CN110001670A - Express dispatch type ceiling mounted tracks robot and its running gear, handling method - Google Patents
Express dispatch type ceiling mounted tracks robot and its running gear, handling method Download PDFInfo
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- CN110001670A CN110001670A CN201910393317.9A CN201910393317A CN110001670A CN 110001670 A CN110001670 A CN 110001670A CN 201910393317 A CN201910393317 A CN 201910393317A CN 110001670 A CN110001670 A CN 110001670A
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- 238000009434 installation Methods 0.000 claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 238000006073 displacement reaction Methods 0.000 claims abstract description 5
- 230000009467 reduction Effects 0.000 claims description 3
- 238000003756 stirring Methods 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 5
- 230000006978 adaptation Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 abstract description 2
- 230000000875 corresponding effect Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B13/00—Other railway systems
- B61B13/04—Monorail systems
- B61B13/06—Saddle or like balanced type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C13/00—Locomotives or motor railcars characterised by their application to special systems or purposes
- B61C13/08—Locomotives or motor railcars characterised by their application to special systems or purposes for saddle or like balanced type railways
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Abstract
The present invention provides express dispatch type ceiling mounted tracks robot and its running gear, handling method, running gear includes chassis, load-bearing guiding mechanism and driving tension mechanism；Four groups of corners of the load-bearing guiding mechanism to have in wheel group two groups can quick dispatch, driving tension mechanism is located at four groups of corners between wheel group, including driving wheel and expansion tightening wheel, expansion tightening wheel be located at two groups can quick dispatch corner between wheel group, and can be in the horizontal direction with respect to driving wheel elastic displacement.Structure of the invention is easy for installation and removal, and then facilitates installation and the maintenance activity of robot；In addition, thus, it is possible to obtain lesser turning radius, orbital path adaptation range and ability are promoted since directive wheel compares carrying roller closer to driving wheel.Furthermore its topology layout is compact, so that its occupied height is greatly reduced, shell can carry out design towards ultra-thin, flattening direction, so that crusing robot integrally occupies little space, it is compact-sized, it is easy to maintain.
Description
Technical field
The invention belongs to crusing robot fields, more particularly, to a kind of crusing robot using ceiling mounted tracks and its institute
The running gear of the fast-assembling express dispatch type of use, and installation and removal method.
Background technique
Existing crusing robot structure is complex, leads to higher cost；And since running gear therein is often shared
It is higher with spatial altitude, both made crusing robot whole height higher, it appears very thick and heavy, the track for using it is past
Its running gear could be accommodated toward needs are special, further increases the cost of entire cruising inspection system.
And running gear will usually realize the functions such as driving, guiding, load-bearing, also generally include driving mechanism, guiding mechanism,
How by running gear progress ultrathin design, corresponding ultrathin improvement namely mainly is carried out to above several mechanisms.
In addition, for convenience of repairing, it is also desirable to can by robot from Fast Installation on ceiling mounted tracks, especially I-shaped track,
The express dispatch type structure design separated.
Summary of the invention
In view of this, the present patent application protects a kind of ceiling mounted tracks robot for being able to achieve quick dispatch and its dress of walking
It sets.It is specific as follows:
Express dispatch type ceiling mounted tracks robot walking device is suitable for I-shaped ceiling mounted tracks, including chassis, load-bearing are led
To mechanism and driving tension mechanism；The load-bearing guiding mechanism includes:
Bracket is fixed on chassis；
Four carrying rollers, each carrying roller match a guide wheel group into one group of corner to wheel group, are being located at track vertical beam
Two groups of corners of the same side are fixed on one piece fastly to the load-bearing axle block and directive wheel axle bed of wheel group to wheel group, every group of corner
In loading board, be respectively provided on corresponding two mounting portions of bracket one can allow corner to wheel group across fast-assembling through-hole；Quick-mounting board is logical
It is affixed with the mounting portion that is provided with fast-assembling through-hole to cross bolt, so that it is fast that the corner on Quick-mounting board is fixed on being provided with for bracket to wheel group
On the mounting portion for filling through-hole；
Two groups of corners of the other side are then directly fixedly installed on other two mounting portion wheel group respectively by bolt；
The driving tension mechanism is located at four groups of corners between wheel group comprising a driving wheel, position is with respect to chassis
It is fixed；The wheel shaft axle center of driving wheel is to be vertically arranged, i.e. the wheel body of driving wheel is arranged horizontally and bracket top；
One expansion tightening wheel, is additionally provided with tensioner unit between expansion tightening wheel and chassis, expansion tightening wheel rotational installation on tensioner unit, and
Expansion tightening wheel can tensioner unit drive under can be done in the horizontal direction towards driving wheel close to or away from elastic displacement；Expansion tightening wheel
Wheel shaft axle center is also to be vertically arranged, and the wheel body of expansion tightening wheel is arranged horizontally above bracket.
Further, directive wheel compares the closer driving tension mechanism of carrying roller with group.
Further, the conflict point of directive wheel and ceiling mounted tracks and the conflict point of driving wheel and ceiling mounted tracks are located at same level
Face.
Further, Quick-mounting board in corner to extending the fast-assembling mounting portion with several mounting holes around wheel group bottom face,
Installation screw corresponding with position of mounting hole is equipped on the upper and lower mounting portion of the fast-assembling through-hole of upport installation portion.
Further, the fast-assembling mounting portion be load-bearing axle block bottom face above and below respectively extend, respectively come with
Installation hole number be two；Each fast-assembling through-hole includes the directive wheel through-hole section, right of corresponding directive wheel and its directive wheel axle bed
The carrying roller through-hole section of carrying roller and its load-bearing axle block is answered, installation screw is opened in the upper and lower mounting portion of carrying roller through-hole section
On corresponding position.
Further, the chassis be square, be round, ellipse, triangle or polygon.
Further, the tensioner unit includes means for belt tension, guide rod and tensioner spring；
Means for belt tension includes point shaft and guide part at column both ends, and shaft is equipped with rotary shaft through hole, and pin shaft is logical by shaft
Hole is installed vertically on chassis；Guide part offers the guide through hole perpendicular with pin shaft, guide rod horizontal through guide through hole,
With screw thread and affixed with the vertical plate screw thread of a L-type plate, the transverse slat of L-type plate is then fixed on chassis the right end of guide rod；It leads
Abutting part is equipped with to the left end of bar, tensioner spring pocket is set to outside guide rod, and abutting part and guide part are supported in both ends respectively, by
Tensioner spring provides expanding force；Means for belt tension is additionally provided with wheel portions, and wheel seat portion is between shaft and guide part, expansion tightening wheel rotation
It is installed in wheel portions.
Further, guide rod is a screw rod for having head, and head adds a washer to serve as abutting part, the one of tensioner spring
End is resisted against on washer.
Further, driving wheel is driven by motor, and motor is fixedly installed in the lower section on chassis, and turn of motor shaft and driving wheel
Both axis are parallel, and transmit power through train of reduction gears between the two.
The present invention also provides a kind of ceiling mounted tracks robots, including above-mentioned express dispatch type ceiling mounted tracks robot row
Walking apparatus.
The present invention also provides the handling methods of express dispatch type ceiling mounted tracks robot walking device, including the dress that will walk
The installation method installed in conjunction with ceiling mounted tracks, and the method for dismounting that running gear and ceiling mounted tracks will be detached from are set, it is described
Ceiling mounted tracks are I-shaped track, it is characterised in that: installation method includes the following steps:
Quick-mounting board and fast-assembling the mounting portion disassembly of wheel group are detached from Step 1: corner will be equipped with；
Step 2: stirring means for belt tension, make expansion tightening wheel far from driving wheel, is enlarged to the gap between expansion tightening wheel and driving wheel
Insertion ceiling mounted tracks enough；
Step 3: ceiling mounted tracks lower railway crossbeam respective side to be protruded into carrying roller and bracket of the corner to wheel group of respective side
Lower cross plate between；
Step 4: unclamping means for belt tension, make expansion tightening wheel and the common grip track riser of driving wheel；
Step 5: by the corner on Quick-mounting board to wheel group across the fast-assembling through-hole of upport installation portion, until Quick-mounting board is fast
It fills mounting portion and supports the mounting portion of patch bracket, and make mounting hole on fast-assembling mounting portion and installation screw pair corresponding on mounting portion
It connects, screws on fastening bolt.
Express dispatch type ultrathin type ceiling mounted tracks robot of the invention and its running gear and handling method, core are special
Point is that it is easy for installation and removal, and then facilitates installation and the maintenance activity of robot；In addition, since directive wheel compares carrying roller
Closer to driving wheel, thus, it is possible to obtain lesser turning radius, orbital path adaptation range and ability are promoted.Furthermore
Its topology layout is compact, so that its occupied height is greatly reduced, shell can be carried out towards ultra-thin, flattening direction to be set
Meter, so that crusing robot integrally occupies little space, it is compact-sized, it is easy to maintain.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the perspective view of express dispatch type ceiling mounted tracks robot walking device；
Fig. 2 is the stereoscopic schematic diagram of express dispatch type load-bearing guiding mechanism；
Fig. 3 is the component explosive view of express dispatch type load-bearing guiding mechanism；
Fig. 4 is the structural schematic diagram of tensioner unit；
Fig. 5 is the stereoscopic schematic diagram of means for belt tension.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
In the description of the present invention, it is to be understood that, " front-rear direction ", the driving direction that " longitudinal direction " is robot,
It is exactly the extending direction of track, " left and right directions " is vertical with the driving direction of robot, and " left and right directions " is also the " horizontal of robot
To ", " up and down direction " is the upper and lower of conventional conception；In addition, ceiling mounted tracks used in ceiling mounted tracks robot of the invention are " work
Font " track, abbreviation I-shaped track, the track vertical beam including two crossbeams of the upper and lower crossbeam of track and connection, " inside " refers to close to rail
The direction of road vertical beam, " outside " refer to the direction far from track vertical beam.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
As shown, express dispatch type ceiling mounted tracks robot walking device provided by the invention, including chassis 100, hold
It is redirected mechanism and driving tension mechanism；
As shown in Figures 2 and 3, the load-bearing guiding mechanism includes: 1, four carrying roller (21,22,23,24) of bracket, often
A carrying roller matches a directive wheel (31,32,33,34) and forms one group of corner to wheel group, specifically, as shown in Fig. 2, bracket 1
Four corners are equipped with the mounting portion (11,12,13,14) extended straight up, and a carrying roller is respectively installed in the inside of each mounting portion
Axle bed (211,221,231,241) and a directive wheel axle bed (311,321,331,341), each load-bearing axle block (211,221,
231,241) corresponding rotational installation one carrying roller, four carrying rollers be located at rectangular four corners, the wheel of four carrying roller
Axis axle center is all horizontal direction and is located at same level plane；Carrying roller is perpendicular with the track of the lower railway crossbeam of I-shaped track respectively
Two side contacts of beam, undertake the weight of entire robot；
As shown, be rotatablely installed on each directive wheel axle bed (311,321,331,341) directive wheel (31,32,33,
34), the wheel shaft axle center of each directive wheel is to be vertically arranged；
Positioned at track vertical beam the same side two groups of corners between wheel group there are for dispose driving tension mechanism space,
Gap, two directive wheels (such as 31 and 33) positioned at track vertical beam the same side are located between two carrying rollers (such as 21 and 23), i.e.,
Mean that directive wheel compares the carrying roller with group closer to driving tension mechanism, and driving tension mechanism is to rely primarily on driving wheel
It advances with the friction-driven robot of ceiling mounted tracks, directive wheel can make robot obtain close to the design of driving tension mechanism
Smaller turning radius is obtained, the adaptability of orbital path setting is expanded.
Also, directive wheel is the track vertical beam for contradicting I-shaped track, and carrying roller is to contradict lower railway crossbeam, such as
Shown in figure, the installation site of directive wheel is higher than the installation site of carrying roller, the conflict point of directive wheel and track be higher than carrying roller with
The conflict point of track, it is preferred that the conflict point and the conflict point of driving wheel and track of directive wheel are located at same level, more conducively
The posture balancing of robot is kept when steering, as shown in figure 3, certainly, driving wheel need to be horizontally disposed, drive as directive wheel
The wheel shaft axle center of driving wheel is to be vertically arranged.
In two groups of corners for being located at track vertical beam the same side (referred to as " the same side ") to wheel group, taking what is shown in fig. 3 as an example, it is located at
Two groups of corners in left side are to wheel group, load-bearing axle block (221,241) and directive wheel axle bed (321,341) of the every group of corner to wheel group
It is respectively to be fixed on by fastener on one piece of Quick-mounting board (42,44), is respectively provided with an energy on the corresponding mounting portion of bracket (12,14)
Allow corner to wheel group across fast-assembling through-hole, as shown in Fig. 2, each fast-assembling through-hole includes corresponding directive wheel and its directive wheel axle bed
Directive wheel through-hole section 141, the carrying roller through-hole section 142 of corresponding carrying roller and its load-bearing axle block；Quick-mounting board is (with 44 institutes in scheming
Instruction for) in corner to the fast-assembling mounting portion with several mounting holes is extended around wheel group bottom face, be at angle in Fig. 2
Fall the fast-assembling mounting portion for respectively extending each band there are two mounting hole above and below to the bottom face of the load-bearing axle block 241 in wheel group
(441,442), in the upper and lower mounting portion of the fast-assembling through-hole (specifically in carrying roller through-hole section 142) of the corresponding mounting portion of bracket
Upper correspondence is respectively provided with two installation screws；
As shown in Figure 1, Figure 4 and Figure 5, the application gives the one kind for matching the driving tension mechanism of this load-bearing guiding mechanism
Concrete form, the driving tension mechanism is as described above, only needs to make at least one wheel that can realize horizontal resiliency as expansion tightening wheel
Displacement；
As shown in Figure 1, the bottom plate of bracket 1 is fixed on chassis 100 by bolt, in the present embodiment, chassis 100 is whole
It is square, can be circle or other shapes.
As shown in Figure 1, wherein side forward and backward directive wheel (the present embodiment is right side, 31 and 33) between, pass through bearing
It is rotatably equipped with a driving wheel 4, the wheel shaft axle center of driving wheel 4 is to be vertically arranged and with respect to the position of carrying platform in the horizontal direction
Set it is fixed, so the wheel body of driving wheel 4 is horizontally disposed above chassis 100；
The other side forward and backward directive wheel (the present embodiment is left side, 32 and 34) between, be rotatably equipped with an expansion tightening wheel 5,
The wheel shaft axle center of expansion tightening wheel 5 is also vertical, so the wheel body of expansion tightening wheel 5 is also horizontally disposed above chassis 100；
In addition, being additionally provided with tensioner unit between expansion tightening wheel 5 and chassis 100, expansion tightening wheel 5 is rotatablely installed on tensioner unit, is risen
Tight unit is applied with the horizontal expanding force (as elastic force) towards driving wheel, so that expansion tightening wheel 5 be driven to be applied with level
The expanding force towards driving wheel 4, and expansion tightening wheel 5 can be done in the horizontal direction towards driving wheel 4 close to or away from elastic displacement.
Four carrying rollers abut the upper surface of the track lower beam of I-shaped ceiling mounted tracks respectively, undertake entire inspection machine
The load-bearing of people；Driving wheel 4 and expansion tightening wheel 5 abut the left and right sides of track vertical beam respectively, and in the expanding force band of tensioner unit
Under dynamic, so that 5 grip track vertical beam 301 of driving wheel 4 and expansion tightening wheel, so that driving wheel 4 obtains driving frictional force enough, thus band
Crusing robot is moved in the traveling along track；
Preferable mode, for preferably cooperation realize quick dispatch, expansion tightening wheel 5 be set to can quick dispatch two groups of corners
To between wheel group, that is, being set between two mounting portions (12,14) with fast-assembling through-hole.
In the present embodiment, tensioner unit includes that means for belt tension 6, guide rod 7 and tensioner spring 8 rise as shown in Figure 4 and Figure 5
Tight arm 6 includes point shaft 601 and guide part 603 at column both ends, and shaft is equipped with rotary shaft through hole 6011, and pin shaft is logical by shaft
Hole is installed vertically on chassis 100；Guide part offers the guide through hole 6031 perpendicular with rotary shaft through hole, and guide rod 7 is horizontal
Across guide through hole, the right end of guide rod 7 and the vertical plate of a L-type plate (not shown) are affixed, and the transverse slat of L-type plate then passes through bolt
It is fixed on chassis 100；Abutting part is equipped at the left end of guide rod 7, tensioner spring 8 is sheathed on outside guide rod 7, and both ends are distinguished
Abutting part and guide part 603 are supported, provides expanding force by tensioner spring 8；In the present embodiment, as shown in figure 4, abutting part is using letter
Clean concrete form is that guide rod 7 is a screw rod for having head, and head adds a washer to serve as abutting part, tensioner spring 8
One end is resisted against on washer；Also, guide rod 7 and the vertical plate of L-type plate are connected through a screw thread, and can adjust guide rod by rotation
And then adjust expanding force size；
Means for belt tension 6 is additionally provided with wheel portions 602, takes turns and opens up through-hole 6021 in portions 602 for accommodating the axis of installation expansion tightening wheel
Seat is held, wheel seat portion is between shaft and guide part, and the rotational installation of expansion tightening wheel 5 is in wheel portions.
Driving wheel 4 is driven by motor, and motor is fixedly installed in the lower section on chassis 100, is not take up the sky of 100 top of chassis
Between, and both motor shaft and the shaft of driving wheel 4 are parallel to each other, and can also transmit power through train of reduction gears between the two, it can
The installation site of motor 12 is set to merge out a part of space for installing other assemblies.
Next the concrete operations mode of quick dispatch function is introduced:
When being mounted on robot on ceiling mounted tracks (I-shaped track), Quick-mounting board (42,44) is not installed first, another in this way
The corner of side is sufficiently large to the gap between the mounting portion (12,14) of the bracket of wheel group and opposite side, also, drives tension mechanism
Driving wheel 4 is fixed in position motionless (such as Fig. 1 instruction), and expansion tightening wheel 5 is that opposite driving wheel can be driven when stirring means for belt tension
Do it is separate move horizontally, then can provide enough spaces in I-shaped track insertion bracket, and by the lower railway of I-shaped track
Crossbeam respective side protrudes into the corner of respective side between the carrying roller (21,23) and the lower cross plate of bracket of wheel group, unclamps again tensioner
Arm makes expansion tightening wheel and the common grip track riser of driving wheel；Then, then by mounted corner on Quick-mounting board (42,44) to wheel
Group is pasted across the fast-assembling through-hole of upport installation portion (12,14) until the fast-assembling mounting portion (441,442) of Quick-mounting board (42,44) supports
The mounting portion of bracket, and dock the mounting hole on fast-assembling mounting portion (441,442) with installation screw corresponding on mounting portion, it twists
Upper fastening bolt；Equally, it if you need to which robot is separated I-shaped track, is then held according to the step order backward of installation method
Row, corresponding actions also inversely perform, for example, tighten it is affixed be changed to disassembly is detached from, docking is changed to separate etc., it is no longer superfluous herein
It states.
Since the compressed structure of use designs, so that the occupied space of the running gear of crusing robot of the invention
Height is very small, so the requirement for height to ceiling mounted tracks is also greatly lowered, and it also can be using common I-shaped profile steel
It can meet the requirements, track material further reduced the cost of cruising inspection system without particularly customized.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. express dispatch type ceiling mounted tracks robot walking device, which is characterized in that including chassis, load-bearing guiding mechanism and driving
Tension mechanism；
The load-bearing guiding mechanism includes:
Bracket is fixed on chassis；
Four carrying rollers, each carrying roller match a guide wheel group into one group of corner to wheel group, and being located at, track vertical beam is same
Two groups of corners of side are fixed on one piece of Quick-mounting board to the load-bearing axle block and directive wheel axle bed of wheel group to wheel group, every group of corner
On, be respectively provided on corresponding two mounting portions of bracket one can allow corner to wheel group across fast-assembling through-hole；Quick-mounting board passes through spiral shell
Bolt and the mounting portion for being provided with fast-assembling through-hole are affixed, so that the fast-assembling that is provided with that the corner on Quick-mounting board is fixed on bracket to wheel group be led to
On the mounting portion in hole；
Two groups of corners of the other side are then directly fixedly installed on other two mounting portion wheel group respectively by bolt；
The driving tension mechanism is located at four groups of corners between wheel group comprising a driving wheel, position are fixed with respect to chassis
It is motionless；The wheel shaft axle center of driving wheel is to be vertically arranged, i.e. the wheel body of driving wheel is arranged horizontally and bracket top；
One expansion tightening wheel, is additionally provided with tensioner unit between expansion tightening wheel and chassis, expansion tightening wheel rotational installation is on tensioner unit, and tensioner
Wheel can tensioner unit drive under can be done in the horizontal direction towards driving wheel close to or away from elastic displacement；The wheel shaft of expansion tightening wheel
Axle center is also to be vertically arranged, and the wheel body of expansion tightening wheel is arranged horizontally above bracket.
2. express dispatch type ceiling mounted tracks robot walking device according to claim 1, which is characterized in that directive wheel phase
The closer driving tension mechanism of carrying roller than same group.
3. express dispatch type ceiling mounted tracks robot walking device according to claim 1 or 2, which is characterized in that guiding
The conflict point and the conflict point of driving wheel and ceiling mounted tracks of wheel and ceiling mounted tracks are located at same level.
4. express dispatch type ceiling mounted tracks robot walking device according to claim 1, which is characterized in that Quick-mounting board exists
Corner is to the fast-assembling mounting portion with several mounting holes is extended around wheel group bottom face, in the fast-assembling through-hole of upport installation portion
Upper and lower mounting portion is equipped with installation screw corresponding with position of mounting hole；The fast-assembling mounting portion is in load-bearing axle block
Bottom face respectively extends above and below, and the installation hole number respectively come with is two；Each fast-assembling through-hole includes corresponding directive wheel
And its directive wheel through-hole section, the carrying roller through-hole section of corresponding carrying roller and its load-bearing axle block of directive wheel axle bed, installation screw
It is opened on the upper and lower mounting portion corresponding position of carrying roller through-hole section.
5. express dispatch type ceiling mounted tracks robot walking device according to claim 1, which is characterized in that the chassis
It is square, is round, ellipse, triangle or polygon.
6. express dispatch type ceiling mounted tracks robot walking device according to claim 1, which is characterized in that the tensioner
Unit includes means for belt tension, guide rod and tensioner spring；
Means for belt tension includes point shaft and guide part at column both ends, and shaft is equipped with rotary shaft through hole, and pin shaft is hung down by rotary shaft through hole
Directly it is installed on chassis；Guide part offers the guide through hole perpendicular with pin shaft, and guide rod is horizontal through guide through hole, guiding
With screw thread and affixed with the vertical plate screw thread of a L-type plate, the transverse slat of L-type plate is then fixed on chassis the right end of bar；Guide rod
Left end at be equipped with abutting part, tensioner spring pocket is set to outside guide rod, and abutting part and guide part are supported in both ends respectively, by tensioner
Spring provides expanding force；Means for belt tension is additionally provided with wheel portions, and wheel seat portion is between shaft and guide part, expansion tightening wheel rotational installation
In in wheel portions.
7. express dispatch type ceiling mounted tracks robot walking device according to claim 6, which is characterized in that guide rod is
One has the screw rod on head, and head adds a washer to serve as abutting part, and one end of tensioner spring is resisted against on washer.
8. express dispatch type ceiling mounted tracks robot walking device according to claim 1, which is characterized in that driving wheel by
Motor driven, motor is fixedly installed in the lower section on chassis, and motor shaft is parallel with both shafts of driving wheel, and passes through between the two
Train of reduction gears transmits power.
9. a kind of ceiling mounted tracks robot, the express dispatch type ceiling mounted tracks robot including such as claim 1 to 8 any one
Running gear.
10. the handling method of the express dispatch type ceiling mounted tracks robot walking device such as claim 1 to 8 any one, packet
Include the installation method for installing running gear in conjunction with ceiling mounted tracks, and the disassembly that running gear and ceiling mounted tracks will be detached from
Method, the ceiling mounted tracks are I-shaped track, it is characterised in that: installation method includes the following steps:
Quick-mounting board and fast-assembling the mounting portion disassembly of wheel group are detached from Step 1: corner will be equipped with；
Step 2: stirring means for belt tension, make expansion tightening wheel far from driving wheel, is enlarged to the gap between expansion tightening wheel and driving wheel enough
It is embedded in ceiling mounted tracks；
Step 3: by ceiling mounted tracks lower railway crossbeam respective side protrude into the corner of respective side to the carrying roller (21,23) of wheel group with
Between the lower cross plate of bracket；
Step 4: unclamping means for belt tension, make expansion tightening wheel and the common grip track riser of driving wheel；
Step 5: by the corner on Quick-mounting board (42,44) to wheel group across the fast-assembling through-hole of upport installation portion (12,14), until
The fast-assembling mounting portion (441,442) of Quick-mounting board (42,44) supports the mounting portion of patch bracket, and makes on fast-assembling mounting portion (441,442)
Mounting hole docked with installation screw corresponding on mounting portion, screw on fastening bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910393317.9A CN110001670B (en) | 2019-05-13 | 2019-05-13 | Quick-assembly and quick-disassembly type hoisting track robot, running gear thereof and loading and unloading method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910393317.9A CN110001670B (en) | 2019-05-13 | 2019-05-13 | Quick-assembly and quick-disassembly type hoisting track robot, running gear thereof and loading and unloading method |
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| Publication Number | Publication Date |
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| CN110001670A true CN110001670A (en) | 2019-07-12 |
| CN110001670B CN110001670B (en) | 2024-02-20 |
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| CN201910393317.9A Active CN110001670B (en) | 2019-05-13 | 2019-05-13 | Quick-assembly and quick-disassembly type hoisting track robot, running gear thereof and loading and unloading method |
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| CN110605738A (en) * | 2019-08-16 | 2019-12-24 | 中国南方电网有限责任公司超高压输电公司曲靖局 | Anti-seismic device of valve hall infrared inspection robot |
| CN112875538A (en) * | 2021-01-05 | 2021-06-01 | 上海市机械施工集团有限公司 | Prefabricated assembly type overhead box girder hoisting process |
| CN113021304A (en) * | 2021-03-06 | 2021-06-25 | 常州大学 | But quick assembly disassembly mobile device suitable for track |
| CN113246093A (en) * | 2021-03-18 | 2021-08-13 | 中煤科工集团沈阳研究院有限公司 | Intrinsically safe hanging rail type flexible walking device of inspection robot for coal mine and use method |
| CN113816264A (en) * | 2021-11-25 | 2021-12-21 | 徐州徐工基础工程机械有限公司 | Double-tensioning driving device of monorail crane |
| CN113910196A (en) * | 2021-10-15 | 2022-01-11 | 北京华能新锐控制技术有限公司 | Moving mechanism of heavy-load track robot |
| CN114352693A (en) * | 2022-01-06 | 2022-04-15 | 杭州申昊科技股份有限公司 | Driving tensioning mechanism of track inspection robot |
| CN114986475A (en) * | 2022-08-05 | 2022-09-02 | 山西科达自控股份有限公司 | Mining intrinsic safety type inspection device |
| CN115848436A (en) * | 2022-12-05 | 2023-03-28 | 中国特种设备检测研究院 | Track height difference and span detection monitoring device and method |
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| CN110605738A (en) * | 2019-08-16 | 2019-12-24 | 中国南方电网有限责任公司超高压输电公司曲靖局 | Anti-seismic device of valve hall infrared inspection robot |
| CN110605738B (en) * | 2019-08-16 | 2021-06-25 | 中国南方电网有限责任公司超高压输电公司曲靖局 | Anti-seismic device of valve hall infrared inspection robot |
| CN110465917A (en) * | 2019-08-26 | 2019-11-19 | 华南理工大学 | It is a kind of to can be rotated guide wheel group guide type track machine people chassis |
| CN112875538B (en) * | 2021-01-05 | 2022-05-24 | 上海市机械施工集团有限公司 | Prefabricated overhead box girder hoisting process |
| CN112875538A (en) * | 2021-01-05 | 2021-06-01 | 上海市机械施工集团有限公司 | Prefabricated assembly type overhead box girder hoisting process |
| CN113021304A (en) * | 2021-03-06 | 2021-06-25 | 常州大学 | But quick assembly disassembly mobile device suitable for track |
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| CN113246093B (en) * | 2021-03-18 | 2022-11-08 | 中煤科工集团沈阳研究院有限公司 | Intrinsically safe hanging rail type flexible walking device of inspection robot for coal mine and use method |
| CN113910196A (en) * | 2021-10-15 | 2022-01-11 | 北京华能新锐控制技术有限公司 | Moving mechanism of heavy-load track robot |
| CN113816264A (en) * | 2021-11-25 | 2021-12-21 | 徐州徐工基础工程机械有限公司 | Double-tensioning driving device of monorail crane |
| CN114352693A (en) * | 2022-01-06 | 2022-04-15 | 杭州申昊科技股份有限公司 | Driving tensioning mechanism of track inspection robot |
| CN114352693B (en) * | 2022-01-06 | 2023-10-24 | 杭州申昊科技股份有限公司 | Driving tensioning mechanism of track inspection robot |
| CN114986475A (en) * | 2022-08-05 | 2022-09-02 | 山西科达自控股份有限公司 | Mining intrinsic safety type inspection device |
| CN114986475B (en) * | 2022-08-05 | 2022-10-25 | 山西科达自控股份有限公司 | Mining intrinsic safety type inspection device |
| CN115848436A (en) * | 2022-12-05 | 2023-03-28 | 中国特种设备检测研究院 | Track height difference and span detection monitoring device and method |
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