CN113681535A - Inspection robot walking device and inspection robot system thereof - Google Patents
Inspection robot walking device and inspection robot system thereof Download PDFInfo
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- CN113681535A CN113681535A CN202110807328.4A CN202110807328A CN113681535A CN 113681535 A CN113681535 A CN 113681535A CN 202110807328 A CN202110807328 A CN 202110807328A CN 113681535 A CN113681535 A CN 113681535A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention discloses an inspection robot walking device and an inspection robot system thereof, wherein the inspection robot walking device comprises a shell and a first clamping assembly, the shell comprises a mounting plate, the first clamping assembly comprises a first wheel, a second wheel, a first connecting piece, a first elastic piece and a second connecting piece, the first wheel is matched with the first end of the first connecting piece in a rotating mode, the second end of the first connecting piece is connected with the second connecting piece in a rotating mode, the middle of the first connecting piece is connected with the mounting plate in a rotating mode, the second connecting piece is matched with the mounting plate in a guiding mode, the first elastic piece is sleeved on the second connecting piece, one end of the first elastic piece is abutted against the mounting plate, the second wheel is assembled on the shell in a rotating mode, and the first elastic piece is used for applying elastic acting force to the second end of the first connecting piece when the first wheel and the second wheel clamp a guide rail. The walking device of the inspection robot has the advantages of simple structure, convenience in use, low cost and the like.
Description
Technical Field
The invention relates to the field of robots, in particular to an inspection robot walking device and an inspection robot system thereof.
Background
The inspection robot is used for detecting the transportation of a coal conveying belt and a transfer link belt, and preventing serious production accidents caused by belt tearing, deviation, coal scattering, coal accumulation and the like.
In the related art, the mine environment is complex, the walking angle of a walking mechanism of the inspection robot is flexibly adjusted according to the track wire, and self-adaptive adjustment cannot be performed according to the actual situation, so that the inspection robot is poor in using effect.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the embodiment of the invention provides the walking device of the inspection robot, which has high flexibility and can be adjusted according to actual conditions.
The embodiment of the invention provides an inspection robot system which is simple in structure, low in cost and convenient to use.
The walking device of the inspection robot according to the embodiment of the invention comprises: a housing including a mounting plate; first clamping component, first clamping component includes first wheel, second wheel, first connecting piece, first elastic component and second connecting piece, first wheel normal running fit is in the first end of first connecting piece, the second end of first connecting piece with the second connecting piece rotationally links to each other, the middle part of first connecting piece with the mounting panel rotationally links to each other, the second connecting piece with mounting panel direction cooperation, first elastic component cover is established on the second connecting piece just the one end of first elastic component with the mounting panel ends, the second wheel normal running fit is in on the casing, first elastic component be used for first wheel with when the tight guide rail of second wheel clamp to elastic force is applyed to the second end of first connecting piece.
According to the walking device of the inspection robot, the first clamping assembly is arranged, so that the inspection robot can run more stably, self-adaptive adjustment can be performed according to actual situations, and the cruising ability of the inspection robot is improved.
In some embodiments, the second link passes at least partially through the mounting plate, and the other end of the first resilient member is in abutting engagement with a free end of the second link, the first resilient member having a resilient force urging the free end of the second link away from the connecting plate so as to urge the first wheel closer to the guide rail.
In some embodiments, the other end of the first elastic member is in abutting engagement with the second end of the first connecting member, and the first elastic member has an elastic force for driving the second end of the first connecting member to approach the connecting plate, so as to drive the first wheel to approach the guide rail.
In some embodiments, the first clamping assembly further comprises a third link, one end of the third link being rotatably connected to a middle portion of the first link, and the other end of the third link being connected to the mounting plate.
In some embodiments, the first clamping assembly further comprises; the first rod is rotatably arranged at the first end of the first connecting piece, and the first wheel is arranged on the first rod in a penetrating way; the second rod is rotatably arranged at the second end of the first connecting piece, and one end of the second connecting piece is connected with the second rod; the third rod is rotatably arranged on the first connecting piece and positioned between the first rod and the second rod, and one end of the third connecting piece is connected with the third rod.
In some embodiments, the first clamping assembly further comprises a reinforcing plate disposed on the first connecting member by a fastener, one end of the reinforcing plate being connected to the first wheel, and the other end of the reinforcing plate being connected to the third connecting member.
In some embodiments, in a plane of projection of the first link, a distance between a projection of the central axis of the first wheel in the first link and the middle portion of the first link is L1, a distance between a projection of the second link in the first link and the middle portion of the first link is L2, and L1< L2.
In some embodiments, the first and second wheels are spaced apart along the length of the housing.
In some embodiments, the end face of the first wheel is provided with a first through hole penetrating the first wheel along the axial direction thereof, and/or the end face of the second wheel is provided with a second through hole penetrating the second wheel along the axial direction thereof.
The inspection robot system comprises an inspection robot walking device, wherein the inspection robot walking device is any one of the inspection robot walking devices in the embodiments, and is arranged at the bottom of the inspection robot; the second clamping unit, the second clamping unit is established patrol and examine on robot running gear's the casing, the second clamping unit is established on the casing, the second clamping unit includes third wheel and fourth wheel, the third wheel with the parallel interval arrangement of fourth wheel just the third wheel with form between the fourth wheel and supply track male clamping position, the third wheel with but at least one elastic movement of fourth wheel is in with the part track elastic clamping is in clamping position, the axis of rotation of patrolling and examining robot running gear's first wheel with the axis of rotation of third wheel becomes the contained angle.
Drawings
Fig. 1 is a schematic structural diagram of an inspection robot system according to an embodiment of the invention.
Fig. 2 is a schematic structural diagram of a first wheel of the walking device of the inspection robot in the embodiment of the invention.
Fig. 3 is a top view of fig. 2.
Fig. 4 is an installation schematic diagram of a third wheel of the inspection robot system according to the embodiment of the invention.
Fig. 5 is a front sectional view of fig. 4.
Fig. 6 is a schematic structural diagram of the inspection robot system according to the embodiment of the method.
Reference numerals:
an inspection robot system 100;
a housing 1; a first clamping assembly 2; a first wheel 21; a second wheel 22; a first connecting member 23; a second connecting member 24; a third connecting member 25; a first elastic member 26; a first lever 27; a second lever 28; a third lever 29; a reinforcing plate 201; a second clamping assembly 3; a third wheel 31; a fourth wheel 32; a base 33; a base 34; a second elastic member 35; a motor 4; a track 6; a first plate 61; a second plate 62; and (7) mounting the plate.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
An inspection robot walking device according to an embodiment of the present invention will be described below with reference to the accompanying drawings.
As shown in fig. 1 to 3, the inspection robot traveling apparatus according to the embodiment of the present invention includes an inspection robot traveling apparatus including a housing 1 and a first clamping assembly 2.
The housing 1 comprises a mounting plate 7. Specifically, the mounting plate 7 is fixed to the housing 1 by screws or bolts.
The first clamping assembly 2 comprises a first wheel 21, a second wheel 22, a first connecting piece 23, a first elastic piece 26 and a second connecting piece 24, wherein the first wheel 21 is rotatably matched at a first end of the first connecting piece 23 (as shown in fig. 2-3, the right end of the first connecting piece 23), a second end of the first connecting piece 23 (as shown in fig. 2-3, the left end of the first connecting piece 23) is rotatably connected with the second connecting piece 24, the middle part of the first connecting piece 23 is rotatably connected with the mounting plate 7, the second connecting piece 24 is in guide fit with the mounting plate 7, the first elastic piece 26 is sleeved on the second connecting piece 24, one end of the first elastic piece 26 is abutted against the mounting plate 7, the second wheel 22 is rotatably assembled on the housing 1, and the first elastic piece 26 is used for applying elastic acting force to the second end of the first connecting piece 23 when the first wheel 21 and the second wheel 22 clamp the guide rail.
Specifically, as shown in fig. 2 to 3, the first connecting member 23 is a connecting plate, the first wheel 21 is rotatably disposed at the right end of the first connecting member 23, the second connecting member 24 is rotatably disposed at the left end of the first connecting member 23, the middle portion of the first connecting member 23 is rotatably connected to the mounting plate 7, the first elastic member 26 is disposed on the second connecting member 24 in a penetrating manner, and the first elastic member 26 is engaged with the first connecting member 23. Thereby, the first connecting member 23 rotates around the third connecting member 25 under the driving of the first elastic member 26, so that the rear end of the first connecting member 23 always has an elastic force close to the mounting plate 7, thereby driving the first wheel 21 away from the mounting plate 7 close to the rail 6, so that the first wheel 21 and the second wheel 22 are matched to clamp the rail 6.
According to the walking device of the inspection robot, the first clamping assembly 2 is arranged, so that the first clamping assembly 2 clamps the track 6 through elastic force, the walking device of the inspection robot not only ensures the stable running of the inspection robot, but also can be adjusted in a self-adaptive manner, ensures the stability of the inspection robot when the inspection robot walks over a curve or up and down slopes, and has the functions of preventing looseness and falling.
In some embodiments, the second link 24 passes at least partially through the mounting plate 7, the other end of the first resilient member 26 is in abutting engagement with the free end of the second link 24, the first resilient member 26 having a resilient force urging the free end of the second link 24 away from the web so as to urge the first wheel 21 towards the track. Specifically, as shown in fig. 2-3, the second connecting member 24 is disposed on the mounting plate 7 in a penetrating manner, a flange is disposed at a front end of the second connecting member 24, the first elastic member 26 is disposed between the mounting plate 7 and the flange, one end of the first elastic member 26 abuts against the mounting plate 7, the other end of the first elastic member 26 abuts against the flange, and the first elastic member 26 is in a compressed state. Thereby, the flange is moved away from the mounting plate 7, which brings the first wheel 21 closer to the rail 6, so that the first wheel 21 and the second wheel 22 grip the rail 6.
In some embodiments, the other end of the first elastic member 26 is in abutting engagement with the second end of the first link 23, and the first elastic member 26 has an elastic force that drives the second end of the first link 23 to approach the connecting plate, so as to drive the first wheel 21 to approach the guide rail. Specifically, one end of the first elastic member 26 abuts against the mounting plate 7, the other end of the first elastic member 26 abuts against the front end of the second connecting member 24, and the first elastic member 26 is in a stretching state, so that the front end of the second connecting member 24 is driven to be close to the mounting plate 7, and the first wheel 21 is driven to move in a direction close to the track 6, so that the first wheel 21 and the second wheel 22 clamp the track 6.
In some embodiments, the first clamping assembly 2 further comprises a third link 25, one end of the third link 25 is rotatably connected to the middle portion of the first link 23, and the other end of the third link 25 is connected to the mounting plate 7. Specifically, as shown in fig. 2-3, the third link 25 is rotatably connected to the first link 23 and the third link 25 is located between the second link 24 and the first wheel 21. Thereby, the first connector 23 and the second connector 24 are fixed to the housing 1 by the third connector 25.
In some embodiments, the first clamping assembly 2 further comprises a first rod 27, a second rod 28, and a third rod 29.
The first rod 27 is rotatably disposed at a first end of the first connecting member 23 (as shown in fig. 3, the right end of the first connecting member 23), the first wheel 21 is disposed on the first rod 27, the second rod 28 is rotatably disposed at a second end of the first connecting member 23 (as shown in fig. 3, the left end of the first connecting member 23), one end of the second connecting member 24 is connected to the second rod 28, the third rod 29 is rotatably disposed on the first connecting member 23, the third rod 29 is disposed between the first rod 27 and the second rod 28, and one end of the third connecting member 25 is connected to the third rod 29.
Specifically, as shown in fig. 3, the number of the first connecting members 23 is two, and the two first connecting members 23 are arranged at intervals along the front-rear direction, two ends of the first rod 27 are respectively penetrated through the two first connecting members 23 through first bearings, the first wheel 21 is fixed on the first rod 27, so that the first wheel 21 is rotatably arranged between the two first connecting members 23, two ends of the second rod 28 are respectively penetrated through the two first connecting members 23 through second bearings, one end of the second connecting member 24 is fixed on the rod body of the second rod 28, two ends of the third rod 29 are respectively penetrated through the two third connecting members 25 through third bearings, one end of the third connecting member 25 is fixed on the rod body of the third rod 29, and the other end of the third connecting member 25 is fixed on the mounting plate 7. Thereby, the assembly of the first clamping assembly 2 is simplified, and the arrangement of the first clamping assembly 2 is more reasonable.
In some embodiments, as shown in fig. 2 to 3, the first connecting member 23 is a connecting plate, the second connecting member 24 is a connecting rod, the third connecting member 25 includes two H-shaped connecting plates, the two H-shaped connecting plates are arranged in parallel at intervals, the front ends of the H-shaped connecting plates are provided with positioning portions, the positioning portions are fixed on the mounting plate 7 through screws or screws, the third rod 29 is clamped at the rear ends of the two H-shaped connecting plates, and the third rod 29 and the H-shaped connecting plates are mounted through screws. Thereby, the arrangement of the first connecting member 23, the second connecting member 24 and the third connecting member 25 is made more reasonable.
In some embodiments, in the plane of projection of the first link 23, the distance between the projection of the central axis of the first wheel 21 in the first link 23 and the middle of the first link 23 is L1, the distance between the projection of the second link 24 in the first link 23 and the middle of the first link 23 is L2, and L1< L2. Specifically, as shown in fig. 2 to 3, the distance between the first wheel 21 and the third link 25 is greater than the distance between the second link 24 and the third link 25, and it can be known from the lever principle that: the power (the elastic force of the first elastic member 26) × the power arm (the distance from the first elastic member 26 to the second link 24) × the resistance (the pressure of the first wheel 21 to the rail 6) × the resistance arm (the distance from the first wheel 21 to the second link 24), so that the pressure of the first wheel 21 to the rail 6 can be increased by reducing the distance between the first wheel 21 and the second link 24.
In some embodiments, as shown in fig. 2-3, the first clamping assembly 2 further comprises a reinforcing plate 201, the reinforcing plate 201 is disposed on the first connecting member 23 by a fastener, one end of the reinforcing plate 201 is connected to the first wheel 21, and the other end of the reinforcing plate 201 is connected to the third connecting member 25. As can be seen from the lever principle, the first link 23 between the first wheel 21 and the third link 25 is subjected to a large bending stress. Therefore, the reinforcing plate 201 is additionally arranged between the first wheel 21 and the third connecting piece 25, so that the pressure resistance of the first connecting piece 23 between the first wheel 21 and the third connecting piece 25 is increased, the first connecting piece 23 is prevented from being broken, and the service life of the first clamping assembly 2 is prolonged.
In some embodiments, the second wheel 22 is rotatably disposed on the housing 1, and the first wheel 21 and the second wheel 22 are disposed at intervals along the length direction (the left-right direction as viewed in fig. 1) of the housing 1. Specifically, as shown in fig. 1, the second wheel 22 and the first wheel 21 are arranged at intervals in the left-right direction, so that the first wheel 21 and the second wheel 22 are staggered in the front-rear direction, and the difficulty in mounting and manufacturing the first wheel 21 and the second wheel 22 is reduced. In addition, the front and back directions of the first wheels 21 and the second wheels 22 are staggered, so that the friction force between the first wheels 21 and the second wheels 22 and the track 6 can be increased, and the running of the inspection robot walking device is more stable.
The end face of the first wheel 21 is provided with a first through hole penetrating the first wheel 21 in its axial direction (the front-rear direction as shown in fig. 1), and/or the end face of the second wheel 22 is provided with a second through hole penetrating the second wheel 22 in its axial direction. Specifically, as shown in fig. 1 to 3, through holes are provided on the wheel bodies of the first wheel 21 and the second wheel 22, so that the weight of the first wheel 21 and the second wheel 22 is reduced and the material is saved on the basis of ensuring the strength of the first wheel 21 and the second wheel 22.
The inspection robot system 100 according to the embodiment of the invention includes an inspection robot, an inspection robot walking device and a second clamping assembly 3.
The inspection robot walking device is any one of the inspection robot walking devices in the embodiments, and is arranged at the bottom of the inspection robot;
the second clamping assembly 3 is arranged on the shell 1 of the inspection robot walking device, the second clamping assembly 3 is arranged on the shell 1, the second clamping assembly 3 comprises a third wheel 31 and a fourth wheel 32, the third wheel 31 and the fourth wheel 32 are arranged in parallel at intervals, a clamping position for inserting the track 6 is formed between the third wheel 31 and the fourth wheel 32, at least one of the third wheel 31 and the fourth wheel 32 can move elastically to clamp part of the track 6 at the clamping position, and an included angle is formed between the rotating axis of the first wheel 21 of the inspection robot walking device and the rotating axis of the third wheel 31. Specifically, as shown in fig. 1, the third wheel 31 and the fourth wheel 32 are spaced in the up-down direction to form a second clamping position, so that the rail 6 can be inserted in the second clamping position, the third wheel 31 or the fourth wheel 32 has an elastic force thereon that can move toward the rail 6, so that the third wheel 31 and the fourth wheel 32 clamp the rail 6 under the elastic force, and the first clamping position and the second clamping position intersect and form an included angle.
According to the inspection robot system 100 provided by the embodiment of the invention, the running stability of the inspection robot is further ensured through the arrangement of the inspection robot walking device and the second clamping component 3, and the stability of the inspection robot when the inspection robot walks over a curve or up and down a slope is further ensured.
In some embodiments, the second clamping assembly 3 further comprises a base 33, a base 34 and a second resilient member 35.
The base 33 is mounted on the housing 11, the base 34 is disposed in the base 33, and the base 34 is movable in the base 33 along a height direction (vertical direction as shown in fig. 1) of the base 33, the third wheel 31 is rotatably disposed in the base 34, one end of the second elastic member 35 abuts against the base 33, the other end of the second elastic member 35 abuts against the base 34, and the second elastic member 35 is used for applying an elastic force to the third wheel 31 when the third wheel 31 and the fourth wheel 32 clamp the guide rail. Specifically, as shown in fig. 4-5, a plurality of connecting rods are disposed in the base 33, the base 34 is disposed on the connecting rods, the base 34 can move in the vertical direction, the second elastic member 35 is disposed on the connecting rods, one end of the second elastic member 35 abuts against the base 33, the other end of the second elastic member 35 abuts against the base 34, and the second elastic member 35 is in a compressed state, so that the base 34 moves toward the rail 6, and the third wheel 31 and the fourth wheel 32 clamp the rail 6.
In practical applications, the inspection robot system 100 needs to climb a slope, and the slope of the operation is typically 30 ° to 45 °. In some embodiments, in the axial projection plane of the third wheel 31, the projection of the central axis of the third wheel 31 in the projection plane is point a, the projection of the central axis of the fourth wheel 32 in the projection plane is point B, a line connecting the point a and the point B is a first line, and an angle between the first line and the horizontal line is 30 ° to 45 °.
Specifically, the third wheel 31 and the fourth wheel 32 are arranged at intervals in the up-down direction, the third wheel 31 and the fourth wheel 32 are arranged at intervals in the left-right direction, and an included angle between a straight line of central axes of the third wheel 31 and the fourth wheel 32 and a horizontal line is 30-45 degrees, so that the gripping force of the third wheel 31 and the fourth wheel 32 on the rail 6 is improved, the increased friction between the second clamping assembly 3 and the rail 6 is improved, and the inspection robot is prevented from slipping when climbing, for example: the biggest climbing angle of robot patrols and examines is 35, can set up the contained angle between first line and the water flat line at 35, and second clamping component 3 is the biggest to track 6's bite-force this moment, can guarantee to patrol and examine the robot and not skid when the climbing.
In some embodiments, as shown in fig. 1, two first clamping assemblies 2 and two second clamping assemblies 3 are disposed on the housing 1, and one first clamping assembly 2 and one second clamping assembly 3 form a first clamping mechanism disposed on the right half section of the housing 1, and the other first clamping assembly 2 and the other second clamping assembly 3 form a second clamping mechanism disposed on the left half section of the housing 1, and the first clamping mechanism and the second clamping mechanism are symmetrically disposed on the housing 1. From this for guarantee to patrol and examine robot and operate steadily.
In some embodiments, the inspection robot system 100 further includes a motor 4, and an output shaft of the motor 4 is connected to the fourth wheel 32 for rotating the fourth wheel 32. Specifically, as shown in fig. 1 or 6, the motor 4 rotates the fourth wheel 32 by belt transmission, so that the rotation of the fourth wheel 32 drives the inspection robot to run on the rail 6.
In some embodiments, the inspection robot system 100 further includes a rail 6, the rail 6 including a first plate 61 and a second plate 62, the first plate 61 and the second plate 62 being connected, the first plate 61 being interposed between the first wheel 21 and the second wheel 22, the second plate 62 being interposed between the third wheel 31 and the fourth wheel 32. Specifically, as shown in the drawing, in a transverse section of the rail 6, the upper end of the first plate 61 and the right end of the second plate 62 are connected, and the angle between the first and second plates 62 is 90 °. Because the fixed track 6 generally adopts H-shaped steel or I-shaped steel, the track 6 is heavy and has higher cost and larger hoisting construction difficulty, and the walking mechanism adopting the track 6 usually needs to be specially provided with a locking and anti-falling mechanism and has a complex structure.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" and the like mean that a specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. The utility model provides a patrol and examine robot running gear which characterized in that includes:
a housing including a mounting plate;
first clamping component, first clamping component includes first wheel, second wheel, first connecting piece, first elastic component and second connecting piece, first wheel normal running fit is in the first end of first connecting piece, the second end of first connecting piece with the second connecting piece rotationally links to each other, the middle part of first connecting piece with the mounting panel rotationally links to each other, the second connecting piece with mounting panel direction cooperation, first elastic component cover is established on the second connecting piece just the one end of first elastic component with the mounting panel ends, the second wheel normal running fit is in on the casing, first elastic component be used for first wheel with when the tight guide rail of second wheel clamp to elastic force is applyed to the second end of first connecting piece.
2. The inspection robot walking device according to claim 1, wherein the second connecting member at least partially penetrates through the mounting plate, the other end of the first elastic member is in abutting engagement with a free end of the second connecting member, and the first elastic member has an elastic force that drives the free end of the second connecting member away from the connecting plate so as to drive the first wheel close to the guide rail.
3. The inspection robot walking device according to claim 1, wherein the other end of the first elastic member is in abutting engagement with the second end of the first link, and the first elastic member has an elastic force that drives the second end of the first link to approach the connection plate, so as to drive the first wheel to approach the guide rail.
4. The inspection robot walking device according to claim 1, wherein the first clamping assembly further includes a third connector, one end of the third connector is rotatably connected with the middle portion of the first connector, and the other end of the third connector is connected with the mounting plate.
5. The inspection robot walking device according to claim 4, wherein the first clamping assembly further includes;
the first rod is rotatably arranged at the first end of the first connecting piece, and the first wheel is arranged on the first rod in a penetrating way;
the second rod is rotatably arranged at the second end of the first connecting piece, and one end of the second connecting piece is connected with the second rod;
the third rod is rotatably arranged on the first connecting piece and positioned between the first rod and the second rod, and one end of the third connecting piece is connected with the third rod.
6. The inspection robot walking device according to claim 4, wherein the first clamping assembly further includes a reinforcing plate, the reinforcing plate is disposed on the first connecting member through a fastener, one end of the reinforcing plate is connected with the first wheel, and the other end of the reinforcing plate is connected with the third connecting member.
7. The inspection robot walking device according to any one of claims 1-6, wherein, within the projection plane of the first link, a distance between a projection of the central axis of the first wheel within the first link and the middle portion of the first link is L1, a distance between a projection of the second link within the first link and the middle portion of the first link is L2, and L1< L2.
8. The inspection robot walking device according to any one of claims 1-6, wherein the first wheel and the second wheel are spaced apart along a length of the housing.
9. The inspection robot walking device according to any one of claims 1-6, wherein the end surface of the first wheel is provided with a first through hole penetrating the first wheel along the axial direction thereof, and/or the end surface of the second wheel is provided with a second through hole penetrating the second wheel along the axial direction thereof.
10. An inspection robot system is characterized by comprising,
a patrol robot;
the inspection robot walking device is the inspection robot walking device according to any one of claims 1-9, and is arranged at the bottom of the inspection robot;
the second clamping unit, the second clamping unit is established patrol and examine on robot running gear's the casing, the second clamping unit is established on the casing, the second clamping unit includes third wheel and fourth wheel, the third wheel with the parallel interval arrangement of fourth wheel just the third wheel with form between the fourth wheel and supply track male clamping position, the third wheel with but at least one elastic movement of fourth wheel is in with the part track elastic clamping is in clamping position, the axis of rotation of patrolling and examining robot running gear's first wheel with the axis of rotation of third wheel becomes the contained angle.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110807328.4A CN113681535A (en) | 2021-07-16 | 2021-07-16 | Inspection robot walking device and inspection robot system thereof |
| PCT/CN2021/128498 WO2023284180A1 (en) | 2021-07-16 | 2021-11-03 | Inspection robot walking device and inspection robot system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110807328.4A CN113681535A (en) | 2021-07-16 | 2021-07-16 | Inspection robot walking device and inspection robot system thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113681535A true CN113681535A (en) | 2021-11-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110807328.4A Pending CN113681535A (en) | 2021-07-16 | 2021-07-16 | Inspection robot walking device and inspection robot system thereof |
Country Status (2)
| Country | Link |
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| CN (1) | CN113681535A (en) |
| WO (1) | WO2023284180A1 (en) |
Cited By (1)
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| WO2023284179A1 (en) * | 2021-07-16 | 2023-01-19 | 煤炭科学技术研究院有限公司 | Walking device for inspection robot and inspection system |
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| CN115990899B (en) * | 2023-03-23 | 2023-06-09 | 中铁电气化铁路运营管理有限公司 | Line inspection robot |
| CN118030743B (en) * | 2024-04-12 | 2024-06-25 | 西安博深安全科技股份有限公司 | Mechanical transmission brake device of rail-mounted inspection robot |
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| WO2023284180A1 (en) | 2023-01-19 |
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