CN110104018B - Upright track inspection robot based on synchronous belt drive - Google Patents
Upright track inspection robot based on synchronous belt drive Download PDFInfo
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- CN110104018B CN110104018B CN201910327222.7A CN201910327222A CN110104018B CN 110104018 B CN110104018 B CN 110104018B CN 201910327222 A CN201910327222 A CN 201910327222A CN 110104018 B CN110104018 B CN 110104018B
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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 invention relates to the technical field of mechanical structures of track inspection robots, in particular to a vertical track inspection robot based on synchronous belt drive, which is provided with a rack and is characterized in that a main drive assembly, a secondary drive assembly and a clamping assembly are arranged on the rack, the main drive assembly consists of a drive motor, a motor base, a main synchronous belt pulley, a secondary synchronous belt pulley, a synchronous belt, a driving wheel bracket, a driving shaft and a driving wheel, the secondary drive assembly consists of a support frame, a secondary wheel and a driven shaft, the clamping assemblies are respectively arranged below the main drive assembly and the secondary drive assembly, the clamping assemblies consist of a left clamping piece, a right clamping piece, an upper clamping piece and a lower clamping piece, the left clamping piece and the right clamping piece consist of a U-shaped support wheel frame, a support wheel and a connecting shaft, a torsion spring and a hinge shaft, the rail fixing device has the advantages of simple structure, stable fixation with a rail, no deviation, large operation load, high stability and the like.
Description
Technical Field
The invention relates to the technical field of mechanical structures of track inspection robots, in particular to an upright track inspection robot which is simple in structure, stable and stable in fixation with a track, free of deviation, large in running load and high in stability and is driven by a synchronous belt.
Background
As is well known, inspection robots integrate mechanical, electrical and hydraulic integrated devices, can perform various inspection operations under the control of computers, and their functions are to replace or assist human beings in various inspection operations, and are currently widely used in various fields, for example: the transformer substation, the underground pipe gallery, the mine, the prison and the like show huge application prospects. Chinese scholars have made many researches on inspection robots, which can operate in various structural modes, mainly including: flying, wheeled, rail, and stationary. Compared with robots with other mechanism modes, the rail-mounted inspection robot has the advantages of stable operation, large operation load, quick response and the like, and is widely applied.
At present, most of track inspection robots run on an inverted hanging track, and an important problem exists in that supporting wheels for driving and assisting the robots to run are only supported on wing plates of the track, if the supporting wheels suddenly receive violent transverse force, the robots can be damaged by swinging left and right, and all the weight of the robots completely acts on the wheels, so that the tensile property of joints of the wheels and a machine body is required to be very good, high requirements on material properties are provided, the weight of the robots is limited, and the number of devices which can be carried by the robots is limited.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provides the upright track inspection robot based on synchronous belt drive, which has the advantages of simple structure, stable fixation with a track, no deviation, large running load and high stability.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a just standing track inspection robot based on hold-in range drive, is equipped with the frame, its characterized in that the frame on be equipped with main drive assembly, follow drive assembly and centre gripping subassembly, main drive assembly constitute by driving motor, motor cabinet, primary synchronous pulley, follow synchronous pulley, hold-in range, action wheel support, driving shaft, action wheel, driving motor be connected through motor cabinet and frame top, driving motor's output shaft be connected with primary synchronous pulley, the frame under primary synchronous pulley on be equipped with the hold-in range and pass the hole, frame below be equipped with the driving shaft, the driving shaft is connected with the frame through the action wheel support, the tip of driving shaft be equipped with from synchronous pulley, follow synchronous pulley establish under primary synchronous pulley, primary synchronous pulley is connected with follow synchronous pulley through the hold-in range, the driving shaft is provided with a driving wheel, the driving shaft drives a main synchronous belt wheel to rotate through a driving motor, and further drives a secondary synchronous belt wheel to rotate through a synchronous belt, so that the driving shaft drives the driving wheel to rotate, a secondary driving assembly is arranged on the side face of the main driving assembly, the secondary driving assembly comprises a supporting frame, a secondary wheel and a driven shaft, the supporting frame is respectively arranged on two sides below the rack, the driven shaft parallel to the driving shaft is arranged between the supporting frames, two ends of the driven shaft are fixedly connected with the side face of the supporting frame, the driven shaft is connected with the driven wheel through a bearing, clamping assemblies are respectively arranged below the main driving assembly and the secondary driving assembly, each clamping assembly comprises a left clamping piece, a right clamping piece, an upper clamping piece and a lower clamping piece, each left clamping piece and right clamping piece comprises a U-shaped supporting wheel frame in the, the U-shaped supporting wheel frames in the left and right directions are composed of transverse arms and vertical arms, the U-shaped supporting wheel frames in the left and right directions are respectively symmetrically arranged on the supporting frames at two sides below the frame, the transverse arms of the U-shaped supporting wheel frames in the left and right directions are fixedly connected with the supporting frames, a connecting shaft in the left and right directions is arranged between the vertical arms of the U-shaped supporting wheel frames in the left and right directions, two ends of the connecting shaft in the left and right directions are respectively fixedly connected with the U-shaped supporting wheel frames in the left and right directions, the connecting shaft in the left and right directions is connected with the supporting wheels in the left and right directions through bearings, the axis of the supporting wheel in the left and right directions is in the up and down directions, the upper and lower clamping components are arranged in the front and back directions of the left and right clamping components, and the upper and lower clamping components are composed of supporting wheels in the up, the U-shaped supporting wheel frame in the up-down direction consists of a cross arm and vertical arms, the cross arm of the U-shaped supporting wheel frame in the up-down direction is provided with a shaft hole, a hinge shaft is arranged in the shaft hole, one end of the hinge shaft is fixed on the second supporting frame, the other end of the hinge shaft penetrates through the shaft hole of the U-shaped supporting wheel frame in the up-down direction and is fixed through a nut, a torsion spring is arranged between the hinge shaft and the shaft hole of the U-shaped supporting wheel frame in the up-down direction, one end of the torsion spring is connected with the hinge shaft, the other end of the torsion spring is connected with the U-shaped supporting wheel frame in the up-down direction, a connecting shaft in the up-down direction is arranged between the vertical arms of the U-shaped supporting wheel frame in the up-down direction, two ends of the connecting shaft in the up-down direction are respectively connected with the U-shaped supporting wheel frame in the up-down direction, the supporting wheels in the left and right directions in the left and right clamping pieces always have upward acting force under the action of the torsion springs so as to realize clamping.
The upper end of the support frame in the driven assembly is connected through the connecting plate, the middle of the connecting plate is provided with the rotating shaft, the upper end of the rotating shaft penetrates through the rack to be fixedly connected with the rack, and the lower end of the rotating shaft is rotatably connected with the connecting plate through the bearing, so that the driven assembly and the rack can rotate mutually.
The clamping assembly below the main driving assembly is connected with the rack through the supporting frame, and the clamping assembly is fixed through the supporting frame.
A frame is arranged above a rack, a mechanical arm is arranged on the rear side of the frame, a sensor mounting seat is arranged on the mechanical arm, one end of the sensor mounting seat is connected with the mechanical arm, a sensor is connected onto the sensor mounting seat, and a space is detected through the sensor.
A camera is arranged above the frame, and images are obtained through the camera.
The antenna mounting seat and the antenna are arranged on the front side of the frame, the antenna mounting seat is connected with the frame, the antenna is arranged on the antenna mounting seat, and data detected by the sensor and an image shot by the camera are transmitted to the terminal through the antenna.
A battery seat is arranged above the rack, and a battery is arranged in the battery seat and is used for supplying power.
The invention is characterized in that a main driving component, a secondary driving component and a clamping component are arranged on the frame, the main driving component consists of a driving motor, a motor base, a main synchronous belt wheel, a secondary synchronous belt wheel, a synchronous belt, a driving wheel bracket, a driving shaft and a driving wheel, the driving motor is connected with the upper part of the frame through the motor base, an output shaft of the driving motor is connected with the main synchronous belt wheel, the frame right below the main synchronous belt wheel is provided with a synchronous belt through hole, the driving shaft is arranged below the frame, the driving shaft is connected with the frame through the driving wheel bracket, the end part of the driving shaft is provided with the secondary synchronous belt wheel, the secondary synchronous belt wheel is arranged right below the main synchronous belt wheel, the main synchronous belt wheel is connected with the secondary synchronous belt wheel through the synchronous belt, the driving wheel is arranged on the driving shaft, the auxiliary driving assembly is composed of a supporting frame, an auxiliary wheel and a driven shaft, the supporting frame is respectively arranged at two sides below the frame, the driven shaft parallel to the driving shaft is arranged between the supporting frames, two ends of the driven shaft are fixedly connected with the side surfaces of the supporting frame, the driven shaft is connected with the driven wheel through a bearing, clamping assemblies are respectively arranged below the main driving assembly and the auxiliary driving assembly, each clamping assembly is composed of a left clamping piece, a right clamping piece, an upper clamping piece and a lower clamping piece, each left clamping piece is composed of a left-right U-shaped supporting wheel frame, a left-right supporting wheel and a left-right connecting shaft, each left-right U-shaped supporting wheel frame is composed of a cross arm and a vertical arm, the U-shaped supporting wheel frames in the left and right directions are respectively symmetrically arranged on the supporting frames at two sides below the frame, the cross arm of the U-shaped supporting wheel frame in the left and right directions is fixedly connected with the supporting frames, a connecting shaft in the left and right directions is arranged between the vertical arms of the U-shaped supporting wheel frame in the left and right directions, two ends of the connecting shaft in the left and right directions are respectively fixedly connected with the U-shaped supporting wheel frame in the left and right directions, the connecting shaft in the left and right directions is connected with the supporting wheels in the left and right directions through bearings, the axis of the supporting wheel in the left and right directions is in the up and down directions, the upper and lower clamping components are arranged in the front and back directions of the left and right clamping components, each upper and lower clamping component comprises an upper and lower supporting wheel, each U-shaped supporting wheel frame in the up and down directions, each torsional spring and each hinge shaft are arranged on, the cross arm of the U-shaped supporting wheel frame in the up-down direction is provided with a shaft hole, a hinge shaft is arranged in the shaft hole, one end of the hinge shaft is fixed on the second supporting frame, the other end of the hinge shaft penetrates through the shaft hole of the U-shaped supporting wheel frame in the up-down direction and is fixed through a nut, a torsion spring is arranged between the hinge shaft and the shaft hole of the U-shaped supporting wheel frame in the up-down direction, one end of the torsion spring is connected with the hinge shaft, the other end of the torsion spring is connected with the U-shaped supporting wheel frame in the up-down direction, a connecting shaft in the up-down direction is arranged between vertical arms of the U-shaped supporting wheel frame in the up-down direction, two ends of the connecting shaft in the up-down direction are respectively connected with the U-shaped supporting wheel frame in the up-down direction, the connecting shaft in the up-down direction is connected with the supporting wheels in the up-down direction through bearings, the axis of the supporting, the upper end of a support frame in the driven assembly is connected through a connecting plate, the middle part of the connecting plate is provided with a rotating shaft, the upper end of the rotating shaft penetrates through the rack and is fixedly connected with the rack, the lower end of the rotating shaft is rotatably connected with the connecting plate through a bearing to realize the mutual rotation between the driven assembly and the rack, a clamping assembly below the main driving assembly is connected with the rack through the support frame, the clamping assembly is fixed through the support frame, a frame is arranged above the rack, the rear side of the frame is provided with a mechanical arm, a sensor mounting seat is arranged on the mechanical arm, one end of the sensor mounting seat is connected with the mechanical arm, a sensor is connected on the sensor mounting seat, a camera is arranged above the frame, an image is obtained through the camera, an antenna mounting seat and an antenna are arranged on the front side, the antenna is established on the antenna mount pad, and the data that will detect the sensor and the image that the camera was shot through the antenna send the terminal to, frame top be equipped with the battery holder, be equipped with the battery in the battery holder, realize the power supply through the battery, have simple structure, with the fixed firm, do not take place the skew of track, the operation load is big, advantages such as stability height.
Drawings
Fig. 1 is a schematic structural view of the present invention.
FIG. 2 is a schematic view of the structure of the clamping assembly of the present invention.
Fig. 3 is a schematic diagram of the structure with the sensor of the present invention.
Fig. 4 is a schematic diagram of the structure with a camera and an antenna in the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in the attached drawings, the upright track inspection robot based on synchronous belt drive is provided with a frame 1 and is characterized in that a main drive assembly, a secondary drive assembly and a clamping assembly are arranged on the frame 1, the main drive assembly consists of a drive motor 2, a motor base 3, a main synchronous belt wheel 4, a secondary synchronous belt wheel 5, a synchronous belt 6, a driving wheel support 7, a driving shaft 8 and a driving wheel 9, the drive motor 2 is connected with the upper part of the frame 1 through the motor base 3, an output shaft of the drive motor 2 is connected with the main synchronous belt wheel 4, the frame 1 right below the main synchronous belt wheel 4 is provided with the synchronous belt 6 passing hole, the lower part of the frame 1 is provided with the driving shaft 8, the driving shaft 8 is connected with the frame 1 through the driving wheel 9 support 7, the end part of the driving shaft 8 is provided with the secondary synchronous belt 6 wheel 5, the secondary synchronous belt 6 wheel 5 is arranged right below the main synchronous belt wheel, the main synchronous belt wheel 4 is connected with a secondary synchronous belt wheel 6 through a synchronous belt 6, a driving wheel 9 is arranged on a driving shaft 8, the driving motor 2 drives the main synchronous belt wheel 4 to rotate, and then the secondary synchronous belt wheel 6 is driven by the synchronous belt 6 to rotate, so that the driving shaft 8 drives the driving wheel 9 to rotate, a secondary driving component is arranged on the side surface of the main driving component, the secondary driving component is composed of a first supporting frame 10, a secondary wheel 11 and a secondary shaft 12, the first supporting frame 10 is respectively arranged on two sides below the frame 1, the secondary shaft 12 parallel to the driving shaft 8 is arranged between the first supporting frames 10, two ends of the secondary shaft 12 are fixedly connected with the side surface of the first supporting frame 10, the secondary shaft 12 is connected with the secondary wheel 11 through a bearing, clamping components are respectively arranged below the main driving component and the secondary driving component, and the clamping components are composed of a left clamping component, a right, the left and right clamping pieces comprise left and right U-shaped supporting wheel frames 13, left and right supporting wheels 14 and left and right connecting shafts 15, the left and right U-shaped supporting wheel frames 13 comprise cross arms and vertical arms, the left and right U-shaped supporting wheel frames 13 are respectively and symmetrically arranged on the first supporting frame 10 or the second supporting frame 18 at two sides below the frame 1, the cross arms of the left and right U-shaped supporting wheel frames 13 are fixedly connected with the first supporting frame 10 or the second supporting frame 18, the left and right connecting shafts 15 are arranged between the vertical arms of the left and right U-shaped supporting wheel frames 13, two ends of the left and right connecting shafts 15 are respectively and fixedly connected with the left and right U-shaped supporting wheel frames 13, the left and right connecting shafts 15 are connected with the supporting wheels 14 through bearings, and the axes of the left and right supporting wheels 14 are in the vertical direction, the upper and lower clamping members are arranged in the front and rear direction of the left and right clamping members, the upper and lower clamping members are composed of a vertical supporting wheel 14, a vertical U-shaped supporting wheel frame 13, a vertical connecting shaft 15, a torsion spring 16 and a hinge shaft 17, the vertical U-shaped supporting wheel frame 13 is composed of a cross arm and a vertical arm, the cross arm of the vertical U-shaped supporting wheel frame 13 is provided with a shaft hole, the shaft hole is internally provided with the hinge shaft 17, one end of the hinge shaft 17 is fixed on the second supporting frame 18 or the first supporting frame 10, the other end of the hinge shaft 17 passes through the shaft hole of the vertical U-shaped supporting wheel frame 13 and is fixed by a nut, the torsion spring 16 is arranged between the hinge shaft 17 and the shaft hole of the vertical U-shaped supporting wheel frame 13, one end of the torsion spring 16 is connected with the hinge shaft 17, and the other end of the torsion spring 16 is connected with the vertical U-shaped supporting wheel frame 13, a connecting shaft 15 in the up-down direction is arranged between the vertical arms of the U-shaped supporting wheel frames 13 in the up-down direction, two ends of the connecting shaft 15 in the up-down direction are respectively connected with the U-shaped supporting wheel frames 13 in the up-down direction, the connecting shaft 15 in the up-down direction is connected with the supporting wheels 14 in the up-down direction through bearings, the axes of the supporting wheels 14 in the up-down direction are in the left-right direction, the supporting wheels 14 in the up-down direction in the left-right clamping assembly always have upward acting force through the action of a torsion spring 16 to realize clamping, the upper end of the first supporting frame 10 in the driven assembly is connected through a connecting plate 29, a rotating shaft 28 is arranged in the middle of the connecting plate 29, the upper end of the rotating shaft 28 penetrates through the rack 1 to be fixedly connected with the rack 1 through a nut 30 and a pressing plate 31, the lower end of the rotating shaft 28 is rotatably, the clamping component below the main driving component is connected with the rack 1 through the second supporting frame 18, the clamping component is fixed through the second supporting frame 18, the frame 19 is arranged above the rack 1, the mechanical arm 20 is arranged on the rear side of the frame 19, the sensor mounting seat 21 is arranged on the mechanical arm 20, one end of the sensor mounting seat 21 is connected with the mechanical arm 20, the sensor 22 is connected with the sensor mounting seat 21, a space is detected through the sensor 22, the camera 23 is arranged above the frame 19, an image is obtained through the camera 23, the antenna mounting seat 24 and the antenna 25 are arranged on the front side of the frame 19, the antenna mounting seat 24 is connected with the frame 19, the antenna 25 is arranged on the antenna mounting seat 24, data detected by the sensor 22 and the image shot by the camera 23 are transmitted to a terminal through the antenna 25, the battery seat 26 is arranged above the rack 1, a battery 27 is arranged in the battery holder 26, and power supply is realized through the battery 27.
When the robot is used, the supporting wheels 14 in the front and rear groups of clamping assemblies are tightly clamped on wing plates right below the driving wheel 9 and the driven wheel 11 under the action of the torsion spring 16, the other two groups of horizontally-mounted supporting wheels 14 are pressed on web plates of a track, the robot can be stably fixed on the track, the robot can only move along the track, the motor drives the driving wheel 9 through the synchronous belt 6 to enable the robot to move forwards, when the robot encounters a curve, the driven assembly can rotate along the rack 1, so that when the robot enters the curve, the driven assembly rotates to further guide the robot into the curve to travel, in the running process of the robot, the mechanical arm 20 mounted on the robot swings, and the sensor mounting seat 21 can rotate by itself under the control of the steering engine on the mechanical arm 20, so that the sensor 22 can more effectively detect the space in the range of the robot, the invention can transmit the data detected by the sensor 22 and the image of the camera 23 to the terminal by the antenna 25 on the robot, the distance between the supporting wheels 14 with the axes in the up-down direction is the thickness of the web plate to prevent the left-right shaking, the rail inspection robot is fixed on the rail by the combined action of the driving wheel 9, the driven wheel 11 and the supporting wheels 14, thus the up-down movement of the rail inspection robot is limited, the left-right deviation of the robot is limited, the supporting wheels 14 are in a pressed state, the robot is tightly clamped on the rail by the action of the supporting wheels 14, the rail inspection robot has the advantages of large running load, firm fixation with the rail, stability by the force in different directions and the like, the invention is characterized in that the frame 1 is provided with a main driving component, a secondary driving component and a clamping component, the main driving component is driven by the driving motor 2, Motor cabinet 3, primary synchronous pulley 4, from hold-in range 6 wheel 5, hold-in range 6, action wheel 9 support 7, driving shaft 8, action wheel 9 constitution, driving motor 2 be connected with frame 1 top through motor cabinet 3, driving motor 2's output shaft be connected with primary synchronous pulley 4, frame 1 under primary synchronous pulley 4 on be equipped with hold-in range 6 and pass the hole, frame 1 below be equipped with drive shaft 8, drive shaft 8 is connected with frame 1 through action wheel 9 support 7, the tip of drive shaft 8 be equipped with from hold-in range 6 wheel 5, from hold-in range 6 wheel 5 establish under primary synchronous pulley 4, primary synchronous pulley 4 is connected with from hold-in range 6 wheel 5 through hold-in range 6, driving shaft 8 on be equipped with action wheel 9, drive primary synchronous pulley 4 through driving motor 2 and rotate, and then drive from hold-in range 6 wheel 5 through hold-in range 6, then the driving wheel 9 is driven to rotate by the driving shaft 8, a driven wheel 9 is driven to rotate by a driven driving assembly arranged on the side face of the driving assembly, the driven driving assembly consists of a first support frame 10, a driven wheel 11 and a driven shaft 12, the first support frame 10 is respectively arranged on two sides below the frame 1, the driven shaft 12 parallel to the driving shaft 8 is arranged between the first support frames 10, two ends of the driven shaft 12 are fixedly connected with the side face of the first support frame 10, the driven shaft 12 is connected with the driven wheel 11 through a bearing, clamping assemblies are respectively arranged below the driving assembly and the driven driving assembly, each clamping assembly consists of a left clamping piece, a right clamping piece, an upper clamping piece and a lower clamping piece, each left clamping piece and the right clamping piece consists of a U-shaped support wheel frame 13, a support wheel 14 and a connecting shaft 15, each U-shaped support wheel frame 13 consists of a cross arm and a vertical arm, each U-shaped support wheel frame 13 is respectively and symmetrically arranged on the first support, the cross arm of the U-shaped supporting wheel frame 13 is fixedly connected with the first supporting frame 10 or the second supporting frame 18, a connecting shaft 15 is arranged between vertical arms of the U-shaped supporting wheel frame 13, two ends of the connecting shaft 15 are respectively fixedly connected with the U-shaped supporting wheel frame 13, the connecting shaft 15 is connected with the supporting wheel 14 through a bearing, the axis of the supporting wheel 14 is in the vertical direction, the upper clamping component and the lower clamping component are arranged in the front and back direction of the left clamping component and the right clamping component, the upper clamping component and the lower clamping component are composed of the supporting wheel 14, the U-shaped supporting wheel frame 13, a connecting shaft 15, a torsion spring 16 and a hinge shaft 17, the U-shaped supporting wheel frame 13 is composed of the cross arm and the vertical arm, a shaft hole is arranged on the cross arm of the U-shaped supporting wheel frame 13, the hinge shaft 17 is arranged in the shaft hole, one end of the hinge shaft 17 is fixed on the second supporting frame 18 or the first supporting frame 10, and the other end of, a torsion spring 16 is arranged between the hinge shaft 17 and the shaft hole of the U-shaped supporting wheel frame 13, one end of the torsion spring 16 is connected with the hinge shaft 17, the other end of the torsion spring 16 is connected with the U-shaped supporting wheel frame 13, a connecting shaft 15 is arranged between the vertical arms of the U-shaped supporting wheel frame 13, two ends of the connecting shaft 15 are respectively connected with the U-shaped supporting wheel frame 13, the connecting shaft 15 is connected with a supporting wheel 14 through a bearing, the axis of the supporting wheel 14 is in left and right directions, the supporting wheel 14 in the left and right clamping components is always provided with upward acting force through the action of the torsion spring 16 so as to realize clamping, the upper end of the first supporting frame 10 in the driving component is connected through a connecting plate 29, the middle part of the connecting plate 29 is provided with a rotating shaft 28, the upper end of the rotating shaft 28 passes through the rack 1 to be fixedly connected with the rack 1, the mutual rotation between the driven assembly and the rack 1 is realized, the clamping assembly below the main driving assembly is connected with the rack 1 through a second supporting frame 18, the fixing of the clamping assembly is realized through the second supporting frame 18, a frame 19 is arranged above the rack 1, a mechanical arm 20 is arranged on the rear side of the frame 19, a sensor mounting seat 21 is arranged on the mechanical arm 20, one end of the sensor mounting seat 21 is connected with the mechanical arm 20, a sensor 22 is connected on the sensor mounting seat 21, a space is detected through the sensor 22, a camera 23 is arranged above the frame 19, an image is obtained through the camera 23, an antenna mounting seat 24 and an antenna 25 are arranged on the front side of the frame 19, the antenna mounting seat 24 is connected with the frame 19, the antenna 25 is arranged on the antenna mounting seat 24, and data detected by the sensor 22 and the image shot by the camera 23 are transmitted to a terminal through the antenna 25, frame 1 top be equipped with battery seat 26, be equipped with battery 27 in the battery seat 26, realize the power supply through battery 27, have simple structure, with the fixed firm, do not take place the skew of track, operation load is big, advantages such as stability height.
Claims (7)
1. The utility model provides a just standing track inspection robot based on hold-in range drive, is equipped with the frame, its characterized in that the frame on be equipped with main drive assembly, follow drive assembly and centre gripping subassembly, main drive assembly constitute by driving motor, motor cabinet, primary synchronous pulley, follow synchronous pulley, hold-in range, action wheel support, driving shaft, action wheel, driving motor be connected through motor cabinet and frame top, driving motor's output shaft be connected with primary synchronous pulley, the frame under primary synchronous pulley on be equipped with the hold-in range and pass the hole, frame below be equipped with the driving shaft, the driving shaft is connected with the frame through the action wheel support, the tip of driving shaft be equipped with from synchronous pulley, follow synchronous pulley establish under primary synchronous pulley, primary synchronous pulley is connected with follow synchronous pulley through the hold-in range, the driving shaft is provided with a driving wheel, the driving shaft drives a main synchronous belt wheel to rotate through a driving motor, and further drives a secondary synchronous belt wheel to rotate through a synchronous belt, so that the driving shaft drives the driving wheel to rotate, a secondary driving assembly is arranged on the side face of the main driving assembly, the secondary driving assembly comprises a supporting frame, a secondary wheel and a driven shaft, the supporting frame is respectively arranged on two sides below the rack, the driven shaft parallel to the driving shaft is arranged between the supporting frames, two ends of the driven shaft are fixedly connected with the side face of the supporting frame, the driven shaft is connected with the driven wheel through a bearing, clamping assemblies are respectively arranged below the main driving assembly and the secondary driving assembly, each clamping assembly comprises a left clamping piece, a right clamping piece, an upper clamping piece and a lower clamping piece, each left clamping piece and right clamping piece comprises a U-shaped supporting wheel frame in the, the U-shaped supporting wheel frames in the left and right directions are composed of transverse arms and vertical arms, the U-shaped supporting wheel frames in the left and right directions are respectively symmetrically arranged on the supporting frames at two sides below the frame, the transverse arms of the U-shaped supporting wheel frames in the left and right directions are fixedly connected with the supporting frames, a connecting shaft in the left and right directions is arranged between the vertical arms of the U-shaped supporting wheel frames in the left and right directions, two ends of the connecting shaft in the left and right directions are respectively fixedly connected with the U-shaped supporting wheel frames in the left and right directions, the connecting shaft in the left and right directions is connected with the supporting wheels in the left and right directions through bearings, the axis of the supporting wheel in the left and right directions is in the up and down directions, the upper and lower clamping components are arranged in the front and back directions of the left and right clamping components, and the upper and lower clamping components are composed of supporting wheels in the up, the U-shaped supporting wheel frame in the up-down direction consists of a cross arm and vertical arms, the cross arm of the U-shaped supporting wheel frame in the up-down direction is provided with a shaft hole, a hinge shaft is arranged in the shaft hole, one end of the hinge shaft is fixed on the second supporting frame, the other end of the hinge shaft penetrates through the shaft hole of the U-shaped supporting wheel frame in the up-down direction and is fixed through a nut, a torsion spring is arranged between the hinge shaft and the shaft hole of the U-shaped supporting wheel frame in the up-down direction, one end of the torsion spring is connected with the hinge shaft, the other end of the torsion spring is connected with the U-shaped supporting wheel frame in the up-down direction, a connecting shaft in the up-down direction is arranged between the vertical arms of the U-shaped supporting wheel frame in the up-down direction, two ends of the connecting shaft in the up-down direction are respectively connected with the U-shaped supporting wheel frame in the up-down direction, the supporting wheels in the left and right directions in the left and right clamping pieces always have upward acting force under the action of the torsion springs so as to realize clamping.
2. The upright track inspection robot based on the synchronous belt drive as claimed in claim 1, wherein the upper ends of the supporting frames in the driven assembly are connected through a connecting plate, a rotating shaft is arranged in the middle of the connecting plate, the upper end of the rotating shaft penetrates through the rack and is fixedly connected with the rack, and the lower end of the rotating shaft is rotatably connected with the connecting plate through a bearing, so that the driven assembly and the rack can rotate relative to each other.
3. The upright track inspection robot based on the synchronous belt drive of claim 1, wherein the clamping assembly below the main drive assembly is connected with the frame through a support frame, and the clamping assembly is fixed through the support frame.
4. The upright track inspection robot based on the synchronous belt drive as claimed in claim 1, wherein a frame is arranged above the frame, a mechanical arm is arranged at the rear side of the frame, a sensor mounting seat is arranged on the mechanical arm, one end of the sensor mounting seat is connected with the mechanical arm, a sensor is connected to the sensor mounting seat, and a space is detected through the sensor.
5. The upright track inspection robot based on synchronous belt drive according to claim 4, characterized in that a camera is arranged above the frame, and images are acquired through the camera.
6. The upright track inspection robot based on synchronous belt drive according to claim 4, characterized in that an antenna mounting seat and an antenna are arranged on the front side of the frame, the antenna mounting seat is connected with the frame, the antenna is arranged on the antenna mounting seat, and data detected by the sensor and an image shot by the camera are transmitted to the terminal through the antenna.
7. The upright track inspection robot based on the synchronous belt drive as claimed in claim 4, wherein a battery holder is arranged above the frame in the frame, a battery is arranged in the battery holder, and power supply is realized through the 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 |
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| Publication Number | Publication Date |
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| CN110104018A CN110104018A (en) | 2019-08-09 |
| CN110104018B true CN110104018B (en) | 2020-06-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910327222.7A Active CN110104018B (en) | 2019-04-23 | 2019-04-23 | Upright track inspection robot based on synchronous belt drive |
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|---|---|---|---|---|
| CN110816586B (en) * | 2019-09-30 | 2021-01-26 | 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH0352788Y2 (en) * | 1986-12-28 | 1991-11-15 | ||
| DE9102783U1 (en) * | 1991-03-08 | 1991-05-29 | Niederholz, Johannes, 4132 Kamp-Lintfort | Force measuring device |
| JPH0728525A (en) * | 1993-07-15 | 1995-01-31 | Toshiba Corp | Self-advancing robot |
| CN1309608C (en) * | 2003-11-27 | 2007-04-11 | 上海磁浮交通发展有限公司 | Magnetic suspension rail inspection vehicle chassis with guide wheel system |
| CN102730010A (en) * | 2011-04-12 | 2012-10-17 | 中国科学院沈阳自动化研究所 | Straddle type monorail travelling mechanism |
| CN103878759B (en) * | 2012-12-19 | 2015-09-02 | 沈阳新松机器人自动化股份有限公司 | A kind of intelligent mobile working robot |
| CN106004893B (en) * | 2016-06-13 | 2018-04-13 | 株洲中车特种装备科技有限公司 | A kind of single track excursion train upward slope auxiliary system |
| CN107139949A (en) * | 2017-06-10 | 2017-09-08 | 中信重工开诚智能装备有限公司 | A kind of pipe gallery crusing robot hoofing part mechanism |
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