CN115479567A - Track displacement detection device - Google Patents
Track displacement detection device Download PDFInfo
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- CN115479567A CN115479567A CN202210907295.5A CN202210907295A CN115479567A CN 115479567 A CN115479567 A CN 115479567A CN 202210907295 A CN202210907295 A CN 202210907295A CN 115479567 A CN115479567 A CN 115479567A
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- track
- roller
- rail
- bracket
- driving wheel
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
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- General Physics & Mathematics (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention relates to a track displacement detection device, which comprises a track, a walking mechanism and a detection mechanism, wherein the walking mechanism is arranged on the track; the running mechanism comprises a bracket and a roller assembly, the roller assembly is arranged on the bracket, and the roller assembly runs and rolls on the track so as to enable the bracket to move relative to the track; the detection mechanism comprises a roller encoder and an elastic assembly, the elastic assembly is connected between the roller encoder and the support, so that the roller encoder is elastically abutted against the track, and the roller encoder is used for detecting the displacement of the support relative to the track. According to the track displacement detection device, the detection mechanism comprises the roller encoder and the elastic component, and the roller encoder is abutted to the track by the elastic component, so that the real-time displacement of the support relative to the track is detected, and the moving distance of the support of the travelling mechanism on the track is further detected.
Description
Technical Field
The invention relates to the technical field of displacement detection, in particular to a track displacement detection device.
Background
In the prior art, the track robot is widely applied to the security inspection industry, and the inspection position of the robot on the track plays a crucial role in the accuracy of inspection results. The track robot moves on the track plane and adopts roller drive more, and the in-process that the gyro wheel was gone often causes the gyro wheel idle running because of reasons such as bent, the track is uneven, or skids, when detecting the robot location through closed loop walking motor, has the problem that causes work efficiency slow because of the location is inaccurate. Therefore, secondary positioning equipment or a structural device is required to be added for positioning the position of the robot in real time, and accurate routing inspection task is ensured.
Disclosure of Invention
The invention aims to provide a track displacement detection device, and aims to solve the technical problem of accurate positioning of a patrol robot on a track.
In order to solve the technical problem, a track displacement detection device is provided, which comprises a track, a walking mechanism and a detection mechanism; the walking mechanism comprises a bracket and a roller assembly, the roller assembly is mounted on the bracket, and the roller assembly walks and rolls on the track so as to enable the bracket to move relative to the track; the detection mechanism comprises a roller encoder and an elastic component, the elastic component is connected between the roller encoder and the support, so that the roller encoder is elastically abutted to the track, and the roller encoder is used for detecting the displacement of the support relative to the track.
Further, the elastic component comprises a connecting piece, a fixing piece and a first elastic piece, one end of the fixing piece is detachably connected with the support, the other end of the fixing piece is hinged to one end of the connecting piece, the other end of the connecting piece is detachably connected with the roller encoder, and the first elastic piece is close to the track and is connected with the connecting piece and the fixing piece, so that the roller encoder is tightly attached to the track.
Furthermore, the elastic component further comprises a second elastic piece, the second elastic piece is sleeved between the connecting piece and the fixing piece, a wing body is arranged on the second elastic piece in a protruding mode, the wing body deviates from the track and is located at the connecting piece and the fixing piece at intervals, and therefore the connecting piece is limited to rotate towards the direction deviating from the track.
Further, the included angle between the connecting piece and the fixing piece is 90-270 degrees.
Furthermore, the roller encoder comprises a mounting seat and a measuring wheel, the mounting seat is detachably connected with the connecting piece, the measuring wheel is mounted on the mounting seat and moves along with the support, and the measuring wheel is used for measuring the distance of the support relative to the rail.
Furthermore, the roller encoder further comprises a friction sleeve, the friction sleeve is sleeved on the measuring wheel, and the friction sleeve abuts against the track.
Further, running gear still includes driving source, first drive wheel, second drive wheel and drive belt, the driving source install in the support, the driving source drive first drive wheel rotates, the drive belt connect in first drive wheel with be used for driving between the second drive wheel rotates, the second drive wheel is connected the roller components, in order to provide the support is relative the power of rail movement.
Further, the traveling mechanism further comprises a tension wheel installed on the bracket, and the tension wheel is used for pre-tightening the transmission belt of the first driving wheel and the second driving wheel.
Further, the roller assembly comprises a first roller and a second roller, the rail comprises a side surface and a groove formed at the side surface, the first roller is connected with the groove in a rolling mode, and the second roller abuts against the side surface.
Further, track displacement volume detection device still includes the workstation, the workstation connect in be used for patrolling and examining the operation on the support.
The embodiment of the invention has the following beneficial effects:
track displacement detection device in this embodiment because detection mechanism includes roller encoder and elastic component, and elastic component is with roller encoder butt on the track to detect out the relative orbital real-time displacement volume of support, and then detect out running gear's support displacement distance on the track, overcome among the prior art technical problem that patrol and examine robot positioning accuracy is low on the track.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a detection apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a side-detecting mechanism according to an embodiment of the present invention;
FIG. 3 is an exploded view of a side-detecting mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a spring assembly according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of the detecting device according to the embodiment of the present invention after the track is removed;
FIG. 6 is a schematic structural diagram of a track according to an embodiment of the present invention;
fig. 7 is a partial enlarged view of a portion a in fig. 6.
Wherein: 100. a detection device; 110. a track; 111. a side surface; 112. a groove; 120. a traveling mechanism; 121. a support; 122. a roller assembly; 1221. a first roller; 1222. a second roller; 1223. a first driven wheel; 1224. a second driven wheel; 123. a drive source; 124. a first drive wheel; 125. a second drive wheel; 126. a transmission belt; 130. a detection mechanism; 131. a roller encoder; 1311. a mounting seat; 1312. a measuring wheel; 1313. a friction kit; 132. an elastic component; 1321. a connecting member; 1322. a fixing member; 1323. a first elastic member; 1324. a second elastic member; 13241. a wing body; 140. a work bench.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1-7, an embodiment of the invention provides a device 100 for detecting a displacement of a rail 110, including a rail 110, a traveling mechanism 120, and a detecting mechanism 130; the walking mechanism 120 comprises a bracket 121 and a roller assembly 122, the roller assembly 122 is mounted on the bracket 121, and the roller assembly 122 rolls on the rail 110 in a walking manner, so that the bracket 121 moves relative to the rail 110; the detecting mechanism 130 includes a roller encoder 131 and an elastic component 132, the elastic component 132 is connected between the roller encoder 131 and the bracket 121, so that the roller encoder 131 is elastically abutted to the rail 110, and the roller encoder 131 is used for detecting the displacement of the bracket 121 relative to the rail 110. In a specific application, when the running gear 120 moves on the rail 110, the roller assembly 122 on the running gear 120 rolls on the outer side of the rail 110, and since the roller assembly 122 is installed on the bracket 121, the bracket 121 moves relative to the rail 110 as the roller assembly 122 rolls on the rail 110; and the elastic component 132 is movably connected between the roller encoder 131 and the bracket 121, so that the roller encoder 131 is elastically abutted on the rail 110, when the roller assembly 122 runs on the rail 110, under the conditions of bending, unevenness or slipping of the rail 110, idling of the roller assembly 122 can be caused, the roller encoder 131 is abutted on the rail 110 under the elastic acting force of the elastic component 132, and the occurrence of the idling phenomenon is avoided, so that the roller encoder 131 can measure the moving distance of the bracket 121 relative to the rail 110 in real time, and further the positioning accuracy of the inspection robot with the rail 110 displacement detection device 100 is improved.
Referring to fig. 1 to 3, in one possible embodiment, the elastic assembly 132 includes a connecting member 1321, a fixing member 1322 and a first elastic member 1323, the fixing member 1322 is detachably connected to the bracket 121 at one end, the fixing member 1322 is hinged to one end of the connecting member 1321 at the other end, the connecting member 1321 is detachably connected to the roller encoder 131 at the other end, and the first elastic member 1323 is connected between the connecting member 1321 and the fixing member 1322 near the rail 110 so that the roller encoder 131 is closely attached to the rail 110. In a specific application, one end of the fixing member 1322 is detachably connected to the bracket 121, the other end of the fixing member 1322 is hinged to one end of the connecting member 1321, and the other end of the connecting member 1321 is detachably connected to the roller encoder 131, so that the elastic assembly 132 can be quickly replaced, and parts can be regularly maintained and replaced, it is noted that the first elastic member 1323 is arranged close to the track 110, the first elastic member 1323 is a tension spring, the number of the first elastic members 1323 is not limited to one, and can be two or more, the number of the first elastic members 1323 is determined according to the tension force and the elastic coefficient of the spring required in practice, so that the roller encoder 131 is attached to the track 110, and the roller encoder 131 is prevented from idling relative to the track 110.
Referring to fig. 1, 3 and 4, in a possible embodiment, the elastic assembly 132 further includes a second elastic member 1324, the second elastic member 1324 is a torsion spring, the second elastic member 1324 is sleeved between the connecting member 1321 and the fixing member 1322, the second elastic member 1324 is convexly provided with a wing body 13241, and the wing body 13241 is spaced apart from the track 110 at the connecting member 1321 and the fixing member 1322 to limit the connecting member 1321 from rotating in a direction away from the track 110. In specific applications, the second elastic component 1324, the connecting component 1321, and the fixing component 1322 are sleeved with each other, the second elastic component 1324 is located between the connecting component 1321 and the fixing component 1322, and the wing component 13241 extends from two sides of the column of the second elastic component 1324 to the connecting component 1321 and the fixing component 1322, it is noted that the wing component 13241 is located at the connecting component 1321 and the fixing component 1322 at a distance away from the rail 110, and the wing component 13241 is located at a distance behind the connecting component 1321 and the fixing component 1322, so that the excessive rotation of the connecting component 1321 in a direction away from the rail 110 can be limited, and damage to components or failure of the first elastic component 1323 is caused.
Referring to fig. 3 and 4, in one possible embodiment, the connecting member 1321 is angled 90 ° to 270 ° relative to the fixing member 1322. In a specific application, the maximum expansion included angle between the connecting member 1321 and the fixing member 1322 is between 90 ° and 270 °, and when the roller encoder 131 rolls on the track 110 of an inner side curve, the included angle between the connecting member 1321 and the fixing member 1322 is between 90 ° and 180 °; when the roller encoder 131 rolls on the track 110 of the outer curve, the included angle between the connecting member 1321 and the fixing member 1322 is 180 to 270 degrees; preferably, when the roller encoder 131 rolls on the track 110 of the inner curve, the angle between the connecting member 1321 and the fixing member 1322 is 135 ° to 180 °; when the roller encoder 131 rolls on the track 110 of the outer curve, the included angle between the connecting member 1321 and the fixing member 1322 is 180 ° to 225 °; when the roller encoder 131 rolls on the track 110 of the horizontal curve, the angle between the connecting member 1321 and the fixing member 1322 is 180 °. Therefore, the roller encoder 131 can adjust the included angle between the connecting member 1321 and the fixing member 1322 according to the bending change of the rail 110, thereby satisfying the requirement that the roller encoder 131 always rolls on the rail 110 for displacement detection.
Referring to fig. 1-3, in one possible embodiment, roller encoder 131 includes a mounting block 1311 and a measuring wheel 1312, mounting block 1311 being removably coupled to coupling block 1321, measuring wheel 1312 being mounted to mounting block 1311 for movement with carriage 121, and measuring wheel 1312 being configured to measure a distance traveled by carriage 121 relative to track 110. In specific application, the mounting seat 1311 is detachably connected to the connecting member 1321, so that the roller encoder 131 can be detached for later maintenance, and the measuring wheel 1312 can measure the moving distance of the support 121 relative to the rail 110 in real time, so that the roller encoder 131 can measure the displacement of the support 121 relative to the rail 110.
Referring to fig. 1-3, in one possible embodiment, the roller encoder 131 further includes a friction sleeve 1313, the friction sleeve 1313 is sleeved on the measuring wheel 1312, and the friction sleeve 1313 abuts against the rail 110. In specific application, the friction sleeve 1313 is made of polyurethane, and the friction sleeve 1313 is sleeved on the measuring wheel 1312, so that the friction coefficient of the roller encoder 131 relative to the rail 110 can be increased, and the phenomenon that the roller encoder 131 slips on the rail 110 due to the fact that the friction coefficient is too small on the rail 110 is prevented.
Referring to fig. 1, 2 and 5, in one possible embodiment, the traveling mechanism 120 further includes a driving source 123, a first driving wheel 124, a second driving wheel 125 and a driving belt 126, wherein the driving source 123 is mounted on the bracket 121, the driving source 123 drives the first driving wheel 124 to rotate, the driving belt 126 is connected between the first driving wheel 124 and the second driving wheel 125 for driving the second driving wheel 125 to rotate, and the second driving wheel 125 is connected with the roller assembly 122 for providing power for the bracket 121 to move relative to the rail 110. In a specific application, when the driving source 123 rotates in a forward direction, the driving source 123 drives the first driving wheel 124 to rotate, the first driving wheel 124 drives the second driving wheel 125 to rotate through the driving belt 126, and the second driving wheel 125 drives the roller assembly 122 to rotate, so that the roller assembly 122 drives the bracket 121 to move forward relative to the rail 110; when the driving source 123 rotates reversely, the roller assembly 122 drives the bracket 121 to move backward relative to the rail 110.
Referring to fig. 1, 2 and 5, in one possible embodiment, the traveling mechanism 120 further includes a tension pulley (not shown) mounted to the bracket 121, the tension pulley being used to pre-tension the belts 126 of the first drive wheel 124 and the second drive wheel 125. In a specific application, the tension wheel can be used for pre-tightening the transmission belt 126 between the first driving wheel 124 and the second driving wheel 125, so as to prevent a transmission slip phenomenon of the first driving wheel 124 and the second driving wheel 125, and it is noted that when the first driving wheel 124 and the second driving wheel 125 slip, a vibration of the traveling mechanism 120 is easily caused, so as to cause a vibration of the rail 110 displacement detecting device 100, which easily causes a phenomenon that the measuring wheel 1312 is instantaneously separated from the rail 110, and the first elastic member 1323 does not have to elastically deform to make the measuring wheel 1312 cling to the rail 110, so as to cause a failure condition that the measuring wheel 1312 instantaneously detects a displacement of the bracket 121 relative to the rail 110, and a long-term vibration can cause a system error to accumulate, so as to finally cause a detection error of the displacement of the bracket 121 relative to the rail 110.
Referring to fig. 5-7, in one possible embodiment, the roller assembly 122 includes a first roller 1221 and a second roller 1222, the rail 110 includes a side 111 and a groove 112 formed at the side 111, the first roller 1221 is rollingly connected to the groove 112, and the second roller 1222 abuts against the side 111. In specific application, the first rollers 1221 are connected in the grooves 112 in a rolling manner, so as to support the running mechanism 120 to run on the rail 110, it can be understood that the two sides of the rail 110 are oppositely provided with the side surfaces 111, the grooves 112 are respectively formed on the two sides, at least two first rollers 1221 are respectively connected in the grooves 112 on the two sides in a rolling manner, so as to prevent the running mechanism 120 from falling off on the rail 110, and the second rollers 1222 are connected in a rolling manner on the side surfaces 111 on the two sides in a rolling manner, so that the running mechanism 120 runs more balance, and the phenomenon of left-right shaking is avoided. In addition, it should be noted that the roller assembly 122 further includes a first driven wheel 1223 and a second driven wheel 1224, the first driven wheel 1223 assembly and the second driven wheel 1224 assembly are disposed on the bracket 121 along the length direction of the rail 110, the first driven wheel 1223 is connected to the groove 112 in a rolling manner, and the second driven wheel 1224 abuts against the side surface 111, so that when the traveling mechanism 120 is braked, the front-back shaking phenomenon is avoided.
Referring to fig. 1, in one possible embodiment, the rail 110 displacement detecting device 100 further includes a table 140, and the table 140 is connected to the frame 121 for inspection work. In a specific application, the workbench 140 is connected to the bracket 121, when the bracket 121 reaches a designated position on the rail 110, the workbench 140 inspects the equipment at the designated position, and then when the bracket 121 reaches the next designated position on the rail 110, the workbench 140 inspects the equipment at the designated position, and sequentially cruises on the rail 110 to inspect the equipment, thereby completing the inspection operation of the workbench 140.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A track displacement amount detection device, characterized by comprising:
a track;
the walking mechanism comprises a bracket and a roller assembly, the roller assembly is mounted on the bracket, and the roller assembly walks and rolls on the rail so as to enable the bracket to move relative to the rail;
the detection mechanism comprises a roller encoder and an elastic component, wherein the elastic component is connected between the roller encoder and the support, so that the roller encoder is elastically abutted against the track, and the roller encoder is used for detecting the displacement of the support relative to the track.
2. The apparatus according to claim 1, wherein the elastic member comprises a connecting member, a fixing member and a first elastic member, one end of the fixing member is detachably connected to the bracket, the other end of the fixing member is hinged to one end of the connecting member, the other end of the connecting member is detachably connected to the roller encoder, and the first elastic member is connected between the connecting member and the fixing member near the track, so that the roller encoder is closely attached to the track.
3. The device for detecting the amount of track displacement according to claim 2, wherein the elastic assembly further comprises a second elastic member, the second elastic member is sleeved between the connecting member and the fixing member, the second elastic member is provided with a protruding wing body, and the wing body is spaced apart from the track at the connecting member and the fixing member to limit the connecting member from rotating in the direction away from the track.
4. The apparatus according to claim 3, wherein the angle between the connecting member and the fixing member is 90 ° to 270 °.
5. The rail displacement detecting device according to any one of claims 1 to 4, wherein the roller encoder includes a mounting base and a measuring wheel, the mounting base is detachably connected to the connecting member, the measuring wheel is mounted on the mounting base and moves with the bracket, and the measuring wheel is configured to measure a moving distance of the bracket relative to the rail.
6. The apparatus according to claim 5, wherein the roller encoder further comprises a friction sleeve, the friction sleeve is sleeved on the measuring wheel, and the friction sleeve abuts against the rail.
7. The apparatus of claim 1, wherein the traveling mechanism further comprises a driving source, a first driving wheel, a second driving wheel, and a transmission belt, the driving source is mounted on the frame, the driving source drives the first driving wheel to rotate, the transmission belt is connected between the first driving wheel and the second driving wheel for driving the second driving wheel to rotate, and the second driving wheel is connected to the roller assembly for providing power for the frame to move relative to the rail.
8. The rail displacement detecting device according to claim 7, wherein the traveling mechanism further includes a tension pulley mounted on the bracket, the tension pulley being configured to pre-tension the belt of the first driving wheel and the second driving wheel.
9. The rail displacement detecting device according to claim 1, wherein the roller assembly includes a first roller and a second roller, the rail includes a side surface and a groove formed at the side surface, the first roller is connected to the groove in a rolling manner, and the second roller abuts against the side surface.
10. The apparatus according to claim 1, further comprising a table attached to the frame for inspection work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210907295.5A CN115479567A (en) | 2022-07-29 | 2022-07-29 | Track displacement detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210907295.5A CN115479567A (en) | 2022-07-29 | 2022-07-29 | Track displacement detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115479567A true CN115479567A (en) | 2022-12-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210907295.5A Pending CN115479567A (en) | 2022-07-29 | 2022-07-29 | Track displacement detection device |
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| CN (1) | CN115479567A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117168386A (en) * | 2023-11-03 | 2023-12-05 | 北京朗信能源环保科技有限公司 | Displacement monitoring mechanism and charge level processor |
| CN117268222A (en) * | 2023-11-22 | 2023-12-22 | 无锡阳光精机股份有限公司 | Arc length measuring device for arc-shaped guide rail |
-
2022
- 2022-07-29 CN CN202210907295.5A patent/CN115479567A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117168386A (en) * | 2023-11-03 | 2023-12-05 | 北京朗信能源环保科技有限公司 | Displacement monitoring mechanism and charge level processor |
| CN117168386B (en) * | 2023-11-03 | 2024-02-27 | 北京朗信能源环保科技有限公司 | Displacement monitoring mechanism and charge level processor |
| CN117268222A (en) * | 2023-11-22 | 2023-12-22 | 无锡阳光精机股份有限公司 | Arc length measuring device for arc-shaped guide rail |
| CN117268222B (en) * | 2023-11-22 | 2024-02-20 | 无锡阳光精机股份有限公司 | Arc length measuring device for arc-shaped guide rail |
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