CN109774734A - Track travel device and track machine people - Google Patents
Track travel device and track machine people Download PDFInfo
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- CN109774734A CN109774734A CN201910180215.9A CN201910180215A CN109774734A CN 109774734 A CN109774734 A CN 109774734A CN 201910180215 A CN201910180215 A CN 201910180215A CN 109774734 A CN109774734 A CN 109774734A
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Abstract
The present invention relates to a kind of track travel device and track machine people, and wherein for track travel device for walking in the first siding track (300) disposed in parallel and the second siding track uplink, track travel device includes: walking ontology (100)；First traveling wheel (200) is mounted on the first side of walking ontology (100), for walking on the first siding track (300)；With the second traveling wheel, it is mounted on second side of walking ontology (100), for walking in the second siding track uplink；Track travel device further include: elastic limit device, setting is in walking ontology (100), for the first traveling wheel (200) and the second traveling wheel to be kept on the first siding track (300) and the second siding track and can adapt to the change width between the first siding track (300) and the second siding track.Track travel device of the present invention had not only been adapted to the change width between the first siding track and the second siding track, but also the stability of track travel device in motion can be improved, and reduced the shaking of track travel device.
Description
Technical field
The present invention relates to track travel field of mechanical technique more particularly to a kind of track travel device and track machine people.
Background technique
Currently, being mostly used rail wheel and tracks positioned when existing track machine people walks in orbit.As shown in Figure 1, track
One side end face of wheel 10 is equipped with wheel side 20, and the cylindrical surface portion of rail wheel 10 is bonded with the upper surface of track, takes turns side 20 and track
Medial surface block limit, the wheel side 20 on the rail wheel 10 of the left and right sides respectively by entire robot left and right directions displacement limit
It makes.
Since there are certain tolerances for the positions of two tracks, so the distance of two track medial surfaces is really a changing value,
This requires spacing of the wheel side of two sides rail wheel in design to be less than the minimum deviation value of track, to guarantee robot two
It smooth can be run on track.Thus a technological deficiency occur: in order to avoid track machine, people is stuck in motion, and two
The distance between wheel side of siding track wheel will take turns side and track side surfaces always forever less than the minimum range of two siding track medial surfaces
There are gap, that is, entire robot is in orbit when driving, and actual machine human agent is always to shake in two interorbitals,
Wheel side only can guarantee this shaking volume in a certain range, and this range precisely detects for orbit geometry parameter
Say it is very big.The robot detection process that orbits in this way actually introduces a Uncertainty, will affect entire
Robot traveling comfort.
It should be noted that the information for being disclosed in background of invention part is merely intended to increase to totality of the invention
The understanding of background, and be not construed as recognizing or imply in any form the information constitute by those skilled in the art public affairs
The prior art known.
Summary of the invention
The purpose of the present invention is to propose to a kind of track travel device and track machine people, as much as possible raising track travel dress
Set stability when walking.
To achieve the above object, the present invention provides a kind of track travel devices, in the first siding track disposed in parallel
It is walked with the second siding track uplink, comprising:
Walking ontology；
First traveling wheel is mounted on the first side of walking ontology, for walking on the first siding track；With
Second traveling wheel is mounted on second side of walking ontology, for walking in the second siding track uplink；
Track travel device further include:
Elastic limit device, setting is on walking ontology, for the first traveling wheel and the second traveling wheel to be kept at
On first siding track and the second siding track and it can adapt to the change width between the first siding track and the second siding track.
Optionally, elastic limit device includes the first limit assembly and the second limit assembly, the first limit assembly and second
At least one of limit assembly have elasticity with the variation of width between the first siding track and the second siding track and deformation occurs,
And
First limit assembly and the second limit assembly are separately positioned on the inner side and outer side of the first siding track；Or
First limit assembly and the second limit assembly are separately positioned on the inner side and outer side of the second siding track；Or
One in first limit assembly and the second limit assembly is arranged in the inner or outer side of the first siding track, the first limit
The inner or outer side of the second siding track is arranged in another in component and the second limit assembly.
Optionally, in the cross perpendicular with the direction of travel of walking ontology between the first limit assembly and the second limit assembly
Distance on direction is adjustable.
Optionally, the first limit assembly includes bracket and the first connector, and bracket is equipped with the first connecting hole, ontology of walking
It is equipped with the second connecting hole, the first connector passes through the first connecting hole and the second connecting hole with connecting bracket and walking ontology, the
One connecting hole and/or the second connecting hole are the first slotted hole.
Optionally, track travel device further includes mounting rail, and mounting rail is mounted on the transverse side of walking ontology, and second connects
Hole is connect to be arranged on mounting rail.
Optionally, mounting rail on walking ontology to be transversely mounted position adjustable.
Optionally, the first connecting hole is circular hole, and the second connecting hole is the first slotted hole, and the first limit assembly includes adjusting dress
It sets, regulating device is used to make the first connector move along its length in the first slotted hole when rotating the first connector, with
Drive bracket relative to walking ontology movement.
Optionally, regulating device includes deck and gasket, and deck is mounted on walking ontology, and deck includes perpendicular to first
The first rib and the second rib of the length direction setting of slotted hole, gasket is generally circular, gasket setting in the first rib and
Between second rib, the width between the diameter of gasket and the first rib and the second rib is equal, and gasket is prejudicially equipped with through-hole,
Deck is equipped with the second slotted hole, and the first connector passes through through-hole and the second slotted hole, and gasket and the first connector are in circumferential direction
It is upper relatively fixed.
Optionally, circumferentially arranged with scale on gasket, deck is equipped with index line, and gasket rotates and passes through relative to deck
Index line corresponds to the position of scale to show position of first connector in the second slotted hole.
Optionally, the first limit assembly further includes guiding device, and guiding device is used in bracket relative to walking ontology fortune
Bracket is oriented to when dynamic.
Optionally, guiding device includes mounting groove, hoodle nuts and bolt, and mounting groove setting is on walking ontology and in length
Bar shaped, hoodle nut are rotatably arranged in mounting groove, and bolt passes through bracket and is connected through a screw thread with hoodle nut.
Optionally, at least one end of the first connector be equipped with can operation portion, can operation portion be configured to facilitate operational instrument
Keep relatively fixed to drive the first connector relative to holder pivots with the first connector.
Optionally, the first limit assembly and the second limit assembly are separately positioned on the inner side and outer side of the first siding track, and first
Limit assembly includes elastic component, and elastic component adjusts the first limit for deforming when the thickness of the first siding track changes
Distance between component and the second limit assembly in a lateral direction.
Optionally, the first limit assembly includes bracket, the first support plate and the first locating wheel, and bracket and walking ontology connect
It connects, the first support plate is movably arranged relative to bracket, and the first locating wheel is mounted in the first support plate, and the first locating wheel is used
It is mutually contradicted in the side of the first siding track, elastic component is arranged between bracket and the first support plate.
Optionally, the second connector is equipped between bracket and the first support plate, elastic component includes spring, and spring is set in the
On two connectors, the both ends of the second connector are equipped with the scope of activities that fixed part is used to limit the first support plate.
Optionally, bracket and/or the first support plate are equipped with the mounting hole for connecting with the second connector, mounting hole packet
The accommodating section for accommodating elastic component is included, to limit to elastic component.
Optionally, mounting height of first locating wheel in the first support plate is adjustable.
Optionally, the second limit assembly includes third connector and the second locating wheel, and the second locating wheel is connected by third
Part is connect with walking ontology.
Optionally, the second locating wheel is adjustable relative to the mounting height of the first siding track.
To achieve the above object, the present invention also provides a kind of track machine people, including above-mentioned track travel device.
Based on the above-mentioned technical proposal, track travel Installation practice of the present invention includes elastic limit device, passes through the elasticity
First traveling wheel and the second traveling wheel can be kept on the first siding track and the second siding track and be can adapt to by limiting device
Change width between first siding track and the second siding track.By the way that elastic limit device is arranged, it can both make track travel device suitable
The change width between the first siding track and the second siding track is answered, and track travel device in motion steady can be improved as much as possible
It is qualitative, reduce track travel device shaking and as shaking and caused by part connection loosen even failure and and then cause
Safety problem.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of track travel device upper rail wheel in the prior art.
Fig. 2 is the partial structure diagram of track travel device one embodiment of the present invention.
Fig. 3 is the partial structure diagram of track travel device one embodiment of the present invention from another viewpoint.
Fig. 4 is the structural schematic diagram of the first limit assembly in track travel device one embodiment of the present invention.
Fig. 5 is the explosive view of the first limit assembly in track travel device one embodiment of the present invention.
Fig. 6 is the structural schematic diagram of bracket in track travel device one embodiment of the present invention.
Fig. 7 is the partial structure diagram of the first limit assembly in track travel device one embodiment of the present invention.
Fig. 8 is the structural schematic diagram of the first support plate in track travel device one embodiment of the present invention.
Fig. 9 is the structural schematic diagram of the second limit assembly in track travel device one embodiment of the present invention.
In figure:
10, rail wheel；2, side is taken turns；
100, walking ontology；200, the first traveling wheel；300, the first siding track；400, the first limit assembly；500, the second limit
Hyte part；600, mounting rail；700, angled seat is installed；
401, bracket；402, the first locating wheel；403, the first connector；404, deck；405, hoodle nut；406, first
Support plate；407, elastic component；408, the second connector；409, the second support plate；410, the first locking nut；411, gasket；
412, bolt；413, washer；414, the second locking nut；415, third locking nut；416, the first mounting hole；417, third connects
Connect hole；418, the first connecting hole；419, reinforcing rib；420, through-hole；421, the second slotted hole；422, scale；423, index line；
424, the second mounting hole；425, third mounting hole；
501, third connector；502, the second locating wheel；503, the 4th locking nut；504, the 5th locking nut；505,
First end；506, the second end.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, is clearly and completely retouched to the technical solution in embodiment
It states.Obviously, described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Bright embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term " center ", " transverse direction ", " longitudinal direction ", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
The limitation of the scope of the present invention.
Referring to figs. 2 and 3 shown in, for respectively in terms of the front side of track travel device and rear side when track travel one, device
The structural schematic diagram of embodiment, in this embodiment, track travel device are used in the first siding track 300 and second disposed in parallel
It walks in siding track (not shown), track travel device includes walking ontology 100, the first traveling wheel 200 and the second traveling wheel
(not shown), the first traveling wheel 200 are mounted on the first side of walking ontology 100, and the first traveling wheel 200 is used in the first side
It walks on rail 300；Second traveling wheel is mounted on second side of walking ontology 100, and the second traveling wheel is used in the second siding track uplink
It walks.
Track travel device further includes elastic limit device, and elastic limit device setting is on walking ontology 100, elasticity limit
Position device is used to for the first traveling wheel 200 and the second traveling wheel being kept on the first siding track 300 and the second siding track and energy
Enough adapt to the change width between the first siding track 300 and the second siding track.
In the above-described embodiments, track travel device includes elastic limit device, by the elastic limit device, can be incited somebody to action
First traveling wheel 200 and the second traveling wheel are kept on the first siding track 300 and the second siding track and can adapt to the first siding track
300 and the second change width between siding track.Benefit using flexible elastic limit device is, in the first siding track 300
And the second width between siding track can adapt to the first siding track 300 and when changing by the deformation of elastic limit device
Change width between two siding tracks improves the adaptability to different in width track；But also it can keep to track travel device
Limit, guarantee track travel device stability in motion, reduce the shaking of track travel device, and due to shaking and
Caused by part connection loosen even failure and and then cause safety problem.
In the above-described embodiments, track travel device includes elastic limit device, can play holding and position-limiting action, because
This, which can cancel, is arranged wheel side in the axial sides of the first traveling wheel 200 and the second traveling wheel, avoids due to being provided with fixation
It takes turns side and the change width between the first siding track 300 and the second siding track can not be adapted to, can also be avoided to adapt to width change
Change and the horizontal spacing of the first traveling wheel 200 and the second traveling wheel is deliberately set smaller than the first siding track 300 and the second siding track
Between minimum widith brought by shake the problems such as.
In an alternative embodiment, elastic limit device includes the first limit assembly 400 and the second limit assembly
500, at least one of the first limit assembly 400 and the second limit assembly 500 have elasticity with the first siding track 300 and the
The variation of width between two siding tracks and deformation occurs.First limit assembly 400 and the second limit assembly 500 can be separately positioned on
The inner side and outer side of first siding track 300；First limit assembly 400 and the second limit assembly 500 can also be separately positioned on second
The inner side and outer side of siding track；Alternatively, one in the first limit assembly 400 and the second limit assembly 500 is arranged in the first siding track
300 inner or outer side, another in the first limit assembly 400 and the second limit assembly 500 are arranged in the second siding track
Side or outside.
The inner side and outer side of the first siding track 300 is separately positioned on for the first limit assembly 400 and the second limit assembly 500
Technical solution for, be equivalent on track travel device through the first limit assembly 400 and the second limit assembly 500
One traveling wheel 200 is stablized on the first siding track 300, and the second traveling wheel is freely overlapped on the second siding track, the second traveling wheel
Can with the change width between the first siding track 300 and the second siding track transverse shifting, as long as guarantee the second traveling wheel can
Always it is overlapped on the second siding track.
The inner side and outer side of second siding track is separately positioned on for the first limit assembly 400 and the second limit assembly 500
For technical solution, it is equivalent to second on track travel device through the first limit assembly 400 and the second limit assembly 500
Traveling wheel is stablized on the second siding track, and the first traveling wheel 200 is freely overlapped on the first siding track 300, the first traveling wheel 200
Can with the change width between the first siding track 300 and the second siding track transverse shifting, as long as guarantee 200 energy of the first traveling wheel
It is enough to be overlapped on the first siding track 300 always.
For one in the first limit assembly 400 and the second limit assembly 500 be arranged in the first siding track 300 inside or
The skill of the inner or outer side of the second siding track is arranged in outside, another in the first limit assembly 400 and the second limit assembly 500
For art scheme, it is equivalent to through the first limit assembly 400 and the second limit assembly 500 simultaneously by the first traveling wheel 200 and the
Two traveling wheels are kept on the first siding track 300 and the second siding track, and elastic limit device has elasticity, therefore can be with
Change width between first siding track 300 and the second siding track and adaptively adjust the first traveling wheel 200 and the first siding track 300 or
The laterally opposed position of the second traveling wheel of person and the second siding track.
The specific structure of 2~9 pairs of track travel Installation practices provided by the invention is retouched in detail with reference to the accompanying drawing
It states.
As shown in Figures 2 and 3, the outside of the first siding track 300 is arranged in the first limit assembly 400, and the second limit assembly 500 is set
It sets in the inside of the first siding track 300.
Perpendicular with the direction of travel of walking ontology 100 between first limit assembly 400 and the second limit assembly 500
Distance in transverse direction is adjustable.The benefit being arranged in this way is to install the first limit assembly 400 and the second limit assembly 500
When, can in advance by the lateral distance of the first limit assembly 400 and the second limit assembly 500 adjust to the first siding track 300 and
In the range of width between second siding track matches, more successfully to adapt between the first siding track 300 and the second siding track
Width.
It further include mounting rail for the ease of the first limit assembly 400 of installation and the second limit assembly 500, track travel device
600, mounting rail 600 is connected to the transverse side of walking ontology 100, and the first limit assembly 400 and the second limit assembly 500 can be with
It is installed on mounting rail 600.
Position is adjustable, and mounting rail 600 adjustable in this way is opposite for being transversely mounted on walking ontology 100 of mounting rail 600
In the extension elongation of walking ontology 100, and then adjust transverse direction of the elastic limit device relative to the first siding track 300 and the second siding track
Position.
Mounting rail 600 is connect by the installation angled seat 700 of triangle with walking ontology 100.Angled seat 700 is installed and is equipped with the
One hole and the second hole, connector passes through the first hole and makes to install angled seat 700 to be connect with ontology 100 of walking, and another connector is across the
Two holes connect installation angled seat 700 with mounting rail 600, wherein the second hole is slotted hole, thus adjustable mounting rail 600 exists
Position is transversely mounted on walking ontology 100.
As shown in Figure 4, Figure 5 and Figure 6, the first limit assembly 400 includes bracket 401 and the first connector 403, bracket 401
It is equipped with the first connecting hole 418, mounting rail 600 is equipped with the second connecting hole, and the first connector 403 passes through the first connecting hole 418
With the second connecting hole with connecting bracket 401 and mounting rail 600, the first connecting hole 418 and/or the second connecting hole are first oval
Hole.
By setting the first slotted hole at least one of the first connecting hole 418 and second connecting hole, may be implemented
Adjusting to lateral distance between the first limit assembly 400 and the second limit assembly 500.
Further, the first limit assembly 400 includes regulating device, and regulating device is used to rotate the first connector 403
When move the first connector 403 along its length in the first slotted hole.It, can be more easily by the way that regulating device is arranged
Adjust the lateral distance between the first limit assembly 400 and the second limit assembly 500.
As shown in fig. 7, regulating device includes deck 404 and gasket 411, deck 404 is mounted on walking ontology 100, card
Seat 404 includes the first rib and the second rib perpendicular to the length direction setting of the first slotted hole, and gasket 411 is substantially in circle
Shape, gasket 411 is arranged between the first rib and the second rib, between the diameter and the first rib and the second rib of gasket 411
Width it is equal, gasket 411 prejudicially be equipped with through-hole 420, deck 404 be equipped with the second slotted hole 421, the first connector 403
Across through-hole 420 and the second slotted hole 421, and gasket 411 and the first connector 403 are relatively fixed in the circumferential.
Wherein, for realizing there are many kinds of gasket 411 and the first connectors 403 in the circumferential relatively-stationary mode.?
Mode employed in the present embodiment is that through-hole 420 is semicircle, and the section of the first connector 403 is the shape with through-hole 420
The semicircle matched can realize gasket 411 and the first connector 403 in circumferential direction relatively fixed in this way.
Deck 404 is U-shaped, and groove can be set on mounting rail 600, and deck 404 is mounted in groove.Deck 404 and pad
The quantity of piece 411 is two, is separately positioned in the upper and lower surfaces of mounting rail 600.
One end of first connector 403 is equipped with end cap, washer 413 can be set between end cap and gasket 411, with the company of raising
The reliability connect.The other end of first connector 403 is locked and is fixed by the first locking nut 410, the first locking screw
Mother 410 can use nylon material, by be arranged the first locking nut 410 can play preferable anti-loosing effect, avoid due to
The flank of first connector 403 cuts away reduction that is a part of and causing integral strength.First locking nut 410 and gasket 411
Between washer 413 also can be set.
When needing lateral position of the adjusting bracket 401 relative to mounting rail 600, the first connector 403 can be first rotated,
Since the first connector 403 is relatively fixed in the circumferential with gasket 411, gasket 411 is stuck in deck 404, and through-hole 420 is eccentric
Setting, therefore the first connector 403 can be driven to move along its length in the second slotted hole 421 when the rotation of gasket 411.
And first connecting hole 418 be circular hole, the second connecting hole is the first slotted hole, therefore oval second in the first connector 403
When moving along its length in hole 421, bracket 401 can be driven whole mobile relative to mounting rail 600, so as to adjust the
Lateral distance between one limit assembly 400 and the second limit assembly 500.
Optionally, circumferentially arranged with scale 422 on gasket 411, deck 404 is equipped with index line 423, and gasket 411 is opposite
It is rotated in deck 404 and shows the first connector 403 in the second slotted hole by the position of the corresponding scale 422 of index line 423
Position in 421.Index line 423 is arranged between the first rib of deck 404 and the second rib.
First limit assembly 400 can also include guiding device, and guiding device is used in bracket 401 relative to mounting rail
The movement of bracket 401 is oriented to when 600 movement.
Optionally, guiding device includes mounting groove, hoodle nut 405 and bolt 412, and mounting groove setting is in walking ontology
On 100 and elongated, hoodle nut 405 is rotatably arranged in mounting groove, and third connecting hole is additionally provided on bracket 401
417, bolt 412 passes through third connecting hole 417 and is connected through a screw thread with hoodle nut 405.
When bracket 401 is integrally laterally moved relative to mounting rail 600, hoodle nut 405 occurs to roll and along peace
Tankage sliding, to be oriented to the movement of bracket 401.
For ease of operation, at least one end of the first connector 403 be equipped with can operation portion, can operation portion be configured to facilitate
Operational instrument keeps relatively fixed to drive the first connector 403 to rotate relative to bracket 401 with the first connector 403.
Can operation portion concrete form can there are many selection.For example, can operation portion can be in the first connector 403
The end cap of the hexagonal end cap in section set by one end, this structure type can be conducive in order to cooperate with operational instrument
Clamping end cap by operational instrument drives the first connector 403 to rotate.Can operation portion can also be in the first connector 403
With the end of symmetrical section set by the other end, the end of this structure convenient for operational instrument to the first connector 403 into
Row is fixed, and then is conducive to driving the first connector 403 rotation.
In the present embodiment, the first limit assembly 400 and the second limit assembly 500 are separately positioned on the first siding track 300
Inner side and outer side, the first limit assembly 400 include elastic component 407, and elastic component 407 is used to occur in the thickness of the first siding track 300
It is deformed when variation to adjust the distance between the first limit assembly 400 and the second limit assembly 500 in a lateral direction.
As shown in Fig. 4~8, the first limit assembly 400 includes bracket 401, the first support plate 406 and the first locating wheel 402,
Bracket 401 is connect with walking ontology 100, and the first support plate 406 is movably arranged relative to bracket 401, the first locating wheel 402
It is mounted in the first support plate 406, the first locating wheel 402 is used to mutually contradict with the side of the first siding track 300, elastic component 407
It is arranged between bracket 401 and the first support plate 406.
When the thickness of the first siding track 300 increases, the first locating wheel 402 squeezes elastic component 407 and deforms, the first support
The direction of plate 406 to close bracket 401 is mobile, to increase the cross between the first limit assembly 400 and the second limit assembly 500
To distance, increase to adapt to the thickness of the first siding track 300；When the thickness of the first siding track 300 reduces, the gesture of elastic component 407
It can restore, the first support plate 406 of driving is mobile to the direction far from bracket 401, to reduce the first limit assembly 400 and second
Lateral distance between limit assembly 500 reduces to adapt to the thickness of the first siding track 300, guarantees the first locating wheel 402 always
Mutually contradict, kept to the clamping action of the first siding track 300 with the side of the first siding track 300, orbit keeping running gear it is steady
It is qualitative.
Further, the second connector 408 is equipped between bracket 401 and the first support plate 406, elastic component 407 includes bullet
Spring, spring are set on the second connector 408, and the both ends of the second connector 408 are equipped with fixed part for limiting the first support plate
406 scope of activities.
Optionally, the diameter of the second connector 408 is identical as the internal diameter of spring, guarantees that spring does not occur partially in compression process
Folding guarantees uniform force and stabilization, improves spring life.
One end of second connector 408 is equipped with end cap, which can limit the second connector 408 and be pierced by bracket 401, the
The other end of two connectors 408 is fixed by the second locking nut 414, is pierced by first to limit the second connector 408
Fagging 406.By adjusting the screw-in position of the second locking nut 414, the pretightning force of elastic component 407 can also be adjusted, is adapted to not
With the track of coefficient of friction.
As shown in fig. 6, the first limit assembly 400 further includes the second support plate 409, the second support plate 409 is fixedly mounted on
On bracket 401.Reinforcing rib 419 is additionally provided on bracket 401, for improving structural strength.
Bracket 401 and/or the first support plate 406 are equipped with the mounting hole for connecting with the second connector 408, mounting hole
Including the accommodating section for accommodating elastic component 407, to be limited to elastic component 407.
Specifically, mounting hole can be the first mounting hole 416 being arranged on bracket 401, or setting is the
The second mounting hole 424 in one support plate 406.It, can by the way that accommodating section is arranged in the first mounting hole 416 and the second mounting hole 424
At least partly to accommodate elastic component 407, elastic component 407 is avoided to misplace.
As shown in figure 8, the first support plate 406 is equipped with third mounting hole 425, the axial sides of the first locating wheel 402 are set
There is screwed linkage section, which screws in third mounting hole 425 by being threadedly engaged, and realizes and the first support plate
406 connection.Linkage section is locked and is fixed by third locking nut 415.It, can by adjusting the screw-in position of linkage section
It is adjustable to adjust mounting height of first locating wheel 402 in the first support plate 406.
Mounting height of first locating wheel 402 in the first support plate 406 is set as adjustable, can make the first locating wheel
402 are resisted against in the vertical section of the first siding track 300, avoid the position for the side injustice for being resisted against the first siding track 300 and cause to limit
Position is inaccurate or causes to wear.
As shown in figure 9, the second limit assembly 500 includes third connector 501 and the second locating wheel 502, the second locating wheel
502 are connect by third connector 501 with mounting rail 600.
Second limit assembly 500 can be mounted on relatively fixedly on mounting rail 600.
Second locating wheel 502 is adjustable relative to the mounting height of the first siding track 300, is also beneficial to make the second locating wheel in this way
502 abut each other with the vertical section of the first siding track 300.
The first end 505 of third connector 501 has screw thread, and first end 505 screws in the threaded hole of mounting rail 600
It is interior, and locked by the 4th locking nut 503.The axial sides of second locating wheel 502 are equipped with linkage section, and linkage section screws in
In the second end 506 of third connector 501, and locked by the 5th locking nut 504.
In order to reinforce stability, two or more mounting rails 600 can be set on walking ontology 100, correspondingly exist
One group of elastic limit device is respectively provided on each mounting rail 600, with guarantee track travel device operation when always with the first siding track
300 keeping parallelisms improve the stability of walking.
Pass through the explanation of multiple embodiments to track travel device of the present invention, it can be seen that track travel device of the present invention
Embodiment at least has the advantages that one or more of:
1, it is equipped with elastic limit device, track travel device can both have been made to adapt to the width between the first siding track and the second siding track
Degree variation, and the stability of track travel device in motion can be improved as much as possible, guarantee that the positioning of left and right traveling wheel is quasi-
Really, reduce track travel device shaking and as shaking and caused by part connection loosen even failure and and then cause
Safety problem；
2, by setting elastic limit device, can cancel on walking wheel side setting wheel side；
3, the extension elongation of mounting rail is adjustable, guarantees the accurate positioning of traveling wheel left and right directions；
4, the mounting height of the second locating wheel in the first locating wheel and the second limit assembly in the first limit assembly is equal
It is adjustable, advantageously ensure that locating wheel is bonded with the sided linear section of track；
5, the first limit assembly is transversely mounted position and can be adjusted by regulating device, and regulating device is using eccentric
The gasket of setting, it is easy to adjust, convenient for operation；
6, the first limit assembly includes elastic component, can be with the thickness change of the first siding track and deformation occurs, it is adaptable,
Guarantee being bonded for the first locating wheel and the first siding track；
7, the first limit assembly further includes guiding device, guarantees bracket in the peace of mounting rail using mounting groove and hoodle nut
Smooth sliding in tankage.
Based on above-mentioned track travel device, the present invention also proposes that a kind of track machine people, track machine people include upper
The track travel device stated.
Positive technical effect possessed by above-mentioned each embodiment middle orbit running gear is equally applicable to track machine people,
Which is not described herein again.
Track machine people can be a kind of robot walked in orbit for testing goal, using above-mentioned track travel
The track detecting robot of device, can effectively improve the precision of detection.
Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, it should be understood by those ordinary skilled in the art that: still
It can modify to a specific embodiment of the invention or some technical features can be equivalently replaced；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (20)
1. a kind of track travel device, for being walked in the first siding track (300) disposed in parallel and the second siding track uplink, comprising:
It walks ontology (100)；
First traveling wheel (200) is mounted on the first side of walking ontology (100), in first siding track (300)
Walking；With
Second traveling wheel is mounted on second side of walking ontology (100), for walking in the second siding track uplink；
It is characterized in that, the track travel device further include:
Elastic limit device is arranged on the walking ontology (100), is used for first traveling wheel (200) and described the
Two traveling wheels are kept on first siding track (300) and second siding track and can adapt to first siding track
(300) change width between second siding track.
2. track travel device according to claim 1, which is characterized in that the elastic limit device includes the first limit
Component (400) and the second limit assembly (500), in first limit assembly (400) and second limit assembly (500)
At least one has elasticity shape occurs with the variation of width between first siding track (300) and second siding track
Become, and
First limit assembly (400) and second limit assembly (500) are separately positioned on first siding track (300)
Inner side and outer side；Or
First limit assembly (400) and second limit assembly (500) are separately positioned on the inside of second siding track
The outside and；Or
One in first limit assembly (400) and second limit assembly (500) is arranged in first siding track
(300) inner or outer side, another setting in first limit assembly (400) and second limit assembly (500)
In the inner or outer side of second siding track.
3. track travel device according to claim 2, which is characterized in that first limit assembly (400) and described
Between second limit assembly (500) at a distance from the perpendicular transverse direction of direction of travel of walking ontology (100)
It is adjustable.
4. track travel device according to claim 3, which is characterized in that first limit assembly (400) includes branch
Frame (401) and the first connector (403), the bracket (401) are equipped with the first connecting hole (418), the walking ontology (100)
Be equipped with the second connecting hole, first connector (403) pass through first connecting hole (418) and second connecting hole with
The bracket (401) and the walking ontology (100) are connected, first connecting hole (418) and/or second connecting hole are
First slotted hole.
5. track travel device according to claim 4, which is characterized in that the track travel device further includes mounting rail
(600), the mounting rail (600) is mounted on the transverse side of walking ontology (100), and second connecting hole is arranged in institute
It states on mounting rail (600).
6. track travel device according to claim 5, which is characterized in that the mounting rail (600) is in the walking sheet
On body (100) to be transversely mounted position adjustable.
7. track travel device according to claim 4, which is characterized in that first connecting hole (418) is circular hole, institute
Stating the second connecting hole is first slotted hole, and first limit assembly (400) includes regulating device, and the regulating device is used
In making first connector (403) in first slotted hole along length side when rotating the first connector (403)
To movement, to drive the bracket (401) to move relative to the walking ontology (100).
8. track travel device according to claim 7, which is characterized in that the regulating device include deck (404) and
Gasket (411), the deck (404) are mounted on the walking ontology (100), and the deck (404) includes perpendicular to described
The first rib and the second rib of the length direction setting of first slotted hole, the gasket (411) is generally circular, the gasket
(411) be arranged between first rib and second rib, the diameter of the gasket (411) and first rib and
Width between second rib is equal, and the gasket (411) is prejudicially equipped with through-hole (420), sets on the deck (404)
Having the second slotted hole (421), first connector (403) passes through the through-hole (420) and second slotted hole (421),
And the gasket (411) and first connector (403) are relatively fixed in the circumferential.
9. track travel device according to claim 8, which is characterized in that circumferentially arranged with quarter on the gasket (411)
It spends (422), the deck (404) is equipped with index line (423), and the gasket (411) rotates simultaneously relative to the deck (404)
Show first connector (403) described second by the position of the index line (423) corresponding described scale (422)
Position in slotted hole (421).
10. track travel device according to claim 4, which is characterized in that first limit assembly (400) further includes
Guiding device, the guiding device are used for when the bracket (401) is moved relative to the walking ontology (100) to the branch
Frame (401) is oriented to.
11. track travel device according to claim 10, which is characterized in that the guiding device includes mounting groove, bullet
Pearl nut (405) and bolt (412), the mounting groove is arranged on the walking ontology (100) and elongated, the hoodle
Nut (405) is rotatably arranged in the mounting groove, the bolt (412) pass through the bracket (401) and with the bullet
Pearl nut (405) is connected through a screw thread.
12. track travel device according to claim 4, which is characterized in that at least the one of first connector (403)
End be equipped with can operation portion, it is described can operation portion be configured to facilitate operational instrument and keep opposite with first connector (403)
It fixes to drive first connector (403) to rotate relative to the bracket (401).
13. track travel device according to claim 3, which is characterized in that first limit assembly (400) and described
Second limit assembly (500) is separately positioned on the inner side and outer side of first siding track (300), first limit assembly
It (400) include elastic component (407), the elastic component (407) is used for the hair when the thickness of first siding track (300) changes
Shape change to adjust between first limit assembly (400) and second limit assembly (500) in the transverse direction
Distance.
14. track travel device according to claim 13, which is characterized in that first limit assembly (400) includes
Bracket (401), the first support plate (406) and the first locating wheel (402), the bracket (401) and the walking ontology (100) are even
It connects, first support plate (406) is movably arranged relative to the bracket (401), the first locating wheel (402) installation
On first support plate (406), first locating wheel (402) is used for mutual with the side of first siding track (300)
It contradicts, the elastic component (407) is arranged between the bracket (401) and first support plate (406).
15. track travel device according to claim 14, which is characterized in that the bracket (401) and first described
The second connector (408) are equipped between fagging (406), the elastic component (407) includes spring, and the spring is set in described the
On two connectors (408), the both ends of second connector (408) are equipped with fixed part for limiting first support plate
(406) scope of activities.
16. track travel device according to claim 15, which is characterized in that the bracket (401) and/or described first
Support plate (406) is equipped with the mounting hole for connecting with second connector (408), and the mounting hole includes for accommodating
The accommodating section of the elastic component (407), to be limited to the elastic component (407).
17. track travel device according to claim 14, which is characterized in that first locating wheel (402) is described
Mounting height in first support plate (406) is adjustable.
18. according to the described in any item track travel devices of claim 2~17, which is characterized in that second limit assembly
It (500) include third connector (501) and the second locating wheel (502), second locating wheel (502) is connected by the third
Part (501) is connect with the walking ontology (100).
19. track travel device according to claim 18, which is characterized in that second locating wheel (502) relative to
The mounting height of first siding track (300) is adjustable.
20. a kind of track machine people, which is characterized in that including described in any item track travel dresses according to claim 1~19
It sets.
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|---|---|---|---|
| CN201910180215.9A CN109774734B (en) | 2019-03-11 | 2019-03-11 | Rail running gear and rail robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910180215.9A CN109774734B (en) | 2019-03-11 | 2019-03-11 | Rail running gear and rail robot |
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| CN109774734A true CN109774734A (en) | 2019-05-21 |
| CN109774734B CN109774734B (en) | 2024-04-12 |
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| CN111976794A (en) * | 2019-05-24 | 2020-11-24 | 北京海益同展信息科技有限公司 | Transfer vehicle and track inspection robot transfer system |
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| CN114918893A (en) * | 2022-04-20 | 2022-08-19 | 中铁大桥局集团有限公司 | Suspension type beam bottom detection robot |
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| CN115119730A (en) * | 2022-08-05 | 2022-09-30 | 黑龙江省众为农机有限公司 | Rice planting field wisdom irrigation accuse water system |
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