CN112589768B

CN112589768B - Elastic track pressing device, track robot and method

Info

Publication number: CN112589768B
Application number: CN202011442378.9A
Authority: CN
Inventors: 宋志峰; 王贤华; 李运厂; 王斌; 张永生; 李海东; 刘维栋; 蔺茹; 贾旭; 徐怀刚
Original assignee: State Grid Intelligent Technology Co Ltd
Current assignee: State Grid Intelligent Technology Co Ltd
Priority date: 2020-12-11
Filing date: 2020-12-11
Publication date: 2022-03-18
Anticipated expiration: 2040-12-11
Also published as: CN112589768A

Abstract

The invention discloses a track elastic pressing device, a track robot and a method, wherein the track elastic pressing device comprises: the device comprises a base, a bearing seat fixed on the base and a swing arm support connected with the bearing seat through a bearing; elastic tensioning pieces are respectively arranged on two sides along the swinging direction of the swing arm support, one end of each elastic tensioning piece is connected with the swing arm support, and the other end of each elastic tensioning piece is fixed on the base through a connecting piece; and the swing arm bracket is provided with a rail pressing piece. The invention has the beneficial effects that: aiming at the slope track environment, the swing arm type track elastic pressing device is designed, the pressing force of the robot on the track can be increased in the process of climbing with a large slope, the climbing capability of the robot is improved, the swing arm type design can avoid the clamping phenomenon of a vertical contact pressing mechanism in climbing, and the problem of poor climbing capability of the track robot is solved.

Description

Elastic track pressing device, track robot and method

Technical Field

The invention relates to the technical field of track inspection robots, in particular to a track elastic pressing device, a track robot and a method.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

The tunnel and the comprehensive pipe gallery are built under the city and used for laying public tunnels of municipal pipelines such as electric power, communication, broadcast television, water supply and the like in a centralized manner. Because tunnel and utility tunnel space are narrow and small, equipment layout is concentrated relatively, is approximately in airtight environment, and the manual work detects the degree of difficulty to key equipment big, the safety risk is high. The robot is adopted to carry out unmanned on duty mode now and is monitored underground power equipment more, and the robot moves on the track, and the track hoist and mount are in tunnel and utility tunnel. The large multi-pipe gallery meanders to cause height difference of each rail, and the robot is required to have climbing capacity to meet daily monitoring work of equipment in the tunnel.

The existing tunnel and comprehensive pipe gallery monitoring robot is mostly realized by adopting gear and rack meshing transmission when climbing a large-angle track, and the gear and rack transmission climbing mechanism has the problems of complex structure, high rack installation requirement precision, high construction difficulty, possibility of vehicle sliding, slipping and the like; in addition, when the robot runs at a high speed, the robot brakes by self-locking of the driving wheels and cannot brake in time, so that the precision of a parking position is difficult to guarantee.

Disclosure of Invention

In view of the above, the invention provides an elastic track pressing device, a track robot and a method, which can avoid the phenomena of vehicle sliding and skidding of the robot when the robot goes up and down a slope, reduce the braking and sliding distance of the robot, and improve the stability and parking positioning accuracy of a robot system.

According to a first aspect of embodiments of the present invention, there is provided a rail elastic pressing device, including: the device comprises a base, a bearing seat fixed on the base and a swing arm support connected with the bearing seat through a bearing; elastic tensioning pieces are respectively arranged on two sides along the swinging direction of the swing arm support, one end of each elastic tensioning piece is connected with the swing arm support, and the other end of each elastic tensioning piece is fixed on the base through a connecting piece; and the swing arm bracket is provided with a rail pressing piece.

According to a second aspect of embodiments of the present invention, there is provided an orbital robot comprising: the elastic rail pressing device; the track robot is provided with a signal reading device at a set position, the signal reading device can read information of labels respectively arranged at the starting end and the ending end of the climbing track and transmit the information to a robot control device, and the robot control device controls the moving direction and the moving distance of the track elastic pressing device according to the received signals.

According to a third aspect of the embodiments of the present invention, there is provided a method for climbing a track by a track robot, including:

the robot runs to the position of the climbing track, when the information of the tag at the initial end position of the climbing track is read, the robot control device controls the track elastic pressing device to move towards the direction close to the track, and measures the distance between the set position of the track elastic pressing device and the track in real time until the distance meets the set requirement, so that the optimal pressing force is kept between the track elastic pressing device and the track;

and when the robot reads the information of the tag at the end position of the climbing track, the robot control device controls the track elastic pressing device to move towards the direction away from the track and return to the initial position.

When the robot receives an emergency braking instruction, the robot control device controls the track elastic pressing device to move towards the direction close to the track, and rapid braking is achieved through pressing force between the track elastic pressing device and the track.

Compared with the prior art, the invention has the beneficial effects that:

(1) the invention provides a swing arm type track elastic pressing technology aiming at a slope track environment, develops a track elastic holding device and a swing arm type elastic pressing device, can increase the pressing force of a robot on a track in high-slope climbing and improve the climbing capability of the robot, and the swing arm type design can avoid the clamping phenomenon of a vertical contact pressing mechanism in the climbing and solve the problem of poor climbing capability of the track robot.

(2) The cooperation of the elastic rail holding mechanism and the swing arm type elastic pressing mechanism realizes the multi-dimensional holding of the robot to the rail, improves the overall pressing effect, effectively corrects the motion posture of the robot, and improves the turning and horizontal motion stability of the robot.

(3) When the robot operates and brakes at a high speed, the aim of quickly braking can be assisted by the swing arm type track elastic pressing device.

(4) The invention provides a track pressing auxiliary climbing method, develops a related system, and controls an electric push rod lifting rocker arm type elastic pressing mechanism to contact with a track by identifying the position of a preset point in front of a slope track, so that the problem of redundant energy loss of a robot caused by the pressing mechanism is solved, the reasonable utilization of the energy of the robot is realized, the power consumption of the robot is reduced, and the inspection distance of the robot is increased.

Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

FIG. 1 is a front view of a rail elastic pressing device according to an embodiment of the present invention;

FIG. 2 is a side view of a rail elastic pressing device according to an embodiment of the present invention;

FIG. 3 is a schematic view of a rail elastic pressing device and a rail according to an embodiment of the present invention;

FIG. 4 is a schematic view of a robot with a rail elastic pressing device according to an embodiment of the present invention;

FIG. 5 is a schematic view of a rail elastic clasping mechanism according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of the rail elastic clasping mechanism and the rail according to the embodiment of the present invention;

fig. 7 is a schematic view of a climbing track of a robot according to an embodiment of the invention;

fig. 8 is a schematic diagram of a process of climbing a track by a robot according to an embodiment of the present invention;

the device comprises a power-driven linear guide rail, a pressing wheel, a swinging frame rotating shaft, a swinging arm support, a bearing seat, a stainless steel tension spring, a bearing, a swinging arm shaft, a tension spring fixing block and a laser ranging sensor, wherein the power-driven linear guide rail is 1-1, the linear guide rail is 1-2, the pressing wheel is 1-3, the swinging frame rotating shaft is 1-4, the swinging arm support is 1-5, the bearing seat is 1-6, the stainless steel tension spring is 1-7, the bearing is 1-8, the swinging arm shaft is 1-9, the tension spring fixing block is 1-10, and the laser ranging sensor is 1-11;

3-1, 3-2, elastic rail pressing device; 4-1, driving swing arm support, 4-2, RFID induction tags, 4-3, driven swing arm support and 4-4, RFID card reader;

5-1 parts of a fixed seat, 5-2 parts of a spring, 5-3 parts of a rotating frame, 5-4 parts of an anti-overturning wheel, 5-5 parts of a pin shaft and 5-6 parts of a threaded shaft; 5-7, tightly holding the roller; 6-7, an elastic rail holding mechanism; 7-1, a track robot, 7-2, a RFID induction tag before rail bending, and 7-3, a RFID induction tag after rail bending.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and it should be understood that the terms "comprises" and "comprising", and any variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.

Example one

According to an embodiment of the present invention, an embodiment of a rail elastic pressing device is provided, and with reference to fig. 1 to 2, the rail elastic pressing device specifically includes: the device comprises a base, bearing seats 1-6 fixed on the base and swing arm supports 1-5 connected with the bearing seats 1-6 through bearings 1-8; elastic tensioning pieces are respectively arranged on two sides along the swinging direction of the swing arm supports 1-5, one end of each elastic tensioning piece is connected with the swing arm supports 1-5, and the other end of each elastic tensioning piece is fixed on the base through a connecting piece; and track pressing pieces are arranged on the swing arm supports 1-5.

Specifically, the rail pressing piece is a pressing wheel 1-3, the top end of the swing arm support 1-5 is provided with a clamping groove, a swing frame rotating shaft 1-4 is arranged in the clamping groove, and two ends of the swing frame rotating shaft 1-4 are respectively connected with the pressing wheel 1-3 through nuts. Of course, the rail pressing member may be implemented by other structures, such as: and a pressing plate.

The bearings 1-8 are arranged in the bearing seats 1-6, the bearings 1-8 are sleeved with the swing arm shafts 1-9, and the swing arm supports 1-5 can swing by taking the swing arm shafts 1-9 as centers. The elastic tensioning piece is a stainless steel tension spring 1-7, one end of the stainless steel tension spring 1-7 is connected with the swing arm support 1-5, and the other end of the stainless steel tension spring is fixed on the tension spring fixing block 1-10. The tension spring fixing blocks 1-10 are provided with oblong holes, so that the initial pre-tightening force of the stainless steel tension springs 1-7 can be adjusted. The tension spring is used for providing a contraction force in the axial direction of the spring during operation, and the mechanism is arranged at different positions of the elliptical hole, so that the initial deformation amount of the spring can be changed, and different initial tension forces can be provided.

Because the connection between the sectional type tracks has the condition of interruption of steps, gaps and the like, the swing arm type elastic pressing mechanism can swing axially, and the mechanism is prevented from being blocked at the steps.

The base is fixed on the moving mechanism, and the moving mechanism can drive the base and the upper part thereof to move along a set direction. In this embodiment, the moving mechanism is an electric linear guide rail 1-1, and the robot can control the electric linear guide rail 1-1 to move, so as to drive the base and the upper part thereof to move towards the direction close to the track or away from the track along the electric linear guide rail 1-1 and the linear guide rail 1-2.

The laser ranging sensors 1-11 are arranged at the set positions of the base and can monitor the implementation distance between the position and the track, so that the movement displacement of the track elastic pressing device is controlled, and the track elastic pressing device and the track are guaranteed to keep the optimal distance and pressing force.

The optimal pressing force and distance of the elastic pressing mechanism are calculated, and when the friction force of the robot driving wheel is insufficient, the robot driving wheel can slip and slide. The pressure between the driving wheel and the track is increased, and the idle slipping of the driving wheel can be effectively prevented. The optimal distance and the pressing force refer to the minimum pressing force provided by the swing arm type elastic pressing mechanism to the driving wheel of the robot.

Example two

According to an embodiment of the present invention, there is provided an embodiment of an orbital robot 7-1, referring to fig. 3 and 4, including: the elastic rail pressing device 3-2 in the first embodiment; in addition, a signal reading device is arranged at a set position on the track robot 7-1, and position labels are arranged at the starting end and the ending end of the climbing track; in this embodiment, the position tag is an RFID sensing tag 4-2, and the signal reading device is an RFID card reader 4-4.

When the robot runs to the position of an RFID label (namely an RFID induction label 7-2 before a curved rail) at a climbing position, an RFID card reader 4-4 positioned on the robot receives an RFID label signal, the robot controls an electric linear guide rail 1-1 to drive a swing arm type rail elastic pressing device to move upwards, laser ranging sensing arranged on the swing arm type elastic pressing device measures the relative distance between the swing arm type elastic pressing device and a rail in real time, a robot background analyzes and processes distance data, and the running length of the electric linear guide rail 1-1 is controlled, so that the swing arm type elastic pressing device and the rail guarantee the optimal distance and pressing force.

When the robot finishes climbing of the curved rail part, the RFID card reader 4-4 reads information of an RFID label at the end of climbing (namely the RFID induction label 7-3 after the curved rail), the robot controls the electric linear guide rail 1-1 to move in the opposite direction, and the swing arm type rail elastic pressing device is separated from the rail, returns to the initial position and is in a non-working state.

In some embodiments, when the robot receives an emergency braking instruction, the electric linear guide rail 1-1 drives the swing arm type elastic pressing mechanism to move upwards to contact with the track 3-1, so that the robot is quickly braked and accurately positioned.

The upward movement described in this embodiment refers to a movement toward a direction close to the track, and the downward movement refers to a movement toward a direction away from the track.

As an alternative embodiment, the robot is further provided with a rail elastic clasping mechanism 6-1, referring to fig. 5 and 6, comprising: the anti-overturning device comprises a fixed seat 5-1, a spring 5-2, a rotating frame 5-3, an anti-overturning wheel 5-4, a threaded shaft 5-6 and a holding roller 5-7. One end of the spring 5-2 is arranged in the counter bore of the fixed seat 5-1, and the other end is fixed at the inner side of the rotating frame 5-3. The holding rollers 5-7 act on the side surface of the track to realize elastic holding effect, and the overturn-preventing wheels 5-4 are arranged on the inner side of the track to prevent the robot from overturning.

The clasping rollers 5-7 are installed at the rotating frame 5-3 through threaded shafts 5-6, and the rotating frame 5-3 is connected with the fixed seat 5-1 through a pin shaft 5-5.

The elastic holding mechanism is provided with a compression spring, and when the roller presses the track, the spring deforms elastically to provide pressing force.

The swing arm type elastic pressing mechanism is installed on the upper portion of the swing arm frame, and the function of the holding track is to guarantee the stability of the posture of the robot in operation and prevent the robot from shaking. The rail elastic holding mechanism 6-1 is matched with the swing arm type elastic pressing mechanism for use, so that the overall pressing effect is improved, and the stable movement form is ensured; the robot can hold the track tightly in multiple dimensions, the motion posture of the robot is effectively corrected, and the turning and horizontal motion stability of the robot is improved.

The robot driving swing arm frame 4-1 and the driven swing arm frame 4-3 are respectively a micro-frame structure part and are used for connecting the robot and the track and supporting the robot. The robot driving swing arm frame 4-1 and the driven swing arm frame 4-3 are respectively provided with a track elastic holding mechanism 6-1 and a swing arm type track elastic pressing device 3-2, so that holding force and friction force of the robot to a track are increased, and the robot is ensured to keep a good running state during running.

EXAMPLE III

According to an embodiment of the present invention, there is provided an embodiment of a method for a track robot 7-1 to climb a track, referring to fig. 7 and 8, including:

Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.

Claims

1. An elastic rail pressing device, comprising: the device comprises a base, a bearing seat fixed on the base and a swing arm support connected with the bearing seat through a bearing; elastic tensioning pieces are respectively arranged on two sides along the swinging direction of the swing arm support, one end of each elastic tensioning piece is connected with the swing arm support, and the other end of each elastic tensioning piece is fixed on the base through a first connecting piece; a track pressing piece is arranged on the swing arm bracket; the track pressing piece is a pressing wheel, the swing arm support is connected with a rotating shaft through a clamping groove, and two ends of the rotating shaft are respectively connected with the pressing wheel; the base is set for the position and is set for range unit, range unit monitors and sets for the distance between position and the track, control track elasticity closing device's shift position.

2. The railway spring clip of claim 1 wherein the spring tension member is connected to a mounting block, the mounting block being secured to the base.

3. The elastic rail compression device as claimed in claim 2, wherein the fixing block is provided with an adjusting hole for adjusting initial spring preload.

4. The track spring clip of claim 1 further comprising a moving mechanism capable of moving the base and its upper member in a predetermined direction.

5. An orbital robot, comprising: the rail elastic pressing device of any one of claims 1 to 4; the robot comprises a driving swing arm frame and a driven swing arm frame, wherein the driving swing arm frame and the driven swing arm frame are respectively provided with a track elastic pressing device, a signal reading device is arranged at a set position on the track robot, the signal reading device can read information of labels respectively arranged at the starting end position and the ending end position of a climbing track and transmit the information to a robot control device, and the robot control device controls the moving direction and the moving distance of the track elastic pressing device according to the received signals.

6. The orbital robot of claim 5 further comprising: the rail elastic clasping mechanism comprises a roller and an elastic piece which is arranged in a direction perpendicular to the rail and connected with the roller; the roller is in contact with the track, the elastic piece is connected with a track arm connected with the track through a second connecting piece, and the roller can provide pressing force through elastic deformation of the spring so as to enable the roller to press the track.

7. A method for climbing a track by a track robot, using the track robot according to any one of claims 5 to 6, comprising:

8. The method for climbing a track of a track robot as claimed in claim 7, further comprising: