CN109774734B - Rail running gear and rail robot - Google Patents
Rail running gear and rail robot Download PDFInfo
- Publication number
- CN109774734B CN109774734B CN201910180215.9A CN201910180215A CN109774734B CN 109774734 B CN109774734 B CN 109774734B CN 201910180215 A CN201910180215 A CN 201910180215A CN 109774734 B CN109774734 B CN 109774734B
- Authority
- CN
- China
- Prior art keywords
- side rail
- running gear
- track
- traveling
- hole
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000008859 change Effects 0.000 claims abstract description 13
- 230000000712 assembly Effects 0.000 claims description 19
- 238000000429 assembly Methods 0.000 claims description 19
- 238000009434 installation Methods 0.000 claims description 13
- 125000006850 spacer group Chemical group 0.000 claims description 10
- 238000001514 detection method Methods 0.000 description 4
- 239000004579 marble Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
Landscapes
- Bearings For Parts Moving Linearly (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to a rail traveling apparatus for traveling on a first side rail (300) and a second side rail arranged in parallel, the rail traveling apparatus comprising: a walking body (100); a first traveling wheel (200) installed at a first side of the traveling body (100) for traveling on a first side rail (300); and a second traveling wheel mounted on a second side of the traveling body (100) for traveling on the second side rail; the track running gear still includes: and the elastic limiting device is arranged on the walking body (100) and is used for respectively keeping the first walking wheel (200) and the second walking wheel on the first side rail (300) and the second side rail and adapting to the width change between the first side rail (300) and the second side rail. The track traveling device disclosed by the invention not only can adapt to the width change between the first side rail and the second side rail, but also can improve the stability of the track traveling device during traveling and reduce the shaking of the track traveling device.
Description
Technical Field
The invention relates to the technical field of rail walking machinery, in particular to a rail walking device and a rail robot.
Background
At present, when the existing track robot walks on a track, the track wheels and the track are positioned in multiple ways. As shown in fig. 1, a wheel edge 20 is arranged on one side end surface of the rail wheel 10, the cylindrical surface of the rail wheel 10 is attached to the upper surface of the rail, the wheel edge 20 is clamped and limited with the inner side surface of the rail, and the wheel edges 20 on the rail wheels 10 on the left side and the right side limit the displacement amount of the whole robot in the left-right direction respectively.
Because the positions of the two rails have a certain tolerance, the distance between the inner sides of the two rails is actually a variable value, which requires that the distance between the wheel edges of the rail wheels at the two sides is smaller than the minimum deviation value of the rails during design so as to ensure that the robot can smoothly run on the two rails. One technical drawback arises from this: in order to avoid the rail robot being blocked during running, the distance between the wheel edges of the rail wheels at the two sides is always smaller than the minimum distance between the inner side surfaces of the rails at the two sides, and a gap is always reserved between the wheel edges and the side surfaces of the rails, namely, when the whole robot runs on the rails, the actual robot body always shakes between the two rails, the wheel edges can only ensure that the shaking amount is within a certain range, and the range is very large for accurate detection of geometric parameters of the rails. Thus, the detection process of the running of the robot on the track actually introduces an uncertain amount, which can affect the running stability of the whole robot.
It should be noted that the information disclosed in the background section of the present invention is only for increasing the understanding of the general background of the present invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to provide a track traveling device and a track robot, which can improve the stability of the track traveling device during traveling as much as possible.
To achieve the above object, the present invention provides a rail traveling apparatus for traveling on a first side rail and a second side rail disposed in parallel, comprising:
a walking body;
a first traveling wheel mounted to a first side of the traveling body for traveling on the first side rail; and
the second travelling wheel is arranged on the second side of the travelling body and is used for travelling on the second side rail;
the track running gear still includes:
and the elastic limiting device is arranged on the walking body and is used for respectively keeping the first walking wheel and the second walking wheel on the first side rail and the second side rail and adapting to the width change between the first side rail and the second side rail.
Optionally, the resilient stop means comprises a first stop assembly and a second stop assembly, at least one of the first stop assembly and the second stop assembly having resilience to deform with a change in width between the first side rail and the second side rail, and
the first limiting component and the second limiting component are respectively arranged on the inner side and the outer side of the first side rail; or alternatively
The first limiting component and the second limiting component are respectively arranged on the inner side and the outer side of the second side rail; or alternatively
One of the first and second spacing assemblies is disposed inboard or outboard of the first side rail, and the other of the first and second spacing assemblies is disposed inboard or outboard of the second side rail.
Optionally, a distance between the first limiting component and the second limiting component in a transverse direction perpendicular to the walking direction of the walking body is adjustable.
Optionally, the first limiting component comprises a bracket and a first connecting piece, a first connecting hole is formed in the bracket, a second connecting hole is formed in the walking body, the first connecting piece penetrates through the first connecting hole and the second connecting hole to connect the bracket and the walking body, and the first connecting hole and/or the second connecting hole are/is a first oblong hole.
Optionally, the track running gear further comprises a mounting beam, the mounting beam is mounted on a lateral side of the running body, and the second connecting hole is formed in the mounting beam.
Optionally, the mounting Liang Zaihang is adjustable in lateral mounting position on the body.
Optionally, the first connecting hole is a round hole, the second connecting hole is a first oblong hole, the first limiting component comprises an adjusting device, and the adjusting device is used for enabling the first connecting piece to move in the first oblong hole along the length direction when the first connecting piece is rotated so as to drive the support to move relative to the walking body.
Optionally, adjusting device includes cassette and gasket, and the cassette is installed on the walking body, and the cassette includes first flange and the second flange that the length direction of perpendicular to first slotted hole set up, and the gasket is circular roughly, and the gasket setting is between first flange and second flange, and the diameter of gasket equals with the width between first flange and the second flange, and the gasket eccentrically is equipped with the through-hole, is equipped with the second slotted hole on the cassette, and first connecting piece passes through-hole and second slotted hole, and gasket and first connecting piece are fixed relatively in circumference.
Optionally, the gasket is provided with scales along the circumferential direction, the clamping seat is provided with indication lines, and the gasket rotates relative to the clamping seat and displays the position of the first connecting piece in the second oblong hole through the position of the indication lines corresponding to the scales.
Optionally, the first stop assembly further comprises a guide device for guiding the support when the support moves relative to the walking body.
Optionally, the guiding device comprises a mounting groove, a marble nut and a bolt, wherein the mounting groove is arranged on the walking body and is in a strip shape, the marble nut is rotatably arranged in the mounting groove, and the bolt penetrates through the bracket and is in threaded connection with the marble nut.
Optionally, at least one end of the first connector is provided with an operable portion configured to facilitate the operation tool to remain fixed relative to the first connector to drive rotation of the first connector relative to the bracket.
Optionally, the first spacing subassembly and the second spacing subassembly set up respectively in the inboard and the outside of first side rail, and first spacing subassembly includes the elastic component, and the elastic component is used for taking place to warp in order to adjust the spacing in lateral direction between first spacing subassembly and the second spacing subassembly when the thickness of first side rail changes.
Optionally, the first spacing subassembly includes support, first backup pad and first positioning wheel, and the support is connected with the walking body, and first backup pad is movably set up for the support, and first positioning wheel installs in first backup pad, and first positioning wheel is used for contradicting each other with the side of first side rail, and the elastic component setting is between support and first backup pad.
Optionally, a second connecting piece is arranged between the bracket and the first supporting plate, the elastic piece comprises a spring, the spring is sleeved on the second connecting piece, and fixing parts are arranged at two ends of the second connecting piece and used for limiting the moving range of the first supporting plate.
Optionally, the support and/or the first support plate are provided with mounting holes for connection with the second connecting piece, and the mounting holes comprise accommodating sections for accommodating the elastic pieces so as to limit the elastic pieces.
Optionally, the mounting height of the first positioning wheel on the first support plate is adjustable.
Optionally, the second limiting component comprises a third connecting piece and a second positioning wheel, and the second positioning wheel is connected with the walking body through the third connecting piece.
Optionally, the mounting height of the second positioning wheel relative to the first side rail is adjustable.
In order to achieve the above purpose, the invention also provides a track robot, which comprises the track running device.
Based on the above technical solution, an embodiment of the track running gear of the invention comprises an elastic stop device by means of which the first running wheel and the second running wheel can be held on the first side rail and the second side rail, respectively, and which is able to accommodate the width variation between the first side rail and the second side rail. Through setting up elastic limiting device, both can make track running gear adapt to the width variation between first side rail and the second side rail, can improve track running gear's stability when driving as far as again, reduce track running gear's rocking and because the part connection that rocks and cause becomes flexible even inefficacy and the safety problem that then causes.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
fig. 1 is a schematic structural view of an upper rail wheel of a rail-mounted running gear in the prior art.
Fig. 2 is a schematic view of a part of a structure of an embodiment of the track running device of the present invention.
Fig. 3 is a schematic view of a part of a track running device according to an embodiment of the invention from another angle.
Fig. 4 is a schematic structural view of a first limiting component in an embodiment of the track running device of the present invention.
Fig. 5 is an exploded view of a first spacing assembly of one embodiment of the track running gear of the present invention.
Fig. 6 is a schematic structural view of a support in an embodiment of the track running device of the invention.
Fig. 7 is a schematic view of a portion of a first limiting component of an embodiment of a track running device according to the present invention.
Fig. 8 is a schematic structural view of a first support plate in an embodiment of the track running device of the invention.
Fig. 9 is a schematic structural view of a second limiting component in an embodiment of the track running device of the present invention.
In the figure:
10. a rail wheel; 2. a wheel edge;
100. a walking body; 200. a first traveling wheel; 300. a first side rail; 400. a first limit assembly; 500. the second limiting component; 600. mounting a beam; 700. a mounting angle seat;
401. a bracket; 402. a first positioning wheel; 403. a first connector; 404. a clamping seat; 405. a ball nut; 406. a first support plate; 407. an elastic member; 408. a second connector; 409. a second support plate; 410. a first lock nut; 411. a gasket; 412. a bolt; 413. a gasket; 414. a second lock nut; 415. a third lock nut; 416. a first mounting hole; 417. a third connection hole; 418. a first connection hole; 419. reinforcing ribs; 420. a through hole; 421. a second oblong hole; 422. a scale; 423. an indication line; 424. a second mounting hole; 425. a third mounting hole;
501. a third connecting member; 502. a second positioning wheel; 503. a fourth lock nut; 504. a fifth lock nut; 505. a first end; 506. a second end.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "center," "lateral," "longitudinal," "front," "rear," "left," "right," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the scope of the present invention.
Referring to fig. 2 and 3, which are schematic structural views of an embodiment of the rail traveling apparatus as seen from front and rear sides of the rail traveling apparatus, respectively, in which the rail traveling apparatus is for traveling on a first side rail 300 and a second side rail (not shown) disposed in parallel, the rail traveling apparatus includes a traveling body 100, a first traveling wheel 200, and a second traveling wheel (not shown), the first traveling wheel 200 being mounted on a first side of the traveling body 100, the first traveling wheel 200 being for traveling on the first side rail 300; a second road wheel is mounted to a second side of the walking body 100 for walking on a second side rail.
The rail-mounted running gear further includes an elastic stopper provided on the running body 100 for holding the first running wheel 200 and the second running wheel on the first side rail 300 and the second side rail, respectively, and being capable of accommodating a width variation between the first side rail 300 and the second side rail.
In the above-described embodiment, the rail-running gear includes the elastic stopper by which the first running wheel 200 and the second running wheel can be held on the first side rail 300 and the second side rail, respectively, and can accommodate the width variation between the first side rail 300 and the second side rail. The elastic limiting device with elasticity has the advantages that when the width between the first side rail 300 and the second side rail is changed, the width change between the first side rail 300 and the second side rail can be adapted through the deformation of the elastic limiting device, so that the adaptability to rails with different widths is improved; but also can keep the limit of the track running gear, ensure the stability of the track running gear when running, reduce the shaking of the track running gear, and the problem of loose or even failure of the part connection caused by shaking and the safety caused thereby.
In the above embodiment, the rail running gear includes the elastic stopper, which can perform the holding and stopping functions, so that the provision of the rim on the axial side surfaces of the first running wheel 200 and the second running wheel can be eliminated, the problem that the width change between the first side rail 300 and the second side rail cannot be accommodated due to the provision of the fixed rim can be avoided, and the problem that the lateral distance between the first running wheel 200 and the second running wheel is intentionally set smaller than the minimum width between the first side rail 300 and the second side rail in order to accommodate the width change can be avoided.
In an alternative embodiment, the resilient stop means comprises a first stop assembly 400 and a second stop assembly 500, at least one of the first stop assembly 400 and the second stop assembly 500 having a resilience to deform with a change in width between the first side rail 300 and the second side rail. The first and second spacing assemblies 400 and 500 may be disposed inside and outside the first side rail 300, respectively; the first and second spacing assemblies 400, 500 may also be disposed on the inside and outside of the second side rail, respectively; alternatively, one of the first and second spacing assemblies 400, 500 is disposed inside or outside the first side rail 300, and the other of the first and second spacing assemblies 400, 500 is disposed inside or outside the second side rail.
For the technical solution that the first limit component 400 and the second limit component 500 are respectively disposed on the inner side and the outer side of the first side rail 300, the first traveling wheel 200 on the track traveling device is stabilized on the first side rail 300 through the first limit component 400 and the second limit component 500, and the second traveling wheel is freely lapped on the second side rail, and the second traveling wheel can move transversely along with the width change between the first side rail 300 and the second side rail, so long as the second traveling wheel is ensured to be lapped on the second side rail all the time.
For the technical solution that the first limit component 400 and the second limit component 500 are respectively disposed on the inner side and the outer side of the second side rail, the second travelling wheel on the rail traveling device is stabilized on the second side rail by the first limit component 400 and the second limit component 500, and the first travelling wheel 200 is freely lapped on the first side rail 300, the first travelling wheel 200 can move laterally along with the width change between the first side rail 300 and the second side rail, so long as the first travelling wheel 200 is ensured to always lap on the first side rail 300.
For the technical solution that one of the first and second spacing assemblies 400 and 500 is disposed inside or outside the first side rail 300, the other of the first and second spacing assemblies 400 and 500 is disposed inside or outside the second side rail, which corresponds to holding the first and second traveling wheels 200 and 200 on the first and second side rails, respectively, by the first and second spacing assemblies 400 and 500 at the same time, and the elastic spacing device has elasticity, so that the lateral relative positions of the first and second traveling wheels 200 and 300 or the second traveling wheels and the second side rail can be adaptively adjusted according to the width variation between the first and second side rails 300 and 300.
The specific structure of the embodiment of the track running device provided by the invention is described in detail below with reference to fig. 2 to 9.
As shown in fig. 2 and 3, the first spacing assembly 400 is disposed outside the first side rail 300, and the second spacing assembly 500 is disposed inside the first side rail 300.
The distance between the first and second spacing assemblies 400 and 500 in the lateral direction perpendicular to the traveling direction of the traveling body 100 is adjustable. The advantage of this is that when the first and second spacing assemblies 400 and 500 are installed, the lateral distance of the first and second spacing assemblies 400 and 500 can be adjusted in advance to be within a range matching the width between the first and second side rails 300 and 500 so as to more smoothly adapt to the width between the first and second side rails 300 and 500.
In order to facilitate the installation of the first and second spacing assemblies 400 and 500, the track traveling device further includes a mounting beam 600, the mounting beam 600 being connected to the lateral side of the traveling body 100, and the first and second spacing assemblies 400 and 500 may be both installed on the mounting beam 600.
The lateral mounting position of the mounting beam 600 on the walking body 100 is adjustable, so that the extension length of the mounting beam 600 with respect to the walking body 100 can be adjusted, thereby adjusting the lateral position of the elastic limiting device with respect to the first side rail 300 and the second side rail.
The mounting beam 600 is connected to the traveling body 100 through a triangular mounting angle seat 700. The installation angle seat 700 is provided with a first hole and a second hole, the connecting piece passes through the first hole to enable the installation angle seat 700 to be connected with the walking body 100, and the other connecting piece passes through the second hole to enable the installation angle seat 700 to be connected with the installation beam 600, wherein the second hole is a slotted hole, so that the transverse installation position of the installation beam 600 on the walking body 100 can be adjusted.
As shown in fig. 4, 5 and 6, the first limiting component 400 includes a bracket 401 and a first connecting member 403, a first connecting hole 418 is provided on the bracket 401, a second connecting hole is provided on the mounting beam 600, the first connecting member 403 passes through the first connecting hole 418 and the second connecting hole to connect the bracket 401 and the mounting beam 600, and the first connecting hole 418 and/or the second connecting hole are first oblong holes.
By providing at least one of the first and second connection holes 418, 500 as a first oblong hole, adjustment of the lateral distance between the first and second stop assemblies 400, 500 may be achieved.
Further, the first limiting assembly 400 includes an adjusting device for moving the first connecting member 403 in the longitudinal direction within the first oblong hole when the first connecting member 403 is rotated. By providing the adjusting means, the lateral distance between the first and second spacing assemblies 400 and 500 can be more conveniently adjusted.
As shown in fig. 7, the adjusting device includes a clamping seat 404 and a spacer 411, the clamping seat 404 is mounted on the walking body 100, the clamping seat 404 includes a first flange and a second flange perpendicular to the length direction of the first oblong hole, the spacer 411 is approximately circular, the spacer 411 is disposed between the first flange and the second flange, the diameter of the spacer 411 is equal to the width between the first flange and the second flange, the spacer 411 is eccentrically provided with a through hole 420, the clamping seat 404 is provided with a second oblong hole 421, the first connecting piece 403 passes through the through hole 420 and the second oblong hole 421, and the spacer 411 and the first connecting piece 403 are relatively fixed in the circumferential direction.
Among them, there are various ways for achieving the relative fixation of the shim 411 and the first connector 403 in the circumferential direction. In this embodiment, the through hole 420 is in a semicircular shape, and the cross section of the first connecting member 403 is in a semicircular shape matching the shape of the through hole 420, so that the gasket 411 and the first connecting member 403 can be relatively fixed in the circumferential direction.
The clamping seat 404 is U-shaped, a groove can be arranged on the mounting beam 600, and the clamping seat 404 is arranged in the groove. The number of the holders 404 and the shims 411 is two, and they are respectively provided on the upper surface and the lower surface of the mounting beam 600.
One end of the first connection member 403 is provided with an end cap, and a gasket 413 may be provided between the end cap and the gasket 411 to improve the reliability of connection. The other end of the first connecting piece 403 is locked and fixed through the first lock nut 410, the first lock nut 410 can be made of nylon, a good anti-loosening effect can be achieved through the arrangement of the first lock nut 410, and the reduction of the overall strength caused by the fact that a part of the thread surface of the first connecting piece 403 is cut off is avoided. A washer 413 may also be provided between the first lock nut 410 and the washer 411.
When the transverse position of the bracket 401 relative to the mounting beam 600 needs to be adjusted, the first connecting piece 403 can be rotated first, and because the first connecting piece 403 and the gasket 411 are relatively fixed in the circumferential direction, the gasket 411 is clamped in the clamping seat 404, and the through hole 420 is eccentrically arranged, the gasket 411 can drive the first connecting piece 403 to move in the second oblong hole 421 along the length direction thereof when rotating. And the first connecting hole 418 is a circular hole, and the second connecting hole is a first oblong hole, so that when the first connecting piece 403 moves in the second oblong hole 421 along the length direction, the whole bracket 401 can be driven to move relative to the mounting beam 600, so that the transverse distance between the first limiting component 400 and the second limiting component 500 can be adjusted.
Optionally, a scale 422 is provided on the spacer 411 along the circumferential direction, an indication line 423 is provided on the card holder 404, the spacer 411 rotates relative to the card holder 404, and the position of the first connecting member 403 in the second oblong hole 421 is displayed by the position of the indication line 423 corresponding to the scale 422. The indication line 423 is disposed between the first flange and the second flange of the card holder 404.
The first stop assembly 400 may also include a guide for guiding movement of the carriage 401 as the carriage 401 moves relative to the mounting beam 600.
Optionally, the guiding device includes a mounting groove, a ball nut 405 and a bolt 412, the mounting groove is disposed on the walking body 100 and is in a strip shape, the ball nut 405 is rotatably disposed in the mounting groove, a third connection hole 417 is further disposed on the bracket 401, and the bolt 412 passes through the third connection hole 417 and is connected with the ball nut 405 through threads.
As the bracket 401 integrally moves in the lateral direction with respect to the mounting beam 600, the ball nut 405 rolls and slides along the mounting groove, thereby guiding the movement of the bracket 401.
To facilitate operation, at least one end of the first connector 403 is provided with an operable portion configured to facilitate the operation tool to remain fixed relative to the first connector 403 to drive the first connector 403 to rotate relative to the bracket 401.
The specific form of the operable portion may be selected in a variety of ways. For example, the operable portion may be a hexagonal end cap provided at one end of the first connecting member 403, and the end cap may be configured to be easily engaged with an operating tool, so as to facilitate the clamping of the end cap by the operating tool to drive the first connecting member 403 to rotate. The operable portion may be a tip with a symmetrical section disposed at the other end of the first connecting member 403, and the tip with such a structure is convenient for an operating tool to fix the first connecting member 403, thereby facilitating the rotation of the first connecting member 403.
In the present embodiment, the first spacing assembly 400 and the second spacing assembly 500 are disposed on the inner side and the outer side of the first side rail 300, respectively, the first spacing assembly 400 includes an elastic member 407, and the elastic member 407 is configured to deform when the thickness of the first side rail 300 changes to adjust the distance between the first spacing assembly 400 and the second spacing assembly 500 in the lateral direction.
As shown in fig. 4 to 8, the first spacing assembly 400 includes a bracket 401, a first support plate 406 and a first positioning wheel 402, the bracket 401 is connected with the walking body 100, the first support plate 406 is movably disposed with respect to the bracket 401, the first positioning wheel 402 is mounted on the first support plate 406, the first positioning wheel 402 is used to abut against a side surface of the first side rail 300, and the elastic member 407 is disposed between the bracket 401 and the first support plate 406.
When the thickness of the first side rail 300 increases, the first positioning wheel 402 presses the elastic member 407 to deform, and the first support plate 406 moves in a direction approaching the bracket 401, thereby increasing the lateral distance between the first and second spacing assemblies 400 and 500 so as to accommodate the increase in the thickness of the first side rail 300; when the thickness of the first side rail 300 is reduced, the potential energy of the elastic member 407 is recovered, so as to drive the first support plate 406 to move away from the bracket 401, thereby reducing the lateral distance between the first limit component 400 and the second limit component 500, so as to adapt to the reduction of the thickness of the first side rail 300, ensure that the first positioning wheel 402 always collides with the side surface of the first side rail 300, maintain the clamping action on the first side rail 300, and maintain the stability of the track walking device.
Further, a second connecting piece 408 is disposed between the support 401 and the first support plate 406, the elastic piece 407 includes a spring, the spring is sleeved on the second connecting piece 408, and two ends of the second connecting piece 408 are provided with fixing portions for limiting the movement range of the first support plate 406.
Optionally, the diameter of the second connector 408 is the same as the inner diameter of the spring, ensuring that the spring does not deflect during compression, ensuring uniform and stable stress and improving spring life.
One end of the second connection member 408 is provided with an end cap that can limit the second connection member 408 from passing out of the bracket 401, and the other end of the second connection member 408 is fixed by a second lock nut 414 to limit the second connection member 408 from passing out of the first support plate 406. By adjusting the screwing position of the second lock nut 414, the pretightening force of the elastic member 407 can be adjusted to adapt to rails with different friction coefficients.
As shown in fig. 6, the first limiting assembly 400 further includes a second support plate 409, and the second support plate 409 is fixedly mounted on the bracket 401. The support 401 is also provided with reinforcing ribs 419 for improving structural strength.
The bracket 401 and/or the first support plate 406 are provided with mounting holes for connection with the second connection members 408, and the mounting holes comprise receiving sections for receiving the elastic members 407 to limit the elastic members 407.
Specifically, the mounting holes may be first mounting holes 416 provided on the bracket 401 or second mounting holes 424 provided on the first support plate 406. By providing receiving sections in the first mounting holes 416 and the second mounting holes 424, the resilient member 407 may be at least partially received, avoiding misalignment of the resilient member 407.
As shown in fig. 8, the first support plate 406 is provided with a third mounting hole 425, and the axial side surface of the first positioning wheel 402 is provided with a threaded connection section, and the connection section is screwed into the third mounting hole 425 through threaded fit to realize connection with the first support plate 406. The connection section is locked and fixed by a third lock nut 415. By adjusting the screwed-in position of the connection section, the mounting height of the first positioning wheel 402 on the first support plate 406 can be adjusted.
The mounting height of the first positioning wheel 402 on the first support plate 406 is set to be adjustable, so that the first positioning wheel 402 can be abutted against the vertical section of the first side rail 300, and the situation that the first positioning wheel is abutted against the uneven side surface of the first side rail 300 to cause inaccurate limit or abrasion is avoided.
As shown in fig. 9, the second spacing assembly 500 includes a third link 501 and a second positioning wheel 502, the second positioning wheel 502 being connected to the mounting beam 600 by the third link 501.
The second spacing assembly 500 may be relatively fixedly mounted to the mounting beam 600.
The mounting height of the second positioning wheel 502 relative to the first side rail 300 is adjustable, which also facilitates the abutment of the second positioning wheel 502 with the vertical section of the first side rail 300.
The first end 505 of the third connecting member 501 is threaded, and the first end 505 is screwed into a threaded hole of the mounting beam 600 and locked by the fourth lock nut 503. The second positioning wheel 502 is provided with a connecting section on the axial side, which is screwed into the second end 506 of the third connecting piece 501 and is locked by means of a fifth locking nut 504.
In order to enhance stability, two or more mounting beams 600 may be disposed on the walking body 100, and accordingly, a set of elastic limiting devices is disposed on each mounting beam 600, so as to ensure that the track walking device is always parallel to the first side rail 300 during operation, thereby improving walking stability.
By way of illustration of various embodiments of the track running gear of the present invention, it can be seen that embodiments of the track running gear of the present invention have at least one or more of the following advantages:
1. the elastic limiting device is arranged, so that the rail traveling device can adapt to the width change between the first side rail and the second side rail, the stability of the rail traveling device during traveling can be improved as much as possible, the accurate positioning of the left traveling wheel and the right traveling wheel is ensured, and the problems of loosening, even failure and further caused safety of part connection caused by the shaking of the rail traveling device are reduced;
2. by arranging the elastic limiting device, the side surface of the travelling wheel can be canceled from being provided with wheel edges;
3. the extension length of the mounting beam is adjustable, so that the left and right direction positioning accuracy of the travelling wheel is ensured;
4. the mounting heights of the first positioning wheel in the first limiting assembly and the second positioning wheel in the second limiting assembly are adjustable, so that the positioning wheel is favorably attached to the side straight line section of the track;
5. the transverse installation position of the first limiting component can be adjusted through an adjusting device, and the adjusting device adopts an eccentrically arranged gasket, so that the adjustment is convenient, and the operation is convenient;
6. the first limiting component comprises an elastic piece, can deform along with the thickness change of the first side rail, has strong adaptability, and ensures the fit between the first positioning wheel and the first side rail;
7. the first limiting assembly further comprises a guiding device, and the mounting groove and the marble nut are adopted to ensure that the support stably slides in the mounting groove of the mounting beam.
Based on the track traveling device, the invention further provides a track robot, and the track robot comprises the track traveling device.
The positive technical effects of the track walking device in the above embodiments are also applicable to the track robot, and are not described here again.
The track robot can be a robot for detecting the purpose walking on the track, and the track detection robot applying the track walking device can effectively improve the detection accuracy.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same; while the invention has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that: modifications may be made to the specific embodiments of the present invention or equivalents may be substituted for part of the technical features thereof; without departing from the spirit of the invention, it is intended to cover the scope of the invention as claimed.
Claims (18)
1. A track running gear for running on first and second side rails (300, second side rails arranged in parallel, comprising:
a walking body (100);
a first traveling wheel (200) mounted on a first side of the traveling body (100) for traveling on the first side rail (300); and
a second traveling wheel mounted on a second side of the traveling body (100) for traveling on the second side rail;
the track running gear is characterized in that the track running gear further comprises:
elastic limiting means provided on the travelling body (100) for holding the first travelling wheel (200) and the second travelling wheel on the first side rail (300) and the second side rail, respectively, and being able to accommodate a width variation between the first side rail (300) and the second side rail;
the elastic limiting device comprises a first limiting component (400) and a second limiting component (500), at least one of the first limiting component (400) and the second limiting component (500) has elasticity to deform along with the change of the width between the first side rail (300) and the second side rail, and the first limiting component (400) and the second limiting component (500) are respectively arranged on the inner side and the outer side of the first side rail (300);
the track running gear still includes installation roof beam (600), installation roof beam (600) are installed the lateral surface of walking body (100), first spacing subassembly (400) with second spacing subassembly (500) are all installed on installation roof beam (600), installation roof beam (600) are in the lateral installation position on walking body (100) is adjustable.
2. The track running gear of claim 1, wherein a distance between the first limit assembly (400) and the second limit assembly (500) in a lateral direction perpendicular to a running direction of the running body (100) is adjustable.
3. The track running gear according to claim 2, characterized in that the first limit component (400) comprises a bracket (401) and a first connecting piece (403), a first connecting hole (418) is formed in the bracket (401), a second connecting hole is formed in the running body (100), the first connecting piece (403) penetrates through the first connecting hole (418) and the second connecting hole to connect the bracket (401) and the running body (100), and the first connecting hole (418) and/or the second connecting hole are first oblong holes.
4. A track running gear according to claim 3, characterized in that the second connection hole is provided on the mounting beam (600).
5. A track running gear according to claim 3, wherein the first connecting hole (418) is a circular hole, the second connecting hole is the first oblong hole, and the first limiting assembly (400) comprises an adjusting device, and the adjusting device is used for enabling the first connecting piece (403) to move in the first oblong hole along the length direction when the first connecting piece (403) is rotated, so as to drive the bracket (401) to move relative to the running body (100).
6. The track running gear according to claim 5, characterized in that the adjusting device comprises a clamping seat (404) and a gasket (411), the clamping seat (404) is mounted on the running body (100), the clamping seat (404) comprises a first flange and a second flange which are perpendicular to the first oblong hole and are arranged in the length direction, the gasket (411) is approximately circular, the gasket (411) is arranged between the first flange and the second flange, the diameter of the gasket (411) is equal to the width between the first flange and the second flange, a through hole (420) is eccentrically arranged on the gasket (411), a second oblong hole (421) is arranged on the clamping seat (404), the first connecting piece (403) penetrates through the through hole (420) and the second oblong hole (421), and the gasket (411) and the first connecting piece (403) are relatively fixed in the circumferential direction.
7. The track running device according to claim 6, wherein a scale (422) is circumferentially arranged on the spacer (411), an indication line (423) is arranged on the clamping seat (404), the spacer (411) rotates relative to the clamping seat (404) and the position of the first connecting piece (403) in the second oblong hole (421) is displayed by the position of the indication line (423) corresponding to the scale (422).
8. A rail-mounted running gear as claimed in claim 3, characterized in that the first limit assembly (400) further comprises guiding means for guiding the carriage (401) when the carriage (401) moves relative to the running body (100).
9. The track running gear of claim 8 wherein the guide means comprises a mounting slot provided on the running body (100) and being elongated, a ball nut (405) rotatably provided in the mounting slot, and a bolt (412) passing through the bracket (401) and being threadedly connected with the ball nut (405).
10. A track running gear according to claim 3, characterized in that at least one end of the first connection member (403) is provided with an operable portion configured to facilitate an operating tool to remain fixed relative to the first connection member (403) for driving the first connection member (403) in rotation relative to the bracket (401).
11. The track running gear of claim 2, wherein the first and second spacing assemblies (400, 500) are disposed inside and outside the first side rail (300), respectively, the first spacing assembly (400) including an elastic member (407), the elastic member (407) being configured to deform when a thickness of the first side rail (300) changes to adjust a distance between the first and second spacing assemblies (400, 500) in the lateral direction.
12. The track running gear of claim 11, wherein the first limit assembly (400) comprises a bracket (401), a first support plate (406) and a first positioning wheel (402), the bracket (401) is connected with the running body (100), the first support plate (406) is movably arranged relative to the bracket (401), the first positioning wheel (402) is mounted on the first support plate (406), the first positioning wheel (402) is used for abutting against the side surface of the first side track (300), and the elastic piece (407) is arranged between the bracket (401) and the first support plate (406).
13. The track running device according to claim 12, wherein a second connecting piece (408) is arranged between the bracket (401) and the first supporting plate (406), the elastic piece (407) comprises a spring, the spring is sleeved on the second connecting piece (408), and fixing parts are arranged at two ends of the second connecting piece (408) and used for limiting the movable range of the first supporting plate (406).
14. The track running gear of claim 13, characterized in that the bracket (401) and/or the first support plate (406) are provided with mounting holes for connection with the second connection piece (408), the mounting holes comprising receiving sections for receiving the elastic piece (407) for limiting the elastic piece (407).
15. The track running gear of claim 12, wherein the first positioning wheel (402) is height-adjustable mounted on the first support plate (406).
16. The track running gear of any one of claims 2-15, wherein the second limit assembly (500) comprises a third connecting piece (501) and a second positioning wheel (502), the second positioning wheel (502) being connected with the running body (100) through the third connecting piece (501).
17. The track running gear of claim 16, wherein the second positioning wheel (502) is height adjustable relative to the first side rail (300).
18. A track robot comprising a track running gear according to any one of claims 1 to 17.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910180215.9A CN109774734B (en) | 2019-03-11 | 2019-03-11 | Rail running gear and rail robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910180215.9A CN109774734B (en) | 2019-03-11 | 2019-03-11 | Rail running gear and rail robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109774734A CN109774734A (en) | 2019-05-21 |
| CN109774734B true CN109774734B (en) | 2024-04-12 |
Family
ID=66488793
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910180215.9A Active CN109774734B (en) | 2019-03-11 | 2019-03-11 | Rail running gear and rail robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109774734B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111975738B (en) * | 2019-05-24 | 2023-09-01 | 京东科技信息技术有限公司 | Clamping device and track inspection robot |
| CN111976794B (en) * | 2019-05-24 | 2022-12-02 | 京东科技信息技术有限公司 | Transfer vehicle and track inspection robot transfer system |
| CN110076908A (en) * | 2019-05-30 | 2019-08-02 | 中铁十二局集团有限公司 | Autonomous concrete tank between a kind of non-fragment orbit line |
| CN110346429A (en) * | 2019-07-15 | 2019-10-18 | 北京海益同展信息科技有限公司 | Inspection device and method for inspecting |
| CN110744524A (en) * | 2019-10-28 | 2020-02-04 | 北京海益同展信息科技有限公司 | Drive guiding mechanism and rail hanging robot |
| CN113894660A (en) * | 2020-09-27 | 2022-01-07 | 泉州市海恩德机电科技发展有限公司 | Structure is adjusted to removal seat of burnishing and polishing equipment |
| CN113753148B (en) * | 2021-09-29 | 2022-10-04 | 中国建筑第八工程局有限公司 | Self-climbing robot suitable for connecting profile steel and operation method thereof |
| CN113753147B (en) * | 2021-09-29 | 2022-12-09 | 中国建筑第八工程局有限公司 | Overturn preventing device for profile steel self-climbing robot and overturn preventing method thereof |
| CN113954906B (en) * | 2021-11-05 | 2022-12-13 | 中国铁建重工集团股份有限公司 | Track guiding device and APM track detection device |
| CN114918893B (en) * | 2022-04-20 | 2023-05-30 | 中铁大桥局集团有限公司 | Suspension type beam bottom detection robot |
| CN115119730B (en) * | 2022-08-05 | 2023-09-22 | 佳木斯煜丰农业设施科技有限公司 | Intelligent irrigation water control system for rice planting fields |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007104369A1 (en) * | 2006-03-14 | 2007-09-20 | Siemens Transportation Systems Gmbh & Co. Kg | Wheel-set bearing housing for a rail vehicle |
| CN202294849U (en) * | 2011-09-06 | 2012-07-04 | 北京交控科技有限公司 | Adjustable locator for track car |
| CN203780541U (en) * | 2014-01-27 | 2014-08-20 | 沙尔夫矿山机械（徐州）有限公司 | Derail-prevention traction apparatus |
| CN106627611A (en) * | 2015-10-28 | 2017-05-10 | 中国国际海运集装箱(集团)股份有限公司 | Walking mechanism, rail walking device provided with walking mechanism and adjustment method of walking mechanism |
| CN206202293U (en) * | 2016-09-21 | 2017-05-31 | 比亚迪股份有限公司 | Bogie assembly and rail vehicle |
| CN107867301A (en) * | 2017-12-25 | 2018-04-03 | 中铁第四勘察设计院集团有限公司 | Track repetition measurement measurement car with laser plummet |
| CN207758780U (en) * | 2017-12-25 | 2018-08-24 | 中铁第四勘察设计院集团有限公司 | Track repetition measurement with laser plummet measures vehicle |
| CN108996148A (en) * | 2018-06-28 | 2018-12-14 | 徐工集团凯宫重工南京股份有限公司 | A kind of mud tube extension walking regulating device |
| CN208486890U (en) * | 2018-06-29 | 2019-02-12 | 平顶山平煤机煤矿机械装备有限公司 | Tunnel lining trolley band rail running gear |
| CN209719583U (en) * | 2019-03-11 | 2019-12-03 | 北京海益同展信息科技有限公司 | Track travel device and track machine people |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9452763B2 (en) * | 2013-02-21 | 2016-09-27 | Mitsubishi Heavy Industries, Ltd. | Guide-rail track vehicle, and method for changing distance between guidance wheels |
-
2019
- 2019-03-11 CN CN201910180215.9A patent/CN109774734B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007104369A1 (en) * | 2006-03-14 | 2007-09-20 | Siemens Transportation Systems Gmbh & Co. Kg | Wheel-set bearing housing for a rail vehicle |
| EP1993895A1 (en) * | 2006-03-14 | 2008-11-26 | Siemens Transportation Systems GmbH & Co KG | Wheel-set bearing housing for a rail vehicle |
| CN202294849U (en) * | 2011-09-06 | 2012-07-04 | 北京交控科技有限公司 | Adjustable locator for track car |
| CN203780541U (en) * | 2014-01-27 | 2014-08-20 | 沙尔夫矿山机械（徐州）有限公司 | Derail-prevention traction apparatus |
| CN106627611A (en) * | 2015-10-28 | 2017-05-10 | 中国国际海运集装箱(集团)股份有限公司 | Walking mechanism, rail walking device provided with walking mechanism and adjustment method of walking mechanism |
| CN206202293U (en) * | 2016-09-21 | 2017-05-31 | 比亚迪股份有限公司 | Bogie assembly and rail vehicle |
| CN107867301A (en) * | 2017-12-25 | 2018-04-03 | 中铁第四勘察设计院集团有限公司 | Track repetition measurement measurement car with laser plummet |
| CN207758780U (en) * | 2017-12-25 | 2018-08-24 | 中铁第四勘察设计院集团有限公司 | Track repetition measurement with laser plummet measures vehicle |
| CN108996148A (en) * | 2018-06-28 | 2018-12-14 | 徐工集团凯宫重工南京股份有限公司 | A kind of mud tube extension walking regulating device |
| CN208486890U (en) * | 2018-06-29 | 2019-02-12 | 平顶山平煤机煤矿机械装备有限公司 | Tunnel lining trolley band rail running gear |
| CN209719583U (en) * | 2019-03-11 | 2019-12-03 | 北京海益同展信息科技有限公司 | Track travel device and track machine people |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109774734A (en) | 2019-05-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109774734B (en) | Rail running gear and rail robot | |
| CN209719583U (en) | Track travel device and track machine people | |
| CN111975738B (en) | Clamping device and track inspection robot | |
| CN101229798B (en) | Vehicle mounting and alignment bracket | |
| US8944447B2 (en) | Axle adjustment for axles of utility vehicles | |
| WO2020114427A1 (en) | Displacement apparatus and vehicle marking device | |
| CN109153414B (en) | Attachment assembly for installing a fender and fender assembly | |
| US20240010278A1 (en) | Adjustment unit and adjustment device for adjusting a relative position of components supported against one another | |
| CN110893864A (en) | Railway track flaw detection mechanism and flaw detection vehicle | |
| CN113319809A (en) | Guiding device for coal mine inspection robot | |
| CN211166869U (en) | Railway track flaw detection mechanism and flaw detection vehicle | |
| US9476800B2 (en) | Wheel measurement apparatus | |
| US9242507B2 (en) | Guide rail type vehicle | |
| CN112124424A (en) | Wheel camber angle adjusting structure, suspension and vehicle | |
| US9744808B2 (en) | Axle alignment system | |
| US20200254842A1 (en) | Cam Adjustment Mechanism For Vehicle Suspension Control Arm Mount | |
| US20150353121A1 (en) | Device for guiding a body and steering column for a motor vehicle | |
| CN113071531B (en) | Sliding shoe centering mechanism, steel rail flaw detection device, steel rail flaw detection system and steel rail flaw detection vehicle | |
| KR100962207B1 (en) | Wheel alignment regulator for vehicle | |
| CN210664341U (en) | Anti-vibration adjusting device of deviation correcting sensor | |
| CN218616670U (en) | Axle counting induction converter and vehicle | |
| JP6527278B2 (en) | How to assemble the lifting bracket device | |
| CN216034388U (en) | Wheelset installation mechanism, wheelset assembly and tractor of rail vehicle | |
| US20090189364A1 (en) | Adjustable Spring Pad | |
| CN213326409U (en) | Auxiliary wheel device for lifting mechanism of bridge crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 601, 6 / F, building 2, No. 18, Kechuang 11th Street, Daxing District, Beijing, 100176 Applicant after: Jingdong Technology Information Technology Co.,Ltd. Address before: 601, 6 / F, building 2, No. 18, Kechuang 11th Street, Daxing District, Beijing, 100176 Applicant before: Jingdong Shuke Haiyi Information Technology Co.,Ltd. Address after: 601, 6 / F, building 2, No. 18, Kechuang 11th Street, Daxing District, Beijing, 100176 Applicant after: Jingdong Shuke Haiyi Information Technology Co.,Ltd. Address before: 601, 6 / F, building 2, No. 18, Kechuang 11th Street, Daxing District, Beijing, 100176 Applicant before: BEIJING HAIYI TONGZHAN INFORMATION TECHNOLOGY Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |