Rail type inspection robot camera up-down movement structure

Abstract

The utility model relates to robot technical field provides a track type inspection robot camera up and down movement structure, include: robot body, the bottom fixed connection of robot body has camera. The utility model, through the controller control motor one starts, makes its output shaft drive the input shaft rotation of speed reducer, and through the output shaft of speed reducer drive the rotation of rotary lever and winding wheel, releases to the lifting belt, makes robot body and camera gradually move down, will camera drop to appropriate height, contrarily, through the controller control motor one reverse rotation, and under the cooperation of speed reducer, the winding of lifting belt is carried out, makes the lifting belt shrink, synchronously drives robot body and camera to move up, like this can make this device when facing elevated pipeline, high -placed equipment etc. detection target, can adjust camera to appropriate height to improve the efficiency, space adaptability and stability of inspection robot inspection.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a track-type inspection robot camera vertical movement structure. Background Technology

[0002] Track-mounted inspection robots are automated inspection devices that move along a pre-set track, primarily used for intelligent monitoring in scenarios such as power, chemical, rail transportation, and data centers. Their core consists of a mobile chassis, multimodal sensors (such as visible light / infrared cameras, gas detectors, and lidar), a control system, and a communication module. They achieve precise positioning and stable movement via tracks (such as guide rails, suspended rails, or ground tracks).

[0003] In existing technologies, traditional lifting structures have certain drawbacks when inspection robots face targets such as elevated pipelines and high-positioned equipment. For example, structures using hydraulic telescopic rods have a fixed extension stroke (e.g., only able to lift 1.5 meters), which cannot adapt to inspection needs at different heights of 2-5 meters. This forces the robot to frequently move its position, reducing inspection efficiency and limiting height adjustment. Some rigid straight rod lifting devices are bulky (e.g., with a diameter of 0.8 meters when unfolded), making them difficult to deploy in narrow alleys (e.g., width ≤ 1 meter) or densely packed equipment areas, and they may even collide with surrounding facilities, resulting in poor spatial adaptability. When traditional screw-driven lifting rods reach their highest point, the upward shift of the center of gravity can cause a ±5° sway, resulting in blurred images captured by the onboard infrared detector, affecting the accuracy of defect identification, and indicating insufficient stability. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies in inspection robots when facing targets such as elevated pipelines and high-positioned equipment. Traditional lifting structures have certain deficiencies, such as the fixed extension stroke of hydraulic telescopic rods (e.g., only able to lift 1.5 meters), which cannot adapt to inspection needs at different heights of 2-5 meters. This leads to frequent robot relocation, reducing inspection efficiency and limiting height adjustment. Some rigid straight rod lifting devices are bulky (e.g., with a diameter of 0.8 meters after unfolding), making them difficult to deploy in narrow alleys (e.g., width ≤ 1 meter) or densely packed equipment areas, and they may even collide with surrounding facilities, resulting in poor spatial adaptability. Traditional screw-driven lifting rods tend to sway by ±5° when raised to the highest point due to the upward shift of the center of gravity, causing blurry images captured by the onboard infrared detector, affecting the accuracy of defect identification, and exhibiting insufficient stability.

[0005] To achieve the above objectives, this utility model adopts the following technical solution: a track-type inspection robot camera vertical movement structure, comprising: a robot body, wherein a camera is fixedly connected to the bottom of the robot body, and further comprising:

[0006] A lower connecting plate is fixedly connected to the top of the robot body. A bamboo-joint type lifting rod is fixedly connected to the top of the lower connecting plate. An upper connecting plate is fixedly connected to the top of the bamboo-joint type lifting rod. A bracket is fixedly connected to the top of the upper connecting plate. A reducer is fixedly connected to one side of the inner wall of the bracket. A motor is fixedly connected to one side of the reducer. The output end of the motor is fixedly connected to the input end of the reducer. A frame is fixedly connected to one side of the reducer. A rotating rod is rotatably connected to the opposite side of the inner wall of the frame. One end of the rotating rod is fixedly connected to the output end of the reducer. A winding wheel is fixedly connected to the outer surface of the rotating rod. A lifting belt is fixedly wound around the outer surface of the winding wheel. One end of the lifting belt is fixedly connected to the inner wall of the bamboo-joint type lifting rod. An adjustment mechanism is provided inside the bracket.

[0007] Preferably, the adjustment mechanism includes a square frame, with grooves on opposite sides of the square frame. Two sliders are symmetrically slidably connected to the inner walls of the grooves, and limit rollers are rotatably connected to the opposite sides of the two sliders.

[0008] Preferably, a bidirectional lead screw is rotatably connected to one side of the inner wall of one of the slide grooves, and two of the sliders are threadedly connected to the bidirectional lead screw. A second motor is fixedly connected to one side of the frame, and the output end of the second motor is fixedly connected to one end of the bidirectional lead screw.

[0009] Preferably, a lower connecting plate is fixedly connected to the opposite side of the inner wall of the other slide groove, the lower connecting plate is slidably connected to the other two sliders, and the outer surface of the lifting belt is movably connected to the middle of the two limiting rollers.

[0010] Preferably, two auxiliary rollers are rotatably connected to opposite sides of the inner wall of the frame, and the two auxiliary rollers are arranged in a staggered manner, one above the other.

[0011] Preferably, the top of the upper connecting plate has a through hole, the bottom of the bracket has a through groove, and the outer surface of the lifting belt is movably connected to the inside of the through groove and the through hole from top to bottom.

[0012] Preferably, a track-mounted mobile device is fixedly connected to the top of the bracket.

[0013] Preferably, a protective frame is fixedly connected to the outer surface of the upper connecting plate, and the protective frame is fixedly connected to the bracket.

[0014] Compared with the prior art, the advantages and positive effects of this utility model are as follows:

[0015] 1. This utility model, through the controller controlling the motor to start, causes its output shaft to drive the input shaft of the reducer to rotate. The output shaft of the reducer then drives the rotating rod and the winding wheel to rotate, releasing the lifting belt. At this time, under the action of gravity of the robot body and the camera, the robot body and the camera gradually move downward, and simultaneously the bamboo-shaped lifting rod extends, lowering the camera to a suitable height. Conversely, through the controller controlling the motor to rotate in the opposite direction, and with the cooperation of the reducer, the lifting belt is wound up, causing the lifting belt to contract, and simultaneously driving the robot body and the camera upward. In this way, when facing inspection targets such as overhead pipelines and high-positioned equipment, the camera can be adjusted to a suitable height, thereby improving the inspection efficiency, spatial adaptability and stability of the inspection robot.

[0016] 2. This utility model controls the start of motor two via a controller, causing its output shaft to drive the bidirectional lead screw to rotate. This allows two sliders to move towards or away from each other along the outer surface of the bidirectional lead screw, simultaneously causing the other two sliders to slide towards or away from each other along the outer surface of the lower connecting plate. This also synchronously drives two limiting rollers to move towards or away from each other. The distance between the two limiting rollers can be appropriately adjusted to facilitate proper clamping of the lifting belt, keeping the portion of the lifting belt inside the bamboo-joint lifting rod vertical. This allows the distance between the two limiting rollers to be appropriately adjusted according to the thickness of the lifting belt, thereby ensuring the tightness of the clamping of the lifting belt by the two limiting rollers. Attached Figure Description

[0017] Figure 1 A bottom view of the camera's vertical movement structure for a track-type inspection robot provided by this utility model;

[0018] Figure 2 A schematic diagram of the internal structure of the camera vertical movement structure of a track-type inspection robot provided by this utility model;

[0019] Figure 3 A partial structural diagram of the camera vertical movement structure of a track-type inspection robot provided by this utility model;

[0020] Figure 4 This is a partial cross-sectional structural diagram of the camera vertical movement structure of a track-type inspection robot provided by this utility model.

[0021] Legend:

[0022] 1. Robot body; 2. Camera; 3. Bamboo-style lifting rod; 4. Upper connecting plate; 5. Protective frame; 6. Bracket; 7. Track-mounted mobile device; 8. Reducer; 9. Motor 1; 10. Frame; 11. Rotating rod; 12. Rewinding wheel; 13. Lifting belt; 14. Auxiliary roller; 15. Limiting roller; 16. Square frame; 17. Slide groove; 18. Bidirectional lead screw; 19. Slider; 20. Motor 2; 21. Lower connecting plate; 22. Through hole; 23. Through groove. Detailed Implementation

[0023] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0024] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0025] Examples, such as Figure 1-4 As shown, this utility model provides a track-type inspection robot camera vertical movement structure, including: a robot body 1, a camera 2 fixedly connected to the bottom of the robot body 1, and a lower connecting plate 21 fixedly connected to the top of the robot body 1. A bamboo-joint type lifting rod 3 is fixedly connected to the top of the lower connecting plate 21, an upper connecting plate 4 is fixedly connected to the top of the bamboo-joint type lifting rod 3, a bracket 6 is fixedly connected to the top of the upper connecting plate 4, a reducer 8 is fixedly connected to one side of the inner wall of the bracket 6, a motor 9 is fixedly connected to one side of the reducer 8, the output end of the motor 9 is fixedly connected to the input end of the reducer 8, a frame 10 is fixedly connected to one side of the reducer 8, a rotating rod 11 is rotatably connected to the opposite side of the inner wall of the frame 10, one end of the rotating rod 11 is fixedly connected to the output end of the reducer 8, a take-up wheel 12 is fixedly connected to the outer surface of the rotating rod 11, a lifting belt 13 is fixedly wound around the outer surface of the take-up wheel 12, one end of the lifting belt 13 is fixedly connected to the inner wall of the bamboo-joint type lifting rod 3, and an adjustment mechanism is provided inside the bracket 6.

[0026] Furthermore, such as Figure 1-4 As shown, the adjustment mechanism includes a square frame 16. Each of the opposite sides of the square frame 16 is provided with a slide groove 17. Two sliders 19 are symmetrically slidably connected to the inner wall of the slide groove 17. The opposite side of the two sliders 19 is rotatably connected to a limiting roller 15. With the above arrangement, the sliders 19 can slide along the inside of the slide groove 17. The limiting roller 15 facilitates the limiting and guiding of the lifting belt 13.

[0027] Furthermore, such as Figure 1-4 As shown, a bidirectional lead screw 18 is rotatably connected to one side of the inner wall of one of the slide grooves 17. Two sliders 19 are threadedly connected to the bidirectional lead screw 18. A motor 20 is fixedly connected to one side of the frame 16. The output end of the motor 20 is fixedly connected to one end of the bidirectional lead screw 18. The motor 20 is started by controlling the controller, so that its output shaft drives the bidirectional lead screw 18 to rotate, which can make the two sliders 19 move towards or away from each other along the outer surface of the bidirectional lead screw 18.

[0028] Furthermore, such as Figure 1-4 As shown, a lower connecting plate 21 is fixedly connected to the opposite side of the inner wall of another slide 17. The lower connecting plate 21 is slidably connected to two other sliders 19. The outer surface of the lifting belt 13 is movably connected to the middle of the two limiting rollers 15. With the above arrangement, the slider 19 can slide along the outer surface of the lower connecting plate 21.

[0029] Furthermore, such as Figure 1-4 As shown, two auxiliary rollers 14 are rotatably connected to opposite sides of the inner wall of the frame 10. The two auxiliary rollers 14 are arranged in a staggered manner, and the auxiliary rollers 14 serve to support and guide the lifting belt 13.

[0030] Furthermore, such as Figure 1-4 As shown, the top of the upper connecting plate 4 is provided with a through hole 22, and the bottom of the bracket 6 is provided with a through groove 23. The outer surface of the lifting belt 13 is movably connected to the inside of the through groove 23 and the through hole 22 from top to bottom. With the above arrangement, the lifting belt 13 can pass through the through groove 23 and the through hole 22 in sequence to enter the inside of the bamboo-shaped lifting rod 3.

[0031] Furthermore, such as Figure 1-4 As shown, a track-mounted mobile device 7 is fixedly connected to the top of the bracket 6. The track-mounted mobile device 7 facilitates the movement of this device along the track.

[0032] Furthermore, such as Figure 1-4 As shown, a protective frame 5 is fixedly connected to the outer surface of the upper connecting plate 4. The protective frame 5 is fixedly connected to the bracket 6. The protective frame 5 provides a certain degree of shielding and protection.

[0033] Working principle: In use, the track-mounted mobile device 7 is placed on the track, causing it to move along the track. This is existing technology and will not be described in detail. When the camera 2 needs to be adjusted up and down, the controller starts the motor 9, causing its output shaft to drive the input shaft of the reducer 8 to rotate. The output shaft of the reducer 8 then drives the rotating rod 11 and the winding wheel 12 to rotate, releasing the lifting belt 13. This reduces the tension on the robot body 1 and the camera 2. At this time, under the action of gravity, the robot body 1 and the camera 2 gradually move together. As the robot moves downwards, the bamboo-joint lifting rod 3 extends, lowering the camera 2 to a suitable height. Conversely, the controller controls motor 9 to rotate in the opposite direction, and with the cooperation of reducer 8, the rotating rod 11 and winding wheel 12 rotate in the opposite direction, winding up the lifting belt 13 and applying an upward pulling force to the bamboo-joint lifting rod 3, causing the lifting belt 13 to retract. This simultaneously drives the robot body 1 and camera 2 upwards. This allows the device to adjust the camera 2 to a suitable height when facing targets such as overhead pipelines and high-positioned equipment, thereby improving the inspection efficiency of the inspection robot. The auxiliary roller 14, designed for spatial adaptability and stability, supports and guides the lifting belt 13. The controller starts the motor 20, causing its output shaft to rotate the bidirectional lead screw 18. Under the threaded connection between the bidirectional lead screw 18 and two of the sliders 19, and with the guidance of the lower connecting plate 21 for the other two sliders 19, two of the sliders 19 can move towards or away from each other along the outer surface of the bidirectional lead screw 18. Simultaneously, the other two sliders 19 slide towards or away from each other along the outer surface of the lower connecting plate 21, synchronously driving the two limiting rollers 15 towards or away from each other. The two limiting rollers 15 move in opposite directions, and the distance between them is adjusted appropriately to facilitate the clamping of the lifting belt 13 to a suitable degree. This keeps the part of the lifting belt 13 inside the bamboo-shaped lifting rod 3 in a vertical state. The distance between the two limiting rollers 15 can be adjusted according to the thickness of the lifting belt 13, thereby ensuring the tightness of the clamping of the lifting belt 13 by the two limiting rollers 15. That is, when the robot body 1 and the camera 2 are heavy, it is necessary to select a lifting belt 13 with an appropriate thickness to prevent the lifting belt 13 from breaking due to being unable to support the weight of the robot body 1 and the camera 2.

[0034] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present utility model without departing from the technical solution of the present utility model shall still fall within the protection scope of the technical solution of the present utility model.

Claims

1. A track-type inspection robot camera vertical movement structure, comprising: A robot body (1), wherein a camera (2) is fixedly connected to the bottom of the robot body (1), characterized in that it further includes: The lower connecting plate (21) is fixedly connected to the top of the robot body (1). A bamboo-joint type lifting rod (3) is fixedly connected to the top of the lower connecting plate (21). An upper connecting plate (4) is fixedly connected to the top of the bamboo-joint type lifting rod (3). A bracket (6) is fixedly connected to the top of the upper connecting plate (4). A reducer (8) is fixedly connected to one side of the inner wall of the bracket (6). A motor (9) is fixedly connected to one side of the reducer (8). The output end of the motor (9) is fixedly connected to the input of the reducer (8). At one end, a frame (10) is fixedly connected to one side of the reducer (8), and a rotating rod (11) is rotatably connected to the opposite side of the inner wall of the frame (10). One end of the rotating rod (11) is fixedly connected to the output end of the reducer (8), and a winding wheel (12) is fixedly connected to the outer surface of the rotating rod (11). A lifting belt (13) is fixedly wound around the outer surface of the winding wheel (12), and one end of the lifting belt (13) is fixedly connected to the inner wall of the bamboo-joint lifting rod (3). An adjustment mechanism is provided inside the bracket (6).

2. The track-type inspection robot camera vertical movement structure according to claim 1, characterized in that: The adjustment mechanism includes a frame (16), and a sliding groove (17) is provided on each opposite side of the frame (16). Two sliders (19) are symmetrically slidably connected to the inner wall of the sliding groove (17), and a limit roller (15) is rotatably connected to the opposite side of the two sliders (19).

3. The track-type inspection robot camera vertical movement structure according to claim 2, characterized in that: One of the slide grooves (17) has a bidirectional lead screw (18) rotatably connected to the opposite side of its inner wall. Two sliders (19) are threadedly connected to the bidirectional lead screw (18). A second motor (20) is fixedly connected to one side of the frame (16). The output end of the second motor (20) is fixedly connected to one end of the bidirectional lead screw (18).

4. The track-type inspection robot camera vertical movement structure according to claim 3, characterized in that: A lower connecting plate (21) is fixedly connected to the opposite side of the inner wall of another slide (17). The lower connecting plate (21) is slidably connected to two other sliders (19). The outer surface of the lifting belt (13) is movably connected to the middle of two limiting rollers (15).

5. The track-type inspection robot camera vertical movement structure according to claim 1, characterized in that: Two auxiliary rollers (14) are rotatably connected to opposite sides of the inner wall of the frame (10), and the two auxiliary rollers (14) are arranged in a staggered manner, one above the other.

6. The track-type inspection robot camera vertical movement structure according to claim 1, characterized in that: The top of the upper connecting plate (4) is provided with a through hole (22), and the bottom of the bracket (6) is provided with a through groove (23). The outer surface of the lifting belt (13) is movably connected to the inside of the through groove (23) and the through hole (22) from top to bottom.

7. The track-type inspection robot camera vertical movement structure according to claim 6, characterized in that: The top of the bracket (6) is fixedly connected to the track moving device (7).

8. The track-type inspection robot camera vertical movement structure according to claim 7, characterized in that: A protective frame (5) is fixedly connected to the outer surface of the upper connecting plate (4), and the protective frame (5) is fixedly connected to the bracket (6).

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