CN110385730B - Modular vibration reduction system for track robot - Google Patents
Modular vibration reduction system for track robot Download PDFInfo
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- CN110385730B CN110385730B CN201910599217.1A CN201910599217A CN110385730B CN 110385730 B CN110385730 B CN 110385730B CN 201910599217 A CN201910599217 A CN 201910599217A CN 110385730 B CN110385730 B CN 110385730B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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Abstract
The invention discloses a modular vibration reduction system for a rail robot. The track of this system adopts I shape guide rail, but including bearing direction tensioning module, damping module and editor's module, wherein: the bearing guide tensioning module comprises a bearing wheel set arranged in a groove of the guide rail, guide wheel sets on two sides of the guide rail and a tensioning wheel set below the guide rail; the vibration reduction module comprises a spring support frame provided with a cavity, a large pressure spring is arranged in the cavity, a spring pressing block is embedded into the cavity of the spring support frame and pressed into the large pressure spring, and a spring baffle is sleeved outside the large pressure spring; a high-frequency pressure spring fixed by a guide post is arranged on the side surface of the spring support frame; the editable module comprises an information acquisition wheel and an information acquisition device, wherein the information acquisition wheel is in contact with two shoulders of the guide rail; the bottom of the bearing guide tensioning module is fixed with the top of the spring support frame of the vibration reduction module, and the editable module is respectively connected with the bearing guide tensioning module and the vibration reduction module through tension springs. The invention has the advantages of convenient maintenance and good vibration damping effect.
Description
Technical Field
The invention belongs to the technical field of vibration reduction, and particularly relates to a modular vibration reduction system for a track robot.
Background
The rail mounted intelligence patrols and examines robot is a section and relies on the hanging-upside down type walking robot of guide rail, can patrol and examine each key position of electric power tunnel, railway tunnel and all kinds of pipelines to guarantee the inside safe and reliable of pipe-line system. As a perception complex, the intelligent inspection robot is provided with various sensors, such as temperature, humidity, gas sensitivity, air pressure, video and the like, so that comprehensive detection of equipment and environment can be realized, the robot inspection scheme is set through a background by utilizing the mobile function of the robot, the robot can completely separate from manual work to comprehensively detect a pipeline system, and in the detection process, inspection without dead angles is realized. After each inspection is finished, an inspection report can be automatically generated, and the operation and environmental conditions of the equipment can be fed back in time. Through adopting intelligence to patrol and examine the robot, can effectively reduce fortune dimension personnel's work load.
Because the guide rail needs to bear certain weight to the robot has certain functioning speed to require in order to guarantee to patrol and examine efficiency, consequently needs the operation that the robot can be steady on the guide rail. In prior art, when the track type intelligent inspection robot operates on the track, the flatness of the track is inconvenient to adjust, so that the operation stability is poor, vibration can be generated in the operation process of the robot, the inspection result error is large, and the service life of a load sensor of the inspection robot is shortened.
Disclosure of Invention
The invention aims to provide a modular vibration reduction system for a track robot, which has the advantages of simple structure, low cost and good vibration reduction effect.
The technical solution for realizing the purpose of the invention is as follows: the utility model provides a modularization damping system for track robot, the track that this system was based on adopts the I shape guide rail, specifically includes bearing direction tensioning module, damping module and editable module, wherein:
the bearing guide tensioning module comprises a bearing wheel set arranged in a groove of the I-shaped guide rail, guide wheel sets arranged on two sides of the guide rail and a tensioning wheel set arranged below the guide rail and tightly attached to the lower surface of the guide rail; a frame is hung below the bearing wheel set, is arranged below the guide rail and is not contacted with the guide rail; three groups of guide wheel sets are arranged along the direction of the guide rail, the position of the guide wheel in the middle is fixed, and the positions of the guide wheels at the two ends can be adjusted; the tensioning wheel set is in contact with the lower surface of the guide rail and is fixed with the bottom flat plate of the frame through a tensioning shaft;
the damping module comprises a spring support frame, the spring support frame is provided with a cavity, a large pressure spring is arranged in the cavity, a spring pressing block is embedded into the cavity of the spring support frame from the top of the cavity and pressed into the large pressure spring, and a spring baffle is sleeved on the outer side of the large pressure spring; the four side surfaces of the spring support frame are respectively provided with a small high-frequency pressure spring and a large high-frequency pressure spring which are fixed by guide posts;
the editable module comprises an information acquisition wheel which is arranged on the inner side of the sliding block and keeps contact with two shoulders of the guide rail, an information acquisition device which is arranged on the outer side of the sliding block, and a tension spring which enables the sliding block to be connected with other modules;
the bottom flat plate of the bearing guide tensioning module is fixed with the top of the spring support frame of the vibration reduction module, and the editable module is respectively connected with the bearing guide tensioning module and the vibration reduction module through tension springs.
Further, the specific structure of the bearing guide tensioning module is as follows:
the frame comprises a flat plate at the bottom and 4 vertical plates fixed on the flat plate, wherein the 4 vertical plates are symmetrically arranged at two sides of the guide rail; a bearing shaft is fixed on each vertical plate, and the axial direction of the bearing shaft is limited by a clamp spring; 4, the bearing wheels with bearings are respectively sleeved on the bearing shafts, and the axial directions of the bearing wheels are limited by clamp springs;
the bottom of each vertical plate is provided with a U-shaped groove, a tensioning shaft is arranged between two symmetrical U-shaped grooves about the guide rail, a tensioning wheel with a bearing is assembled on the tensioning shaft, the tensioning wheel is axially limited through a shaft shoulder and a clamp spring, and the tensioning wheel is positioned below the guide rail and clings to the lower surface of the guide rail;
two free tail ends of the tensioning shaft are respectively provided with a hole, two ends of the tensioning shaft are respectively provided with a flange bearing from the hole to the inner side, the flange bearings are assembled on the tensioning shaft by an interference fit method, and each flange bearing is arranged in a U-shaped groove of the vertical plate at the corresponding position;
a positioning support plate in the shape of a right-angled triangular prism is arranged on the outer side of each vertical plate and used for fixing the vertical plates on the flat plate; the middle of the positioning support plate is provided with a hole from top to bottom, and the screw sequentially passes through a hole at the tail end of the tensioning shaft and a pressure spring matched with the screw and is finally fixed on the flat plate;
the guide rail is characterized in that a first guide wheel, a second guide wheel and a third guide wheel are sequentially arranged on each side of the guide rail, the second guide wheel is arranged between two vertical plates on the same side of the guide rail, each guide wheel is provided with a bearing and is respectively installed on a guide wheel support at a corresponding position through an inner hexagon screw, and the guide wheel supports are fixed on a flat plate through screws.
Further, the vibration damping module has the following specific structure:
the spring support frame is provided with a cavity from top to bottom from the top surface, a large pressure spring is arranged in the cavity, a spring pressing block is embedded into the cavity of the spring support frame from the top of the cavity and pressed into the large pressure spring, a spring baffle is sleeved outside the large pressure spring, and the spring pressing block is fastened with the spring baffle through a screw; a bottom plate is fixed at the bottom of the spring baffle plate and used for load detection equipment;
the four sides of the spring support frame are respectively provided with an opening, each guide post penetrates through the opening and is perpendicular to the axial direction of the large pressure spring, one end of the outer side of each guide post is fixed on the outer wall of the side face of the spring support frame through a screw, one end of the inner side of each guide post is sleeved with the small high-frequency pressure spring and the large high-frequency pressure spring, and one ends of the inner sides of the small high-frequency pressure spring and the large high-frequency pressure spring are arranged in grooves formed in corresponding positions of the spring baffle plates.
Further, the editable module has the following specific structure:
the device comprises a sliding block fixed between two adjacent vertical plates, wherein the center of the sliding block is provided with a hole, a bearing is arranged in the hole of the sliding block, and an information acquisition shaft is assembled in the bearing; a first sleeve is arranged in the sliding block and props against the outer ring of the bearing, the information acquisition device axially positions the first sleeve on one side of the sliding block, and the information acquisition device and the sliding block are locked through screws; the second sleeve is assembled on the information acquisition shaft, the information acquisition wheel is arranged on the other side of the sliding block and fixed on the information acquisition shaft, and the axial direction of the information acquisition wheel is limited through the clamp spring.
Furthermore, a flat plate in the bearing guide tensioning module and a spring support frame in the vibration damping module are locked through a screw and a nut; a slipknot screw is arranged in a threaded hole below a sliding block in the editable module, a tension spring is buckled into the hole of the slipknot screw, the other end of the tension spring is buckled into the hole of the other slipknot screw, and the slipknot screw is inserted into the holes on the flat plate and the spring support frame in an aligning way and is locked by a nut below the holes.
Compared with the prior art, the invention has the remarkable advantages that: (1) the modular design is adopted, and the device can be divided into a bearing guide tensioning module, a vibration damping module and an editable module, so that the maintenance is convenient, and the assembly and maintenance efficiency is improved; (2) the tensioning wheel group is also arranged in the bearing guide module, so that low-frequency vibration reduction can be realized, and the vibration reduction effect of the whole system is improved; (3) the guide wheel set can adjust the distance between the robot and the guide rail, so that the robot can pass through the bent rail and climb a slope; (4) the design of the independent vibration damping bin module has obvious vibration damping effect on all directions, so that the vibration damping effect of the whole system is more obvious; (5) contain the editable module, can monitor entire system as required, increase the practicality.
Drawings
Fig. 1 is a block diagram of a load-bearing guide tensioning module in the modular vibration damping system for a rail robot according to the present invention.
Fig. 2 is a structural view of a damping module in the modular damping system for a rail robot according to the present invention.
Fig. 3 is an exploded view of a vibration damping module in the modular vibration damping system for the rail robot according to the present invention.
Fig. 4 is an assembly view of editable modules in the modular vibration reduction system for the rail robot according to the present invention.
Fig. 5 is an exploded view of an editable module in the modular vibration reduction system for the rail robot according to the present invention.
FIG. 6 is an assembly drawing of an editable module and a loadbearing guide tensioning module according to the invention
Fig. 7 is an assembly view of the modular vibration reduction system for the rail robot of the present invention.
Fig. 8 is an assembly view of the modular vibration reduction system for a rail robot of the present invention with a guide rail.
Reference number in the figure, 1, bearing wheel; 2. a vertical plate; 3. a load bearing shaft; 4. a first guide wheel; 5. a flat plate; 6. a second guide wheel; 7. positioning the supporting plate; 8. a tension wheel; 9. a flange bearing; 10. tensioning the shaft; 11. a pressure spring; 12. a third guide wheel; 13. a guide wheel support; 14. a spring pressing block; 15. a spring support frame; 16. a small high frequency spring; 17. a large high frequency spring; 18. a guide post; 19. a large pressure spring; 20. a spring baffle; 21. a base plate; 22. an information acquisition wheel; 23. a second sleeve; 24. a bearing; 25. a slider; 26. an information acquisition axis; 27. a first sleeve; 28. an information acquisition device; 29. a tension spring; 30. slipknot screw.
Detailed Description
The invention relates to a modular vibration reduction system for a track robot, which is characterized in that a track based on the system adopts an I-shaped guide rail, and specifically comprises a bearing guide tensioning module, a vibration reduction module and an editable module, wherein:
the bearing guide tensioning module comprises a bearing wheel set arranged in a groove of the I-shaped guide rail, guide wheel sets arranged on two sides of the guide rail and a tensioning wheel set arranged below the guide rail and tightly attached to the lower surface of the guide rail; a frame is hung below the bearing wheel set, is arranged below the guide rail and is not contacted with the guide rail; three groups of guide wheel sets are arranged along the direction of the guide rail, the position of the guide wheel in the middle is fixed, and the positions of the guide wheels at the two ends can be adjusted; the tensioning wheel set is in contact with the lower surface of the guide rail and is fixed with the bottom flat plate of the frame through a tensioning shaft;
the damping module comprises a spring support frame, the spring support frame is provided with a cavity, a large pressure spring is arranged in the cavity, a spring pressing block is embedded into the cavity of the spring support frame from the top of the cavity and pressed into the large pressure spring, and a spring baffle is sleeved on the outer side of the large pressure spring; the four side surfaces of the spring support frame are respectively provided with a small high-frequency pressure spring and a large high-frequency pressure spring which are fixed by guide posts;
the editable module comprises an information acquisition wheel which is arranged on the inner side of the sliding block and keeps contact with two shoulders of the guide rail, an information acquisition device which is arranged on the outer side of the sliding block, and a tension spring which enables the sliding block to be connected with other modules;
the bottom flat plate of the bearing guide tensioning module is fixed with the top of the spring support frame of the vibration reduction module, and the editable module is respectively connected with the bearing guide tensioning module and the vibration reduction module through tension springs.
As a specific example, the load-bearing guide tensioning module has the following specific structure:
the frame comprises a flat plate 5 at the bottom and 4 vertical plates 2 fixed on the flat plate 5, wherein the 4 vertical plates 2 are symmetrically arranged at two sides of the guide rail; a bearing shaft 3 is fixed on each vertical plate 2, and the axial direction of the bearing shaft 3 is limited by a clamp spring; 4, the bearing wheels 1 with bearings are respectively sleeved on the bearing shafts 3, and the axial direction of the bearing wheels 1 is limited by clamp springs;
the bottom of each vertical plate 2 is provided with a U-shaped groove, a tensioning shaft 10 is arranged between two U-shaped grooves which are symmetrical about the guide rail, a tensioning wheel 8 with a bearing is assembled on the tensioning shaft 10, the tensioning wheel 8 is axially limited through a shaft shoulder and a clamp spring, and the tensioning wheel 8 is positioned below the guide rail and clings to the lower surface of the guide rail;
two free tail ends of the tensioning shaft 10 are respectively provided with a hole, two ends of the tensioning shaft 10 are respectively provided with a flange bearing 9 from the hole to the inner side, the flange bearings 9 are assembled on the tensioning shaft 10 through an interference fit method, and each flange bearing 9 is arranged in a U-shaped groove of the vertical plate 2 at the corresponding position;
a positioning support plate 7 in the shape of a right-angled triangular prism is arranged on the outer side of each vertical plate 2 and used for fixing the vertical plates 2 on the flat plate 5; the middle of the positioning support plate 7 is provided with a hole from top to bottom, a screw sequentially passes through a hole at the tail end of the tensioning shaft 10 and a pressure spring 11 matched with the screw, and finally the screw is fixed on the flat plate 5;
each side of the guide rail is sequentially provided with a first guide wheel 4, a second guide wheel 6 and a third guide wheel 12, the second guide wheel 6 is arranged between the two vertical plates 2 on the same side of the guide rail, each guide wheel is provided with a bearing and is respectively installed on a guide wheel support 13 on the corresponding position through an inner hexagon screw, and the guide wheel supports 13 are fixed on the flat plate 5 through screws.
As a specific example, the vibration damping module has the following specific structure:
a cavity from top to bottom is formed in the spring support frame 15 from the top surface, a large compression spring 19 is arranged in the cavity, a spring pressing block 14 is embedded into the cavity of the spring support frame 15 from the top of the cavity and pressed into the large compression spring 19, a spring baffle plate 20 is sleeved outside the large compression spring 19, and the spring pressing block 14 is fastened with the spring baffle plate 20 through a screw; a bottom plate 21 is fixed at the bottom of the spring baffle 20, and the bottom plate 21 is used for load detection equipment;
four side surfaces of the spring support frame 15 are respectively provided with an opening, each guide post 18 penetrates through the opening and is perpendicular to the axial direction of the large pressure spring 19, one end of the outer side of each guide post 18 is fixed on the outer wall of the side surface of the spring support frame 15 through a screw, one end of the inner side of each guide post 18 is sleeved with a small high-frequency pressure spring 16 and a large high-frequency pressure spring 17, and one end of the inner side of each small high-frequency pressure spring 16 and one end of the inner side of each large high-frequency pressure spring 17 are arranged in a groove formed in the corresponding position of the spring baffle 20.
As a specific example, the editable module has the following specific structure:
the device comprises a sliding block 25 fixed between two adjacent vertical plates 2, wherein the center of the sliding block 25 is provided with a hole, a bearing 24 is arranged in the hole of the sliding block 25, and an information acquisition shaft 26 is assembled in the bearing 24; a first sleeve 27 is arranged in the sliding block 25, the first sleeve 27 props against the outer ring of the bearing 24, the information acquisition device 28 axially positions the first sleeve 27 on one side of the sliding block 25, and the information acquisition device 28 and the sliding block 25 are locked through screws; the second sleeve 23 is assembled on the information acquisition shaft 26, the information acquisition wheel 22 is arranged on the other side of the sliding block 25 and is fixed on the information acquisition shaft 26, and the axial direction of the information acquisition wheel 22 is limited by the clamp spring.
As a specific example, the flat plate 5 in the weight-bearing guide tensioning module and the spring support frame 15 in the vibration damping module are locked by a screw and a nut; a slipknot screw 30 is arranged in a threaded hole below the sliding block 25 in the editable module, a tension spring 29 is buckled in the hole of the slipknot screw 30, the other end of the tension spring 29 is buckled in the hole of the other slipknot screw 30, and the slipknot screw 30 is inserted into the holes on the flat plate 5 and the spring support frame 15 in alignment and is locked by a nut below.
The invention is further described in detail below with reference to the drawings and specific embodiments.
Examples
The invention discloses a modular vibration reduction system for a rail robot, which adopts a modular design and comprises a rail, a bearing guide tensioning module, a vibration reduction module and an editable module. The track is an I-shaped guide rail; the bearing guide tensioning module comprises a bearing wheel set assembled in a groove of the I-shaped guide rail, guide wheel sets assembled on two sides of the guide rail and a damping wheel set assembled below the guide rail; the vibration reduction module comprises a spring support frame, a large pressure spring, a spring pressing block, a spring baffle, a guide post and large and small high-frequency springs; the editable module comprises a sliding block, an information acquisition wheel and an information acquisition device. The modules are designed independently and connected through screws and nuts, so that the assembly and maintenance are convenient, and the efficiency is improved.
As shown in fig. 1, a bearing wheel 1 with a bearing is pressed on a bearing shaft 3, the bearing wheel is axially limited by a clamp spring, then the bearing shaft 3 is pressed into a vertical plate 2, the bearing wheel is axially limited by the clamp spring, then a tension wheel 8 with the bearing is assembled on a tension shaft 10, the flange bearing 9 is assembled on the tension shaft 10 by an interference fit method through the axial limitation of a shaft shoulder and the clamp spring, then the flange bearing 9 is pushed into a U-shaped groove of the vertical plate 2, a pressure spring 11 is placed in a hole of a positioning support plate 7, the positioning support plate 7 is preassembled on the vertical plate 2, and finally the four assembled bearing wheel assemblies are assembled on a flat plate 5, screws penetrate through the holes and the pressure springs at two ends of the tension shaft 10, fixing screws on the positioning support plate 7 are firstly locked, and then fixing screws on the vertical plate 2 are locked; the guide wheel 4612 with the bearing is arranged on the guide wheel support 13 by hexagon socket head cap screws, and then the guide wheel and the guide wheel are arranged on the flat plate 5 by screws;
as shown in fig. 3, a bottom plate 21 of the loading detection device is locked below a spring baffle 20 by screws, then a large compression spring 19 is placed in a groove of the spring baffle 20, then the assembled part is placed in a spring support frame 15, then a spring pressing block 14 is pressed into the large compression spring 19, the spring pressing block 14 and the spring baffle 20 are pre-tightened by screws, finally a large high-frequency compression spring 17 and a small high-frequency compression spring 16 are sleeved on a guide column 18, the guide column 18 is pre-tightened on the spring support frame 15 by screws, then all the screws are locked after the positions of the springs are adjusted, and the assembly is completed as shown in fig. 2.
As shown in fig. 5, the bearing 24 is first pressed into the hole of the slider 25, the information collecting shaft 26 is then assembled into the bearing 24, the sleeve a27 is placed in the slider 25, the sleeve a27 abuts against the outer ring of the bearing 24, the sleeve a27 is axially positioned by the information collecting device 28 on the outer side, and finally the information collecting device 28 and the slider 25 are locked by screws. The information acquisition shaft 26 is provided with a sleeve b23, the information acquisition wheel 22 is arranged on the information acquisition shaft 26, and the axial direction is limited by a clamp spring. When assembled as shown in fig. 4.
Referring to fig. 6, 7 and 8, firstly, the plate in the bearing guide tensioning module and the spring support frame in the damping module are locked by screws and nuts, then the slipknot screw 30 is locked into the threaded hole below the sliding block, the tension spring 29 is buckled into the hole of the slipknot screw 30, another slipknot screw 30 is arranged in the plate below, the other end of the tension spring 29 is buckled into the hole of the another slipknot screw 30, and finally the slipknot screw 30 is inserted into the holes of the plate and the spring support frame in alignment with the holes of the plate and the spring support frame and is locked by nuts below, so that the whole system is assembled.
In the operation process of the whole system, due to the factors of high operation speed, self bearing and the like, vibration and the like can be generated, and tension springs, high-frequency pressure springs, low-frequency pressure springs and the like are connected among modules, so that the system has effective vibration reduction effect in all directions.
In the embodiment, the guide rail is a high-strength I-shaped aluminum alloy guide rail and has good corrosion resistance and rust resistance; the bearing wheel set is arranged in the groove of the I-shaped guide rail, a frame is hung below the bearing wheel set, and the frame is arranged below the guide rail and is not in contact with the guide rail; the guide wheel sets are additionally arranged between the frame and the guide rail, the guide wheel sets are arranged on two sides of the guide rail, the position of the guide wheel in the middle is fixed, the positions of the guide wheels on two sides are adjustable, the robot can be ensured to bend and climb, and when the radius of a curve of the track changes, the positions of the guide wheels on two sides can be adjusted to adapt to the change, so that the ductility of the robot is stronger;
a tensioning wheel set is additionally arranged between the frame and the guide rail, the tensioning wheel set is contacted with the lower surface of the guide rail, and the tensioning wheel is fixed with the bottom plate through a tensioning shaft by a screw; the large pressure spring is sleeved on the spring pressing block and placed in the spring baffle plate, and the spring pressing block and the spring baffle plate are locked by a screw; and sleeving the large high-frequency pressure spring and the small high-frequency pressure spring on the guide post, and fixing the guide post on the spring support frame by using a screw.
In a word, the invention adopts a modular design and can be divided into a bearing guide tensioning module, a vibration damping module and an editable module, thereby facilitating maintenance and improving the assembly and maintenance efficiency; the tensioning wheel group is also arranged in the bearing guide module, so that low-frequency vibration reduction can be realized, and the vibration reduction effect of the whole system is improved; the guide wheel set can adjust the distance between the robot and the guide rail, so that the robot can pass through the bent rail and climb a slope; the design of the independent vibration damping bin module has obvious vibration damping effect on all directions, so that the vibration damping effect of the whole system is more obvious; contain editable module, can carry out the monitoring in aspects such as temperature, humidity, gas-sensitive, atmospheric pressure, video to entire system as required, increase the practicality.
Claims (4)
1. The utility model provides a modularization damping system for track robot, its characterized in that, the track that this system is based on adopts I shape guide rail, specifically includes bearing direction tensioning module, damping module and editable module, wherein:
the bearing guide tensioning module comprises a bearing wheel set arranged in a groove of the I-shaped guide rail, guide wheel sets arranged on two sides of the guide rail and a tensioning wheel set arranged below the guide rail and tightly attached to the lower surface of the guide rail; a frame is hung below the bearing wheel set, is arranged below the guide rail and is not contacted with the guide rail; three groups of guide wheel sets are arranged along the direction of the guide rail, the position of the guide wheel in the middle is fixed, and the positions of the guide wheels at the two ends can be adjusted; the tensioning wheel set is in contact with the lower surface of the guide rail and is fixed with the bottom flat plate of the frame through a tensioning shaft;
the damping module comprises a spring support frame, the spring support frame is provided with a cavity, a large pressure spring is arranged in the cavity, a spring pressing block is embedded into the cavity of the spring support frame from the top of the cavity and pressed into the large pressure spring, and a spring baffle is sleeved on the outer side of the large pressure spring; the four side surfaces of the spring support frame are respectively provided with a small high-frequency pressure spring and a large high-frequency pressure spring which are fixed by guide posts;
the editable module comprises an information acquisition wheel which is arranged on the inner side of the sliding block and keeps contact with two shoulders of the guide rail, an information acquisition device which is arranged on the outer side of the sliding block, and a tension spring which enables the sliding block to be connected with other modules;
the bottom flat plate of the bearing guide tensioning module is fixed with the top of the spring support frame of the vibration reduction module, and the editable module is respectively connected with the bearing guide tensioning module and the vibration reduction module through tension springs;
the bearing guide tensioning module has the following specific structure:
the frame comprises a flat plate (5) at the bottom and 4 vertical plates (2) fixed on the flat plate (5), wherein the 4 vertical plates (2) are symmetrically arranged at two sides of the guide rail; a bearing shaft (3) is fixed on each vertical plate (2), and the axial direction of the bearing shaft (3) is limited by a clamp spring; 4 bearing wheels (1) with bearings are respectively sleeved on the bearing shafts (3), and the axial direction of the bearing wheels (1) is limited by a clamp spring;
the bottom of each vertical plate (2) is provided with a U-shaped groove, a tensioning shaft (10) is arranged between the two U-shaped grooves which are symmetrical about the guide rail, a tensioning wheel (8) with a bearing is assembled on the tensioning shaft (10), the tensioning wheel (8) is axially limited through a shaft shoulder and a clamp spring, and the tensioning wheel (8) is positioned below the guide rail and clings to the lower surface of the guide rail;
two free tail ends of the tensioning shaft (10) are respectively provided with a hole, two flange bearings (9) are respectively arranged at the two ends of the tensioning shaft (10) from the hole to the inner side, the flange bearings (9) are assembled on the tensioning shaft (10) through an interference fit method, and each flange bearing (9) is arranged in a U-shaped groove of the vertical plate (2) at the corresponding position;
a positioning support plate (7) in a right-angle triangular prism shape is arranged on the outer side of each vertical plate (2) and used for fixing the vertical plates (2) on the flat plate (5); the middle of the positioning support plate (7) is provided with a hole from top to bottom, and a screw sequentially passes through a hole at the tail end of the tensioning shaft (10) and a pressure spring (11) matched with the screw and is finally fixed on the flat plate (5);
each side of the guide rail is sequentially provided with a first guide wheel (4), a second guide wheel (6) and a third guide wheel (12), the second guide wheel (6) is arranged in the middle of two vertical plates (2) on the same side of the guide rail, each guide wheel is provided with a bearing and is respectively installed on a guide wheel support (13) in a corresponding position through hexagon socket head cap screws, and the guide wheel supports (13) are fixed on the flat plate (5) through screws.
2. The modular vibration damping system for a rail robot according to claim 1, wherein the vibration damping module has the following specific structure:
a cavity from top to bottom is formed in the spring support frame (15) from the top surface, a large compression spring (19) is arranged in the cavity, a spring pressing block (14) is embedded into the cavity of the spring support frame (15) from the top of the cavity and pressed into the large compression spring (19), a spring baffle plate (20) is sleeved outside the large compression spring (19), and the spring pressing block (14) is fastened with the spring baffle plate (20) through a screw; a bottom plate (21) is fixed at the bottom of the spring baffle (20), and the bottom plate (21) is used for load detection equipment;
four sides of the spring support frame (15) are respectively provided with an opening, each guide post (18) penetrates through the opening and is perpendicular to the axial direction of the large pressure spring (19), one end of the outer side of each guide post (18) is fixed on the outer wall of the side of the spring support frame (15) through a screw, one end of the inner side of each guide post is sleeved with a small high-frequency pressure spring (16) and a large high-frequency pressure spring (17), and one ends of the inner sides of the small high-frequency pressure spring (16) and the large high-frequency pressure spring (17) are arranged in grooves formed in the corresponding positions of the spring baffle plates (20).
3. The modular vibration reduction system for an orbital robot according to claim 1 or 2, characterized in that the editable module is configured as follows:
the device comprises a sliding block (25) fixed between two adjacent vertical plates (2), wherein the center of the sliding block (25) is provided with a hole, a bearing (24) is arranged in the hole of the sliding block (25), and an information acquisition shaft (26) is assembled in the bearing (24); a first sleeve (27) is arranged in the sliding block (25), the first sleeve (27) props against the outer ring of the bearing (24), the information acquisition device (28) axially positions the first sleeve (27) on one side of the sliding block (25), and the information acquisition device (28) and the sliding block (25) are locked through screws; and a second sleeve (23) is assembled on the information acquisition shaft (26), the information acquisition wheel (22) is arranged on the other side of the sliding block (25) and is fixed on the information acquisition shaft (26), and the axial direction of the information acquisition wheel (22) is limited by a clamp spring.
4. The modular vibration reduction system for the rail robot according to claim 3, wherein the flat plate (5) in the weight-bearing guide tensioning module and the spring support frame (15) in the vibration reduction module are locked by a screw and a nut; a slipknot screw (30) is arranged in a threaded hole below a sliding block (25) in the editable module, a tension spring (29) is buckled in the hole of the slipknot screw (30), the other end of the tension spring (29) is buckled in the hole of the other slipknot screw (30), and the slipknot screw (30) is inserted into the holes on the flat plate (5) and the spring support frame (15) in an aligning way and is locked by a nut below the holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN111482946A (en) * | 2020-05-15 | 2020-08-04 | 深圳供电局有限公司 | Inspection robot and system |
| CN113103208B (en) * | 2021-04-27 | 2022-09-13 | 重庆大学 | Track type inspection robot |
| CN113532780A (en) * | 2021-08-26 | 2021-10-22 | 青岛科技大学 | Loose joint screw type quick combination square quality system with guide device |
| CN113775941A (en) * | 2021-08-28 | 2021-12-10 | 周攀 | Municipal administration drain pipe leak hunting is with rail mounted intelligence inspection device |
| CN114407033A (en) * | 2022-01-07 | 2022-04-29 | 湖南工程学院 | A hang rail and patrol and examine supplementary climbing mechanism of robot for outdoor heavy grade operation |
| KR102672515B1 (en) * | 2022-04-07 | 2024-06-04 | 한양대학교 에리카산학협력단 | Rail robot and system including the same |
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