CN114312911A - Rail transfer device of rail inspection robot - Google Patents
Rail transfer device of rail inspection robot Download PDFInfo
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- CN114312911A CN114312911A CN202111547554.XA CN202111547554A CN114312911A CN 114312911 A CN114312911 A CN 114312911A CN 202111547554 A CN202111547554 A CN 202111547554A CN 114312911 A CN114312911 A CN 114312911A
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Abstract
The invention relates to a rail transfer device of a rail inspection robot, which comprises an installation chassis, a touch parking assembly and a rail transfer adjusting assembly, wherein the touch parking assembly is arranged on the side surface of the installation chassis, and the rail transfer adjusting assembly is fixedly connected to the lower surface of the installation chassis. The touch parking assembly comprises a touch advancing piece, a parking waiting piece and a resetting piece. The left and right sides of installation chassis is pegged graft and is had the contact to advance the piece, and the rear side that the contact advances the piece is fixed to be provided with the parking and waits to change the piece, and the front side that the contact advances the piece is fixed to be provided with the piece that resets. The lower surface of the installation chassis is fixedly connected with a carry component. Compared with the prior art, the device has the advantages that when the device is close to the track transfer area, the carry assembly can be braked in time and subjected to track transfer, and the power of the carry assembly can be recovered after the track transfer reaches a preset position, so that accurate track transfer is realized, and the problems of side tilting and the like are not easy to occur in the track transfer process.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a rail transfer device of a rail inspection robot.
Background
Along with the accelerated development of urbanization, the infrastructure of relevant cities and towns is modernized and integrated gradually, and city underground cable tunnel is one of the sign of city construction modernization, science and technology ization, intensification, especially city pipeline construction is synthesized, the development trend of piping lane ization, because the aperture of piping lane is narrow and small setting generally, and the degree of difficulty of patrolling and examining through the manual work is big, generally patrols and examines through the robot automation.
With the research and development of robots in China, the rail type inspection robot is very suitable for completing various tasks in high-requirement narrow spaces by means of high-reliability operation, and is naturally applied to inspection work of pipe galleries. However, the urban pipe gallery is complicated, and in the case of different tunnels with different forms, a common robot which can only run along the track is not enough to cope with the inspection work of the complicated pipe gallery, and the inspection robot which is simply controlled manually seriously restricts the accurate orbital transfer of the track inspection robot due to factors such as video transmission delay, narrow video pictures and the like, so that how to realize the accurate orbital transfer of the track inspection robot among the staggered tracks according to needs is a big problem of the conventional track inspection robot.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects and shortcomings in the prior art, the invention provides the rail transfer device of the track inspection robot, which solves the technical problem that the existing track inspection robot cannot accurately transfer rails among all staggered tracks.
(II) technical scheme
In order to achieve the purpose, the invention adopts the main technical scheme that:
a track transfer device of a track inspection robot comprises:
the upper surface of the mounting chassis is fixedly connected with an inspection machine main body;
the parking device comprises a mounting chassis, a touch parking assembly, a parking mechanism and a control module, wherein the touch parking assembly is fixedly arranged on the side surface of the mounting chassis and comprises a contact advancing piece, a parking to-be-rotated piece and a resetting piece;
the track transfer adjusting assembly is fixedly connected to the lower surface of the installation chassis and comprises a control signal receiver and a horizontal track transfer driving assembly, the control signal receiver is fixedly connected to the lower surface of the installation chassis, the horizontal track transfer driving assembly is fixedly connected to the lower surface of the installation chassis, and the horizontal track transfer driving assembly is electrically connected with the control signal receiver.
The upper surface of the installation chassis is fixedly connected with a power supply, the power supply is electrically connected with a driving motor, the lower surface of the installation chassis is fixedly connected with a carry component, and the driving motor is in transmission connection with the carry component.
The contact carry piece comprises a transverse extension rod, a longitudinal carry rod, a contact bump and a conductive metal rod, wherein the transverse extension rod is fixedly connected between the left side and the right side opposite to the installation chassis.
The lower surface of the transverse extension rod is provided with the longitudinal advancing rod in a bilateral symmetry mode in a sliding mode, the lower surface of the transverse extension rod is fixedly connected with a limiting sleeve matched with the longitudinal advancing rod, the lower surface of the front end of the longitudinal advancing rod is fixedly connected with a contact bump, the inner side of the longitudinal advancing rod is inserted with a conductive metal rod, and the conductive metal rod is electrically connected with a driving motor and a carrying assembly.
The parking is waited to change and is included connecting rod and stopper, connecting rod fixed connection be in vertical carry pole is close to one side of carry subassembly, the connecting rod is close to one side slip joint of carry subassembly has the stopper, the carry subassembly includes the connecting axle, the periphery of connecting axle fixed cup joint with the parking ratchet of stopper looks adaptation.
T shape spout has been seted up to the side of connecting rod, stopper slip joint is in the inboard of T shape spout, the inboard of T shape spout is provided with reset spring.
The piece that resets includes pivot, connecting band, wind spring, fixed gear, limit gear, shift fork and supports tight spring, the pivot runs through installation chassis's left and right sides to pass through the bearing with installation chassis and be connected, the periphery fixedly connected with of pivot the connecting band, the connecting band is kept away from the one end of pivot with vertical carry rod fixed connection, the periphery fixedly connected with of pivot the wind spring.
The periphery fixedly connected with of pivot the fixed gear, the lower fixed surface fixedly connected with of installation chassis extends the axle, the periphery of extending the axle set up with fixed gear meshes mutually limit gear, the lower surface of installation chassis articulated have with limit gear looks adaptation the shift fork, the shift fork with fixedly be provided with between the installation chassis support tight spring.
Horizontal orbital transfer drive assembly includes orbital transfer drive wheel, synchronizing gear and drive gear, orbital transfer drive wheel is fixed to be set up installation chassis's downside, the side runs through and is provided with the fixed axle about installation chassis, the periphery of fixed axle is neighbouring the fixed position of shift fork cup joint with shift fork looks adaptation synchronizing gear, the periphery fixedly connected with of fixed axle and limit gear looks driven drive gear.
(III) advantageous effects
The invention has the beneficial effects that:
1. the device has the advantages that when the device is close to the rail change area, the rail can be stopped in time and changed, the power of the carry assembly can be restored after the rail change is finished, and the power of the carry assembly is reconnected.
2. The device is characterized in that a contact advancing piece and a parking waiting-to-rotate piece are correlated, the contact advancing piece carries out carry along with the carry of the device, the carry simultaneously cuts off the power of a carry component, the parking waiting-to-rotate piece is driven to brake the carry component of the device, the device is prevented from rushing through a track change area under the action of inertia, meanwhile, a reset piece and a track change adjusting component are also correlated, after the track change adjusting component is powered on, the track change angle of the device is controlled through a control signal receiver, a running instruction is sent out, then the horizontal track change driving component automatically rotates by a corresponding angle, along with the running of the horizontal track change driving component, the reset piece can be driven to restore the initial setting of the device, and the device can continuously cope with a plurality of track change areas.
3. The reset piece in the device is arranged through a rotating shaft connected with the coil spring and is connected with the longitudinal carry rod through a connecting belt, the coil spring accumulates potential energy along with the carry of the longitudinal carry rod and finally can help the longitudinal carry rod to reset under the potential energy effect of the coil spring, a transmission piece in the device uses a gear and a shifting fork to limit mutually, the shifting fork is jacked up through another slightly-protruded synchronous gear, so that the shifting fork temporarily loses the limiting effect on the limiting gear, and along with the rotation of the synchronous gear, the shifting fork repeatedly limits the limiting gear under the action of a resisting spring, so that the fixed gear can only gradually move along with the rotation of the driving gear and cannot be directly reset under the action of the coil spring, and the track changing time of the track changing adjusting assembly is also given.
Drawings
Fig. 1 is an overall structural schematic diagram of a rail transfer device of a rail inspection robot according to the present invention;
FIG. 2 is a schematic structural diagram of a touch parking module according to the present invention;
FIG. 3 is an enlarged view of the structure at A in FIG. 2;
FIG. 4 is an enlarged view of the structure at B in FIG. 2;
FIG. 5 is an enlarged view of the structure at C in FIG. 2;
fig. 6 is a schematic structural diagram of the track-changing adjusting assembly of the present invention.
[ description of reference ]
1: installing a chassis;
2: a touch parking assembly;
201: contacting the indexing member;
2011: a transversely extending rod;
2012: a longitudinal advancing rod;
2013: a contact bump;
2014: a conductive metal rod;
202: parking a to-be-rotated piece;
2021: a connecting rod;
2022: a limiting block;
203: a reset member;
2031: a rotating shaft;
2032: a connecting belt;
2033: a coil spring;
2034: fixing a gear;
2035: a limit gear;
2036: a shifting fork;
2037: the spring is tightly propped;
3: a track transfer adjusting assembly;
301: a control signal receiver;
302: a horizontal orbital transfer drive assembly;
3021: a track-changing driving wheel;
3022: a synchronizing gear;
3023: a drive gear;
4: a main body of the inspection machine;
5: a power source;
6: a drive motor;
7: a carry component;
8: a limiting sleeve;
9: a parking ratchet;
10: a T-shaped chute;
11: a return spring.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings. In this specification, the terms "upper", "lower", "front", "rear", "left", and "right" are used with reference to the orientation of fig. 1, and the forward direction of the rail inspection robot is defined as "front", the forward and backward extending direction of the rail is defined as "longitudinal", and the left and right extending directions are defined as "lateral".
Referring to fig. 1, the invention provides a track transfer device of a track inspection robot, which comprises an installation chassis 1, a touch parking assembly 2, a track transfer adjusting assembly 3 and an inspection machine body 4. The side of installation chassis 1 is provided with touch parking subassembly 2, and the lower fixed surface of installation chassis 1 is connected with becomes rail adjusting part 3, and the last fixed surface of installation chassis 1 is connected with patrols and examines machine main part 4. The inspection robot body 4 is a comprehensive pipe rack inspection robot disclosed in chinese patent CN105500337B, and will not be described herein.
The contact type parking assemblies 2 are symmetrically arranged on the left side and the right side of the advancing direction of the installation chassis 1 and are used for monitoring and contacting a bending track of a track changing area in advance, the inspection robot is powered off and parked according to the distance between the inspection robot and the track changing area, and after parking, the advancing circuit is connected to continue advancing after accurate track changing operation is carried out through the track changing adjusting assemblies 3.
The upper surface of the installation chassis 1 is fixedly connected with a power supply 5, the power supply 5 provides energy for driving the whole device, and the power supply 5 is electrically connected with electrical appliances in the device. 5 electric connection of power has driving motor 6, and the lower fixed surface of installation chassis 1 is connected with carry subassembly 7, and driving motor 6 is connected with the transmission of carry subassembly 7, and carry subassembly 7 drive track patrols and examines the robot and predetermine the track along the piping lane and advance.
As shown in fig. 2, the trolley parking module 2 is provided on the side of the mounting chassis 1. The touch parking module 2 includes a touch entering part 201, a parking waiting part 202, and a reset part 203. The left side and the right side of the installation chassis 1 are inserted with the contact advancing pieces 201, and along with the advancing of the track inspection robot along the track, the contact advancing pieces 201 are in contact with the side face of the track bent in the track changing area in advance.
The rear side of the contact advancing piece 201 is fixedly provided with a parking waiting piece 202, the contact advancing piece 201 contacts the rail changing area and carries along with the continuous advancing of the rail inspection robot into the device, namely, the contact advancing piece 201 moves towards the rear side relative to the installation chassis 1. The carry value controls the starting function of the parking rotating waiting piece 202, and the parking operation is carried out on the track inspection robot through the parking rotating waiting piece 202. The contact advances the fixed piece 203 that resets that is provided with in the front side of piece 201, resets and is provided with memory or elastic component in the piece 203, can be after losing spacing and external force with respectively setting up in the device and resume initial condition for this device can deal with the repetitive operation in a plurality of derailment areas in succession.
As shown in fig. 2 and 3, the contact carrying member 201 includes a transverse extending rod 2011, a longitudinal carrying rod 2012, a contact bump 2013 and a conductive metal rod 2014. The lateral extension bar 2011 is fixedly connected between the opposite left and right sides of the mounting chassis 1. To ensure the smooth operation of the device, a plurality of sets of transverse extension rods 2011 are symmetrically arranged between the opposite left and right sides of the mounting chassis 1.
The lower surface of the transverse extending rod 2011 is provided with a longitudinal carry rod 2012 in a sliding manner in a left-right symmetrical manner. The lower surface fixedly connected with of horizontal extension rod 2011 carries the stop collar 8 of pole 2012 looks adaptation with vertical, and vertical pole 2012 carries passes through 8 slip joints of stop collar at the downside of horizontal extension rod 2011. The lower surface of the front end of the longitudinal advance rod 2012 is fixedly connected with a contact bump 2013, and the lowest point of the contact bump 2013 is lower than the horizontal plane of the rail, so that the contact bump 2013 is in contact with the rail in advance and senses the direction change of the rail in the advancing process of the rail inspection robot.
The conductive metal rod 2014 is inserted inside the longitudinal advancing rod 2012. The conductive metal rod 2014 is not only connected with a forward circuit, but also connected with a circuit of the track-changing adjusting component 3, a distance and a space for mutual switching are formed between the two circuits, and a reaction distance for switching between the two circuits is reserved, so that the carry component 7 is started after the track-changing adjusting component 3 completes track changing. The conductive metal rod 2014 is electrically connected with the driving motor 6 and the carry component 7.
As shown in fig. 4, the parking waiting component 202 includes a connecting rod 2021 and a limiting block 2022, the connecting rod 2021 is fixedly connected to one side of the longitudinal carry rod 2012 close to the carry component 7, and the connecting rod 2021 is fixedly connected between the two longitudinal carry rods 2012.
A limit block 2022 is slidably clamped at one side of the connecting rod 2021 close to the carry component 7. Carry subassembly 7 includes the connecting axle, and connecting axle fixed connection is between the relative left and right sides of installation chassis 1, and the periphery of connecting axle is fixed to be cup jointed the parking ratchet 9 with stopper 2022 looks adaptation, and parking ratchet 9 forms the screens with stopper 2022 cooperation, can make carry subassembly 7 in this device realize parkking.
T-shaped sliding grooves 10 are formed in the side faces of the connecting rods 2021, and the limiting blocks 2022 are slidably clamped on the inner sides of the T-shaped sliding grooves 10. The inside of the T-shaped chute 10 is provided with a return spring 11. When the longitudinal carry rod 2012 carries backwards in the limiting sleeve 8 relative to the mounting chassis 1, so that the connecting rod 2021 is close to the carry component 7, after the limiting block 2022 contacts the parking ratchet wheel 9 to limit the carry component 7, the connecting rod 2021 can carry forwards continuously along the advancing direction of the robot, the limiting block 2022 slides in the T-shaped sliding groove 10 in the carrying process, and meanwhile, the return spring 11 is compressed, so that the carrying space and the parking distance of the device are ensured.
As shown in fig. 3 and 5, the reset member 203 includes a rotating shaft 2031, a connecting band 2032, a coil spring 2033, a fixed gear 2034, a limit gear 2035, a shift fork 2036, and a holding spring 2037. The rotating shaft 2031 penetrates through the left side and the right side of the installation chassis 1 and is connected with the installation chassis 1 through a bearing, the periphery of the rotating shaft 2031 is fixedly connected with connecting bands 2032, the two connecting bands 2032 are symmetrically connected at the left end and the right end of the rotating shaft 2031, and one end of each connecting band 2032 far away from the rotating shaft 2031 is fixedly connected with the longitudinal carry rod 2012. A coil spring 2033 is fixedly sleeved on the periphery of the rotating shaft 2031. Along with the carry of the longitudinal carry rod 2012, the connecting band 2032 drives the rotating shaft 2031 to rotate, the rotating shaft 2031 drives the coil spring 2033 to rotate together, the coil spring 2033 stores the force during the rotation, and the coil spring 2033 can restore the device to the original setting by using potential energy after the external force action is lost.
A fixed gear 2034 is fixedly sleeved on the outer periphery of the rotating shaft 2031. An extension shaft is fixedly connected to the lower surface of the mounting chassis 1, and a limit gear 2035 meshed with the fixed gear 2034 is arranged on the periphery of the extension shaft through a bearing. The lower surface of the mounting chassis 1 is hinged with a shifting fork 2036 matched with the limit gear 2035. A resisting spring 2037 is fixedly arranged between the shifting fork 2036 and the installation chassis 1, the resisting spring 2037 tightly supports the shifting fork 2036 in the tooth groove of the limit gear 2035, and the limit gear 2035 is tightly supported all the time, so that the limit gear 2035 can only freely rotate in one direction.
As shown in connection with fig. 5 and 6, horizontal orbital transfer drive assembly 302 includes orbital transfer drive wheel 3021, synchronizing gear 3022, and drive gear 3023. A track-changing driving wheel 3021 is fixedly provided on the lower side of the mounting chassis 1. The left side and the right side of the mounting chassis 1 are provided with a fixed shaft in a penetrating way, the periphery of the fixed shaft is fixedly sleeved with a synchronizing gear 3022 matched with the shifting fork 2036 at the position adjacent to the shifting fork 2036, and the periphery of the fixed shaft is fixedly connected with a driving gear 3023 driven by the limiting gear 2035.
When the power supply 5 of the horizontal track-changing driving assembly 302 is switched on, the track-changing driving wheel 3021 rotates after receiving the control signal of the control signal receiver 301, and drives the fixed shaft to rotate, the rotation of the fixed shaft enables the synchronous gear 3022 fixedly sleeved on the fixed shaft and the driving gear 3023 to rotate together, the synchronous gear 3022 jacks up the shifting fork 2036 to enable the limiting gear 2035 to lose the limiting position, the driving gear 3023 drives the fixed gear 2034 in transmission connection with the driving gear 3023 to rotate, the initial positions of the contact type parking assembly 2 and the track-changing adjusting assembly 3 in the device are gradually restored through the resetting piece 203 in the track-changing process, and the device can continuously cope with a plurality of track-changing areas.
In this embodiment, the contact advancing component 201 is arranged on the left and right sides of the advancing direction of the track inspection robot, if the device of the invention encounters a track change area, the contact advancing component 201 is contacted with the track of the track change area and tightly propped against the track of the track change area to carry out backward advancing, so that the power supply 5 of the track change adjusting component 3 is switched on, the device of the invention stops before entering the track change area and performs track change operation in advance, the reset component 203 is used for restoring the original position in the device during the track change operation, the power supply 5 of the carrying component 7 is switched on again after the track change is finished, the device continues to advance, compared with the existing device, the device has the advantages that when the device approaches the track change area, the track change can be stopped in time, the power of the carrying component 7 can be restored after the track change reaches a preset position, and accurate track change is realized, the problems of side inclination and the like are not easy to occur in the process of rail transfer.
The contact advancing piece 201 and the parking to-be-rotated piece 202 in the device are mutually related, the contact advancing piece 201 carries out carry along with the carry of the device, the carry simultaneously disconnects the power of the carry component 7, and the parking to-be-rotated piece 202 is driven to brake the carry component 7 of the device, so that the device is prevented from rushing through a track changing area under the action of inertia. Meanwhile, the reset piece 203 and the track transfer adjusting assembly 3 are also associated with each other, after the track transfer adjusting assembly 3 is switched on the power supply 5, the track transfer angle of the device is controlled through the control signal receiver 301, the horizontal track transfer driving assembly 302 automatically rotates by a corresponding angle after an operation instruction is sent out, and along with the operation of the horizontal track transfer driving assembly 302, the reset piece 203 can be driven to restore the initial setting of the device, so that the device can continuously cope with a plurality of track transfer areas.
The reset piece 203 in the device is arranged through a rotating shaft 2031 connected with a coil spring 2033, and is connected with the longitudinal carry rod 2012 through a connecting belt 2032, the coil spring 2033 accumulates potential energy along with the carry of the longitudinal carry rod 2012, and finally the coil spring 2033 can help the longitudinal carry rod 2012 reset under the action of the potential energy of the coil spring 2033. In the transmission member of the device, the limit gear 2035 and the shift fork 2036 are used for limiting each other, and the shift fork 2036 is jacked up by another slightly protruding synchronizing gear 3022, so that the shift fork 2036 temporarily loses the limiting effect on the limit gear 2035, and along with the rotation of the synchronizing gear 3022, the shift fork 2036 repeatedly limits the limit gear 2035 under the action of the abutting spring 2037, so that the fixed gear 2034 can only gradually move along with the rotation of the driving gear 3023, but can not directly reset under the action of the coil spring 2033, and the track change time of the track change adjusting assembly 3 is also given.
Claims (9)
1. The utility model provides a track inspection robot's becomes rail device which characterized in that includes:
the inspection device comprises an installation chassis (1), wherein the upper surface of the installation chassis (1) is fixedly connected with an inspection machine main body (4);
the parking device comprises a touch parking assembly (2), wherein the touch parking assembly (2) is arranged on the side surface of an installation chassis (1), the touch parking assembly (2) comprises a contact advancing piece (201), a parking to-be-rotated piece (202) and a resetting piece (203), the contact advancing piece (201) is inserted into the left side and the right side of the installation chassis (1), the parking to-be-rotated piece (202) is fixedly arranged on the rear side of the contact advancing piece (201), and the resetting piece (203) is fixedly arranged on the front side of the contact advancing piece (201);
become rail adjusting part (3), become rail adjusting part (3) fixed connection at the lower surface of installation chassis (1), become rail adjusting part (3) including control signal receiver (301) and horizontal transition drive assembly (302), control signal receiver (301) fixed connection is at the lower surface of installation chassis (1), the lower surface fixed connection of installation chassis (1) has horizontal transition drive assembly (302), horizontal transition drive assembly (302) and control signal receiver (301) electric connection.
2. The orbital transfer device of a track inspection robot of claim 1, wherein: the upper surface fixed connection of installation chassis (1) has power (5), power (5) electric connection has driving motor (6), the lower fixed surface of installation chassis (1) is connected with carry subassembly (7), driving motor (6) with carry subassembly (7) transmission is connected.
3. The rail transfer device of the rail inspection robot according to claim 2, wherein: contact advance position piece (201) including horizontal extension rod (2011), vertical advance position pole (2012), contact lug (2013) and electrically conductive metal pole (2014), horizontal extension rod (2011) fixed connection be in between the relative left and right sides of installation chassis (1).
4. The track transfer device of the track inspection robot according to claim 3, wherein: the lower surface of horizontal extension rod (2011) slides with bilateral symmetry's mode and is provided with vertically advance a pole (2012), the lower fixed surface of horizontal extension rod (2011) be connected with stop collar (8) of vertically advancing a pole (2012) looks adaptation, the lower fixed surface of vertically advancing a pole (2012) one end is connected with contact bump (2013), the inboard grafting of vertically advancing a pole (2012) has electrically conductive metal pole (2014), electrically conductive metal pole (2014) electric connection driving motor (6) and carry subassembly (7).
5. The track transfer device of the track inspection robot according to claim 3, wherein: the parking waiting rotating piece (202) comprises a connecting rod (2021) and a limiting block (2022), the connecting rod (2021) is fixedly connected to one side, close to the carry component (7), of the longitudinal carry rod (2012), the limiting block (2022) is connected to one side, close to the carry component (7), of the connecting rod (2021) in a sliding and clamping mode, the carry component (7) comprises a connecting shaft, and a parking ratchet wheel (9) matched with the limiting block (2022) is fixedly sleeved on the periphery of the connecting shaft in a sleeved mode.
6. The track transfer device of a track inspection robot according to claim 5, wherein: t-shaped sliding grooves (10) are formed in the side faces of the connecting rods (2021), the limiting blocks (2022) are connected to the inner sides of the T-shaped sliding grooves (10) in a sliding and clamping mode, and return springs (11) are arranged on the inner sides of the T-shaped sliding grooves (10).
7. The track transfer device of the track inspection robot according to claim 3, wherein: reset piece (203) including pivot (2031), connecting band (2032), wind spring (2033), fixed gear (2034), stop gear (2035), shift fork (2036) and support tight spring (2037), pivot (2031) runs through side about installation chassis (1), and with installation chassis (1) is connected through the bearing, the periphery fixedly connected with of pivot (2031) connecting band (2032), connecting band (2032) are kept away from the one end of pivot (2031) with vertically advance position pole (2012) fixed connection, the periphery fixedly connected with of pivot (2031) wind spring (2033).
8. The track transfer device of a track inspection robot according to claim 7, wherein: the periphery fixedly connected with of pivot (2031) fixed gear (2034), the lower fixed surface of mounting chassis (1) is connected with and extends the axle, the periphery setting of extending the axle with fixed gear (2034) meshes mutually stop gear (2035), the lower surface of mounting chassis (1) articulated have with stop gear (2035) looks adaptation shift fork (2036), shift fork (2036) with it is fixed to be provided with between mounting chassis (1) support tight spring (2037).
9. The orbital transfer device of a track inspection robot of claim 8, wherein: horizontal orbital transfer drive assembly (302) is including orbital transfer drive wheel (3021), synchro gear (3022) and drive gear (3023), orbital transfer drive wheel (3021) is fixed to be set up the downside of installation chassis (1), the left and right sides of installation chassis (1) is run through and is provided with the fixed axle, the periphery of fixed axle is in the vicinity the fixed position of shift fork (2036) cup joint with shift fork (2036) looks adaptation synchro gear (3022), the periphery fixedly connected with of fixed axle and driven drive gear (3023) mutually of limit gear (2035).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111547554.XA CN114312911B (en) | 2021-12-16 | 2021-12-16 | Rail-changing device of rail inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111547554.XA CN114312911B (en) | 2021-12-16 | 2021-12-16 | Rail-changing device of rail inspection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114312911A true CN114312911A (en) | 2022-04-12 |
| CN114312911B CN114312911B (en) | 2023-08-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111547554.XA Active CN114312911B (en) | 2021-12-16 | 2021-12-16 | Rail-changing device of rail inspection robot |
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| US6021719A (en) * | 1997-11-10 | 2000-02-08 | Kershaw, Jr.; Royce G. | Mobile track vehicle |
| JP2014017611A (en) * | 2012-07-06 | 2014-01-30 | Toshiba Corp | Track inspection device |
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| CN208198441U (en) * | 2018-04-23 | 2018-12-07 | 湖南中建管廊运营有限公司 | Rail changing device for crusing robot walking track in Urban Underground pipe gallery |
| CN112078627A (en) * | 2020-08-28 | 2020-12-15 | 嘉兴学院 | Rail transfer device for pipe gallery inspection |
| CN113060167A (en) * | 2021-03-25 | 2021-07-02 | 中车青岛四方车辆研究所有限公司 | Rail transit inspection robot platform |
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2021
- 2021-12-16 CN CN202111547554.XA patent/CN114312911B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6021719A (en) * | 1997-11-10 | 2000-02-08 | Kershaw, Jr.; Royce G. | Mobile track vehicle |
| JP2014017611A (en) * | 2012-07-06 | 2014-01-30 | Toshiba Corp | Track inspection device |
| CN206679774U (en) * | 2017-03-29 | 2017-11-28 | 西安科技大学 | A kind of multiple spot brakes belt inspection device |
| CN107226104A (en) * | 2017-06-01 | 2017-10-03 | 润泰救援装备科技河北有限公司 | A kind of track rescue robot |
| CN207241725U (en) * | 2017-09-14 | 2018-04-17 | 河南帕菲特搬运设备有限公司 | It is a kind of be easy to become rail have a rail transport cart |
| CN208198441U (en) * | 2018-04-23 | 2018-12-07 | 湖南中建管廊运营有限公司 | Rail changing device for crusing robot walking track in Urban Underground pipe gallery |
| CN112078627A (en) * | 2020-08-28 | 2020-12-15 | 嘉兴学院 | Rail transfer device for pipe gallery inspection |
| CN113060167A (en) * | 2021-03-25 | 2021-07-02 | 中车青岛四方车辆研究所有限公司 | Rail transit inspection robot platform |
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|---|---|
| CN114312911B (en) | 2023-08-04 |
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