CN113021304B - Installation method of quick-detachable mobile device suitable for track - Google Patents
Installation method of quick-detachable mobile device suitable for track Download PDFInfo
- Publication number
- CN113021304B CN113021304B CN202110247639.XA CN202110247639A CN113021304B CN 113021304 B CN113021304 B CN 113021304B CN 202110247639 A CN202110247639 A CN 202110247639A CN 113021304 B CN113021304 B CN 113021304B
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- base body
- track
- driving device
- supporting plate
- notch
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robot equipment, in particular to a quick dismounting and mounting mobile device suitable for a track, which comprises a base body and a supporting plate, wherein the upper end of the base body is provided with a notch which is concave inwards and matched with the track, the notch axially penetrates through the front end and the rear end of the base body along the track, the supporting plate is detachably arranged on the base body, the supporting plate is positioned on the notch and surrounds a limiting area which is used for limiting the track to separate from the notch with the notch, and the base body is provided with a driving device which is contacted with the track and drives the base body to move.
Description
Technical Field
The invention relates to the technical field of robot equipment, in particular to an installation method of a mobile device capable of being quickly assembled and disassembled, which is applicable to a track.
Background
Industrial sites often require inspection to check the status of the pipeline. As a result of the continued development of robotics,
the inspection work is gradually replaced by robots. The frequency of inspection is different for different industrial pipelines, and particularly the industrial pipelines with strict requirements on the start time and the end time of inspection. The traditional inspection robot installed on the inspection track has the problems that the disassembly is inconvenient and the time consumption is long due to unreasonable structure, and the operation is unstable in the moving process due to the fact that gaps generated between the mechanism operation process and the track cannot be automatically adjusted. Therefore, in order to meet the requirements of convenient disassembly and assembly and stable movement of the inspection robot, a movement mechanism for solving the specific requirements needs to be developed.
Disclosure of Invention
The invention aims to solve the technical problems that: in order to solve the problems that the traditional inspection robot mounted on the inspection track is inconvenient to detach and long in time consumption caused by unreasonable structure, and the running of the inspection robot is unstable in the moving process caused by the fact that gaps generated between the inspection robot and the track in the running process of the mechanism cannot be automatically adjusted, the mounting method of the quick-disassembly moving device suitable for the track is provided.
The technical scheme adopted for solving the technical problems is as follows: the utility model provides a but quick assembly disassembly mobile device's installation method, but mobile device includes base member and backup pad, the base member upper end is provided with inwards sunken and with track assorted notch, the notch runs through the front and back both ends of base member along the track axial, the backup pad demountable installation is on the base member, the backup pad is located on the notch and encloses into the spacing district that is used for restricting the track and breaks away from the notch with between the notch, be provided with the drive arrangement with track contact and drive base member displacement on base member or the backup pad.
According to the invention, the supporting plate is detachably arranged on the notch of the base body, the rail is limited in the limiting area by matching the supporting plate and the notch, the base body can be rapidly detached from the guide rail by detaching the supporting plate, so that the maintenance and the installation of workers are facilitated, and the working efficiency is improved.
In order to realize the detachable support plate on the base body, further, the support plate is detachably connected through a screw. The support plate and the base body are quickly disassembled through the screws, so that the support plate can be disassembled on the base body.
In order to facilitate the installation and the disassembly of the supporting plate, further, the base body is internally provided with a bayonet matched with the supporting plate, and the supporting plate is arranged in the bayonet. Through the bayonet socket that inwards extends on the base member, this can be through the backup pad card establish to the bayonet socket just can fix a position between backup pad and the base member, the installation and the dismantlement of backup pad of being convenient for.
In order to reduce friction between the support plate and the rail, rolling friction is further arranged between the support plate and the rail. By taking the contact surface between the support plate and the rail as rolling friction, the rolling friction reduces the friction between the rail and the support plate.
In order to ensure that the displacement of the matrix is stable and reliable, the driving device is arranged on one side of the matrix, the other side of the matrix is in rolling contact with the rail, and the matrix is provided with a control mechanism for adjusting the distance between the driving device and the other side of the matrix, and the driving device is always kept in contact with the rail, so that the driving device drives the matrix to displace. The distance between the driving device and the track is controlled by the control mechanism, so that the substrate is suitable for the tracks with different distances, and the substrate displacement is ensured to be stable and reliable.
In order to realize the control mechanism, the control mechanism further comprises a spring, the driving device is arranged on the base body in a sliding way, and the spring is arranged between the base body and the driving device. The driving device is arranged on the base body in a sliding way.
Further, a sliding groove is formed in the base body, the driving device is arranged in the sliding groove, a baffle rod is arranged on the base body, a limiting shaft shoulder is arranged at one end of the driving device along the displacement direction of the driving device, the spring is arranged between the baffle rod and the limiting shaft shoulder, and the baffle rod is located between the driving device and the spring.
Further, the driving devices are arranged on two sides of the base body, which are located on the track.
Further, the side of the substrate opposite to the supporting plate is in rolling contact with the rail.
Further, the driving device comprises a rubber coating wheel and a motor, the motor is arranged on the base body, the rubber coating wheel is arranged at the output end of the motor, and the rubber coating wheel and the rail are in contact with each other.
The beneficial effects of the invention are as follows: when the quick-disassembly-assembly mobile device suitable for the track is used, the time for installing the mobile mechanism on the inspection track can be effectively reduced, the two-fixed-one-movement rubber coating wheel design can eliminate the gap generated between the rubber coating wheel and the inspection track due to long-time use, and the rubber coating wheel can clamp the track to reduce the possibility of slipping, so that the running stability is improved, and the problems that the traditional inspection robot installed on the inspection track is inconvenient to disassemble and takes long time due to unreasonable structure and unstable running caused by the fact that the gap generated between the rubber coating wheel and the track in the running process of the mechanism cannot be automatically adjusted are avoided.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic three-dimensional structure of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a schematic view of the structure of the base of the present invention;
fig. 4 is an exploded view of the present invention assembled.
In the figure: 1. the base body, 2, the backup pad, 3, notch, 4, drive arrangement, 5, bayonet socket, 6, spring, 7, spout, 8, spacing shoulder, 9, shelves pole, 10, rubber coating wheel, 11, motor, 12, track, 13, universal ball.
Description of the embodiments
The invention is further described in detail below in connection with the examples:
the present invention is not limited to the following embodiments, and those skilled in the art can implement the present invention in various other embodiments according to the present invention, or simply change or modify the design structure and thought of the present invention, which fall within the protection scope of the present invention. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.
As shown in fig. 1-4, an installation method of a quick-dismantling mobile device suitable for a track, the mobile device comprises a base body 1 and a support plate 2, wherein the upper end of the base body 1 is provided with a notch 3 which is concave inwards and matched with the track 12, the notch 3 axially penetrates through the front end and the rear end of the base body 1 along the track 12, the support plate 2 is detachably installed on the base body 1, the support plate 2 is positioned on the notch 3 and surrounds a limiting area between the support plate 2 and the notch 3 to limit the track 12 from separating from the notch 3, and a driving device 4 which is contacted with the track 12 and drives the base body 1 to displace is arranged on the base body 1 or the support plate 2. The track 12 is here a directional track 12.
The support plates 2 are detachably connected by screws.
The base body 1 is internally provided with a bayonet 5 matched with the supporting plate 2, and the supporting plate 2 is arranged in the bayonet 5.
Rolling friction is arranged between the supporting plate 2 and the rail 12. The support plate 2 is provided with a universal ball 13, and the universal ball 13 is in contact with the rail 12.
The driving device 4 is arranged on one side of the base body 1, rolling contact is formed between the other side of the base body 1 and the track 12, a control mechanism for adjusting the distance between the driving device 4 and the other side of the base body 1 is arranged on the base body 1, and the driving device 4 is always kept in contact with the track 12, so that the driving device 4 drives the base body 1 to move.
The control mechanism comprises a spring 6, the driving device 4 is arranged on the base body 1 in a sliding way, and the spring 6 is arranged between the base body 1 and the driving device 4.
The base body 1 is provided with a sliding groove 7, the driving device 4 is arranged in the sliding groove 7, the base body 1 is provided with a baffle rod 9, one end of the driving device 4 along the displacement direction of the driving device is provided with a limiting shaft shoulder 8, the spring 6 is arranged between the baffle rod 9 and the limiting shaft shoulder 8, and the baffle rod 9 is positioned between the driving device 4 and the spring 6.
The base body 1 is provided with the driving device 4 on both sides of the track 12.
The side of the base body 1 opposite to the supporting plate 2 is in rolling contact with the rail 12. The two side surfaces on the base body 1 and the bottom of the notch 3 are both provided with universal balls 13.
The driving device 4 comprises an encapsulating wheel 10 and a motor 11, wherein the motor 11 is arranged on the base body 1, the encapsulating wheel 10 is arranged at the output end of the motor 11, and the encapsulating wheel 10 and the rail 12 are in contact with each other.
When the installation method of the quick detachable mobile device suitable for the track 12 is used, the installation method comprises the following steps of: mounting the base body 1 of the mobile device onto the square rail 12 from below the rail 12, i.e. placing the rail 12 into the slot 3;
step 2: mounting the supporting plate 2 with the universal balls 13 on the side plates from the front end and the rear end of the base body 1, and clamping the supporting plate 2 in the bayonet 5 so that the universal balls 13 on the supporting plate 2 are in contact with the rail 12, wherein the rail 12 is limited in a limiting area;
step 3: four screws are connected to the supporting plate 2 and the base 1 in a threaded manner, so that the base 1 and the supporting plate 2 are assembled and disassembled in the same way.
The distance between the driving device 4 and the track 12 on the base body 1 is automatically adjusted, and the device is suitable for the tracks 12 with different sizes, so that the driving device 4 can drive the base body 1 to displace.
The self-adaptive glue coating wheel 10 is connected with the motor 11, the spring 6 stretches to drive the motor 11 to move in the chute 7 of the base body 1, and drives the self-adaptive glue coating wheel 10 to be close to the track 12, so that a gap between the glue coating wheel 10 and the track 12 is eliminated.
The above-described preferred embodiments according to the present invention are intended to suggest that, from the above description, various changes and modifications can be made by the worker in question without departing from the technical spirit of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (8)
1. The installation method of the quickly detachable mobile device suitable for the track is characterized by comprising the following steps of: the moving device comprises a base body (1) and a supporting plate (2), wherein the upper end of the base body (1) is provided with a notch (3) which is concave inwards and matched with a track (12), the notch (3) axially penetrates through the front end and the rear end of the base body (1) along the track (12), the supporting plate (2) is detachably arranged on the base body (1), the supporting plate (2) is positioned on the notch (3) and surrounds the notch (3) to form a limiting area for limiting the track (12) to be separated from the notch (3), and a driving device (4) which is contacted with the track (12) and drives the base body (1) to move is arranged on the base body (1) or the supporting plate (2);
bayonets (5) matched with the supporting plates (2) are inwards extended at the front end and the rear end of the base body (1), the supporting plates (2) are arranged in the bayonets (5), and the rails (12) are limited in the limiting areas;
the opening directions of the bayonets (5) at the front end and the rear end are opposite;
the method of installation includes the steps of,
step 1: mounting a base body (1) of the mobile device onto the square rail (12) from below the rail (12), and then placing the rail (12) into the notch (3);
step 2: mounting the supporting plate (2) with the universal balls (13) on the side plates from the front end and the rear end of the base body (1), and clamping the supporting plate (2) in the bayonet (5) so that the universal balls (13) on the supporting plate (2) are in contact with the tracks (12), and the tracks (12) are limited in the limiting area;
step 3: four screws are connected to the supporting plate (2) and the base body (1) in a threaded manner, so that the base body (1) and the supporting plate (2) are installed and detached in the same way.
2. The mounting method according to claim 1, wherein: rolling friction is arranged between the supporting plate (2) and the track (12).
3. The mounting method according to claim 1, wherein: the driving device (4) is arranged on one side of the base body (1), rolling contact is arranged between the other side of the base body (1) and the track (12), a control mechanism for adjusting the distance between the driving device (4) and the other side of the base body (1) is arranged on the base body (1), and the driving device (4) is always kept in contact with the track (12), so that the driving device (4) drives the base body (1) to move.
4. A mounting method according to claim 3, characterized in that: the control mechanism comprises a spring (6), the driving device (4) is arranged on the base body (1) in a sliding mode, and the spring (6) is arranged between the base body (1) and the driving device (4).
5. The mounting method according to claim 4, wherein: the novel sliding device is characterized in that a sliding groove (7) is formed in the base body (1), the driving device (4) is arranged in the sliding groove (7), a baffle rod (9) is arranged on the base body (1), a limiting shaft shoulder (8) is arranged at one end of the driving device (4) along the displacement direction of the driving device, the spring (6) is arranged between the baffle rod (9) and the limiting shaft shoulder (8), and the baffle rod (9) is arranged between the driving device (4) and the spring (6).
6. A mounting method according to claim 3, characterized in that: the driving devices (4) are arranged on two sides of the base body (1) located on the track (12).
7. The mounting method according to claim 1, wherein: the side of the base body (1) opposite to the supporting plate (2) is in rolling contact with the rail (12).
8. The mounting method according to any one of claims 1 to 7, wherein: the driving device (4) comprises a rubber coating wheel (10) and a motor (11), wherein the motor (11) is arranged on the base body (1), the rubber coating wheel (10) is arranged at the output end of the motor (11), and the rubber coating wheel (10) and the rail (12) are in contact with each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110247639.XA CN113021304B (en) | 2021-03-06 | 2021-03-06 | Installation method of quick-detachable mobile device suitable for track |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110247639.XA CN113021304B (en) | 2021-03-06 | 2021-03-06 | Installation method of quick-detachable mobile device suitable for track |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113021304A CN113021304A (en) | 2021-06-25 |
| CN113021304B true CN113021304B (en) | 2023-05-23 |
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| CN202110247639.XA Active CN113021304B (en) | 2021-03-06 | 2021-03-06 | Installation method of quick-detachable mobile device suitable for track |
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Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI571570B (en) * | 2014-03-14 | 2017-02-21 | Pan Europe Corp | Transmission assembly |
| CN208681573U (en) * | 2018-07-02 | 2019-04-02 | 四川国软科技发展有限责任公司 | The dynamic inspection robot ambulation track of one kind |
| CN208663782U (en) * | 2018-08-13 | 2019-03-29 | 马鞍山汉祺智能科技有限公司 | A kind of track structure for the intelligent spray robot facilitating adjusting |
| CN209936900U (en) * | 2019-04-30 | 2020-01-14 | 深圳市大疆创新科技有限公司 | Installation mechanism and track robot |
| CN110001670B (en) * | 2019-05-13 | 2024-02-20 | 天津博宜特科技有限公司 | Quick-assembly and quick-disassembly type hoisting track robot, running gear thereof and loading and unloading method |
| CN210361288U (en) * | 2019-05-28 | 2020-04-21 | 北京中电金桥电网技术开发有限公司 | Track type inspection robot driving device |
| JP6744463B1 (en) * | 2019-08-06 | 2020-08-19 | 株式会社昭電 | Lifting inspection system |
| CN210790956U (en) * | 2019-08-26 | 2020-06-19 | 华南理工大学 | Suspension type movement device for track robot |
| CN210819537U (en) * | 2019-10-30 | 2020-06-23 | 筑橙科技(深圳)有限公司 | Wheeled spring suspension sliding table and movable manipulator |
| CN212193242U (en) * | 2020-04-26 | 2020-12-22 | 太原科技大学 | Chassis structure of sliding block type wheel set track robot |
| CN111300488A (en) * | 2020-04-26 | 2020-06-19 | 太原科技大学 | Chassis structure of sliding block type wheel set track robot |
| CN212241026U (en) * | 2020-06-03 | 2020-12-29 | 天津伽利联科技有限公司 | A remove base for power line patrols and examines robot |
| CN112223346A (en) * | 2020-08-28 | 2021-01-15 | 南京轩世琪源软件科技有限公司 | Containing system of mobile robot and using method thereof |
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2021
- 2021-03-06 CN CN202110247639.XA patent/CN113021304B/en active Active
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| CN113021304A (en) | 2021-06-25 |
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