CN110104018A - A kind of just vertical rail polling robot based on synchronous belt driving - Google Patents
A kind of just vertical rail polling robot based on synchronous belt driving Download PDFInfo
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- CN110104018A CN110104018A CN201910327222.7A CN201910327222A CN110104018A CN 110104018 A CN110104018 A CN 110104018A CN 201910327222 A CN201910327222 A CN 201910327222A CN 110104018 A CN110104018 A CN 110104018A
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- support wheel
- driving
- shaft
- rack
- driving assembly
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
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Abstract
The present invention relates to rail polling robotic technical field of structures, specifically a kind of just vertical rail polling robot based on synchronous belt driving, equipped with rack, it is characterized in that the rack is equipped with main driving assembly, from driving assembly and clamp assemblies, the main driving assembly is by driving motor, motor cabinet, main synchronous pulley, from synchronous pulley, synchronous belt, active wheel support, driving shaft, active wheels at, the slave driving assembly is by support frame, driven wheel, driven shaft composition, the main driving assembly and clamp assemblies are respectively arranged below with from driving assembly, the clamp assemblies are made of left and right clamping piece and upper and lower clamping piece, the left and right clamping piece is by U-shaped support wheel carrier, support wheel, connecting shaft composition, the clamp assemblies up and down are by support wheel, U-shaped support wheel carrier, connecting shaft, torsional spring Formed with hinged shaft, have many advantages, such as structure it is simple, with track fix stably, do not shift, run load greatly, stability it is high.
Description
Technical field
The present invention relates to rail polling robotic technical field of structures, specifically a kind of structure is simple and rail
Road fix stably does not shift, runs that load is big, the high just vertical rail polling machine based on synchronous belt driving of stability
People.
Background technique
It is well known that crusing robot collection mechanical-electrical-hydraulic integration equipment and the whole body, can complete more under control of the computer
Kind inspection operation, their effect are that substitution or the auxiliary mankind carry out various inspection work, have been widely used at present multiple
Field, such as: substation, underground pipe gallery, mine and prison etc. are local, show huge application prospect.Chinese scholar is
Many research is done to crusing robot, crusing robot can use various structures mode operation, be broadly divided into: flight
Formula, wheeled, rail mounted and fixed.Rail mounted crusing robot has operation flat relative to the robot of other mechanic modes
Surely, the advantages that performance load is big, is swift in response, is widely used.
Currently, most of rail polling robot is to hang upside down to orbit, present in one important ask
Topic is that the support wheel of driving and auxiliary robot operation is only supported on the wing plate of track, if suddenly by fierce transverse direction
Power can make robot swing and damage robot, and all wt of robot all acts on these wheels, thus
It may require that the junction tensile property of wheel and body is very good, this just proposes very high requirement to material property, while also limiting
The weight of Zhi Liao robot, the number of devices for enabling robot to carry are limited.
Summary of the invention
Present invention aim to address above-mentioned the deficiencies in the prior art, provide a kind of structure it is simple, with track fix stably,
It does not shift, run that load is big, the high just vertical rail polling robot based on synchronous belt driving of stability.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of just vertical rail polling robot based on synchronous belt driving, is equipped with rack, it is characterised in that in the rack
Equipped with main driving assembly, from driving assembly and clamp assemblies, the main driving assembly is by driving motor, motor cabinet, main synchronization
Belt wheel, from synchronous pulley, synchronous belt, active wheel support, driving shaft, active wheels at, the driving motor through motor cabinet with
It is connected above rack, the output shaft of the driving motor is connected with main synchronous pulley, and the main synchronous pulley is just
The rack of lower section is equipped with synchronous belt and passes through hole, is equipped with driving shaft below the rack, driving shaft is through active wheel support and machine
Frame is connected, and the end of the driving shaft is equipped with from synchronous pulley, described to be located at main synchronous pulley just from synchronous pulley
Lower section, the main synchronized band of synchronous pulley are connected with from synchronous pulley, and the driving shaft is equipped with driving wheel, pass through driving electricity
Machine drives main synchronous pulley rotation, and then synchronized band drives from synchronous pulley and rotates, and then realizes that driving shaft drives driving wheel
Rotation, the side of the main driving assembly are equipped with from driving assembly, it is described from driving assembly by support frame, driven wheel, from
Moving axis composition, the support frame are respectively provided at the two sides below rack, be equipped between support frame it is parallel with driving shaft from
Moving axis, the both ends of driven shaft are fixedly connected with the side of support frame, and the driven shaft is connected through bearing with driven wheel, described
Main driving assembly and the clamp assemblies that are respectively arranged below with from driving assembly, the clamp assemblies are by left and right clamping piece and upper
Lower clamping piece composition, the left and right clamping piece are made of U-shaped support wheel carrier, support wheel, connecting shaft, the U-shaped support wheel
Frame is made of transverse arm and vertical arm, the U-shaped support wheel carrier being located at below rack on the support frame of two sides respectively symmetrically, described
The transverse arm of U-shaped support wheel carrier be fixedly connected with support frame, connecting shaft is equipped between the vertical arm of the U-shaped support wheel carrier, even
The both ends of spindle are fixedly connected with U-shaped support wheel carrier respectively, are connected through bearing with support wheel in the connecting shaft, described
Support wheel axis presents lower direction, and the clamp assemblies up and down are located on the front-rear direction of left and right clamp assemblies, and described is upper
Lower clamp assemblies are made of support wheel, U-shaped support wheel carrier, connecting shaft, torsional spring and hinged shaft, and the U-shaped support wheel carrier is by transverse arm
It is formed with vertical arm, the transverse arm of the U-shaped support wheel carrier is equipped with axis hole, is equipped with hinged shaft, the hinged shaft in the axis hole
One end be fixed on the second support frame, the axis hole that the other end of hinged shaft passes through U-shaped support wheel carrier is fixed through nut, the hinge
It is equipped with torsional spring between axis and the axis hole of U-shaped support wheel carrier, one end of torsional spring is connected with hinged shaft, the other end of torsional spring and U-shaped branch
Support wheel carrier be connected, between the vertical arm of the U-shaped support wheel carrier be equipped with connecting shaft, the both ends of connecting shaft respectively with U-shaped support
Wheel carrier is connected, and is connected through bearing with support wheel in connecting shaft, and the support wheel axis is in left and right directions, is made by torsional spring
There is active force upward to realize clamping in turn always with by the support wheel in the clamp assemblies of left and right.
Upper end of the present invention from the support frame in driving assembly is connected through connecting plate, in the connecting plate
Portion is equipped with rotation axis, and the upper end of rotation axis passes through rack and is fixedly connected with rack, and lower end and the connecting plate warp beam of rotation axis are forwarded
Dynamic connection, realization mutually rotate between driving assembly and rack.
Clamp assemblies below main driving assembly of the present invention are connected through support frame with rack, pass through support frame reality
The fixation of existing clamp assemblies.
The top of rack of the present invention is equipped with frame, and the rear side of frame is equipped with mechanical arm, and mechanical arm is equipped with sensing
One end of device mounting base, sensor installation seat is connected with mechanical arm, and sensor is connected on sensor installation seat, passes through sensor
Space exploration.
The top of frame of the present invention is equipped with camera, obtains image by camera.
The front side of frame of the present invention is equipped with antenna mounting seat and antenna, and antenna mounting seat is connected with frame, day
Line is located on antenna mounting seat, sends the image for data and the camera shooting that sensor detects to terminal by antenna.
It is equipped with battery holder above rack of the present invention, is equipped with battery in battery holder, is realized and powered by battery.
The present invention is equipped with main driving assembly, from driving assembly and clamp assemblies, the main drive due to the rack
Dynamic component by driving motor, motor cabinet, main synchronous pulley, from synchronous pulley, synchronous belt, active wheel support, driving shaft, driving wheel
Composition, the driving motor above motor cabinet and rack through being connected, the output shaft of the driving motor and main synchronous belt
Wheel is connected, and the rack of the underface of the main synchronous pulley is equipped with synchronous belt and passes through hole, is equipped with below the rack
Driving shaft, driving shaft are connected through active wheel support with rack, and the end of the driving shaft is equipped with from synchronous pulley, described
The underface of main synchronous pulley is located at from synchronous pulley, the main synchronized band of synchronous pulley is connected with from synchronous pulley, described
Driving shaft is equipped with driving wheel, drives main synchronous pulley to rotate by driving motor, and then synchronized band drives from synchronous pulley
Rotation then realizes that driving shaft drives driving wheel rotation, and the side of the main driving assembly is equipped with from driving assembly, described
It is formed from driving assembly by support frame, driven wheel, driven shaft, the support frame is respectively provided at the two sides below rack, support
The driven shaft parallel with driving shaft is equipped between frame, the both ends of driven shaft are fixedly connected with the side of support frame, it is described from
Moving axis is connected through bearing with driven wheel, the main driving assembly and is respectively arranged below with clamp assemblies from driving assembly,
The clamp assemblies are made of left and right clamping piece and upper and lower clamping piece, and the left and right clamping piece is by U-shaped support wheel carrier, support
Wheel, connecting shaft composition, the U-shaped support wheel carrier is made of transverse arm and vertical arm, the U-shaped support wheel carrier setting respectively symmetrically
Below the rack on the support frame of two sides, the transverse arm of the U-shaped support wheel carrier is fixedly connected with support frame, the U-shaped branch
It supports and is equipped with connecting shaft between the vertical arm of wheel carrier, the both ends of connecting shaft are fixedly connected with U-shaped support wheel carrier respectively, the connecting shaft
On be connected through bearing with support wheel, the support wheel axis presents lower direction, and the clamp assemblies up and down are located at left and right
On the front-rear direction of clamp assemblies, the clamp assemblies up and down are by support wheel, U-shaped support wheel carrier, connecting shaft, torsional spring and hinged shaft
Composition, the U-shaped support wheel carrier are made of transverse arm and vertical arm, and the transverse arm of the U-shaped support wheel carrier is equipped with axis hole, described
Axis hole in be equipped with hinged shaft, one end of the hinged shaft is fixed on the second support frame, and the other end of hinged shaft passes through U-shaped support wheel
The axis hole of frame is fixed through nut, is equipped with torsional spring, one end of torsional spring and hinged shaft between the hinged shaft and the axis hole of U-shaped support wheel carrier
It is connected, the other end of torsional spring is connected with U-shaped support wheel carrier, connecting shaft is equipped between the vertical arm of the U-shaped support wheel carrier,
The both ends of connecting shaft are connected with U-shaped support wheel carrier respectively, are connected through bearing with support wheel in connecting shaft, the support wheel
Axis is in left and right directions, and acted on by torsional spring has active force upward for the support wheel in the clamp assemblies of left and right always
It realizes and clamps, the upper end from the support frame in driving assembly is connected through connecting plate, sets in the middle part of the connecting plate
There is rotation axis, the upper end of rotation axis passes through rack and is fixedly connected with rack, and the lower end of rotation axis and connecting plate warp beam forward dynamic company
Connect, realization mutually rotated between driving assembly and rack, the clamp assemblies below the main driving assembly through support frame with
Rack is connected, and the fixation of clamp assemblies is realized by support frame, and the top of the rack is equipped with frame, sets on rear side of frame
There is mechanical arm, mechanical arm is equipped with sensor installation seat, and one end of sensor installation seat is connected with mechanical arm, sensor installation
Sensor is connected on seat, by sensor space exploration, the top of the frame is equipped with camera, obtains and schemes by camera
The front side of picture, the frame is equipped with antenna mounting seat and antenna, and antenna mounting seat is connected with frame, and antenna is located at antenna peace
It fills on seat, terminal, the rack top to is sent the image for data and the camera shooting that sensor detects by antenna
Equipped with battery holder, battery is equipped in battery holder, is realized and is powered by battery, have structure it is simple, with track fix stably, do not send out
The advantages that raw offset, operation load are greatly, stability is high.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the structural schematic diagram of clamp assemblies in the present invention.
Fig. 3 is the structural schematic diagram that the present invention has sensor.
Fig. 4 is the structural schematic diagram that camera and antenna are had in the present invention.
Specific embodiment
The following further describes the present invention with reference to the drawings:
As shown in the picture, a kind of just vertical rail polling robot based on synchronous belt driving, is equipped with rack 1, it is characterised in that
The rack 1 is equipped with main driving assembly, from driving assembly and clamp assemblies, the main driving assembly by driving motor 2,
Motor cabinet 3, main synchronous pulley 4 are formed from synchronous pulley 5, synchronous belt 6, active wheel support 7, driving shaft 8, driving wheel 9, described
Driving motor 2 through being connected above motor cabinet 3 and rack 1, the output shaft of the driving motor 2 and main 4 phase of synchronous pulley
Connection, the rack 1 of the underface of the main synchronous pulley 4 are equipped with synchronous belt 6 and pass through hole, be equipped with below the rack 1
Driving shaft 8, driving shaft 8 are connected through 9 bracket 7 of driving wheel with rack 1, and the end of the driving shaft 8, which is equipped with from synchronous belt 6, takes turns
5, the underface that main synchronous pulley 4 is located at from the wheel of synchronous belt 65, the synchronized band 6 of main synchronous pulley 4 is taken turns with from synchronous belt 6
5 are connected, and the driving shaft 8 is equipped with driving wheel 9, drive main synchronous pulley 4 to rotate by driving motor 2, and then through same
It walks band 6 to drive from 5 rotation of the wheel of synchronous belt 6, then realizes that driving shaft 8 drives driving wheel 9 to rotate, the side of the main driving assembly
Face is equipped with from driving assembly, described to be made of from driving assembly the first support frame 10, driven wheel 11, driven shaft 12, described
First support frame 10 is respectively provided at the two sides of the lower section of rack 1, is equipped between the first support frame 10 parallel with driving shaft 8 driven
Axis 12, the both ends of driven shaft 12 are fixedly connected with the side of the first support frame 10, and the driven shaft 12 is through bearing and driven wheel
11 are connected, the main driving assembly and the clamp assemblies that are respectively arranged below with from driving assembly, the clamp assemblies by
Left and right clamping piece and upper and lower clamping piece composition, the left and right clamping piece is by U-shaped support wheel carrier 13, support wheel 14, connecting shaft 15
Composition, the U-shaped support wheel carrier 13 is made of transverse arm and vertical arm, the U-shaped support wheel carrier 13 respectively symmetrically be located at machine
On the first support frame 10 or the second support frame 18 of 1 lower section two sides of frame, the transverse arm of the U-shaped support wheel carrier 13 and the first support
Frame 10 or the second support frame 18 are fixedly connected, and connecting shaft 15, connecting shaft 15 are equipped between the vertical arm of the U-shaped support wheel carrier 13
Both ends be fixedly connected respectively with U-shaped support wheel carrier 13, be connected through bearing with support wheel 14 in the connecting shaft 15, it is described
14 axis of support wheel be in up and down direction, the clamp assemblies up and down are located on the front-rear direction of left and right clamp assemblies, described
Clamp assemblies up and down be made of support wheel 14, U-shaped support wheel carrier 13, connecting shaft 15, torsional spring 16 and hinged shaft 17, described is U-shaped
Support wheel carrier 13 is made of transverse arm and vertical arm, and the transverse arm of the U-shaped support wheel carrier 13 is equipped with axis hole, is set in the axis hole
There is hinged shaft 17, one end of the hinged shaft 17 is fixed on the second support frame 18 or the first support frame 10, the other end of hinged shaft 17
Axis hole across U-shaped support wheel carrier 13 is fixed through nut, is equipped with and is turned round between the hinged shaft 17 and the axis hole of U-shaped support wheel carrier 13
One end of spring 16, torsional spring 16 is connected with hinged shaft 17, and the other end of torsional spring 16 is connected with U-shaped support wheel carrier 13, and described is U-shaped
It supports and is equipped with connecting shaft 15 between the vertical arm of wheel carrier 13, the both ends of connecting shaft 15 are connected with U-shaped support wheel carrier 13 respectively, connect
It is connected through bearing with support wheel 14 on axis 15,14 axis of support wheel is in left and right directions, will be left by the effect of torsional spring 16
Support wheel 14 in right clamp assemblies has active force upward always and then realizes clamping, described from driving assembly
The upper end of first support frame 10 is connected through connecting plate 29, and the middle part of the connecting plate 29 is equipped with rotation axis 28, rotation axis 28
Upper end pass through rack 1 and be fixedly connected with rack 1 through nut 30 and pressing plate 31, the lower end of rotation axis 28 is with connecting plate 29 through bearing
Rotation connection, realization mutually rotate between driving assembly and rack 1, and the clamp assemblies below the main driving assembly are through the
Two support frames 18 are connected with rack 1, and the fixation of clamp assemblies, the top of the rack 1 are realized by the second support frame 18
Equipped with frame 19, the rear side of frame 19 is equipped with mechanical arm 20, and mechanical arm 20 is equipped with sensor installation seat 21, sensor installation seat
21 one end is connected with mechanical arm 20, and sensor 22 is connected on sensor installation seat 21, passes through 22 space exploration of sensor, institute
The top for the frame 19 stated is equipped with camera 23, obtains image by camera 23, the front side of the frame 19 is equipped with antenna
Mounting base 24 and antenna 25, antenna mounting seat 24 are connected with frame 19, and antenna 25 is located on antenna mounting seat 24, pass through antenna
25 send the data that sensor 22 detects and the image that camera 23 is shot to terminal, are equipped with battery above the rack 1
Seat 26, battery holder 26 is interior to be equipped with battery 27, passes through battery 27 and realizes power supply.
In the use of the present invention, due to the effect of torsional spring 16, make support wheel 14 in the clamp assemblies of two groups of front and back tightly
It is clamped on the wing plate immediately below driving wheel 9 and driven wheel 11, and the support wheel 14 being horizontally mounted by other two groups is pressed in rail
On the web in road, the fixation of robot steadily can be made in orbit, robot is only capable of moving along track, and motor passes through synchronization
Band 6 drives driving wheel 9, and robot is made to travel forward, when encountering bend, due to that can be rotated from driving assembly along rack 1,
To be rotated from driving assembly, and then robot is inducted into bend and is advanced, in robot operational process when entering bend
In, the mechanical arm 20 being mounted in robot is swung, and sensor installation seat 21 can by the steering engine control on mechanical arm 20
With itself rotation, sensor 22 is set more effectively to detect the space in robot location, by means of in robot
Antenna 25, the image of 22 detection data of sensor and camera 23 can be transmitted to terminal, the axis is in upper and lower
To the distance between support wheel 14 be web thickness, prevent double swerve, pass through driving wheel 9, driven wheel 11 and support wheel
14 collective effects make rail polling robot is fixed both to limit the up and down motion of rail polling robot so in orbit,
The left and right offset of robot is also limited, and make support wheel 14 be in pressured state to make machine due to the effect of support wheel 14
The clamping of people tightly is in orbit, this makes rail polling robot have operation load big, fixed with track, by difference
The power in direction is also able to maintain the advantages that stable, the present invention due to the rack 1 is equipped with main driving assembly, from driving assembly and
Clamp assemblies, the main driving assembly by driving motor 2, motor cabinet 3, main synchronous pulley 4, from synchronous belt 6 take turns 5, synchronous belt
6,9 bracket 7 of driving wheel, driving shaft 8, driving wheel 9 form, the driving motor 2 through being connected above motor cabinet 3 and rack 1,
The output shaft of the driving motor 2 is connected with main synchronous pulley 4, in the rack 1 of the underface of the main synchronous pulley 4
Hole is passed through equipped with synchronous belt 6, is equipped with driving shaft 8 below the rack 1, driving shaft 8 is connected through 9 bracket 7 of driving wheel with rack 1
It connects, the end of the driving shaft 8 is equipped with from the wheel of synchronous belt 65, described to be located at main synchronous pulley 4 just from the wheel of synchronous belt 65
Lower section, the synchronized band 6 of main synchronous pulley 4 are connected with from the wheel of synchronous belt 65, and the driving shaft 8 is equipped with driving wheel 9, passes through
Driving motor 2 drives main synchronous pulley 4 to rotate, and then synchronized band 6 drives from 5 rotation of the wheel of synchronous belt 6, then realizes driving shaft
8 drive driving wheels 9 to rotate, and the side of the main driving assembly is equipped with from driving assembly, it is described from driving assembly by first
Support frame 10, driven wheel 11, driven shaft 12 form, and first support frame 10 is respectively provided at the two sides of the lower section of rack 1, and first
The driven shaft 12 parallel with driving shaft 8, the side at the both ends of driven shaft 12 and the first support frame 10 are equipped between support frame 10
It is fixedly connected, the driven shaft 12 is connected through bearing with driven wheel 11, the main driving assembly and from driving assembly
Clamp assemblies are respectively arranged below with, the clamp assemblies are made of left and right clamping piece and upper and lower clamping piece, the left and right folder
Gripping member is made of U-shaped support wheel carrier 13, support wheel 14, connecting shaft 15, and the U-shaped support wheel carrier 13 is by transverse arm and vertical arm group
At the first support frame 10 or the second support frame 18 for being located at 1 lower section two sides of rack of the U-shaped support wheel carrier 13 respectively symmetrically
On, the transverse arm of the U-shaped support wheel carrier 13 is fixedly connected with the first support frame 10 or the second support frame 18, the U-shaped branch
It supports and is equipped with connecting shaft 15 between the vertical arm of wheel carrier 13, the both ends of connecting shaft 15 are fixedly connected with U-shaped support wheel carrier 13 respectively, described
Connecting shaft 15 on be connected through bearing with support wheel 14,14 axis of support wheel be in up and down direction, the folder up and down
It holds component to be located on the front-rear direction of left and right clamp assemblies, the clamp assemblies up and down are by support wheel 14, U-shaped support wheel carrier
13, connecting shaft 15, torsional spring 16 and hinged shaft 17 form, and the U-shaped support wheel carrier 13 is made of transverse arm and vertical arm, and described is U-shaped
It supports the transverse arm of wheel carrier 13 to be equipped with axis hole, is equipped with hinged shaft 17 in the axis hole, one end of the hinged shaft 17 is fixed on the
On two support frames 18 or the first support frame 10, the axis hole that the other end of hinged shaft 17 passes through U-shaped support wheel carrier 13 is fixed through nut, institute
It is equipped with torsional spring 16 between the axis hole of the hinged shaft 17 and U-shaped support wheel carrier 13 stated, one end of torsional spring 16 is connected with hinged shaft 17, torsional spring
16 other end is connected with U-shaped support wheel carrier 13, connecting shaft 15 is equipped between the vertical arm of the U-shaped support wheel carrier 13, even
The both ends of spindle 15 are connected with U-shaped support wheel carrier 13 respectively, are connected through bearing with support wheel 14 in connecting shaft 15, described
14 axis of support wheel is in left and right directions, and acted on by torsional spring 16 has the support wheel 14 in the clamp assemblies of left and right upward always
Active force so that realize clamping, the upper end from the first support frame 10 in driving assembly is connected through connecting plate 29,
The middle part of the connecting plate 29 is equipped with rotation axis 28, and the upper end of rotation axis 28 passes through rack 1 and is fixedly connected with rack 1, rotates
The lower end of axis 28 and 29 warp beam of connecting plate hold rotation connection, and realization mutually rotates between driving assembly and rack 1, the master
Clamp assemblies below driving assembly are connected through the second support frame 18 with rack 1, realize clamping group by the second support frame 18
The fixation of part, the top of the rack 1 are equipped with frame 19, and the rear side of frame 19 is equipped with mechanical arm 20, and mechanical arm 20 is equipped with
One end of sensor installation seat 21, sensor installation seat 21 is connected with mechanical arm 20, and sensing is connected on sensor installation seat 21
Device 22, by 22 space exploration of sensor, the top of the frame 19 is equipped with camera 23, is obtained and is schemed by camera 23
The front side of picture, the frame 19 is equipped with antenna mounting seat 24 and antenna 25, and antenna mounting seat 24 is connected with frame 19, antenna
25 are located on antenna mounting seat 24, are sent to the data that sensor 22 detects and the image that camera 23 is shot by antenna 25
Terminal is equipped with battery holder 26 above the rack 1, is equipped with battery 27 in battery holder 26, is realized and powered by battery 27, had
Structure is simple, with track fix stably, do not shift, run load greatly, stability is high the advantages that.
Claims (7)
1. a kind of just vertical rail polling robot based on synchronous belt driving, is equipped with rack, it is characterised in that the rack
It is equipped with main driving assembly, from driving assembly and clamp assemblies, the main driving assembly is same by driving motor, motor cabinet, master
Walk belt wheel, from synchronous pulley, synchronous belt, active wheel support, driving shaft, active wheels at the driving motor is through motor cabinet
It is connected with rack top, the output shaft of the driving motor is connected with main synchronous pulley, the main synchronous pulley
The rack of underface is equipped with synchronous belt and passes through hole, is equipped with driving shaft below the rack, driving shaft through active wheel support with
Rack is connected, and the end of the driving shaft is equipped with from synchronous pulley, described to be located at main synchronous pulley from synchronous pulley
Underface, the main synchronized band of synchronous pulley are connected with from synchronous pulley, and the driving shaft is equipped with driving wheel, pass through driving
Motor drives main synchronous pulley rotation, and then synchronized band drives from synchronous pulley and rotates, and then realizes that driving shaft drives actively
Wheel rotation, the side of the main driving assembly are equipped with from driving assembly, it is described from driving assembly by support frame, driven wheel,
Driven shaft composition, the support frame are respectively provided at the two sides below rack, are equipped between support frame parallel with driving shaft
Driven shaft, the both ends of driven shaft are fixedly connected with the side of support frame, and the driven shaft is connected through bearing with driven wheel, institute
The main driving assembly stated and the clamp assemblies that are respectively arranged below with from driving assembly, the clamp assemblies by left and right clamping piece and
Upper and lower clamping piece composition, the left and right clamping piece are made of U-shaped support wheel carrier, support wheel, connecting shaft, the U-shaped support
Wheel carrier is made of transverse arm and vertical arm, the U-shaped support wheel carrier being located at below rack on the support frame of two sides respectively symmetrically, institute
The transverse arm for the U-shaped support wheel carrier stated is fixedly connected with support frame, and connecting shaft is equipped between the vertical arm of the U-shaped support wheel carrier,
The both ends of connecting shaft are fixedly connected with U-shaped support wheel carrier respectively, are connected through bearing with support wheel in the connecting shaft, described
Support wheel axis present lower direction, the clamp assemblies up and down are located on the front-rear direction of left and right clamp assemblies, described
Upper and lower clamp assemblies are made of support wheel, U-shaped support wheel carrier, connecting shaft, torsional spring and hinged shaft, and the U-shaped support wheel carrier is by cross
Arm and vertical arm composition, the transverse arm of the U-shaped support wheel carrier are equipped with axis hole, are equipped with hinged shaft, the hinge in the axis hole
One end of axis is fixed on the second support frame, and the axis hole that the other end of hinged shaft passes through U-shaped support wheel carrier is fixed through nut, described
Be equipped with torsional spring between hinged shaft and the axis hole of U-shaped support wheel carrier, one end of torsional spring is connected with hinged shaft, the other end of torsional spring with it is U-shaped
Support wheel carrier be connected, between the vertical arm of the U-shaped support wheel carrier be equipped with connecting shaft, the both ends of connecting shaft respectively with U-shaped branch
Support wheel carrier is connected, and is connected through bearing with support wheel in connecting shaft, and the support wheel axis is in left and right directions, passes through torsional spring
Support wheel in the clamp assemblies of left and right is had active force upward always and then realizes clamping by effect.
2. a kind of just vertical rail polling robot based on synchronous belt driving according to claim 1, it is characterised in that
The upper end of support frame in the slave driving assembly is connected through connecting plate, and the middle part of the connecting plate is equipped with rotation axis,
The upper end of rotation axis passes through rack and is fixedly connected with rack, and the lower end of rotation axis and connecting plate warp beam hold rotation connection, realization from
It is mutually rotated between driving assembly and rack.
3. a kind of just vertical rail polling robot based on synchronous belt driving according to claim 1, it is characterised in that
Clamp assemblies below the main driving assembly are connected through support frame with rack, realize consolidating for clamp assemblies by support frame
It is fixed.
4. a kind of just vertical rail polling robot based on synchronous belt driving according to claim 1, it is characterised in that
The top of the rack is equipped with frame, and the rear side of frame is equipped with mechanical arm, and mechanical arm is equipped with sensor installation seat, sensor
One end of mounting base is connected with mechanical arm, and sensor is connected on sensor installation seat, passes through sensor space exploration.
5. a kind of just vertical rail polling robot based on synchronous belt driving according to claim 1, it is characterised in that
The top of the frame is equipped with camera, obtains image by camera.
6. a kind of just vertical rail polling robot based on synchronous belt driving according to claim 1, it is characterised in that
The front side of the frame is equipped with antenna mounting seat and antenna, and antenna mounting seat is connected with frame, and antenna is located at antenna installation
On seat, terminal to is sent the image for data and the camera shooting that sensor detects by antenna.
7. a kind of just vertical rail polling robot based on synchronous belt driving according to claim 1, it is characterised in that
It is equipped with battery holder above rack in the frame, is equipped with battery in battery holder, is realized and powered by battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910327222.7A CN110104018B (en) | 2019-04-23 | 2019-04-23 | Upright track inspection robot based on synchronous belt drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910327222.7A CN110104018B (en) | 2019-04-23 | 2019-04-23 | Upright track inspection robot based on synchronous belt drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110104018A true CN110104018A (en) | 2019-08-09 |
| CN110104018B CN110104018B (en) | 2020-06-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910327222.7A Active CN110104018B (en) | 2019-04-23 | 2019-04-23 | Upright track inspection robot based on synchronous belt drive |
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| CN (1) | CN110104018B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110816586A (en) * | 2019-09-30 | 2020-02-21 | 江苏振光电力设备制造有限公司 | Traveling derailment prevention device capable of dynamically monitoring rail state |
| CN111284504A (en) * | 2020-03-16 | 2020-06-16 | 枣庄学院 | Monorail suspension inspection trolley |
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| JPH0728525A (en) * | 1993-07-15 | 1995-01-31 | Toshiba Corp | Self-advancing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110816586A (en) * | 2019-09-30 | 2020-02-21 | 江苏振光电力设备制造有限公司 | Traveling derailment prevention device capable of dynamically monitoring rail state |
| CN111284504A (en) * | 2020-03-16 | 2020-06-16 | 枣庄学院 | Monorail suspension inspection trolley |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110104018B (en) | 2020-06-30 |
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