheel; 25. Clip; 26. Insertion hole; 3. Climbing mechanism; 31. Toothed belt; 32. Electric push rod; 33. L-shaped rod; 34. Collar; 35. Rotary tube; 36. Gear; 37. Slot; 38. Snap ring; 39. Ring groove; 4. Mounting mechanism; 41. Screw; 42. Nut. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] Example: As shown in Figures 1-5, this utility model provides a climbing device for a track-type inspection robot, including a guide rail mechanism 1 and a walking mechanism 2. The guide rail mechanism 1 and the walking mechanism 2 are used in conjunction, and a climbing mechanism 3 is provided between the walking mechanism 2 and the guide rail mechanism 1 for use. The climbing mechanism 3 is provided with a mounting mechanism 4 for use with the guide rail mechanism 1. The guide rail mechanism 1 includes a horizontal rail 11, an arc rail 12, a vertical rail 13, an arc rail 14, and a horizontal rail 15 for use. Furthermore, each of the following rails can be detachably equipped with a matching hanger: the first horizontal rail 11, the first curved rail 12, the vertical rail 13, the second curved rail 14, and the second horizontal rail 15. The traveling mechanism 2 includes a traveling frame 21, in which a matching drive assembly 22 and a traveling shaft 23 are provided. The traveling shaft 23 is rotatably inserted into the traveling frame 21, and a traveling wheel 24 is fixedly sleeved on the traveling shaft 23. The traveling wheel 24 can contact the first horizontal rail 11, the first curved rail 12, the vertical rail 13, the second curved rail 14, or the second horizontal rail 15.

[0021] By adopting the above technical solution, the boom can suspend the horizontal rail 11, the curved rail 12, the vertical rail 13, the curved rail 2 14 and the horizontal rail 2 15 on the roof and connect them to each other. In addition, the drive component 22 can drive the traveling shaft 23 to rotate, thereby driving the traveling wheel 24 to rotate. The lower end of the traveling frame 21 is equipped with a matching inspection component, which can drive the inspection component to move and realize inspection operation. These are all existing technologies and will not be described in detail here.

[0022] The climbing mechanism 3 includes a toothed belt 31 and an electric push rod 32. The toothed belt 31 is detachably connected to the first horizontal rail 11, the first curved rail 12, the vertical rail 13, the second curved rail 14, and the second horizontal rail 15. The electric push rod 32 is fixedly inserted into the traveling frame 21, and an L-shaped rod 33 is fixedly connected to the output end of the electric push rod 32. Symmetrically arranged insertion holes 26 are opened through the traveling frame 21, and the electric push rod 32 is fixedly inserted into the insertion holes 26. The setting of the insertion holes 26 provides a guarantee for the stable insertion of the electric push rod 32. A collar 34 is fixedly connected to the end of the L-shaped rod 33, and a rotating tube 35 is rotatably installed on the inner side of the collar 34. The rotating tube 35 is slidably sleeved on the traveling shaft 23, and a fixed sleeve is attached to the end of the rotating tube 35 away from the collar 34. Gear 36 meshes with toothed belt 31. The end of the traveling shaft 23 is integrally formed with symmetrically arranged retaining strips 25, which are slidably inserted into the inner wall of the rotating tube 35. The inner wall of the rotating tube 35 is provided with symmetrically distributed retaining grooves 37, and the retaining strips 25 are slidably inserted into the retaining grooves 37. The cooperation between the retaining strips 25 and the retaining grooves 37 ensures the stable and synchronous rotation of the rotating tube 35 and the traveling shaft 23. One end of the rotating tube 35 is integrally formed with a retaining ring 38, which is rotatably inserted into the inner wall of the collar 34. The inner wall of the collar 34 is provided with an annular groove 39, and the retaining ring 38 is rotatably inserted into the annular groove 39. The cooperation between the retaining ring 38 and the annular groove 39 ensures the stable rotation of the rotating tube 35 and the collar 34.

[0023] By adopting the above technical solution, when the inspection robot inspects the position to be climbed, the drive component 22 will slowly drive the walking shaft 23 and the walking wheel 24 to rotate. At the same time, the rotary tube 35 will drive the corresponding gear 36 to rotate slowly with the corresponding walking shaft 23, and the electric push rod 32 will push the corresponding two L-shaped rods 33 to move in opposite directions, thereby driving the corresponding two collars 34 to move in opposite directions. In turn, the rotary tube 35 will drive the corresponding two gears 36 to move in opposite directions until the gear 36 meshes with the corresponding toothed belt 31, at which point the drive component 22 will be paused. When the gear 36 and the corresponding toothed belt 31 are fully meshed, the electric push rod 32 will be paused and the drive component 22 will be restarted, thereby driving the gear 36 to rotate again and cooperating with the toothed belt 31 to achieve stable climbing. After the climbing operation is completed, the electric push rod 32 will drive the gear 36 to reset.

[0024] The mounting mechanism 4 includes a screw 41, which is fixedly connected to the toothed belt 31. The flat rail 11, the arc rail 12, the vertical rail 13, the arc rail 2 14, and the flat rail 2 15 are all provided with a through groove 16 and a recessed groove 17 for matching use. The screw 41 can move through the through groove 16, and a nut 42 can be threaded onto the screw 41. The nut 42 can fit tightly against the inner wall of the recessed groove 17.

[0025] By adopting the above technical solution, when using it, hold the two toothed belts 31 in sequence and insert the corresponding screws 41 on them into the corresponding through grooves 16 and recesses 17. Then, attach the corresponding toothed belts 31 to the inner walls of the corresponding flat rail 11, arc rail 12, vertical rail 13, arc rail 2 14 and flat rail 2 15 in sequence and turn the corresponding nuts 42 in sequence to make them tightly contact the corresponding recesses 17.

[0026] Working principle: When in use, hold the two toothed belts 31 in sequence and insert the corresponding screws 41 into the corresponding through grooves 16 and recesses 17. Then, attach the corresponding toothed belts 31 to the inner walls of the corresponding flat rail 11, arc rail 12, vertical rail 13, arc rail 2 14 and flat rail 2 15 in sequence and turn the corresponding nuts 42 in sequence to make them tightly contact the corresponding recesses 17.

[0027] When the inspection robot reaches the position to be climbed, the drive component 22 will slowly drive the walking shaft 23 and the walking wheel 24 to rotate. At the same time, the rotary tube 35 will drive the corresponding gear 36 to rotate slowly with the corresponding walking shaft 23, and the electric push rod 32 will push the corresponding two L-shaped rods 33 to move in opposite directions, thereby driving the corresponding two collars 34 to move in opposite directions. In turn, the rotary tube 35 will drive the corresponding two gears 36 to move in opposite directions until the gear 36 meshes with the corresponding toothed belt 31. The drive component 22 will then pause. When the gear 36 and the corresponding toothed belt 31 are fully meshed, the electric push rod 32 will pause and the drive component 22 will restart, thereby driving the gear 36 to rotate again and cooperating with the toothed belt 31 to achieve stable climbing. After the climbing operation is completed, the electric push rod 32 will drive the gear 36 to reset.

[0028] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

Claims

1. A climbing device for a track-mounted inspection robot, comprising a guide rail mechanism (1) and a walking mechanism (2), characterized in that: The guide rail mechanism (1) is used in conjunction with the walking mechanism (2), and a climbing mechanism (3) is provided between the walking mechanism (2) and the guide rail mechanism (1). The climbing mechanism (3) is provided with an installation mechanism (4) that works in conjunction with the guide rail mechanism (1). The guide rail mechanism (1) includes a horizontal rail (11), an arc rail (12), a vertical rail (13), an arc rail (14), and a horizontal rail (15) that work in conjunction. Each of the horizontal rail (11), arc rail (12), vertical rail (13), arc rail (14), and horizontal rail (15) can be detachably provided with a hanging rod. The walking mechanism (2) includes a walking frame (21). The walking frame (21) is provided with a driving component (22) and a walking shaft (23) that work in conjunction. The walking shaft (23) is rotatably inserted into the walking frame (21). A walking wheel (24) is fixedly sleeved on the walking shaft (23). 24) It can contact the first horizontal rail (11), the first curved rail (12), the vertical rail (13), the second curved rail (14), or the second horizontal rail (15); the climbing mechanism (3) includes a toothed belt (31) and an electric push rod (32), the toothed belt (31) is detachably connected to the first horizontal rail (11), the first curved rail (12), the vertical rail (13), the second curved rail (14), and the second horizontal rail (15), and the electric push rod (32) is fixedly inserted into the walking frame (2). 1) On the electric push rod (32), an L-shaped rod (33) is fixedly connected to the end of the output end. A collar (34) is fixedly connected to the end of the L-shaped rod (33). A rotating tube (35) is rotatably installed on the inner side of the collar (34). The rotating tube (35) is slidably sleeved on the walking shaft (23). A gear (36) is fixedly sleeved at the end of the rotating tube (35) away from the collar (34). The gear (36) can mesh with the toothed belt (31).

2. The climbing device for a track-mounted inspection robot as described in claim 1, characterized in that, The end of the walking shaft (23) is integrally formed with symmetrically arranged retaining strips (25), and the retaining strips (25) are slidably inserted into the inner wall of the rotating tube (35).

3. The climbing device for a track-mounted inspection robot as described in claim 2, characterized in that, The inner wall of the rotating tube (35) is provided with symmetrically distributed slots (37), and the locking strip (25) is slidably inserted into the slots (37).

4. The climbing device for a track-mounted inspection robot as described in claim 1, characterized in that, One end of the rotating tube (35) is integrally formed with a retaining ring (38), and the retaining ring (38) is rotatably inserted into the inner wall of the collar (34).

5. A climbing device for a track-mounted inspection robot as described in claim 4, characterized in that, The inner wall of the collar (34) is provided with a ring groove (39), and the retaining ring (38) is rotatably inserted into the ring groove (39).

6. A climbing device for a track-mounted inspection robot as described in claim 1, characterized in that, The walking frame (21) has symmetrically arranged insertion holes (26) through it, and the electric push rod (32) is fixedly inserted into the insertion holes (26).

7. A climbing device for a track-mounted inspection robot as described in claim 1, characterized in that, The installation mechanism (4) includes a screw (41), which is fixedly connected to the toothed belt (31). The first flat rail (11), the first arc rail (12), the vertical rail (13), the second arc rail (14), and the second flat rail (15) are all provided with a through groove (16) and a recessed groove (17) for use. The screw (41) can move through the through groove (16). A nut (42) can be threaded onto the screw (41), and the nut (42) can fit tightly against the inner wall of the recessed groove (17).

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