CN221165716U - Hanging equipment suitable for river course detection robot - Google Patents
Hanging equipment suitable for river course detection robot Download PDFInfo
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- CN221165716U CN221165716U CN202322951448.9U CN202322951448U CN221165716U CN 221165716 U CN221165716 U CN 221165716U CN 202322951448 U CN202322951448 U CN 202322951448U CN 221165716 U CN221165716 U CN 221165716U
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- river course
- support arm
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- 238000001514 detection method Methods 0.000 title claims abstract description 22
- 238000007689 inspection Methods 0.000 claims description 10
- 238000009795 derivation Methods 0.000 abstract description 3
- 238000010276 construction Methods 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004512 die casting Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Abstract
The utility model belongs to the field of hanging equipment, in particular to hanging equipment suitable for a river channel detection robot, which at least comprises a base and is characterized in that: still include the support arm, on the articulated base in support arm bottom, the top of support arm articulates there is hanging wheel mechanism, hanging wheel mechanism includes fixed plate, wire pulley and stop gear at least, and wherein the fixed plate articulates with the top of support arm, and the fixed plate is opened there is the via hole, and wire pulley connects on the fixed plate, and wire pulley's derivation end is located the via hole directly over, and stop gear sets up in via hole department. The safe rotation angle can be limited according to the balance weight, the robot, the hanging distance and the like.
Description
Technical Field
The utility model belongs to the field of hanging equipment, and particularly relates to hanging equipment suitable for a river channel detection robot.
Background
The engineering construction mostly depends on field operation of mechanical equipment, and part of equipment needs to be lowered to underwater or construction points from the shore.
The traditional equipment lowering device is a simple tripod or a heavy hoisting machine, the limitation of the simple tripod is large, manual pulling is needed for most of the equipment lowering device, the lowering speed is controlled, and the safety is low. The heavy hoisting machine has high construction cost and is suitable for heavy equipment.
The robot for river channel detection is used as equipment of an inspection well, and a simple tripod can damage the equipment due to uncertainty of the lowering speed and the distance, so that economic loss is caused, and the construction period is delayed.
The traditional robot hanging equipment for river channel detection adopts an electric reel to be placed on one side of a tripod or a lifting appliance, and the hanging equipment is lifted through a motor on the electric reel, so that risks of rollover of the tripod or the lifting appliance, pulling and sliding of the electric reel and the like possibly exist for overweight equipment. At present, the river channel or the culvert has certain height fall, the hanging space is small, and the detection environment with adverse factors such as slopes is more and more common. The currently applied hoisting method is an automobile crane, a truck-mounted crane or a small cantilever crane, and the like, the expanding space of the automobile crane is large, the whole size of the truck-mounted crane is large, the economical efficiency of small hoisting equipment is poor, and the hoisting and paying-off functions are not integrated and unified.
Disclosure of utility model
The utility model aims to provide hanging equipment suitable for a river channel detection robot.
The technical scheme adopted for solving the technical problems is as follows: hanging equipment suitable for river course detection robot includes base, characterized by at least: still include the support arm, on the articulated base in support arm bottom, the top of support arm articulates there is hanging wheel mechanism, hanging wheel mechanism includes fixed plate, wire pulley and stop gear at least, and wherein the fixed plate articulates with the top of support arm, and the fixed plate is opened there is the via hole, and wire pulley connects on the fixed plate, and wire pulley's derivation end is located the via hole directly over, and stop gear sets up in via hole department.
The bottom of the base is provided with a base fixing device used for being connected with the transportation equipment.
The supporting arm consists of a main supporting arm and an auxiliary telescopic arm, wherein the bottom end of the main supporting arm is hinged on the base through a main supporting hinge, the top end of the main supporting arm is connected with the auxiliary telescopic arm in a telescopic manner, and the crane mechanism is hinged at the top end of the auxiliary telescopic arm.
The main supporting arms are left and right groups which are arranged in parallel, the bottom ends of each group of main supporting arms are hinged to the left and right sides of the base through a group of main supporting hinges, the top ends of each group of main supporting arms are respectively connected with a group of auxiliary telescopic arms in a telescopic manner, the top ends of the two groups of auxiliary telescopic arms are fixedly connected to the left and right ends of the connecting supporting rod, and the crane mechanism is hinged to the lower surface of the middle section of the connecting supporting rod.
And a lifting hydraulic rod for pushing the main support arm to rotate along the main support hinge is also connected between the main support arm and the base.
And a telescopic hydraulic rod for pushing the auxiliary telescopic arm to stretch is also connected between the main supporting arm and the auxiliary telescopic arm.
The fixing plate is of a circular structure, a through hole is formed in the center of the fixing plate, and the upper surfaces of the fixing plates on the opposite sides of the through Kong Liangxiang are hinged with hinge mounting seats positioned at the top ends of the supporting arms through a group of fixing rods respectively.
The limiting mechanism comprises a hydraulic push rod and a limiting latch, wherein the limiting latch is connected to one side of the through hole in a sliding mode and one side of the limiting latch in the sliding direction is connected with the hydraulic push rod, when the hydraulic push rod is in a contracted state, the limiting latch does not cover the through hole, and when the hydraulic push rod is in an extended state, the limiting latch covers the through hole partially; the size of the through hole is larger than the size of the robot tail limiting block to be lifted when no shielding exists, and the size of the through hole is smaller than the size of the robot tail limiting block to be lifted when partial shielding exists.
The limiting latch is of a U-shaped structure with an opening at one side, the opening is opposite to the through hole, the inner edge is of a closing-in structure, namely the inner diameter of the opening is larger than the inner diameter of the inner side, the inner diameter of the opening is consistent with the aperture of the through hole, the inner diameter of the inner side is smaller than the outer diameter of a robot tail limiting block to be lifted, when the hydraulic push rod is in a contracted state, the opening of the limiting latch is overlapped with the through hole and does not cover the through hole, and when the hydraulic push rod is in an extended state, the inner side of the closing-in rear of the limiting latch is overlapped with the through hole and covers the through hole.
The supporting arm is also fixed with an angle sensor.
The beneficial effects of the utility model are as follows: the hoisting equipment is provided with the larger base, materials such as masonry can be temporarily adopted for carrying out counterweight on a hoisting site, meanwhile, the position of the hoisting wheel mechanism can be adjusted by the supporting arm, so that a river channel detection robot to be hoisted is hoisted to the water surface by the river bank, a limiting mechanism of the hoisting wheel mechanism can control the release of a cable when the hoisting operation is needed, the friction between a rope and equipment during the hoisting along the river bank is effectively avoided, meanwhile, the hoisting equipment adopts a form of rotating a telescopic arm around a fulcrum, the river channel detection robot to be hoisted is hoisted to the water surface by the river bank, the problem that the hoisting center is biased and the equipment is possibly caused is solved, and meanwhile, the angle sensor on the hoisting equipment can also limit the safe rotation angle according to the counterweight, the robot, the hoisting distance and the like.
Drawings
The utility model is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of the construction of the present lifting apparatus;
FIG. 2 is a side view of the present lifting apparatus;
FIG. 3 is a top view of the crane mechanism;
In the figure: 1. a base; 2. a main support arm; 3. lifting a hydraulic rod; 4. a main support hinge; 5. an auxiliary telescopic arm; 6. a telescopic hydraulic rod; 7. an angle sensor; 8. a hanging wheel mechanism; 9. a connecting strut; 801. a fixing plate; 802. a hinge mount; 803. a wire pulley; 804. a limit latch; 805. a hydraulic push rod; 806. and (5) a via hole.
Detailed Description
Example 1: hanging equipment suitable for river course detection robot includes base 1 at least, still includes the support arm, on support arm bottom articulated base 1, the top of support arm articulates there is hanging wheel mechanism 8, hanging wheel mechanism 8 includes fixed plate 801, wire pulley 803 and stop gear at least, wherein fixed plate 801 articulates with the top of support arm, and fixed plate 801 opens has via hole 806, and wire pulley 803 is connected on fixed plate 801, and the derivation end of wire pulley 803 is located directly over via hole 806, and stop gear sets up in via hole 806 department.
The base 1 and the supporting arm are made of aluminum alloy materials, a die casting process is adopted, the bearing capacity is high, the outside of the supporting arm is stuck with a reflective mark, and the whole crane mechanism 8 can be connected to the top end of the supporting arm in a detachable connection mode.
After this hang equipment of putting moves to the river bank limit during the use, adjusts to working position, hangs the cable with river course detection robot connection, hangs the cable and passes behind the hole 806 wire winding pulley 803 and be connected with the cable winch that is used for the cable to receive and release, and stop gear of hole 806 department carries out spacingly to the stopper of river course detection robot afterbody, and stop gear releases the spacing to the stopper when needing to drop the river course detection robot, and the stopper of river course detection robot afterbody can be through hole 806, hangs and put the operation.
Compared with the traditional tripod, the hoisting equipment is provided with the larger base 1, materials such as masonry can be temporarily adopted for counterweight on a hoisting site, and meanwhile, the position of the hoisting mechanism 8 can be adjusted by the supporting arm, so that a river channel detection robot to be hoisted is hoisted to the water surface by a river bank, and a limiting mechanism of the hoisting mechanism 8 can control the release of a cable when hoisting operation is needed, thereby effectively avoiding friction of ropes and equipment when hoisting along the river bank.
In this embodiment, the transmission structure that is used for cable winch of cable receive and releases uses the form of turbine worm, and the cable winch is located base 1, and the cable winch possesses the self-locking function, designs simultaneously and has the separation and reunion, when the self-locking function damages, also can unlock the self-locking function through manual mode.
The top of the supporting arm can be further provided with a laser range finder, the current distance between the equipment and the shore can be known through calculation, the lower speed is set and adjusted according to the actual distance, and convenience and safety are guaranteed.
Example 2: the bottom of the base 1 is provided with a base fixing device used for being connected with a conveying device, the conveying device is a pick-up card or a truck tail or other conveying devices, the fixing device can be fixed through a pin or a loop chain, and the specific structure of the fixing device can be any connecting structure form capable of firmly fixing the base 1.
The support arm comprises a main support arm 2 and an auxiliary telescopic arm 5, wherein the bottom end of the main support arm 2 is hinged on the base 1 through a main support hinge 4, the top end of the main support arm 2 is connected with the auxiliary telescopic arm 5 in a telescopic manner, and the hanging wheel mechanism 8 is hinged on the top end of the auxiliary telescopic arm 5.
The main supporting arms 2 are left and right groups which are arranged in parallel, the bottom ends of each group of main supporting arms 2 are hinged to the left and right sides of the base 1 through a group of main supporting hinges 4, the top ends of each group of main supporting arms 2 are connected with a group of auxiliary telescopic arms 5 in a telescopic manner, the top ends of the two groups of auxiliary telescopic arms 5 are fixedly connected to the left and right ends of the connecting supporting rod 9, and the crane mechanism 8 is hinged to the lower surface of the middle section of the connecting supporting rod 9.
And a lifting hydraulic rod 3 for pushing the main support arm 2 to rotate along the main support hinge 4 is also connected between the main support arm 2 and the base 1.
And a telescopic hydraulic rod 6 for pushing the auxiliary telescopic arm 5 to stretch is also connected between the main support arm 2 and the auxiliary telescopic arm 5.
The supporting arm is also fixed with an angle sensor 7.
When the device works, the lifting hydraulic rod 3 is started, the device is lifted to be separated from the placing platform, the distance from the water surface lowering position to the lifting device is measured, and the telescopic hydraulic rod 6 is ejected to be not smaller than the distance. In order to avoid the risk of the riverway detection robot being inclined in the hoisting process, the maximum rotation angle can be calculated according to the weight of the hoisted equipment and the distance between the lowered position and the hoisting mechanism 8, the angle sensor 7 is used for monitoring and limiting in real time, and then the hydraulic rod 3 is started continuously to a required angle.
The lifting device adopts a mode of rotating the telescopic arm around a fulcrum, and lifts the river channel detection robot to be lifted to the water surface from the river bank. And traditional tripod only can carry out vertical decurrent hanging, if hang and put the center and take place the biasing, can cause the tripod to take place to incline, this angle sensor 7 who hangs on putting equipment simultaneously also can be according to counter weight, robot, hang and put the distance etc. restriction safe rotation angle.
Example 3: the fixing plate 801 is of a circular structure, a through hole 806 is formed in the center of the fixing plate 801, and the upper surfaces of the fixing plate 801 on two opposite sides of the through hole 806 are hinged with a hinge mounting seat 802 positioned at the top end of the supporting arm through a group of fixing rods.
The limiting mechanism comprises a hydraulic push rod 805 and a limiting latch 804, wherein the limiting latch 804 is slidably connected to one side of the through hole 806 and is connected with the hydraulic push rod 805 along one side of the sliding direction, when the hydraulic push rod 805 is in a contracted state, the limiting latch 804 does not shield the through hole 806, and when the hydraulic push rod 805 is in an extended state, the limiting latch 804 shields the through hole 806 partially; the size of the via hole 806 is larger than the size of the robot tail stopper to be lifted when no shielding exists, and the size of the via hole 806 is smaller than the size of the robot tail stopper to be lifted when partial shielding exists.
The limit latch 804 is a U-shaped structure with an opening at one side, the opening is opposite to the via hole 806, the inner edge is provided with a closing-in structure, namely, the inner diameter of the opening is larger than the inner diameter of the inner side, wherein the inner diameter of the opening is consistent with the aperture of the via hole 806, the inner diameter of the inner side is smaller than the outer diameter of a tail limiting block of the robot to be lifted, when the hydraulic push rod 805 is in a contracted state, the opening of the limit latch 804 is overlapped with the via hole 806 and does not cover the via hole 806, and when the hydraulic push rod 805 is in an extended state, the inner side of the closed-in position of the limit latch 804 is overlapped with the via hole 806 and partially covers the via hole 806.
When the river channel detection robot needs to be lowered during hanging operation, the hydraulic push rod 805 retreats the limit latch 804 to an unlocking state, limiting of the limiting block is relieved, and the river channel detection robot tail cable limiting block can be hung through the through hole 806.
Claims (10)
1. Hanging equipment suitable for river course detection robot includes base (1), characterized by at least: still include the support arm, on support arm bottom articulated base (1), the top of support arm articulates has hanging wheel mechanism (8), hanging wheel mechanism (8) include fixed plate (801), wire pulley (803) and stop gear at least, wherein fixed plate (801) are articulated with the top of support arm, and fixed plate (801) are opened there is via hole (806), and wire pulley (803) are connected on fixed plate (801), and the leading-out end of wire pulley (803) is located directly over via hole (806), and stop gear sets up in via hole (806) department.
2. The lifting device for a river course inspection robot according to claim 1, wherein: the bottom of the base (1) is provided with a base fixing device used for being connected with transportation equipment.
3. The lifting device for a river course inspection robot according to claim 1, wherein: the supporting arm is composed of a main supporting arm (2) and an auxiliary telescopic arm (5), wherein the bottom end of the main supporting arm (2) is hinged on the base (1) through a main supporting hinge (4), the top end of the main supporting arm (2) is connected with the auxiliary telescopic arm (5) in a telescopic way, and the crane mechanism (8) is hinged on the top end of the auxiliary telescopic arm (5).
4. A lifting device for a river course inspection robot according to claim 3 and characterized in that: the main supporting arms (2) are arranged in parallel, the bottom ends of the main supporting arms (2) are hinged to the left side and the right side of the base (1) through a main supporting hinge (4), the top ends of the main supporting arms (2) are connected with a group of auxiliary telescopic arms (5) in a telescopic manner, the top ends of the two groups of auxiliary telescopic arms (5) are fixedly connected to the left end and the right end of the connecting supporting rod (9), and the crane mechanism (8) is hinged to the lower surface of the middle section of the connecting supporting rod (9).
5. A lifting device for a river course inspection robot according to claim 3 and characterized in that: and a lifting hydraulic rod (3) for pushing the main support arm (2) to rotate along the main support hinge (4) is further connected between the main support arm (2) and the base (1).
6. A lifting device for a river course inspection robot according to claim 3 and characterized in that: and a telescopic hydraulic rod (6) used for pushing the auxiliary telescopic arm (5) to stretch is further connected between the main supporting arm (2) and the auxiliary telescopic arm (5).
7. The lifting device for a river course inspection robot according to claim 1, wherein: the fixing plate (801) is of a circular structure, a through hole (806) is formed in the center of the fixing plate, and the upper surfaces of the fixing plates (801) on two opposite sides of the through hole (806) are hinged with a hinge mounting seat (802) located at the top end of the supporting arm through a group of fixing rods.
8. The lifting device for a river course inspection robot according to claim 1 or 7, characterized in that: the limiting mechanism comprises a hydraulic push rod (805) and a limiting latch (804), wherein the limiting latch (804) is slidably connected to one side of the through hole (806) and is connected with the hydraulic push rod (805) along one side of the sliding direction, when the hydraulic push rod (805) is in a contracted state, the limiting latch (804) does not shield the through hole (806), and when the hydraulic push rod (805) is in an extended state, the limiting latch (804) shields the through hole (806) partially; the size of the via hole (806) is larger than the size of the tail limiting block of the robot to be lifted when no shielding exists, and the size of the via hole (806) is smaller than the size of the tail limiting block of the robot to be lifted when partial shielding exists.
9. The lifting device for a river course inspection robot of claim 8, wherein: the limiting latch (804) is of a U-shaped structure with an opening at one side, the opening is opposite to the via hole (806), the inner edge is of a closing-in structure, namely the inner diameter of the opening is larger than the inner diameter of the inner side, the inner diameter of the opening is consistent with the diameter of the via hole (806), the inner diameter of the inner side is smaller than the outer diameter of a tail limiting block of the robot to be lifted, when the hydraulic push rod (805) is in a contracted state, the opening of the limiting latch (804) is overlapped with the via hole (806) to prevent the via hole (806), and when the hydraulic push rod (805) is in an extended state, the inner side of the closing-in rear of the limiting latch (804) is overlapped with the via hole (806) to partially prevent the via hole (806).
10. The lifting device for a river course inspection robot according to claim 1, wherein: the supporting arm is also fixed with an angle sensor (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322951448.9U CN221165716U (en) | 2023-11-01 | 2023-11-01 | Hanging equipment suitable for river course detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322951448.9U CN221165716U (en) | 2023-11-01 | 2023-11-01 | Hanging equipment suitable for river course detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221165716U true CN221165716U (en) | 2024-06-18 |
Family
ID=91530545
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322951448.9U Active CN221165716U (en) | 2023-11-01 | 2023-11-01 | Hanging equipment suitable for river course detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221165716U (en) |
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2023
- 2023-11-01 CN CN202322951448.9U patent/CN221165716U/en active Active
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