CN113697723A - Track inspection robot transfer device - Google Patents
Track inspection robot transfer device Download PDFInfo
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- CN113697723A CN113697723A CN202111081505.1A CN202111081505A CN113697723A CN 113697723 A CN113697723 A CN 113697723A CN 202111081505 A CN202111081505 A CN 202111081505A CN 113697723 A CN113697723 A CN 113697723A
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- box body
- inspection robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/18—Load gripping or retaining means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
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- Transportation (AREA)
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- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Chemical & Material Sciences (AREA)
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Abstract
The invention provides a track inspection robot transfer device which comprises a transfer vehicle body with universal wheels, wherein a vertical rack is fixed on one side of the transfer vehicle body, an adjusting box is sleeved on the outer side of the rack and consists of an inner side box body and an outer side box body, a rotating shaft is rotatably connected to the inner bottom surface of the inner side box body, close to the outer side, the bottom side of the outer side box body is fixed on the outer side of the rotating shaft, and the rotating connection between the inner side box body and the outer side box body is completed through the rotating shaft; the other end of the first transverse shaft is rotatably connected with a clamping mechanism, and the clamping mechanism is used for finishing the clamping operation of the track inspection robot; the other end of the clamping mechanism is rotatably connected with the second transverse shaft, the first bevel gear is driven to rotate through the rotation of the bidirectional motor, the adjusting box can be driven to ascend through the rotation of the first gear after the rotation of the first gear is completed, the longitudinal height adjusting function is completed, the transfer operation of the track inspection robots in different directions and different orientations is realized, and the device is convenient and practical.
Description
Technical Field
The invention belongs to the technical field of transfer devices of track robots, and particularly relates to a transfer device of a track inspection robot.
Background
The track inspection robot collects videos and pictures through a video monitoring technology, carries out intelligent identification on various instruments, switch states, pressing plates and the like through an AI intelligent identification technology, carries out automatic early warning and alarming on abnormal operation states and data, reduces field operation of maintainers, ensures equipment automatically operating, can monitor environmental information such as gas, temperature and humidity in real time, and provides all-round information for analyzing equipment operation states of operation and maintenance personnel.
At present patrol and examine robot production process at the track, the semi-manufactured goods adds man-hour and need carry out the supplementary transportation of miniverly outside to it, but because the track patrols and examines robot weight great, need be inconvenient to its orientation and height control when transporting, influence the transportation efficiency of robot.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a transfer device for a track inspection robot to solve the problems in the background art.
In order to solve the technical problems, the invention adopts the technical scheme that: a transfer device of a track inspection robot comprises a transfer vehicle body with universal wheels, wherein a vertical rack is fixed on one side of the transfer vehicle body, and an adjusting box is sleeved on the outer side of the rack;
the adjusting box consists of an inner box body and an outer box body, a rotating shaft is rotatably connected to the inner bottom surface of the inner box body close to the outer side, the bottom side of the outer box body is fixed to the outer side of the rotating shaft, and the rotating connection between the inner box body and the outer box body is completed through the rotating shaft;
through grooves are respectively formed in the top and bottom sides of the inner box body, the rack is sleeved in the through grooves, one side of the outer box body is rotatably connected with a first transverse shaft through a bearing seat, a first gear is fixed to the inner side end of the first transverse shaft in an adjusting box, a first bevel gear is fixed to the outer side end of a middle shaft of the first gear, a two-way motor is movably connected to the inside of the adjusting box through a first air cylinder, and a second bevel gear is fixed to the top end of a top rotating shaft of the two-way motor;
the other end of the first transverse shaft is rotatably connected with a clamping mechanism, and the clamping mechanism is used for completing the clamping operation of the track inspection robot;
the other end of fixture rotates and is connected with the horizontal axle of second, the outside of the horizontal axle of second is fixed with the limiting plate, the opposite side is fixed with vertical spacing rail on the transportation automobile body, the limiting plate cup joints in spacing rail.
Further, the vertical fixing of first cylinder is in inboard box, the telescopic shaft bottom end of first cylinder is fixed with the motor frame, two-way motor fixes in the motor frame, two-way motor's axis with the pivot is on same vertical line at the axis, the bottom mounting of two-way motor's bottom pivot has the second gear, the top of pivot is fixed with the internal gear, second gear and internal gear phase-match.
Further, the top of inboard box is fixed with first electro-magnet, first electro-magnet be used for with the iron rack between the electromagnetic adsorption be connected, one side that the gear was kept away from to the bottom of inboard box is fixed with the second electro-magnet, with the corresponding position of second electro-magnet on the box of outside fixed with the iron plate, accomplish the electromagnetic adsorption between inboard box and the box of outside through the second electro-magnet and be connected.
Further, fixture includes decides splint, first connecting rod, moves splint, second cylinder and second connecting rod, decide splint to be long semicircle board, and rotate respectively at its two opening sides and be connected with and move splint, decide a splint outside and be fixed with first connecting rod, first connecting rod rotates to be connected in first horizontal axle, another outside of deciding splint is fixed with the second connecting rod, the second connecting rod rotates to be connected in the second horizontal axle, the top surface of first connecting rod and second connecting rod rotates respectively and is connected with the second cylinder, two the telescopic shaft of second cylinder rotates respectively and connects in rather than the adjacent outside that moves splint.
Furthermore, the movable clamping plate is an arc-shaped plate, and the inner sides of the fixed clamping plate and the movable clamping plate are both stuck with anti-slip pads.
Furthermore, the second transverse shaft comprises a shaft sleeve, an inner shaft, a guide groove and a directional column, the inner shaft is sleeved in the shaft sleeve, the inner shaft is provided with an arc-shaped guide groove at the position close to the inner side end, the positioning column is fixed in the shaft sleeve and is connected in the guide groove in a sliding manner, and the outer side end of the inner shaft is fixedly connected with the end part of the second connecting rod.
Furthermore, the inner shaft is further provided with a long gear, a guide motor is fixed on the outer side of the shaft sleeve, a third gear is fixed on an output shaft of the guide motor, an opening is formed in the shaft sleeve, and the third gear penetrates through the opening and is in meshed connection with the long gear.
Furthermore, the limiting plate is fixed at the outer side end of the shaft sleeve, two limiting columns are fixed at the positions, close to the limiting rails, of the limiting plate, and the limiting columns are sleeved in the limiting rails.
Furthermore, the bottom surface of second horizontal axle is fixed with the montant, the bottom of montant is fixed with the horizontal pole, the bottom surface of horizontal pole is fixed with two blotters.
Furthermore, an auxiliary rod is fixed to the other end of the cross rod, and the top end of the auxiliary rod is rotatably connected to the bottom face of the first transverse shaft.
Compared with the prior art, the invention has the following advantages:
1. the invention fixes a vertical rack on one side of a transfer vehicle body, an adjusting box is sleeved on the outer side of the rack and consists of an inner box body and an outer box body, a rotating shaft is rotatably connected on the inner bottom surface of the inner box body close to the outer side, the bottom side of the outer box body is fixed on the outer side of the rotating shaft, the rotating connection between the inner box body and the outer box body is completed through the rotating shaft, through grooves are respectively formed on the two sides of the top and the bottom of the inner box body, the rack is sleeved in the through grooves, a first electromagnet is fixed at the top end of the inner box body and is used for electromagnetic adsorption connection with an iron rack, namely, the first electromagnet is opened, so that the inner box body can be adsorbed and fixed on the rack to complete the relative fixing action of the adjusting box and the rack, a second electromagnet is fixed on one side of the bottom of the inner box body far away from a gear, and an iron block is fixed on the outer box body at a position corresponding to the second electromagnet, the electromagnetic adsorption connection between the inner side box body and the outer side box body is completed through the second electromagnet, so that the outer side box body and the inner side box body are closed tightly, namely the opening and closing adjustment of the adjusting box is convenient
2. The invention is characterized in that a first transverse shaft is rotatably connected with one side of an outer side box body through a bearing seat, a first gear is fixed at the inner side end of an adjusting box of the first transverse shaft, a first conical gear is further fixed at the outer side end of a middle shaft of the first gear, a bidirectional motor is movably connected in the adjusting box through a first air cylinder, the first air cylinder is vertically fixed in the inner side box body, a motor frame is fixed at the bottom end of a telescopic shaft of the first air cylinder, the bidirectional motor is fixed in the motor frame, a second conical gear is fixed at the top end of a top rotating shaft of the bidirectional motor, when the first cylinder drives the bidirectional motor to move to the highest point, the second bevel gear is meshed with the first bevel gear, the first bevel gear can be driven to rotate by the rotation of the bidirectional motor to complete the rotation of the first gear, when the adjusting box is closed, the first gear is meshed with the rack, and the adjusting box can be driven to ascend through the rotation of the first gear.
3. According to the track inspection robot, the second gear is fixed at the bottom end of the rotating shaft at the bottom end of the two-way motor, the internal gear is fixed at the top end of the rotating shaft and matched with the internal gear, when the two-way motor is driven by the first cylinder to move to the lowest point, the second gear is embedded into the internal gear, when the second gear is rotated by the two-way motor, the internal gear can be rotated by the second gear, the rotating shaft can be driven to rotate, so that the outer box body is opened, when the outer box body is opened, the first transverse shaft and the clamping mechanism are driven to synchronously rotate, the rotation adjustment of the track inspection robot with the rotating shaft as the axial direction and the maximum transverse angle of 90 degrees can be completed, and the adjustment of the orientation of the track inspection robot during transportation can be completed.
4. The clamping mechanism is rotatably connected to the other end of the first transverse shaft, the clamping mechanism is respectively rotatably connected with the movable clamping plates at the two opening sides of the fixed clamping plate, the movable clamping plates and the fixed clamping plates are mutually matched for use, when the movable clamping plates are closed, an inner side cylindrical clamping structure can be formed by the movable clamping plates, so that the clamping effect of the middle section of the track inspection robot can be completed, a second connecting rod is fixed at the other outer side of the fixed clamping plates, the second connecting rod is rotatably connected in the second transverse shaft, the top surfaces of the first connecting rod and the second connecting rod are respectively rotatably connected with a second air cylinder, the telescopic shafts of the two second air cylinders are respectively rotatably connected at the outer sides of the movable clamping plates adjacent to the first air cylinder, the two movable clamping plates can be moved and adjusted towards the inner sides of the fixed clamping plates through the action of the two second air cylinders, the clamping effect of the middle section of the track inspection robot can be completed, in order to improve the clamping effect and avoid relative slippage in the transferring process, the movable clamping plate is an arc-shaped plate, and the inner sides of the fixed clamping plate and the movable clamping plate are both stuck with anti-slip pads.
5. The invention is connected with a second transverse shaft through the other end of the clamping mechanism in a rotating way, the outer side end of the inner shaft is fixedly connected with the end part of a second connecting rod, an arc-shaped guide groove is arranged on the inner shaft close to the inner side end part, a positioning column is fixed in the shaft sleeve, the positioning column is connected in the guide groove in a sliding way, a long gear is also arranged on the inner shaft, a guide motor is fixed on the outer side of the shaft sleeve, a third gear is fixed on an output shaft of the guide motor, an opening is arranged on the shaft sleeve, the third gear passes through the opening and is connected with the long gear in a meshing way, when the positioning column is positioned at the highest point of the guide groove, the guide motor is started, the guide motor rotates to drive the third gear to rotate, the third gear drives the long gear meshed with the third gear to rotate, thereby driving the inner shaft to rotate, when the inner shaft rotates, the positioning column is guided by the guide groove in the guide groove, namely, the inner shaft transversely moves while rotating in the circumferential direction, when the locating column moves to the guide way minimum, accomplish the circumferential direction adjustment of interior axle, can accomplish the adjustment that the track patrolled and examined the robot orientation, when the locating column removed a complete length in the guide way, interior axle rotated 90 degrees, was about to the track of fixture last centre gripping patrolled and examined the robot and vertically adjusted the position.
6. In order to enable the adjusting box to keep relatively stable in the upward or downward movement process and to partially limit when the track inspection robot transversely rotates, a limiting plate is fixed on the outer side of the second transverse shaft and fixed at the outer side end of the shaft sleeve, a vertical limiting rail is fixed on the other side of the transfer vehicle body, two limiting columns are fixed at positions, close to the limiting rails, on the limiting plates, the limiting columns are sleeved in the limiting rails, and the limiting plates are sleeved in the limiting rails, so that the limiting in the transverse rotation adjusting and vertical height adjusting processes can be completed through the limiting rails, and the track inspection robot is convenient and practical.
Drawings
FIG. 1 is a side view of the overall structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the conditioning tank of the present invention;
FIG. 3 is a top view of the spindle connection structure of the present invention;
FIG. 4 is a schematic view of the clamping mechanism of the present invention;
fig. 5 is a schematic view of the internal structure of the second transverse shaft of the present invention.
Description of reference numerals:
the track inspection robot comprises a transfer vehicle body 1, a limit rail 11, a rack 2, an adjusting box 3, an inner box 31, an outer box 32, a rotating shaft 33, an internal gear 331, a through groove 34, a first electromagnet 341, a second electromagnet 342, a limit block 35, a first transverse shaft 4, a first gear 41, a first bevel gear 42, a bidirectional motor 5, a second bevel gear 51, a second gear 52, a first cylinder 53, a clamping mechanism 6, a fixed clamp plate 61, a first connecting rod 62, a movable clamp plate 63, a second cylinder 64, a second connecting rod 65, a second transverse shaft 7, a shaft sleeve 71, an inner shaft 72, a guide groove 73, a directional column 74, a long gear 75, a guide motor 76, a third gear 77, a vertical rod 8, a transverse rod 81, an auxiliary rod 82 and a track inspection robot 9.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 5, the present invention provides a technical solution: the utility model provides a track is patrolled and examined robot transfer device, is including the transportation automobile body 1 that has the universal wheel, transports 1 one side of automobile body and still is provided with the push rod for operating personnel removes and transports 1 uses of automobile body.
One side is fixed with vertical rack 2 on transporting automobile body 1, and rack 2 is the iron rack that tooth was seted up to the unilateral.
The adjusting box 3 is sleeved on the outer side of the rack 2, the adjusting box 3 is composed of an inner box body 31 and an outer box body 32, a rotating shaft 33 is rotatably connected to the inner bottom surface of the inner box body 31 close to the outer side, the bottom side of the outer box body 32 is fixed to the outer side of the rotating shaft 33, the rotating connection between the inner box body 31 and the outer box body 32 is completed through the rotating shaft 33, the outer box body 32 and the inner box body 31 can be opened through the rotating shaft 33, and therefore the opening or closing of the adjusting box 3 is completed.
Through grooves 34 are respectively formed in two sides of the top and the bottom of the inner box body 31, the rack 2 is sleeved in the through grooves 34, a first electromagnet 341 is fixed at the top end of the inner box body 31, the first electromagnet 341 is used for being in electromagnetic adsorption connection with the iron rack 2, namely the first electromagnet 341 is opened, so that the inner box body 31 can be adsorbed and fixed on the rack 2, and the relative fixing effect of the adjusting box 3 and the rack 2 is completed.
One side of the outer box body 32 is rotatably connected with a first transverse shaft 4 through a bearing seat, a first gear 41 is fixed on the inner side end of the first transverse shaft 4 of the adjusting box 3, a first bevel gear 42 is fixed at the outer side end of the middle shaft of the first gear 41, a bidirectional motor 5 is movably connected in the adjusting box 3 through a first air cylinder 53, the first cylinder 53 is vertically fixed in the inner box 31, a motor frame is fixed at the bottom end of a telescopic shaft of the first cylinder 53, the bidirectional motor 5 is fixed in the motor frame, a second bevel gear 51 is fixed at the top end of the top rotating shaft of the bidirectional motor 5, when the first air cylinder 53 drives the bidirectional motor 5 to move to the highest point, the second bevel gear 51 is meshed with the first bevel gear 42, the rotation of the bidirectional motor 5 can drive the first bevel gear 42 to rotate, and the rotation of the first gear 41 is completed.
A second electromagnet 342 is fixed on one side of the bottom of the inner box 31, which is far away from the rack 2, an iron block is fixed on the outer box 32 at a position corresponding to the second electromagnet 342, and electromagnetic adsorption connection between the inner box 31 and the outer box 32 is completed through the second electromagnet 342, so that the outer box 32 and the inner box 31 are closed tightly.
When the adjusting box 3 is closed, the first gear 41 is meshed with the rack 2, and the adjusting box 3 can be driven to ascend through the rotation of the first gear 41.
The central axis of the bidirectional motor 5 and the central axis of the rotating shaft 33 are on the same vertical line, that is, the central line of the output shaft of the bidirectional motor 5 and the central line of the rotating shaft 33 are on the same vertical line, a second gear 52 is fixed at the bottom end of the rotating shaft at the bottom end of the two-way motor 5, an internal gear 331 is fixed at the top end of the rotating shaft 33, the second gear 52 is matched with the internal gear 331, when the first cylinder 53 drives the bi-directional motor 5 to move to the lowest point, the second gear 52 is embedded in the internal gear 331, and when the bi-directional motor 5 rotates the second gear 52, the inner gear 331 can be rotated by the second gear 52 to drive the rotating shaft 33 to rotate, so as to open the outer box 32, when the outer box 32 is opened, the first transverse shaft 4 and the clamping mechanism 6 are driven to rotate synchronously, the track inspection robot 9 can complete the rotation adjustment of the maximum transverse angle of 90 degrees by taking the rotating shaft 33 as the axial direction.
A limiting block 35 is further fixed on the other side of the inner box 31, and the limiting block 35 limits the opening angle of the outer box 32, specifically not more than 90 degrees.
The other end of first transverse shaft 4 rotates and is connected with fixture 6, fixture 6 is used for accomplishing the tight operation of clamp of track inspection robot 9.
It moves splint 63 to rotate respectively to be connected with in two opening sides of deciding splint 61, moves splint 63 and decides splint 61 and uses each other supporting, when moving splint 63 and close, can form inboard cylindrical clamping structure with deciding splint 61 to can accomplish the track and patrol and examine 9 interlude clamping effects of robot.
A first connecting rod 62 is fixed on one outer side of the fixed clamping plate 61, the first connecting rod 62 is rotatably connected in the first transverse shaft 4, and the first connecting rod 62 and the first transverse shaft 4 have hollow sections in the axial direction, namely, the position of the first connecting rod 62 can be moved outwards or inwards in the axial direction.
Decide another outside of splint 61 and be fixed with second connecting rod 65, second connecting rod 65 rotates to be connected in second transverse axis 7, the top surface of first connecting rod 62 and second connecting rod 65 rotates respectively and is connected with second cylinder 64, two the telescopic shaft of second cylinder 64 rotates respectively to be connected in rather than the adjacent outside that moves splint 63, can move splint 63 towards deciding the inboard adjustment that removes of splint 61 through the effect of two second cylinders 64 with two, can accomplish the track and patrol and examine 9 interlude clamping effects of robot.
In order to improve the clamping effect, avoid taking place relative slippage in the transportation, it is the arc to move splint 63, and is in decide splint 61 and move splint 63 inboard and all paste and have the slipmat.
The other end of the clamping mechanism 6 is rotatably connected with a second transverse shaft 7, the outer side end of the inner shaft 72 is fixedly connected with the end of the second connecting rod 65, specifically, the second transverse shaft 7 comprises a shaft sleeve 71, an inner shaft 72, a guide groove 73 and a positioning column 74, the inner shaft 72 is sleeved in the shaft sleeve 71, an arc-shaped guide groove 73 is formed in the position, close to the inner side end, of the inner shaft 72, a positioning column 74 is fixed in the shaft sleeve 71, the positioning column 74 is slidably connected in the guide groove 73, and when the positioning column 74 moves a complete length in the guide groove 73, the inner shaft 72 rotates 90 degrees, that is, the track inspection robot 9 clamped on the clamping mechanism 6 is adjusted longitudinally from the vertical direction, and orientation adjustment is completed.
In order to facilitate the adjustment of the control direction, a long gear 75 is further arranged on the inner shaft 72, a guide motor 76 is fixed on the outer side of the shaft sleeve 71, a third gear 77 is fixed on an output shaft of the guide motor 76, an opening is arranged on the shaft sleeve 71, the third gear 77 penetrates through the opening to be meshed and connected with the long gear 75, when the positioning column 74 is at the highest point of the guide groove 73, the guide motor 76 is started, the guide motor 76 rotates to drive the third gear 77 to rotate, the third gear 77 drives the long gear 75 engaged with the third gear to rotate, thereby driving the inner shaft 72 to rotate, when the inner shaft 72 rotates, under the guiding action of the positioning column 74 in the guiding groove 73, because the guiding groove 73 is arc-shaped, i.e., the inner shaft 72 moves laterally while rotating in the circumferential direction, when the positioning post 74 moves to the lowest point of the guide groove 73, the adjustment of the 90-degree circumferential rotation of the inner shaft can be completed, and the adjustment of the orientation of the track inspection robot 9 can be completed.
In order to enable the adjusting box 3 to move upwards or downwards, the adjusting box can be kept relatively stable, meanwhile, when the track inspection robot 9 transversely rotates, the limiting plate 78 is fixed to the outer side of the second transverse shaft 7, the limiting plate 78 is fixed to the outer side end of the shaft sleeve 71, the vertical limiting rail 11 is fixed to the other side of the transfer vehicle body 1, two limiting columns are fixed to the position, close to the limiting rail 11, of the limiting plate 78, the limiting columns are sleeved in the limiting rail 11, and the limiting plate 78 is sleeved in the limiting rail 11.
In order to enable the track inspection robot 9 to keep relatively stable during adjustment in the direction, a vertical rod 8 is fixed on the bottom surface of the second transverse shaft 7, a cross rod 81 is fixed at the bottom end of the vertical rod 8, two buffer pads are fixed on the bottom surface of the cross rod 81, and the buffer pads are used for buffering the track inspection robot 9 in the lowest point.
In order to ensure the stability in the transferring process, the other end of the cross rod 81 is fixed with an auxiliary rod 82, and the top end of the auxiliary rod 82 is rotatably connected to the bottom surface of the first transverse shaft 4.
In summary, when the clamping device is used, the first electromagnet 341 is first turned on, so that the inner box 31 is fixed on the rack 2, and the relative fixing between the adjusting box 3 and the rack 2 is completed, then the first cylinder 53 drives the two-way motor 5 to move to the lowest point, the second gear 52 is embedded into the internal gear 331, when the two-way motor 5 rotates the second gear 52, the internal gear 331 is rotated by the second gear 52, so that the rotating shaft 33 is driven to rotate, and the outer box 32 is opened, and when the outer box 32 is opened, the first transverse shaft 4 is driven to rotate synchronously with the clamping mechanism 6, so that the transverse 90-degree rotation adjustment of the clamping mechanism 6 is completed.
Then the guiding motor 76 is started again, the guiding motor 76 rotates to drive the third gear 77 to rotate, the third gear 77 drives the long gear 75 meshed with the third gear to rotate, so as to drive the inner shaft 72 to rotate, when the inner shaft 72 rotates, the inner shaft 72 is guided by the positioning column 74 in the guide groove 73, as the guide groove 73 is arc-shaped, namely, the inner shaft 72 moves transversely while rotating circumferentially, when the positioning column 74 moves to the lowest point of the guide groove 73, the circumferential rotation adjustment of 90 degrees of the inner shaft 72 is completed, and the adjustment of the transverse orientation of the adjustment position of the clamping mechanism 6 can be completed;
reuse two second cylinders 64's effect with two move splint 63 towards deciding the splint 61 outside and remove the adjustment, can open fixture 6, then patrol and examine 9 interlude cards of robot with the track and decide splint 61 in, the effect of two second cylinders 64 of rethread moves splint 63 towards deciding the splint 61 inboard and removes the adjustment, can accomplish the track and patrol and examine 9 interlude clamping effects of robot.
If the subsequent processing of the track inspection robot 9 is carried out transversely, the clamping mechanism 6 does not need to be adjusted, and the transfer vehicle body 1 is pushed to move to the position needing to be processed.
If the track inspection robot 9 needs to adjust the position to be longitudinal and the longitudinal height needs to be adjusted, the guide motor 76 is firstly utilized to rotate reversely, the guide motor 76 rotates reversely to drive the third gear 77 to rotate reversely, so that the reverse 90 circumferential rotation of the inner shaft 72 is driven to adjust, namely, the clamping mechanism 6 is adjusted to be longitudinal again;
then, the bidirectional motor 5 reversely drives the second gear 52 to rotate, so as to move the outer box 32 toward the inner box 31, that is, the outer box 32 and the inner box 31 are closed, and the electromagnetic adsorption connection between the inner box 31 and the outer box 32 is completed through the second electromagnet 342, so that the outer box 32 and the inner box 31 are closed tightly.
When the vertical height of needs adjustment after adjusting box 3 is closed, first gear 41 is connected with the meshing of rack 2 this moment, close first electro-magnet 341, cup joint between inboard box 31 and the rack 2, first cylinder 53 drives two-way motor 5 and moves the peak, second bevel gear 51 is connected with the meshing of first bevel gear 42, can rotate through two-way motor 5 and drive first bevel gear 42 and rotate, it can rotate through first gear 41 and drive adjusting box 3 through the rotation of first gear 41 to accomplish first gear 41 and rise, accomplish vertical height adjustment effect, the transportation operation of robot 9 is patrolled and examined to the track that has realized equidirectional and different orientation, convenient and practical.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a robot transfer device is patrolled and examined to track, is including transport automobile body (1) that has the universal wheel, its characterized in that: a vertical rack (2) is fixed on one side of the transfer vehicle body (1), and an adjusting box (3) is sleeved on the outer side of the rack (2);
the adjusting box (3) consists of an inner box body (31) and an outer box body (32), a rotating shaft (33) is rotatably connected to the inner bottom surface of the inner box body (31) close to the outer side, the bottom side of the outer box body (32) is fixed to the outer side of the rotating shaft (33), and the rotating connection between the inner box body (31) and the outer box body (32) is completed through the rotating shaft (33);
through grooves (34) are respectively formed in the two sides of the top and the bottom of the inner box body (31), the rack (2) is sleeved in the through grooves (34), one side of the outer box body (32) is rotatably connected with a first transverse shaft (4) through a bearing seat, a first gear (41) is fixed on the inner side end of the first transverse shaft (4) in the adjusting box (3), a first bevel gear (42) is fixed on the outer side end of a middle shaft of the first gear (41), a two-way motor (5) is movably connected in the adjusting box (3) through a first air cylinder (53), and a second bevel gear (51) is fixed on the top end of a rotating shaft at the top end of the two-way motor (5);
the other end of the first transverse shaft (4) is rotatably connected with a clamping mechanism (6), and the clamping mechanism (6) is used for clamping a track inspection robot (9);
the other end of fixture (6) rotates and is connected with horizontal axle of second (7), the outside of the horizontal axle of second (7) is fixed with limiting plate (78), the opposite side is fixed with vertical spacing rail (11) on transporting automobile body (1), limiting plate (78) cup joint in spacing rail (11).
2. The transfer device of the track inspection robot according to claim 1, wherein the first cylinder (53) is vertically fixed in the inner box body (31), a motor frame is fixed at the bottom end of the telescopic shaft of the first cylinder (53), the two-way motor (5) is fixed in the motor frame, the central axis of the two-way motor (5) is on the same vertical line with the rotating shaft (33) in the central axis, a second gear (52) is fixed at the bottom end of the rotating shaft at the bottom end of the two-way motor (5), an inner gear (331) is fixed at the top end of the rotating shaft (33), and the second gear (52) is matched with the inner gear (331).
3. The transfer device of the track inspection robot according to claim 1, wherein a first electromagnet (341) is fixed to the top end of the inner box (31), the first electromagnet (341) is used for being connected with an iron rack (2) in an electromagnetic adsorption mode, a second electromagnet (342) is fixed to one side, away from the iron rack (2), of the bottom of the inner box (31), an iron block is fixed to the position, corresponding to the second electromagnet (342), of the outer box (32), and the electromagnetic adsorption connection between the inner box (31) and the outer box (32) is achieved through the second electromagnet (342).
4. The track inspection robot transfer device according to claim 1, the clamping mechanism (6) comprises a fixed clamping plate (61), a first connecting rod (62), a movable clamping plate (63), a second cylinder (64) and a second connecting rod (65), the fixed clamping plate (61) is a long semicircular plate, and two opening sides of the fixed splint are respectively and rotatably connected with a movable splint (63), a first connecting rod (62) is fixed on one outer side of the fixed splint (61), the first connecting rod (62) is rotationally connected in the first transverse shaft (4), a second connecting rod (65) is fixed at the other outer side of the fixed clamping plate (61), second connecting rod (65) rotate to be connected in second transverse axis (7), the top surface of first connecting rod (62) and second connecting rod (65) rotates respectively and is connected with second cylinder (64), two the telescopic shaft of second cylinder (64) rotates respectively and connects the outside at rather than adjacent movable clamp plate (63).
5. The transfer device for the track inspection robot according to claim 4, wherein the movable clamping plate (63) is an arc-shaped plate, and anti-skid pads are adhered to the inner sides of the fixed clamping plate (61) and the movable clamping plate (63).
6. The track inspection robot transfer device according to claim 4, wherein the second transverse shaft (7) comprises a shaft sleeve (71), an inner shaft (72), a guide groove (73) and a directional column (74), the inner shaft (72) is sleeved in the shaft sleeve (71), an arc-shaped guide groove (73) is formed in the inner shaft (72) close to the inner side end, the positioning column (74) is fixed in the shaft sleeve (71), the positioning column (74) is connected in the guide groove (73) in a sliding mode, and the outer side end of the inner shaft (72) is fixedly connected with the end of the second connecting rod (65).
7. The transfer device for the track inspection robot according to claim 6, wherein the inner shaft (72) is further provided with a long gear (75), a guide motor (76) is fixed to the outer side of the shaft sleeve (71), a third gear (77) is fixed to an output shaft of the guide motor (76), the shaft sleeve (71) is provided with an opening, and the third gear (77) penetrates through the opening to be in meshed connection with the long gear (75).
8. The transfer device of the track inspection robot according to claim 7, wherein the limiting plate (78) is fixed at the outer end of the shaft sleeve (71), two limiting columns are fixed on the limiting plate (78) at positions close to the limiting rail (11), and the limiting columns are sleeved in the limiting rail (11).
9. The transfer device for the track inspection robot according to claim 1, wherein a vertical rod (8) is fixed to the bottom surface of the second transverse shaft (7), a cross rod (81) is fixed to the bottom end of the vertical rod (8), and two cushion pads are fixed to the bottom surface of the cross rod (81).
10. The transfer device for the track inspection robot according to claim 9, wherein an auxiliary rod (82) is fixed to the other end of the cross rod (81), and the top end of the auxiliary rod (82) is rotatably connected to the bottom surface of the first transverse shaft (4).
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| CN202111081505.1A CN113697723B (en) | 2021-09-15 | 2021-09-15 | Track inspection robot transfer device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111081505.1A CN113697723B (en) | 2021-09-15 | 2021-09-15 | Track inspection robot transfer device |
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| CN113697723A true CN113697723A (en) | 2021-11-26 |
| CN113697723B CN113697723B (en) | 2023-02-17 |
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| CN101653396A (en) * | 2009-09-15 | 2010-02-24 | 中国人民解放军军事医学科学院卫生装备研究所 | robot for transferring and transporting patients |
| CN102765086A (en) * | 2012-07-26 | 2012-11-07 | 江苏尚诚精密模具科技有限公司 | Intelligent robot with stamping and carrying functions |
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| CN108942866A (en) * | 2018-08-07 | 2018-12-07 | 安徽星宇生产力促进中心有限公司 | A kind of transfer robot |
| CN112207534A (en) * | 2020-10-16 | 2021-01-12 | 淄博凯雷得汽车零部件有限公司 | Clamping, transporting and transferring device for plate spring |
| CN112225124A (en) * | 2020-09-17 | 2021-01-15 | 上海建工集团股份有限公司 | Horizontal transfer device for box body structure and using method thereof |
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2021
- 2021-09-15 CN CN202111081505.1A patent/CN113697723B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101653396A (en) * | 2009-09-15 | 2010-02-24 | 中国人民解放军军事医学科学院卫生装备研究所 | robot for transferring and transporting patients |
| CN102765086A (en) * | 2012-07-26 | 2012-11-07 | 江苏尚诚精密模具科技有限公司 | Intelligent robot with stamping and carrying functions |
| CN203997553U (en) * | 2014-06-20 | 2014-12-10 | 国家电网公司 | A kind of electric energy meter Turnover Box and handling equipment |
| CN108942866A (en) * | 2018-08-07 | 2018-12-07 | 安徽星宇生产力促进中心有限公司 | A kind of transfer robot |
| CN112225124A (en) * | 2020-09-17 | 2021-01-15 | 上海建工集团股份有限公司 | Horizontal transfer device for box body structure and using method thereof |
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| CN113697723B (en) | 2023-02-17 |
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