CN112572495A - Running gear of robot is patrolled and examined to track - Google Patents
Running gear of robot is patrolled and examined to track Download PDFInfo
- Publication number
- CN112572495A CN112572495A CN202011518632.9A CN202011518632A CN112572495A CN 112572495 A CN112572495 A CN 112572495A CN 202011518632 A CN202011518632 A CN 202011518632A CN 112572495 A CN112572495 A CN 112572495A
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- driven
- plate
- inspection robot
- track
- current collector
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- 230000007246 mechanism Effects 0.000 claims abstract description 53
- 238000007689 inspection Methods 0.000 claims abstract description 47
- 230000005611 electricity Effects 0.000 claims abstract description 7
- 230000000712 assembly Effects 0.000 abstract description 8
- 238000000429 assembly Methods 0.000 abstract description 8
- 238000005452 bending Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
- B61D15/08—Railway inspection trolleys
- B61D15/12—Railway inspection trolleys power propelled
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a walking device of a track inspection robot, and relates to the relevant field of track inspection robots; the device comprises a support plate; the guide mechanism is arranged on the supporting plate and used for guiding and correcting a moving track, the guide mechanism comprises traveling wheels, driven wheels and driven telescopic assemblies, the traveling wheels and the driven wheels form a group of guide pieces, the guide pieces are arranged in two groups at intervals, the traveling wheels and the driven wheels are arranged in a vertical state and are respectively connected with the driven telescopic assemblies through connecting pieces, the driven wheels are fixedly connected with the driven telescopic assemblies, and the traveling wheels are in sliding connection with the driven telescopic assemblies; the bend telescopic mechanism is arranged in the middle of the supporting plate and used for improving the stability of the track inspection robot during bending; the rail inspection robot can smoothly move on the rail and smoothly pass through a bend by matching the guide mechanism, the driving mechanism, the bend telescopic mechanism and the electricity taking mechanism.
Description
Technical Field
The invention relates to the field of track inspection robots, in particular to a walking device of a track inspection robot.
Background
At present, in the aspect of movement of a track inspection robot, the moving mode of the existing track inspection robot is slow and unsafe, jamming and shaking are easily generated during movement, and the walking degree and the safety degree far do not reach the standard. The practicability of the whole set of track inspection robot is greatly limited due to the problems, and along with the continuous development of industrial automation and high requirements of the intelligent manufacturing field, the track inspection robot cannot meet the process of the modern industrial automation.
On the basis of the above, many devices for solving the walking problem of the track inspection robot are proposed in the market, but the devices generally have the problems of complex structure and high cost. For example, some external mobile device can make the track patrol and examine robot realize the even movement to a certain extent, but have used a large amount of complex structure to accomplish, and these complex structure not only weight are very big, and overload leads to the track robot to fall very easily, need a large amount of power supplies moreover, have caused very big burden to the power supply of track patrol and examine robot, can't adapt to industrial automation's demand. In addition, there are some devices for solving the problem of walking of the rail inspection robot, which are relatively simple in structure, but the device cost is still too high, and the application adaptability is not high, and the development and the demand of the walking of the current rail inspection robot cannot be met.
Disclosure of Invention
The invention aims to provide a traveling device of a track inspection robot, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a walking device of a track inspection robot comprises a supporting plate; the guide mechanism is arranged on the supporting plate and used for guiding and correcting a moving track, the guide mechanism comprises traveling wheels, driven wheels and driven telescopic assemblies, the traveling wheels and the driven wheels form a group of guide pieces, the guide pieces are arranged in two groups at intervals, the traveling wheels and the driven wheels are arranged in a vertical state and are respectively connected with the driven telescopic assemblies through connecting pieces, the driven wheels are fixedly connected with the driven telescopic assemblies, and the traveling wheels are in sliding connection with the driven telescopic assemblies; bend telescopic machanism installs at the backup pad middle part for improve the stability when the track patrols and examines the robot and cross the bend, including bottom plate, a spring mounting bracket, extension spring, No. two spring mounting brackets and rail block, the bottom plate is installed in the backup pad and on the bottom plate interval install two rail block, two there are No. two spring mounting brackets and a spring mounting bracket of interval setting between the rail block, No. two spring mounting brackets install on rail block and with rail block sliding connection, a spring mounting bracket is installed at rail block tip, connect through extension spring between a spring mounting bracket and No. two spring mounting brackets, No. two spring mounting brackets pass through the mounting panel and are connected with actuating mechanism, actuating mechanism is through getting electric mechanism drive.
As a further scheme of the invention: the driving mechanism comprises a walking motor, a driving bevel gear, a driven bevel gear, a rotating shaft, a telescopic plate and a synchronizing wheel, wherein the output end of the walking motor is connected with the driving bevel gear, the driving bevel gear is connected with the driven bevel gear in a meshed mode, the end portion of the driven bevel gear is inserted into the synchronizing wheel, the telescopic plate is further sleeved on the periphery of the rotating shaft and is connected with the telescopic plate in a rotating mode, and the telescopic plate is connected with the mounting plate.
As a further scheme of the invention: the expansion plate is rotationally connected with the rotating shaft through an angular contact bearing.
As a further scheme of the invention: and a locking nut is also arranged between the driven bevel gear and the telescopic plate and sleeved on the periphery of the rotating shaft.
As a further scheme of the invention: the electricity taking mechanism comprises a current collector fixing plate, a current collector support and a current collector, wherein the current collector is arranged on the current collector support, the current collector support is arranged on the supporting plate through the current collector fixing plate, and the current collector is connected with the walking motor through a connecting wire.
As a further scheme of the invention: the walking motor is a hybrid stepping motor.
As a still further scheme of the invention: the guide mechanisms are provided with two guide mechanisms which are respectively positioned at two sides of the supporting plate.
Compared with the prior art, the invention has the beneficial effects that:
1. the track inspection robot realizes smooth movement and smooth bending on the track through the matching use of the four-module guide mechanism, the driving mechanism, the curve telescopic mechanism and the electricity taking mechanism, enhances the safety of the track inspection robot, and improves the practicability of the track inspection robot.
2. The guide mechanism can ensure that the track inspection robot has a guide acting force when moving, so that the track inspection robot can move stably, the moving speed of the track inspection robot is improved, and the moving stability is improved; the driving mechanism can ensure that the track inspection robot can stably move in the track direction, realizes random movement in the positive direction and the negative direction, and increases the practicability of the track inspection robot; the curve telescopic mechanism enables the track inspection robot to move smoothly along an arc line when passing a curve, and can ensure that the robot is not blocked and deformed when passing the curve and shaking, thereby increasing the safety of the track inspection robot; in the electricity taking mechanism, the load of the track inspection robot can be prevented from being overlarge, the track inspection robot does not need to be carried with a power supply which is too heavy to move, and the load burden of the track inspection robot is reduced.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of the guide mechanism of the present invention.
Fig. 3 is a schematic structural view of the driving mechanism of the present invention.
FIG. 4 is a schematic structural diagram of a curve retracting mechanism according to the present invention.
FIG. 5 is a schematic view of the structure of the power-taking mechanism of the present invention
Notations for reference numerals: the device comprises a guide mechanism 1, a driving mechanism 2, a curve telescopic mechanism 3, a power taking mechanism 4, a traveling wheel 11, a driven wheel 12, a driven telescopic assembly 13, a traveling motor 21, a motor fixing plate 22, a driving bevel gear 23, a driven bevel gear 24, a locking nut 25, a telescopic plate 26, an angular contact bearing 27, a rotating shaft 28, a synchronizing wheel 29, a bottom plate 31, a first spring mounting frame 32, an extension spring 33, a second spring mounting frame 34, a guide rail slide block 35, a collector fixing plate 41, a collector support 42 and a collector 43.
Detailed Description
The present invention will be described in detail with reference to the following embodiments, wherein like or similar elements are designated by like reference numerals throughout the several views, and wherein the shape, thickness or height of the various elements may be expanded or reduced in practice. The examples are given solely for the purpose of illustration and are not intended to limit the scope of the invention. Any obvious modifications or variations can be made to the present invention without departing from the spirit or scope of the present invention.
Referring to fig. 1-2 and 4, in an embodiment of the present invention, a traveling device of a track inspection robot includes a supporting plate; still include guiding mechanism 1 and bend telescopic machanism 3, guiding mechanism 1 installs in the backup pad for lead and revise the orbit, guiding mechanism 1 includes walking wheel 11, from driving wheel 12 and driven flexible subassembly 13, and walking wheel 11 constitutes a set of guide from driving wheel 12, the guide is equipped with two sets and interval setting, walking wheel 11 and from driving wheel 12 are the vertical state setting and are connected with driven flexible subassembly 13 through the connecting piece respectively, wherein from driving wheel 12 and driven flexible subassembly 13 fixed connection, walking wheel 11 and driven flexible subassembly 13 sliding connection, make from driving wheel 12 can carry out certain degree of flexible in certain direction, from 12 and walking wheel 11 horizontal placement and be ninety degrees each other of walking, realized the track and patrolled the direction correction when patrolling and examining the robot walking, guaranteed that the track patrols and examines the robot and when moving, the moving track can be guided and corrected.
The curve telescoping mechanism 3 is arranged in the middle of the supporting plate and used for improving the stability when the track inspection robot passes a curve, and comprises a bottom plate 31, a first spring mounting frame 32, an extension spring 33, a second spring mounting frame 34 and a guide rail slide block 35, the bottom plate 31 is arranged on the support plate, two guide rail sliding blocks 35 are arranged on the bottom plate 31 at intervals, a second spring mounting rack 34 and a first spring mounting rack 32 are arranged between the two guide rail sliding blocks 35 at intervals, the second spring mounting bracket 34 is mounted on the guide rail sliding block 35 and is connected with the guide rail sliding block 35 in a sliding manner, the first spring mounting frame 32 is arranged at the end part of the guide rail sliding block 35, the first spring mounting frame 32 and the second spring mounting frame 34 are connected through an extension spring 33, no. two spring mounting 34 passes through the mounting panel and is connected with actuating mechanism 2, actuating mechanism 2 drives through getting electric mechanism 4.
Set up guiding mechanism 1 and can guarantee that the track patrols and examines the robot when removing, have the effort of a direction, make it can remove steadily, improved the track and patrolled and examined the moving speed of robot, increase the mobility stability.
The curve telescopic mechanism 3 enables the track inspection robot to move along an arc line smoothly when the track inspection robot passes a curve, and the track inspection robot is not blocked and deformed when the track inspection robot passes the curve and shakes, so that the safety of the track inspection robot is improved.
Referring to fig. 1 and 3, in another embodiment of the present invention, the driving mechanism 2 includes a walking motor 21, a driving bevel gear 23, a driven bevel gear 24, a rotating shaft 28, an expansion plate 26 and a synchronizing wheel 29, an output end of the walking motor 21 is connected to the driving bevel gear 23, the driving bevel gear 23 is connected to the driven bevel gear 24 in a meshing manner, an end of the driven bevel gear 24 is inserted into the synchronizing wheel 29, the expansion plate 26 is further sleeved on the periphery of the rotating shaft 28 and is rotatably connected to the expansion plate 26, and the expansion plate 26 is connected to the mounting plate.
Further, the extension plate 26 is rotatably connected to the rotating shaft 28 via an angular contact bearing 27.
Still further, a locking nut 25 is further arranged between the driven bevel gear 24 and the expansion plate 26, and the locking nut 25 is sleeved on the periphery of the rotating shaft 28.
Preferably, the traveling motor 21 is a hybrid stepping motor.
The driving bevel gear 23 in the driving mechanism 2 is matched with the driven bevel gear 24, so that the track inspection robot can be ensured to stably move in the track direction, random movement in the positive direction and the negative direction is realized, and the practicability of the track inspection robot is improved.
Referring to fig. 1 and 5, in another embodiment of the present invention, the electricity taking mechanism 4 includes a current collector fixing plate 41, a current collector support 42 and a current collector 43, the current collector 43 is mounted on the current collector support 42, the current collector support 42 is mounted on the support plate through the current collector fixing plate 41, and the current collector 43 is connected to the traveling motor 21 through a connection line. The current collector 43 uses a dc 36V voltage. The middle of the electric brush on the current collector 43 is provided with a gap, so that the phenomena of power failure and ignition can be avoided when the sliding contact line has uneven copper sheets.
The electricity taking mechanism 4 can ensure that the load of the track inspection robot is not too large, and the track inspection robot does not need to be carried with a power supply which is too heavy to move, so that the load of the track inspection robot is reduced.
Referring to fig. 1, in another embodiment of the present invention, two guide mechanisms 1 are disposed on two sides of the supporting plate respectively.
The standard parts used in the invention can be purchased from the market, the special-shaped parts can be customized according to the description of the specification and the accompanying drawings, the specific connection mode of each part adopts conventional means such as bolts, rivets, welding and the like mature in the prior art, the machines, the parts and equipment adopt conventional models in the prior art, and the circuit connection adopts the conventional connection mode in the prior art, so that the detailed description is omitted.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. A walking device of a track inspection robot comprises a supporting plate; it is characterized by also comprising
The guide mechanism (1) is arranged on the supporting plate and used for guiding and correcting a moving track and comprises a walking wheel (11), a driven wheel (12) and a driven telescopic assembly (13), the walking wheel (11) and the driven wheel (12) form a group of guide pieces, the guide pieces are arranged in two groups at intervals, the walking wheel (11) and the driven wheel (12) are arranged in a vertical state and are respectively connected with the driven telescopic assembly (13) through connecting pieces, the driven wheel (12) is fixedly connected with the driven telescopic assembly (13), and the walking wheel (11) is in sliding connection with the driven telescopic assembly (13); and
bend telescopic machanism (3), install in the backup pad middle part for improve the stability when the track patrols and examines robot and cross the bend, including bottom plate (31), a spring mounting bracket (32), extension spring (33), No. two spring mounting brackets (34) and guide rail slider (35), bottom plate (31) are installed in the backup pad and two guide rail slider (35) are installed to the interval on bottom plate (31), two there are No. two spring mounting brackets (34) and a spring mounting bracket (32) that the interval set up between guide rail slider (35), No. two spring mounting bracket (34) are installed on guide rail slider (35) and with guide rail slider (35) sliding connection, No. one spring mounting bracket (32) are installed at guide rail slider (35) tip, connect through extension spring (33) between a spring mounting bracket (32) and No. two spring mounting bracket (34), no. two spring mounting (34) are connected with actuating mechanism (2) through the mounting panel, actuating mechanism (2) are through getting electric mechanism (4) drive.
2. The walking device of the track inspection robot according to claim 1, wherein the driving mechanism (2) comprises a walking motor (21), a driving bevel gear (23), a driven bevel gear (24), a rotating shaft (28), a telescopic plate (26) and a synchronizing wheel (29), the output end of the walking motor (21) is connected with the driving bevel gear (23), the driving bevel gear (23) is connected with the driven bevel gear (24) in a meshed mode, the end portion of the driven bevel gear (24) is inserted into the synchronizing wheel (29), the telescopic plate (26) is further sleeved on the periphery of the rotating shaft (28) and is rotatably connected with the telescopic plate (26), and the telescopic plate (26) is connected with the mounting plate.
3. The running gear of the track inspection robot according to claim 2, wherein the expansion plate (26) is rotatably connected with the rotating shaft (28) through an angular contact bearing (27).
4. The walking device of the track inspection robot according to claim 2, wherein a locking nut (25) is further arranged between the driven bevel gear (24) and the expansion plate (26), and the locking nut (25) is sleeved on the periphery of the rotating shaft (28).
5. The traveling device of the track inspection robot according to claim 2, wherein the electricity taking mechanism (4) comprises a current collector fixing plate (41), a current collector bracket (42) and a current collector (43), the current collector (43) is mounted on the current collector bracket (42), the current collector bracket (42) is mounted on a support plate through the current collector fixing plate (41), and the current collector (43) is connected with the traveling motor (21) through a connecting wire.
6. The running gear of a track inspection robot according to claim 2, wherein the running motor (21) is a hybrid stepper motor.
7. The traveling device of a track inspection robot according to claim 1, wherein two guide mechanisms (1) are provided and are respectively located on two sides of the support plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011518632.9A CN112572495A (en) | 2020-12-21 | 2020-12-21 | Running gear of robot is patrolled and examined to track |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011518632.9A CN112572495A (en) | 2020-12-21 | 2020-12-21 | Running gear of robot is patrolled and examined to track |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112572495A true CN112572495A (en) | 2021-03-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011518632.9A Pending CN112572495A (en) | 2020-12-21 | 2020-12-21 | Running gear of robot is patrolled and examined to track |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113119060A (en) * | 2021-04-19 | 2021-07-16 | 哈尔滨工业大学 | Rail clamping operation device can be dismantled to complicated track towards robot removal |
| CN114310839A (en) * | 2021-11-30 | 2022-04-12 | 杭州申昊科技股份有限公司 | Tight mechanism in top of inspection robot walking wheel |
| CN116100529A (en) * | 2023-03-29 | 2023-05-12 | 成都大学 | Running gear of robot is patrolled and examined to track |
| 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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| CN208325451U (en) * | 2018-06-21 | 2019-01-04 | 江苏迪伦智能科技有限公司 | A kind of walking of guide rails of robots and climbing mechanism |
| CN109760014A (en) * | 2019-03-21 | 2019-05-17 | 深圳昱拓智能有限公司 | A kind of rail mounted coal transporting trestle automatic crusing robot and system |
| CN109773746A (en) * | 2019-03-21 | 2019-05-21 | 深圳昱拓智能有限公司 | Rail mounted robot and its rail mounted running gear, system and flexible guiding mechanism |
| CN211306292U (en) * | 2019-04-29 | 2020-08-21 | 合肥瑞堡科技发展有限公司 | Robot track |
| CN214057524U (en) * | 2020-12-21 | 2021-08-27 | 上海贽匠智能科技有限公司 | Running gear of robot is patrolled and examined to track |
-
2020
- 2020-12-21 CN CN202011518632.9A patent/CN112572495A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101641908B1 (en) * | 2015-08-10 | 2016-07-22 | 주식회사 토시스 | Trolly |
| 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 |
| CN208325451U (en) * | 2018-06-21 | 2019-01-04 | 江苏迪伦智能科技有限公司 | A kind of walking of guide rails of robots and climbing mechanism |
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| CN109773746A (en) * | 2019-03-21 | 2019-05-21 | 深圳昱拓智能有限公司 | Rail mounted robot and its rail mounted running gear, system and flexible guiding mechanism |
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| CN214057524U (en) * | 2020-12-21 | 2021-08-27 | 上海贽匠智能科技有限公司 | Running gear of robot is patrolled and examined to track |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113119060A (en) * | 2021-04-19 | 2021-07-16 | 哈尔滨工业大学 | Rail clamping operation device can be dismantled to complicated track towards robot removal |
| CN114310839A (en) * | 2021-11-30 | 2022-04-12 | 杭州申昊科技股份有限公司 | Tight mechanism in top of inspection robot walking wheel |
| CN114310839B (en) * | 2021-11-30 | 2023-08-04 | 杭州申昊科技股份有限公司 | Jacking mechanism of walking wheel of inspection robot |
| CN116100529A (en) * | 2023-03-29 | 2023-05-12 | 成都大学 | Running gear of robot is patrolled and examined to track |
| CN116100529B (en) * | 2023-03-29 | 2023-06-13 | 成都大学 | Running gear of robot is patrolled and examined to track |
| 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 |
| CN117001635B (en) * | 2023-08-14 | 2024-06-11 | 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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