CN111573179B - Small rail car suitable for curved rail of different dimensions - Google Patents
Small rail car suitable for curved rail of different dimensions Download PDFInfo
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- CN111573179B CN111573179B CN202010368108.1A CN202010368108A CN111573179B CN 111573179 B CN111573179 B CN 111573179B CN 202010368108 A CN202010368108 A CN 202010368108A CN 111573179 B CN111573179 B CN 111573179B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
Abstract
The invention discloses a rail trolley suitable for curved rails with different dimensions, which comprises a horizontal driving module, a rail, a trolley box body, a vertical driving module and a guiding module, wherein the rail trolley comprises a rail and a rail guide rail; the horizontal driving module and the vertical driving module are both driven by tooth-shaped chains and are connected with the trolley box body, and the horizontal driving module is used for driving the trolley to move forwards and backwards on a plane straight line or an arc track; the vertical driving module is used for driving the trolley to climb along the track; the vertical driving module is provided with a detection module for detecting whether the trolley enters and exits a climbing stage or not so as to realize the switching between the horizontal driving module and the vertical driving module; an elastic compensation module in the vertical direction is arranged between the vertical driving module and the trolley box body; the front side and the rear side of the upper end of the trolley box body are respectively provided with a guide module; the guide module is connected with the trolley box body through an arc-shaped guide rail pair; the two arc-shaped guide rail pairs are oppositely arranged and have the same circle center. The invention has good curved rail trafficability and climbing function, and realizes multi-dimensional transportation.
Description
Technical Field
The invention belongs to the field of suspension type rail trolleys, and particularly relates to a rail trolley suitable for bent rails with different dimensions.
Background
With the continuous development of the robot technology, the inspection robot is more and more widely applied in various fields. The track trolley with the relatively fixed patrol track is relatively used more, and various sensors are often carried to be applied to various occasions such as detection, transmission and the like. Due to different use occasions, the rail trolley is suitable for not only a linear rail but also a curved rail. At present, a plurality of trolleys need to be provided with special auxiliary turning mechanisms, the structure is complex and long, and the phenomena of rail gnawing, difficulty in turning and blocking easily occur when the trolleys run on the arc track with smaller turning radius. In order to make the rail car lighter and more capable of having good curved rail passing capability, the structural design of the rail car must be considered.
The application number 201720773824.1 Chinese patent provides a running gear, and this structural design adopts front and back guiding mechanism in order to realize that the dolly passes through the circular arc curved rail, and front and back guiding mechanism passes through the bearing frame and installs on the bottom plate, can rotate around self, and actuating mechanism installs on the slider, and the slider can be controlled on the bottom plate and move, and when getting into the bend, front and back guiding mechanism can rotate with this adaptation track, and actuating mechanism moves about simultaneously and prevents the card die. In the invention, the connecting line of the rotating centers of the front and rear guide mechanisms is fixed, which represents the advancing direction of the trolley, and the connecting line of the center points of the linear track is the central line of the track, so that the trolley can pass smoothly without changing the position of the driving module; when entering the curved track, the connecting line of the rotation centers of the front and rear guide mechanisms is positioned at two points of the circular arc track, and at the moment, if the position of the driving module is unchanged, the trolley can be clamped, so the driving module is fixed on the sliding block and can move left and right on the bottom plate, but actually just enters the curved track, the front guide mechanism enters the curved track, the rear guide mechanism is still in the straight track, and when the trolley is required to keep moving, the driving module is required to move left and right relative to the trolley and also needs to rotate to a certain extent, the driving wheel can be always attached to the outer surface of the track, but the mechanism can not be realized, and the driving module moves back and forth, and the motor fixed on the driving module can bring certain hidden danger, so the devices have great limitation on the application of the small railway vehicles.
Meanwhile, most of the designs can only be suitable for plane transmission, but due to different use occasions, the trolley needs to be capable of ascending and descending at certain times to perform multidimensional movement, and the designs are not suitable for use, so that the use practicability of the rail trolley is greatly reduced.
Disclosure of Invention
The invention aims to provide a small rail car for curved rails with different dimensions, which can move on a straight line or an arc rail in a plane and can climb a slope, so that multi-dimensional transportation is realized.
The technical solution for realizing the purpose of the invention is as follows:
a rail trolley suitable for curved rails with different dimensions comprises a horizontal driving module, a rail, a trolley box body, a vertical driving module and a guiding module;
the horizontal driving module and the vertical driving module are both driven by a toothed chain and are both connected with the trolley box body; the horizontal driving module is used for driving the trolley to move forwards and backwards on a plane straight line or an arc track; the vertical driving module is used for driving the trolley to climb along the track; the vertical driving module is provided with a detection module for detecting whether the trolley enters or exits a climbing stage or not and realizing the switching between the horizontal driving module and the vertical driving module; an elastic compensation module in the vertical direction is arranged between the vertical driving module and the trolley box body, so that the vertical driving module can move up and down relative to the trolley box body in the process of the trolley entering the rail bending motion; the front side and the rear side of the upper end of the trolley box body are respectively provided with a guide module, and the guide modules are used for trolley transmission and guide assistance entering the arc curved rail; the guide module is connected with the trolley box body through an arc-shaped guide rail pair; the two arc-shaped guide rail pairs are oppositely arranged and have the same circle center.
Compared with the prior art, the invention has the following remarkable advantages:
(1) the invention has simple structure, can carry out plane movement and climbing movement without additional mechanisms, realizes the multi-dimensional transportation function, adopts two sets of independent driving systems for horizontal and vertical transmission, and cannot interfere with each other. The transmission part adopts the tooth-shaped chain transmission, and the transmission mode is stable, safe and efficient.
(2) When the horizontal entering curved rail, the front and back guide modules can move on the arc-shaped slide rail and enter the curved rail part, the front and back guide modules shift in sequence, so that stable guide can be realized at the curved rail, the whole structure is exquisite, the efficiency is high, and the adaptability of the rail is good.
Drawings
Fig. 1 is a schematic view of the right side installation of the rail car of the present invention on a rail.
Fig. 2 is a schematic view of the left side installation of the rail car on the rail of the present invention.
Fig. 3 is a schematic structural diagram of a horizontal driving module of the rail trolley.
Fig. 4 is a schematic structural view of a vertical driving module of the rail trolley.
Fig. 5 is a schematic structural view of the front and rear guide modules according to the present invention.
Fig. 6 is a schematic structural view of the guide rail of the present invention.
FIG. 7 is a schematic view of the structure of the carriage body of the present invention.
FIG. 8 is a schematic view showing the installation and distribution of the arc-shaped slide rail sliding blocks on the front and rear guide modules of the invention on the trolley.
Fig. 9 is a schematic view of the small rail car of the present invention just after entering a curved rail when climbing a slope.
Fig. 10 is a schematic view of the rail car of the present invention entering a curved track during a planar turn.
Detailed Description
With reference to fig. 1 and 2, the invention discloses a novel rail trolley suitable for curved rails with different dimensions, which comprises a horizontal driving module A, a vertical driving module B, a guiding module C, an I-shaped rail D and a trolley box body E;
the horizontal driving module A and the vertical driving module B are both driven by tooth-shaped chain transmission, and the horizontal driving module A drives the trolley to move forwards and backwards on a plane straight line or an arc track; the vertical driving module B drives the trolley to realize the function of slope climbing; the guide modules C are 2 groups and have the same structure, and the two groups of guide modules C are respectively arranged in the front and the back of the trolley. The auxiliary trolley has the functions of assisting the trolley in transmission and entering the arc curved rail.
The trolley box body E comprises a front fixing frame E-1, a rear fixing frame E-2, a bottom plate E-3, a connecting plate E-4, a sliding block E-5 and a linear sliding rail E-6; the front and rear fixing frames E-1 and the storage box E-2 are fixed together, the two linear slide rails E-6 are respectively and fixedly arranged on the inner sides of the front and rear fixing frames E-1, the front and rear parts of the bottom plate E-3 are respectively and fixedly provided with a connecting plate E-4, the connecting plate E-4 is fixed with the corresponding side slide block E-5, and a spring is arranged between the lower part of the bottom plate E-3 and the storage box E-2.
The track D comprises a track body D-1, a horizontal transmission toothed chain D-2 and a vertical transmission toothed chain D-3; the horizontal transmission toothed chain D-2 is arranged on the side face of one side of the track body, and the vertical transmission toothed chain D-3 is arranged on the upper surface of the lower bottom plate of the other side.
With reference to fig. 3 and 4, the horizontal driving module a comprises a motor frame a-1, a motor a-2, a coupler a-3, a transfer shaft a-4, a clutch a-5, a large belt wheel a-6, a belt a-7, a small belt wheel a-8, a mounting frame a-9, a transmission shaft a-10, a toothed chain sprocket a-11 and an auxiliary guide wheel a-12;
the motor frame A-1 and the mounting frame A-9 are fixedly mounted on a bottom plate E-3 of the trolley box body E; the motor A-2 is fixed on the motor frame A-1 and is connected with the connecting shaft A-4 through a coupling A-3; the connecting shaft A-4 is connected with a large belt wheel A-6 through a clutch A-5, the large belt wheel A-6 drives a small belt wheel A-8 through a belt A-7 in a transmission mode, a toothed chain sprocket A-11 is connected with the small belt wheel A-8 and meshed with a horizontal transmission toothed chain D-2 fixed on the side end of a track, and the toothed chain sprocket A-11 rotates to drive the small belt wheel A-8 to rotate so as to achieve horizontal transmission; the small belt wheel A-8 is connected with the mounting rack A-9 through a rotating shaft; and the mounting rack A-9 is provided with an auxiliary guide wheel A-12, and the auxiliary guide wheel A-12 is supported on the track and plays a role in guiding the running of the trolley.
The vertical driving module B has the same structure as the horizontal driving module, is driven by a motor, and drives a toothed chain sprocket to be meshed with the toothed chain through belt wheel transmission, so that the trolley transmission is realized. The difference lies in that the vertical driving module B is provided with a sensor on the mounting rack B-9, the sensor is used as a detection module for detecting the inclination angle of the trolley, and when the trolley is detected to enter and exit a climbing stage, the switching between the motors of the horizontal driving module A and the vertical driving module B is realized.
The vertical driving module B comprises a motor frame B-1, a motor B-2, a coupler B-3, a transfer shaft B-4, a clutch B-5, a large belt wheel B-6, a belt B-7, a small belt wheel B-8, a mounting frame B-9, a transmission shaft B-10, a toothed chain sprocket B-11, an auxiliary guide wheel B-12 and a sensor B-13;
the motor frame B-1 and the mounting frame B-9 are both fixedly mounted on a bottom plate E-3 of the trolley box body E; the motor B-2 is fixed on the motor frame B-1 and is connected with the connecting shaft B-4 through a coupling B-3; the connecting shaft B-4 is connected with a large belt wheel B-6 through a clutch B-5, the large belt wheel B-6 drives a small belt wheel B-8 through a belt B-7, a toothed chain sprocket B-11 is connected with the small belt wheel B-8 and meshed with a vertical transmission toothed chain D-3 fixed on a track, and the toothed chain sprocket B-11 rotates to drive the small belt wheel B-8 to rotate so as to realize slope climbing transmission; the small belt wheel B-8 is connected with the mounting rack B-9 through a rotating shaft; and the mounting rack B-9 is provided with an auxiliary guide wheel B-12, and the auxiliary guide wheel B-12 is in rolling contact with the side end of the track D.
With reference to fig. 5 and 10, the guide modules C are two groups and have the same structure, and each guide module C comprises a guide module support C-1, a lower connecting shaft C-2, a driving wheel C-3, a lower guide wheel C-4, an upper connecting shaft C-5, an upper guide wheel C-6, an arc-shaped slide rail C-7 and a slide block C-8;
the sliding block C-8 is fixed at the lower end of the mechanism bracket C-1 and is matched with an arc-shaped sliding rail C-7 fixed on the trolley box body E; the mechanism support C-1 is of a U-shaped frame structure, and the left side and the right side of the middle of the mechanism support C-1 are both connected with lower connecting shafts C-2; the transmission wheel C-3 is rotationally connected to the lower connecting shaft C-2; the two driving wheels C-3 are positioned at the left side and the right side of the guide rail D and are in rolling contact with the upper surface of the lower bottom plate of the track D; the end part of the connecting shaft C-2 is rotatably connected with lower guide wheels C-4, and the two lower guide wheels C-4 are positioned at the left side and the right side of the guide rail D and are in rolling contact with the end surface of the side of the track D; the axial direction of the lower guide wheel C-4 is vertical to the axial direction of the driving wheel C-3; the left side and the right side of the upper part of the mechanism bracket C-1 are both connected with an upper connecting shaft C-5; the upper guide wheel C-6 is rotationally connected to the upper connecting shaft C-5; the two upper guide wheels C-6 are positioned at the left side and the right side of the guide rail D and are in rolling contact with the lower surface of the upper top plate of the track D; the upper guide wheel C-6 is axially parallel to the axial direction of the transmission wheel C-3. The arc-shaped sliding rails C-7 are arc-shaped, the two groups of arc-shaped sliding rails C-7 are oppositely arranged and have the same circle center, and the two groups of arc-shaped sliding rails C-7 are respectively arranged at the front and the back of the trolley.
When the trolley moves on the horizontal plane, the linear guide rail part, the horizontal driving module A drives the trolley to move forwards, the front and rear guiding modules C are positioned in the middle of the arc-shaped sliding rail C-7, the trolley is assisted to move forwards, and the trolley also moves backwards in the same way; when the trolley enters the arc-shaped curved rail, the horizontal driving module A is fixed relative to the trolley on the plane, the direction of the trolley is perpendicular to the connecting line of the horizontal driving module and the left and right contact points of the rail D, at the moment, the front guiding module C enters firstly, the stress deflects, the front guiding module rotates to a certain degree at the curved rail D along with the advance of the trolley, the front guiding module is kept to be always attached to the rail to move, at the moment, the horizontal driving module is still at the linear rail without deflection, then the horizontal driving module A enters the curved rail part, the stress deflects as the same as the front guiding module C, and the front guiding module rotates to a certain degree at the arc-shaped rail C-7 along with the advance of the trolley. The direction of the trolley is perpendicular to the arc center line of the track in the whole process, the horizontal driving module A is fixed relative to the position of the trolley and does not need to move or rotate, so that the trolley does not block when entering a bent track, and the whole motion process is stable and smooth.
Referring to fig. 3, 4, 5, 6, 7 and 9, when the trolley climbs a slope, the horizontal driving module a is temporarily stopped and the vertical driving module is started. The track when climbing is connected with the inclined plane track through the horizontal track, and the track at the joint is arc-shaped. At the moment, the front and rear guide modules C are positioned in the middle of the arc-shaped slide rail C-7 and cannot rotate left and right, so that the central connecting line of the front and rear guide modules C represents the direction of the trolley, when the front guide module C enters the climbing curved rail, the position of the front guide module C is raised, the central connecting line is not inclined horizontally, the direction of the current trolley is slowly inclined, at the moment, the driving wheel C-3 is in contact with the rail D, the upper guide wheel C-6 is separated from the rail D, then the toothed chain sprocket B-11 of the vertical drive module B and the rear guide module C sequentially enter the curved rail, and in the motion process, the vertical drive module B needs to move up and down relative to the trolley, so that the linear slide rail E-6, the slide block E-5 and the spring are designed, and the vertical drive module cannot be blocked during motion.
In conclusion, under the combined action of the horizontal driving module A, the vertical driving module B, the front and rear guiding modules C, the track D and the trolley box body E, the motor drives the toothed chain transmission to enable the rail trolley to move forwards and backwards on a fixed track along the track, so that the rail trolley can not only move up and down on a plane through a linear track and an arc curved track, but also move up and down a slope, and multi-dimensional transportation is realized. When the arc-shaped curved rail passes through the horizontal plane, the front guide module and the rear guide module only need to move to a certain extent on the arc-shaped sliding rail, and the driving module is not required to move. When climbing a slope, the vertical driving module only needs to move up and down relative to the trolley.
Claims (2)
1. A rail trolley suitable for curved rails with different dimensions comprises a horizontal driving module (A), a rail (D) and a trolley box body (E), and is characterized by further comprising a vertical driving module (B) and a guiding module (C);
the trolley box body (E) is provided with a front and rear fixing frame (E-1) and a bottom plate (E-3); the elastic compensation module comprises a connecting plate (E-4), a sliding block (E-5) and a linear sliding rail (E-6);
two linear slide rails (E-6) are respectively and fixedly arranged on the inner sides of the front and rear fixed frames (E-1), a bottom plate (E-3) is arranged in the trolley box body (E), connecting plates (E-4) are respectively fixed on the front and rear parts of the bottom plate (E-3), the connecting plates (E-4) are fixed with corresponding side sliding blocks (E-5), and springs are arranged between the lower part of the bottom plate (E-3) and the trolley box body (E);
the horizontal driving module (A) and the vertical driving module (B) are both driven by a toothed chain and are both connected with the trolley box body (E); the horizontal driving module (A) is used for driving the trolley to advance and retreat on a plane straight line or an arc track (D); the vertical driving module (B) is used for driving the trolley to climb along the track (D); the vertical driving module (B) is provided with a detection module for detecting whether the trolley enters or exits a climbing stage or not and realizing the switching between the motors of the horizontal driving module (A) and the vertical driving module (B); an elastic compensation module in the vertical direction is arranged between the vertical driving module (B) and the trolley box body (E), so that the vertical driving module (B) can move up and down relative to the trolley box body (E) in the process of the trolley entering the curved rail movement; the front side and the rear side of the upper end of the trolley box body (E) are respectively provided with a guide module (C), and the guide modules (C) are used for trolley transmission and guide assistance of entering the arc curved rail; the guide module (C) is connected with the trolley box body (E) through an arc-shaped guide rail pair; the two arc-shaped guide rail pairs are oppositely arranged and have the same circle center;
the guide module (C) comprises a guide module bracket (C-1), a lower connecting shaft (C-2), a driving wheel (C-3), a lower guide wheel (C-4), an upper connecting shaft (C-5) and an upper guide wheel (C-6);
a sliding block (C-8) is fixed at the lower end of the guide module bracket (C-1), and the sliding block (C-8) is matched with an arc-shaped sliding rail (C-7) fixed on a trolley box body (E); the left side and the right side of the middle of the guide module bracket (C-1) are both connected with a lower connecting shaft (C-2); the transmission wheel (C-3) is rotationally connected to the lower connecting shaft (C-2); the two driving wheels (C-3) are positioned at the left side and the right side of the track (D) and are in rolling contact with the upper surface of the lower bottom plate of the track (D); the end part of the connecting shaft (C-2) is rotatably connected with lower guide wheels (C-4), and the two lower guide wheels (C-4) are positioned at the left side and the right side of the track (D) and are in rolling contact with the side end surface of the track (D); the axial direction of the lower guide wheel (C-4) is vertical to the axial direction of the driving wheel (C-3); the left side and the right side of the upper part of the guide module bracket (C-1) are both connected with an upper connecting shaft (C-5); the upper guide wheel (C-6) is rotationally connected to the upper connecting shaft (C-5); the two upper guide wheels (C-6) are positioned at the left side and the right side of the track (D) and are in rolling contact with the lower surface of the upper top plate of the track (D); the upper guide wheel (C-6) is axially parallel to the axial direction of the driving wheel (C-3); the slide block (C-8) and the arc slide rail (C-7) form an arc guide rail pair;
the horizontal driving module (A) comprises a motor frame (A-1), a motor (A-2), a coupler (A-3), a transfer shaft (A-4), a clutch (A-5), a large belt wheel (A-6), a belt (A-7), a small belt wheel (A-8), an installation frame (A-9), a transmission shaft (A-10), a toothed chain sprocket (A-11) and an auxiliary guide wheel (A-12);
the motor frame (A-1) and the mounting frame (A-9) are both fixedly mounted on a bottom plate (E-3) of the trolley box body (E); the motor (A-2) is fixed on the motor frame (A-1) and is connected with the connecting shaft (A-4) through the coupler (A-3); the connecting shaft (A-4) is connected with a large belt wheel (A-6) through a clutch (A-5), the large belt wheel (A-6) drives a small belt wheel (A-8) through a belt (A-7) in a transmission way, a toothed chain sprocket (A-11) is connected with the small belt wheel (A-8) and meshed with a horizontal transmission toothed chain (D-2) fixed on the side end of a track, and the toothed chain sprocket (A-11) rotates to drive the small belt wheel (A-8) to rotate; the small belt wheel (A-8) is connected with the mounting rack (A-9) through a rotating shaft; the mounting rack (A-9) is provided with an auxiliary guide wheel (A-12), and the auxiliary guide wheel (A-12) is supported on the track (D);
the vertical driving module (B) comprises a motor frame (B-1), a motor (B-2), a coupler (B-3), a transfer shaft (B-4), a clutch (B-5), a large belt wheel (B-6), a belt (B-7), a small belt wheel (B-8), a mounting frame (B-9), a transmission shaft (B-10), a toothed chain sprocket (B-11), an auxiliary guide wheel (B-12) and a sensor (B-13);
the motor frame (B-1) and the mounting frame (B-9) are both fixedly mounted on a bottom plate (E-3) of the trolley box body (E); the motor (B-2) is fixed on the motor frame (B-1) and is connected with the connecting shaft (B-4) through a coupling (B-3); the connecting shaft (B-4) is connected with a large belt wheel (B-6) through a clutch (B-5), the large belt wheel (B-6) drives a small belt wheel (B-8) through a belt (B-7), a toothed chain sprocket (B-11) is connected with the small belt wheel (B-8) and meshed with a vertical transmission toothed chain (D-3) fixed on a track, and the toothed chain sprocket (B-11) rotates to drive the small belt wheel (B-8) to rotate; the slope climbing transmission is realized; the small belt wheel (B-8) is connected with the mounting rack (B-9) through a rotating shaft; and the mounting rack (B-9) is provided with an auxiliary guide wheel (B-12), and the auxiliary guide wheel (B-12) is in rolling contact with the side end of the track (D).
2. The rail trolley according to claim 1, wherein the trolley case (E) further comprises a storage box (E-2), and the front and rear fixing frames (E-1) and the storage box (E-2) are fixed together.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010368108.1A CN111573179B (en) | 2020-04-30 | 2020-04-30 | Small rail car suitable for curved rail of different dimensions |
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| CN202010368108.1A CN111573179B (en) | 2020-04-30 | 2020-04-30 | Small rail car suitable for curved rail of different dimensions |
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| CN111573179B true CN111573179B (en) | 2022-03-18 |
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| CN114084563A (en) * | 2021-11-29 | 2022-02-25 | 苏州彤新诺仓储系统科技有限公司 | Double-drive railway vehicle and differential control method thereof |
| CN116395340B (en) * | 2023-06-09 | 2023-09-01 | 威尔克莱特(苏州)科技有限公司 | Coupling mechanism, conveyor, track mechanism and track conveyor |
| CN117001635A (en) * | 2023-08-14 | 2023-11-07 | 南方电网数字电网集团(海南)有限公司 | Intelligent inspection robot for track type transformer substation |
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| CN203651758U (en) * | 2013-12-19 | 2014-06-18 | 集辰（福建）农林发展有限公司 | Terrain adaptive bottom wheel device of mountain monorail carrying van |
| CN107263441A (en) * | 2016-04-07 | 2017-10-20 | 北京天道和元科技有限公司 | A kind of precise positioning running gear and method suitable for crusing robot |
| CN206886043U (en) * | 2017-05-04 | 2018-01-16 | 长沙开元仪器股份有限公司 | Aid in climbing apparatus and the track motor-driven carrier with the auxiliary climbing apparatus |
| CN207595916U (en) * | 2017-12-05 | 2018-07-10 | 南京奥途信息技术有限公司 | A kind of motor-driven carrier for being used for straight rail or arc orbit |
| CN108609027A (en) * | 2017-12-20 | 2018-10-02 | 南京理工大学 | A kind of motor-driven carrier device being used for straight rail or arc orbit |
| CN108555881A (en) * | 2018-06-29 | 2018-09-21 | 山东金惠新达智能制造科技有限公司 | One kind can minor-circle turn hanger rail robot climbing apparatus |
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