阅读说明：本技术 一种基于巡检机器人的提升装置 (Hoisting device based on inspection robot ) 是由 张羽 施海仁 吴迎春 冯玲玲 于 2021-09-02 设计创作，主要内容包括：本发明公开了一种基于巡检机器人的提升装置,包括上部外框和下部外框,所述上部外框与下部外框搭接构成巡检机器人本体的行走通道,所述上部外框上设置有用于巡检机器人本体在行走通道上运行的提升机构,所述下部外框内部设置有用于防止巡检机器人本体的防掉落保护装置,本发明通过在上部外框和下部外框之间设置引导轨道,巡检机器人本体在提升过程中,将两侧的引导组件中的引导轮卡接在引导轨道上,使巡检机器人本体在竖直方向上的提升更加稳定,同时,通过轿厢主体的外筒上设置内轴,并通过在内轴上套接弹簧,实现巡检机器人本体在提升过程中柔性提升,进一步增强提升稳定性。(The invention discloses a lifting device based on an inspection robot, which comprises an upper outer frame and a lower outer frame, wherein the upper outer frame and the lower outer frame are overlapped to form a walking channel of an inspection robot body, a lifting mechanism for the inspection robot body to run on the walking channel is arranged on the upper outer frame, and an anti-falling protection device for preventing the inspection robot body is arranged in the lower outer frame. Further enhancing the lift stability.)

1. A lifting device based on an inspection robot comprises an upper outer frame (1) and a lower outer frame (2), and is characterized in that the upper outer frame (1) and the lower outer frame (2) are overlapped to form a walking channel of an inspection robot body (3);

the upper outer frame (1) is provided with a lifting mechanism for the inspection robot body (3) to run on the walking channel;

the lower part outer frame (2) is internally provided with an anti-falling protection device (4) for preventing the inspection robot body (3) from falling.

2. The inspection robot based lifting device according to claim 1, wherein a backing plate (3011) is arranged on the top surface of the car body (301) of the inspection robot body (3), and a connecting assembly for hanging a cable is arranged on the top of the backing plate (3011).

3. The inspection robot-based lifting device according to claim 2, wherein the lifting mechanism comprises a lifting motor (101) fixedly arranged at the top of the upper outer frame (1), and the output end of the lifting motor (101) is connected with the connecting assembly of the car body (301) through a cable.

4. The lifting device based on the inspection robot according to claim 2, wherein the connecting assembly comprises an outer barrel (3012) fixedly arranged on a backing plate (3011), an inner shaft (3013) is slidably connected to the inside of the outer barrel (3012), a supporting block is fixedly connected to the bottom end of the inner shaft (3013), the supporting block is slidably arranged inside the outer barrel (3012), a spring (3014) is sleeved on the inner shaft (3013), and two ends of the spring (3014) are abutted to the top surface of the inner wall of the outer barrel (3012) and the top surface of the supporting block.

5. The lifting device based on the inspection robot as claimed in claim 4, wherein guide grooves are symmetrically formed in two sides of the outer circumferential surface of the outer cylinder (3012), and clamping blocks are arranged on two sides of the supporting block and penetrate through the guide grooves and are slidably connected to the guide grooves.

6. The lifting device based on the inspection robot is characterized in that guide rails (102) used for the inspection robot body (3) to move are fixedly arranged on two sides of the inner portions of the upper outer frame (1) and the lower outer frame (2), guide assemblies (302) matched with the guide rails (102) are arranged on two sides of a car body (301) of the inspection robot body (3), and the guide assemblies (302) are used for limiting the lifting of the inspection robot body (3) on the guide rails (102).

7. The inspection robot-based lifting device according to claim 6, wherein the guide wheel mounting arm (3021) of the guide assembly (302) is fixedly mounted on the end surface of the car body (301), and guide wheels (3022) are arranged at two ends of the end surface of the guide wheel mounting arm (3021), and the guide wheels (3022) are in an I-shaped structure and are clamped on the guide rail (102).

8. The lifting device based on the inspection robot is characterized in that the number of the anti-falling protection devices (4) is two, the two anti-falling protection devices (4) are respectively located on two sides inside the lower outer frame (2) and are fixed through mounting beams (201), a mounting plate (401) of each anti-falling protection device (4) is fixedly arranged on the side wall of the lower outer frame (2), a U-shaped groove is formed in the top of the mounting plate (401) in a downward extending mode, sleeve rods are fixedly arranged on two sides of the U-shaped groove, a protection rod (403) is connected to each sleeve rod in a sliding mode, the protection rod (403) is connected with one end of a pressing rod (402) in a sliding mode, the middle position of the pressing rod (402) is hinged to the mounting plate (401), and the other end of the pressing rod (402) extends into the U-shaped groove;

and the two sides of the car main body (301) are provided with press hooks (303) matched with the press rods (402).

9. The inspection robot based lifting device according to claim 8, wherein a connecting column is arranged at the top of the protection rod (403), a loop-shaped groove is formed in one end, connected with the protection rod (403), of the pressing rod (402), and the connecting column is slidably connected into the loop-shaped groove.

10. The inspection robot based lifting device according to claim 2, wherein a grating plate (304) for stroke monitoring is arranged at the bottom of a car body (301) of the inspection robot body (3).

Technical Field

The invention relates to the technical field of lifting devices, in particular to a lifting device based on an inspection robot.

Background

Sewage treatment is one of the indispensable works in urban infrastructure. In order to ensure the normal work of a rainwater storage tank, an urban underground pipe gallery and an underground or semi-underground sewage treatment plant, the on-site patrol is required to be regularly carried out, the water quality is monitored, the running condition of equipment is monitored, the working state of the equipment is collected, the appearance abnormality of the equipment is immediately found, and a water sample is detected.

Because the traditional inspection work is mainly completed by workers, the labor intensity of the workers is high, the operation cost is increased, and harmful gas in a working site easily damages the bodies of the workers, so that the development of the inspection robot which is reliable in walking and can turn on a track in a small radius is necessary.

When the inspection robot performs inspection work, batteries carried by the inspection robot need to be charged in time due to insufficient electric power. Can be owing to reasons such as the mounted position that fills electric pile among the operating condition, patrol and examine the robot and need promote through hoisting device and patrol and examine the track that the robot reachs and fill electric pile, follow new orbital motion to filling electric pile position, but the current promotion poor stability of patrolling and examining the robot in charging process can not play effectual guard action to patrolling and examining the robot.

Disclosure of Invention

The invention aims to provide a lifting device based on an inspection robot.

The technical problem solved by the invention is as follows:

(1) how to realize the stability improvement of the inspection robot in the charging process;

(2) how to realize effectively protecting patrolling and examining the robot at the promotion in-process, prevent to patrol and examine the robot and promote dropping of in-process.

The purpose of the invention can be realized by the following technical scheme:

a lifting device based on an inspection robot comprises an upper outer frame and a lower outer frame, wherein the upper outer frame and the lower outer frame are lapped to form a walking channel of an inspection robot body;

the upper outer frame is provided with a lifting mechanism for the inspection robot body to run on the walking channel;

the lower part frame is inside to be provided with and to be used for preventing to patrol and examine the anti-falling protection device that robot body dropped.

As a further scheme of the invention: the top surface of the car main body of the inspection robot body is provided with a base plate, and the top of the base plate is provided with a connecting assembly used for suspending a cable.

As a further scheme of the invention: the lifting mechanism comprises a lifting motor fixedly arranged at the top of the upper outer frame, and the output end of the lifting motor is connected with the connecting assembly of the car main body through a cable.

As a further scheme of the invention: the connecting assembly comprises an outer barrel fixedly arranged on the base plate, an inner shaft is connected to the inside of the outer barrel in a sliding mode, a supporting block is fixedly connected to the bottom end of the inner shaft and is arranged inside the outer barrel in a sliding mode, a spring is sleeved on the inner shaft, and the two ends of the spring abut against the top surface of the inner wall of the outer barrel and the top surface of the supporting block.

As a further scheme of the invention: guide grooves are symmetrically formed in two sides of the outer circumferential surface of the outer barrel, clamping blocks are arranged on two sides of the supporting block, and the clamping blocks penetrate through the guide grooves and are connected to the guide grooves in a sliding mode.

As a further scheme of the invention: the fixed guide rail that is used for patrolling and examining the motion of robot body that is provided with in upper portion frame and the inside both sides of lower part frame, the car main part both sides of patrolling and examining the robot body are provided with the guide assembly with guide rail looks adaptation, the guide assembly is used for patrolling and examining the promotion of robot body on the guide rail spacing.

As a further scheme of the invention: guide assembly's guide pulley installation arm fixed mounting is on the terminal surface of car main part, the terminal surface both ends of guide pulley installation arm are provided with the guide pulley, the guide pulley is I shape structure and joint on the guide track.

As a further scheme of the invention: the anti-falling protection device comprises two anti-falling protection devices, wherein the two anti-falling protection devices are respectively positioned at two sides inside the lower outer frame and are fixed through mounting beams, a mounting plate of the anti-falling protection device is fixedly arranged on the side wall of the lower outer frame, the top of the mounting plate extends downwards to form a U-shaped groove, sleeve rods are fixedly arranged at two sides of the U-shaped groove, a protection rod is connected onto each sleeve rod in a sliding mode and is connected with one end of a pressing rod in a sliding mode, the middle of each pressing rod is hinged onto the mounting plate, and the other end of each pressing rod extends into the U-shaped groove;

the both sides of car main part are provided with the pressure hook with depression bar looks adaptation.

As a further scheme of the invention: the top of guard bar is provided with the spliced pole, the return groove has been seted up to the one end that depression bar and guard bar are connected, spliced pole sliding connection is in returning the groove.

As a further scheme of the invention: the car main part bottom of patrolling and examining the robot body is provided with the grating board that is used for the stroke monitoring.

The invention has the beneficial effects that:

(1) according to the inspection robot, the guide rails are arranged between the upper outer frame and the lower outer frame, the guide wheels in the guide assemblies on two sides are clamped on the guide rails in the lifting process of the inspection robot body, so that the inspection robot body is lifted more stably in the vertical direction, meanwhile, the inner shaft is arranged on the outer cylinder of the car main body, and the inspection robot body is flexibly lifted in the lifting process by sleeving the spring on the inner shaft, so that the lifting stability is further enhanced;

(2) according to the invention, the anti-falling protection devices are arranged on two sides of the lower outer frame, the compression bar of the anti-falling protection device is inclined upwards at one end of the compression bar positioned at the U-shaped notch under the action of the gravity of the protection bar, and the press hooks on two sides of the car main body are positioned right above the compression bar, namely when the car main body slides down in the lifting process, the press hooks on two sides of the car main body are hung on the compression bar, and the buffer protection effect on the car main body is realized through the lever action of the compression bar and the protection bar, so that the inspection robot body is effectively prevented from being damaged in the sliding down process.

Drawings

The invention will be further described with reference to the accompanying drawings.

FIG. 1 is a perspective view of the present invention;

fig. 2 is a schematic structural view of a car body in the present invention;

FIG. 3 is a schematic view of the connecting assembly of the present invention;

fig. 4 is a schematic structural view of the falling prevention protection device of the present invention.

In the figure: 1. an upper outer frame; 101. a hoisting motor; 102. a guide rail; 2. a lower outer frame; 201. mounting a beam; 3. the inspection robot body; 301. a car body; 3011. a base plate; 3012. an outer cylinder; 3013. an inner shaft; 3014. a spring; 302. a guide assembly; 3021. a guide wheel mounting arm; 3022. a guide wheel; 303. pressing a hook; 304. a grating plate; 4. an anti-drop protection device; 401. mounting a plate; 402. a pressure lever; 403. a guard bar.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 4, the lifting device based on the inspection robot of the present invention includes an upper outer frame 1 and a lower outer frame 2, the upper outer frame 1 and the lower outer frame 2 are overlapped to form a walking channel of an inspection robot body 3, and the walking channel is arranged to communicate the inspection robot body 3 between the upper outer frame 1 and the lower outer frame 2, so as to lift the inspection robot body 3 during the charging process.

The upper outer frame 1 is provided with a lifting mechanism for the inspection robot body 3 to run on the walking channel, and the lifting operation of the inspection robot body 3 is realized through the arrangement of the lifting mechanism;

wherein, the inside anti-falling protection device 4 that is used for preventing to patrol and examine robot 3 and drops that is provided with of lower part frame 2, through anti-falling protection device 4's setting, the realization is to patrolling and examining robot 3 at the buffering guard action of gliding in-process.

Referring to fig. 2, a backing plate 3011 is arranged on the top surface of the car body 301 of the inspection robot body 3, a connection assembly for suspending a cable is arranged on the top of the backing plate 3011, the connection assembly includes an outer cylinder 3012 fixedly arranged on the backing plate 3011, an inner shaft 3013 is slidably connected inside the outer cylinder 3012, a support block is fixedly connected to the bottom end of the inner shaft 3013, the support block is slidably arranged inside the outer cylinder 3012, a spring 3014 is sleeved on the inner shaft 3013, and two ends of the spring 3014 abut against the top surface of the inner wall of the outer cylinder 3012 and the top surface of the support block;

when the inspection robot is used, the inner shaft 3013 is arranged on the outer cylinder 3012 of the car body 301, the spring 3014 is sleeved on the inner shaft 3013, the spring 3014 is extruded inside the outer cylinder 3012 in the lifting process of the inspection robot body 3, the inspection robot body 3 is flexibly lifted in the lifting process, and the lifting stability is further enhanced;

the lifting mechanism comprises a lifting motor 101 fixedly arranged at the top of the upper outer frame 1, the output end of the lifting motor 101 is connected with a connecting component of the car main body 301 through a cable, the inspection robot body 3 is lifted by winding the lifting motor 101, and the inspection robot body 3 is driven to lift by a winch or a chain in the working process of the lifting motor 101;

wherein, the guide way has been seted up to outer periphery bilateral symmetry of urceolus 3012, the both sides of supporting shoe are provided with the fixture block, the fixture block runs through the guide way and sliding connection is on the guide way, and the supporting shoe passes through the fixture block joint of both sides on the guide way, makes the supporting shoe more stable in the ascending removal of vertical side, improves the promotion stability of patrolling and examining robot body 3.

Referring to fig. 1, the inner two sides of the upper outer frame 1 and the lower outer frame 2 are fixedly provided with a guide rail 102 for routing inspection of the movement of the robot body 3, the two sides of the car main body 301 of the robot body 3 are provided with guide assemblies 302 matched with the guide rail 102, the guide assemblies 302 are used for limiting the lifting of the robot body 3 on the guide rail 102, guide wheel mounting arms 3021 of the guide assemblies 302 are fixedly mounted on the end surface of the car main body 301, guide wheels 3022 are arranged at the two ends of the end surface of the guide wheel mounting arms 3021, and the guide wheels 3022 are in an i-shaped structure and are clamped on the guide rail 102.

When the inspection robot is used, in the lifting process of the inspection robot body 3, the guide rails 102 are arranged between the upper outer frame 1 and the lower outer frame 2, and the guide wheels 3022 in the guide assemblies 302 at two sides are clamped on the guide rails 102, so that the inspection robot body 3 is lifted more stably in the vertical direction;

wherein, be provided with two guide wheels 3022 on the guide wheel installation arm 3021, through guide wheel 3022's joint and conveying effect, further promote to patrol and examine robot body 3 and promote stability.

Referring to fig. 2 to 4, two anti-drop protection devices 4 are provided, the two anti-drop protection devices 4 are respectively located at two sides inside the lower outer frame 2 and are fixed through a mounting beam 201, a mounting plate 401 of the anti-drop protection device 4 is fixedly arranged on a side wall of the lower outer frame 2, a U-shaped groove is formed in the top of the mounting plate 401 in a downward extending manner, sleeve rods are fixedly arranged at two sides of the U-shaped groove, a protection rod 403 is slidably connected to the sleeve rods, the protection rod 403 is slidably connected to one end of a compression rod 402, the middle position of the compression rod 402 is hinged to the mounting plate 401, and the other end of the compression rod 402 extends into the U-shaped groove, so that the compression rod 402 and the protection rod form a lever structure on the mounting plate 401, and the compression rod 402 drives the protection rod 403 to slide in the sleeve rods 403;

the two sides of the car body 301 are provided with pressing hooks 303 matched with the pressing rod 402, the top of the protection rod 403 is provided with a connecting column, one end of the pressing rod 402 connected with the protection rod 403 is provided with a returning groove, the connecting column is connected in the returning groove in a sliding manner, and the pressing rod 402 and the protection rod 403 can be prevented from being clamped in the working process by the returning groove;

during the use, set up anti-falling protection device 4 through the both sides at lower part frame 2, anti-falling protection device 4's depression bar 402 receives protective bar 403 action of gravity down, the one end tilt up that makes depression bar 402 be located U type notch sets up, make the pressure hook 303 of car main part 301 both sides be located depression bar 402 directly over, when car main part 301 takes place the landing in the promotion process promptly, the pressure hook 303 of car main part 301 both sides articulates on depression bar 402, lever effect through depression bar 402 and protective bar 403, realize the buffering guard action to car main part 301, effectively avoid patrolling and examining robot body 3 and cause the damage at the gliding in-process.

Referring to fig. 1, car main part 301 bottom of patrolling and examining robot body 3 is provided with the grating board 304 that is used for the stroke monitoring, and be provided with the photoelectric sensor who is used for detecting grating board 304 in upper portion frame 1, during the use, detect grating board 304 on the car main part 301 through photoelectric sensor, judge the position of patrolling and examining robot body 3, the realization is patrolled and examined the definite of robot body 3 position on guide rail 102, and through the inside photoelectricity correlation switch of upper portion frame 1, whether patrolling and examining robot body 3 and promoting to target in place, thereby judge whether patrolling and examining robot body 3 has promoted and fill on orbital the same horizontal plane of electric pile.

While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.