Anti-falling intelligent inspection robot

Abstract

The utility model relates to the technical field of inspection robots, and discloses an anti-falling intelligent inspection robot which comprises a robot body, the robot body comprises a shell and further comprises an anti-falling mechanism, the anti-falling mechanism comprises a protection frame, a sleeve is rotationally arranged on the protection frame, a push handle is fixedly arranged on the sleeve, a sliding shaft is arranged in the sleeve in a penetrating mode, and the sliding shaft is arranged on the protection frame in a sliding mode; a rotating wheel is fixedly arranged on the sleeve, a plurality of arc-shaped teeth are arranged on the edge of the rotating wheel, the arc-shaped teeth extend from the edge of the rotating wheel to the outer side of the rotating wheel, and the outer edge of each arc-shaped tooth is arc-shaped; swing claws are arranged on the protective frame in a swinging manner, one ends of the swing claws abut against the outer edges of the arc-shaped teeth, and the other ends of the swing claws abut against the ends of the sliding shafts; the end, away from the swing claw, of the sliding shaft penetrates through the sleeve and is rotationally connected with a friction wheel, a driving wheel and a driven wheel are arranged on the outer side of the friction wheel, the driven wheel is fixedly connected with a winding wheel, a pull rope is wound around the winding wheel, and the pull rope is connected to a shell of the robot in a bolted mode. The robot can be prevented from falling.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, specifically to a fall-proof intelligent inspection robot. Background Technology

[0002] Overhead cranes are widely used in aluminum electrolysis workshops, playing a crucial role in material transportation and equipment hoisting. To ensure the long-term stable operation of the overhead cranes, the workshop typically conducts regular maintenance on the crane tracks. Currently, track maintenance is usually carried out using inspection robots.

[0003] When the inspection robot is inspecting the track, it travels on a single track. During the movement, the robot's wheels get stuck on the track and move along the track. In the long-term inspection process, the robot is prone to derailment, which may lead to the risk of the robot falling and pose a safety hazard. Utility Model Content

[0004] The present invention aims to provide a fall-proof intelligent inspection robot to prevent the robot from falling.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a fall-proof intelligent inspection robot, comprising a robot, the robot comprising a shell, and a fall-proof mechanism, the fall-proof mechanism comprising a protective frame, a sleeve rotatably mounted on the protective frame, a push handle fixedly mounted on the sleeve, the push handle extending radially along the sleeve, a sliding shaft passing through the sleeve, the sliding shaft being slidably mounted on the protective frame, and the sliding shaft and the sleeve being in clearance fit.

[0006] A rotating wheel is fixed on the sleeve. The edge of the rotating wheel is provided with multiple arc-shaped teeth. The arc-shaped teeth extend from the edge of the rotating wheel to the outside of the rotating wheel, and the outer edge of the arc-shaped teeth is arc-shaped.

[0007] The protective frame is equipped with a swing claw, which is positioned and connected to the protective frame in the middle. One end of the swing claw abuts against the outer edge of the arc-shaped teeth, and the other end abuts against the end of the sliding shaft. The end of the sliding shaft away from the swing claw passes through the sleeve and is rotatably connected to a friction wheel. A drive wheel and a driven wheel are provided on the outside of the friction wheel, and the friction wheel is located between the drive wheel and the driven wheel. A winding wheel is fixedly connected to the driven wheel, and a pull rope is wound on the winding wheel. The end of the pull rope away from the winding wheel is located above the robot shell and is tied to the robot shell.

[0008] The principle and advantages of this scheme are as follows: When the robot derails and tilts, it tilts to the side of the track and squeezes the push handle, causing the push handle to swing. The push handle drives the sleeve to rotate, which in turn causes the rotating wheel to rotate. The arc-shaped teeth follow the rotation of the rotating wheel. At this time, the arc edge of the arc-shaped teeth squeezes the end of the pawl to swing, causing one end of the pawl against the arc-shaped teeth to swing outward, and the other end to swing inward under the action of the lever and push against the sliding shaft. This causes the sliding shaft to slide and the friction wheel to move between the drive wheel and the driven wheel. The friction wheel transmits the rotational power of the drive wheel to the driven wheel, thereby causing the winding wheel fixed on the driven wheel to rotate. The winding wheel winds the pull rope, and the pull rope pulls the robot, straightening the tilted robot and suspending it to prevent it from falling, so as to facilitate the robot's reset.

[0009] This solution utilizes the robot's tilting motion to trigger a pull rope, which pulls the robot back to its correct position and suspends it, preventing it from falling and eliminating the safety hazard of a fall, thus ensuring workshop safety. The push handle design also provides a certain degree of limitation for the robot, effectively preventing it from derailing and falling.

[0010] Preferably, as an improvement, the protective frame is mounted on a track, and the protective frame has a mounting position. A push plate is provided on the front side of the mounting position, and the robot is located in the mounting position and abuts against the push plate.

[0011] The above solution involves mounting the protective frame on the track. When the robot moves on the track, the push plate can be used to make the protective frame move along with the robot, thus providing real-time protection for the robot and preventing it from falling.

[0012] Preferably, as an improvement, multiple push handles are provided, and the multiple push handles are arranged sequentially along the axial direction of the sleeve.

[0013] By using the above solution, multiple push handles are configured so that when the robot tilts, it can make better contact with the push handles, thereby triggering the fall protection mechanism and thus better preventing falls.

[0014] Preferably, as an improvement, the protective frame is equipped with pulleys, which are located above the robot, and the middle of the pull rope passes over the pulleys.

[0015] The above solution restricts the direction of the pulley movement by setting up pulleys, ensuring that the pulley can pull the robot vertically upright.

[0016] Preferably, as an improvement, the arc-shaped teeth and the pawls are provided with multiple sets for matching operation, and the multiple sets of pawls are distributed in a circular array around the wheel on the periphery of the slide shaft.

[0017] With the above scheme, the arc-shaped teeth and the pawls are equipped with multiple sets that work in a matching manner. In this way, the multiple sets of pawls can push the sliding shaft together to move, thereby ensuring that the sliding shaft can slide along the axial direction, and thus enabling effective contact and transmission between the friction wheel, the drive wheel and the driven wheel.

[0018] Preferably, as an improvement, a torsion spring is connected between the swing claw and the protective frame, and a spring is also provided between the sliding shaft and the protective frame.

[0019] The above scheme, through the design of torsion springs and springs, enables the pawl and sliding shaft to automatically reset. When the robot is pulled upright by the rope and disengaged from the push handle, the pawl resets under the action of the torsion spring and squeezes the arc-shaped teeth, thereby resetting the push handle and sleeve. At the same time, the sliding shaft also resets under the action of the spring, causing the friction wheel to disengage from between the drive wheel and the driven wheel.

[0020] Preferably, as an improvement, the sleeve, push handle, slide shaft, drive wheel, driven wheel, friction wheel and pull rope are each provided in two sets, with the two sets of structures located on both sides of the track.

[0021] The above scheme provides fall protection for the robot from two directions, enhancing the fall protection effect. Attached Figure Description

[0022] Figure 1 A schematic diagram of the structure of an intelligent inspection robot designed to prevent falls.

[0023] Figure 2 This is a schematic diagram of the structure of the sleeve, rotating wheel, sliding shaft and swing claw.

[0024] The reference numerals in the accompanying drawings of the instruction manual include: housing 1, protective frame 2, sleeve 3, push handle 4, sliding shaft 5, rotating wheel 6, arc-shaped tooth 7, swing claw 8, friction wheel 9, drive wheel 10, driven wheel 11, winding wheel 12, pull rope 13, pulley 14, push plate 15, and track 16. Detailed Implementation

[0025] The following detailed description provides further details on specific embodiments, but the embodiments of this utility model are not limited thereto. Unless otherwise specified, the technical means used in the following embodiments are conventional means well known to those skilled in the art; the experimental methods used are all conventional methods; and the materials and reagents used are all commercially available.

[0026] Example 1

[0027] like Figure 1 As shown, the fall-prevention intelligent inspection robot includes a robot, a shell 1, and a fall-prevention mechanism, which includes a protective frame 2. Figure 2As shown, a sleeve 3 is rotatably mounted on the protective frame 2 via a bearing. A push handle 4 is fixedly mounted on the sleeve 3, extending radially along the sleeve 3. In this embodiment, there are multiple push handles 4, such as three, arranged sequentially along the axial direction of the sleeve 3. A sliding shaft 5 passes through the sleeve 3, slidingly mounted on the protective frame 2, with a clearance fit between the sliding shaft 5 and the sleeve 3. A rotating wheel 6 is fitted and fixed on the sleeve 3. The edge of the rotating wheel 6 has multiple arc-shaped teeth 7 extending from the edge of the rotating wheel 6 outwards, with the outer edge of the arc-shaped teeth 7 gradually moving away from the center of the rotating wheel 6, causing the distance between the edge of the arc-shaped teeth 7 and the edge of the rotating wheel 6 to gradually increase or decrease.

[0028] A swing claw 8 is oscillating on the protective frame 2. The middle part of the swing claw 8 is positioned and connected to the protective frame 2. One end of the swing claw 8 abuts against the outer edge of the arc-shaped tooth 7, and the other end abuts against the end of the sliding shaft 5. The end of the sliding shaft 5 away from the swing claw 8 passes through the sleeve 3 and is rotatably connected to a friction wheel 9 through a bearing. A drive wheel 10 and a driven wheel 11 are provided on the outside of the friction wheel 9. The friction wheel 9 is located between the drive wheel 10 and the driven wheel 11. When the friction wheel 9 moves between the drive wheel 10 and the driven wheel 11, the friction wheel 9 contacts the drive wheel 10 and the driven wheel 11 simultaneously. In actual application, the drive wheel 10 is connected to a drive device, such as a motor or a combination structure of a motor and a reducer, to provide power to the drive wheel 10. The driven wheel 11 is fixedly connected to a winding wheel 12. A pull rope 13 is wound on the winding wheel 12. The end of the pull rope 13 away from the winding wheel 12 is located above the robot shell 1 and is tied to the robot shell 1. The protective frame 2 is equipped with a pulley 14, which is located above the robot, and the middle of the pull rope 13 passes over the pulley 14.

[0029] The protective frame 2 is mounted on the track 16. The protective frame 2 has a mounting position. A push plate 15 is provided on the front side of the mounting position. The robot is located in the mounting position and rests against the push plate 15.

[0030] In this embodiment, when the robot moves along the track 16 to perform inspections, it pushes against the protective frame 2, causing the protective frame 2 to move along with it. The protective frame 2 provides real-time protection for the robot, and the push handle 4 provides fall protection for the robot.

[0031] When the robot derails and tipes over, combined with Figure 2As you can see, the robot falls onto the push handle 4, squeezing it. The push handle 4 causes the sleeve 3 to rotate, and the rotating wheel 6 follows suit. The arc-shaped edge of the arc-shaped tooth 7 squeezes the pawl 8. Because the edge of the arc-shaped tooth 7 is arc-shaped, the movement of the arc-shaped tooth 7 will cause one end of the pawl 8 that is against the arc-shaped tooth 7 to swing outward from the rotating wheel 6, while the other end of the pawl 8 swings inward and pushes against the sliding shaft 5, causing the sliding shaft 5 to move laterally and deliver the friction wheel 9 between the drive wheel 10 and the driven wheel 11. The drive wheel 10 rotates under the action of external power, and its rotational power is transmitted to the driven wheel 11 through the friction wheel 9. The driven wheel 11 drives the winding wheel 12 to rotate, and the winding wheel 12 winds the pull rope 13, causing the other end of the pull rope 13 to pull the robot. Since the pulley 14 is above the robot, the pull rope 13 pulls the robot upright, returning it to the top of the track 16, while suspending the robot, keeping it upright on the track 16 and preventing it from falling.

[0032] Example 2

[0033] Based on Embodiment 1, this embodiment features multiple sets of matching arc-shaped teeth 7 and swing claws 8. These sets of swing claws 8 are arranged in a circular array around the rotating wheel 6 on the periphery of the sliding shaft 5. In this embodiment, three sets of matching swing claws 8 and arc-shaped teeth 7 are provided. Furthermore, in this embodiment, a torsion spring connects the swing claws 8 to the protective frame 2, and a spring is also provided between the sliding shaft 5 and the protective frame 2. Simultaneously, two sets of each of the following components are provided: sleeve 3, push handle 4, sliding shaft 5, drive wheel 10, driven wheel 11, friction wheel 9, and pull rope 13. These two sets of structures are located on opposite sides of the track 16.

[0034] Based on the implementation process of Embodiment 1, in this embodiment, when the rotating wheel 6 on one side of the track 16 rotates, the three sets of arc-shaped teeth 7 move together and respectively push the three sets of pawls 8 to move. The three sets of pawls 8 together push the sliding shaft 5 to move, so that the sliding shaft 5 can maintain axial sliding, allowing the friction wheel 9 to move smoothly between the drive wheel 10 and the driven wheel 11 for power transmission. The two sets of structures on both sides of the track 16 protect the robot from both sides, ensuring the protective effect on the robot.

[0035] As the pull rope 13 pulls the robot to its correct position, the robot gradually moves away from the push handle 4, and the pressure of the robot on the push handle 4 decreases. At this time, the torsion spring causes the pawl 8 to swing back and reset, thereby squeezing the arc-shaped teeth 7 in the opposite direction, causing the rotating wheel 6 to rotate in the opposite direction, and the push handle 4 also gradually resets. At the same time, the spring also causes the sliding shaft 5 to move and reset gradually, and the friction wheel 9 gradually withdraws from between the drive wheel 10 and the driven wheel 11. The pull rope 13 gradually stops moving, and finally the pull rope 13 stops pulling the robot up to prevent the robot from being pulled away from the track 16.

[0036] The above descriptions are merely embodiments of this utility model. Commonly known technical solutions and / or characteristics are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solution of this utility model. These modifications and improvements should also be considered within the scope of protection of this utility model, and will not affect the effectiveness of the implementation of this utility model or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A fall-prevention intelligent inspection robot, comprising a robot, the robot including a shell, characterized in that: It also includes a fall protection mechanism, which includes a protective frame, a sleeve rotatably mounted on the protective frame, a push handle fixed on the sleeve, the push handle extending radially along the sleeve, a sliding shaft passing through the sleeve, the sliding shaft slidingly mounted on the protective frame, and a clearance fit between the sliding shaft and the sleeve. A rotating wheel is fixed on the sleeve. The edge of the rotating wheel is provided with multiple arc-shaped teeth. The arc-shaped teeth extend from the edge of the rotating wheel to the outside of the rotating wheel, and the outer edge of the arc-shaped teeth is arc-shaped. The protective frame is equipped with a swing claw, which is positioned and connected to the protective frame in the middle. One end of the swing claw abuts against the outer edge of the arc-shaped teeth, and the other end abuts against the end of the sliding shaft. The end of the sliding shaft away from the swing claw passes through the sleeve and is rotatably connected to a friction wheel. A drive wheel and a driven wheel are provided on the outside of the friction wheel, and the friction wheel is located between the drive wheel and the driven wheel. A winding wheel is fixedly connected to the driven wheel, and a pull rope is wound on the winding wheel. The end of the pull rope away from the winding wheel is located above the robot shell and is tied to the robot shell.

2. The fall-prevention intelligent inspection robot according to claim 1, characterized in that: The protective frame is mounted on a track, and a mounting position is provided on the protective frame. A push plate is provided on the front side of the mounting position, and the robot is located in the mounting position and rests against the push plate.

3. The fall-proof intelligent inspection robot according to claim 2, characterized in that: The push handle is provided in multiple ways, and the multiple push handles are arranged sequentially along the axial direction of the sleeve.

4. The fall-resistant intelligent inspection robot according to claim 3, characterized in that: The protective frame is equipped with pulleys, which are located above the robot, and the middle of the pull rope passes over the pulleys.

5. The fall-proof intelligent inspection robot according to claim 4, characterized in that: The arc-shaped teeth and the swing claws are provided with multiple sets that work in a matching manner. The multiple sets of swing claws are distributed in a circular array around the wheel on the periphery of the slide shaft.

6. The fall-proof intelligent inspection robot according to claim 5, characterized in that: A torsion spring connects the swing claw to the protective frame, and a spring is also provided between the sliding shaft and the protective frame.

7. The fall-prevention intelligent inspection robot according to any one of claims 1-6, characterized in that: The sleeve, push handle, slide shaft, drive wheel, driven wheel, friction wheel and pull rope are each provided in two sets, with the two sets of structures located on both sides of the track.

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