CN210634734U

CN210634734U - Wheel set mechanism for guide rail

Info

Publication number: CN210634734U
Application number: CN201921510287.7U
Authority: CN
Inventors: 高雷; 曾海洋
Original assignee: Shanghai Rainbowfish Ocean Technology Co ltd
Current assignee: Shanghai Rainbowfish Ocean Technology Co ltd
Priority date: 2019-09-11
Filing date: 2019-09-11
Publication date: 2020-05-29
Anticipated expiration: 2029-09-11

Abstract

A wheel set mechanism for a guide rail, comprising: a rod body including two rod members axially coupled, the two rod members being rotatable about a rotation axis in a plane perpendicular to the axial direction; the shock absorbing device comprises a shock absorbing groove and an anti-skid roller, wherein the shock absorbing groove is positioned at the end part of the rod piece and comprises a shock absorbing part, and the anti-skid roller is axially coupled to the end part of the rod piece; the angle adjusting device comprises two connecting rod pieces and a guide rod piece which are mutually coupled, wherein one ends of the two connecting rod pieces are respectively coupled with the two rod pieces of the rod main body, the other ends of the two connecting rod pieces are commonly coupled in the groove of the guide rod piece and can move in the groove, and one end of the guide rod piece is coupled with the rotating shaft of the rod main body; and a buffer device including a buffer roller coupled to an end of the guide bar.

Description

Wheel set mechanism for guide rail

Technical Field

The present application relates to mechanical components, and more particularly to wheel set mechanisms for guide rails.

Background

In a reservoir provided with a dock entrance, evaluating and detecting the working state of a dock gate and the surrounding environment of the dock gate are necessary operations for ensuring the normal work of the reservoir. However, the complex underwater ecological environment provides great challenges for the detection and evaluation of the state of the dock gate. Currently, an underwater robot for detecting a dock gate is developed to evaluate and detect the working state and the surrounding environment of the dock gate along a guide rail from top to bottom. Several challenges facing this type of underwater robot are: the wheel set mechanism is blocked and cannot be normally operated due to fine particles such as silt and the like; the wheel set mechanism is fixed relative to the guide rail and cannot be adjusted according to errors or changes of the guide rail; the wheel set mechanism has poor shock absorption effect.

It is to improve the above problems that the wheel set mechanism for the guide rail of the present application has been proposed.

SUMMERY OF THE UTILITY MODEL

The application provides a wheelset mechanism for guide rail, it includes: a rod body including two rod members axially coupled, the two rod members being rotatable about a rotation axis in a plane perpendicular to the axial direction; the shock absorbing device comprises a shock absorbing groove and an anti-skid roller, wherein the shock absorbing groove is positioned at the end part of the rod piece and comprises a shock absorbing part, and the anti-skid roller is axially coupled to the end part of the rod piece; the angle adjusting device comprises two connecting rod pieces and a guide rod piece which are mutually coupled, wherein one ends of the two connecting rod pieces are respectively coupled with the two rod pieces of the rod main body, the other ends of the two connecting rod pieces are commonly coupled in the groove of the guide rod piece and can move in the groove, and one end of the guide rod piece is coupled with the rotating shaft of the rod main body; and a buffer device including a buffer roller coupled to an end of the guide bar.

The utility model provides a wheelset mechanism can realize the machining error to the guide rail or change the extension angle of automatic adjustment wheelset mechanism through mutually supporting of pole main part, seismic isolation device, angle adjusting device and buffer, makes the robot keep steady in the motion along the guide rail, realizes the radial shock attenuation of moving away to avoid possible earthquakes of anti-skidding gyro wheel axial and buffering gyro wheel. Simultaneously, through the setting of groove and the gyro wheel of moving away to avoid possible earthquakes, can avoid because of the wheelset mechanism card that tiny particulate matter such as silt arouses is dead. In addition, the wheel set mechanism can be suitable for guide rails with different sizes, and can be mounted on mechanical equipment with various working conditions through various coupling modes (such as bolts or welding) to meet different working requirements.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

FIG. 1 illustrates a front view of a wheel set mechanism according to an embodiment of the present disclosure;

FIG. 2 illustrates a side view of a wheel set mechanism according to an embodiment of the present disclosure;

FIG. 3 illustrates a schematic view of a suspension device according to an embodiment of the present disclosure;

FIG. 4 illustrates a force diagram of a suspension according to an embodiment of the present disclosure;

FIG. 5 shows a schematic view of a buffer roller according to an embodiment of the present disclosure;

FIG. 6 shows a schematic diagram of a wheel set mechanism captured between guide rails according to an embodiment of the present disclosure;

FIG. 7 illustrates a schematic diagram of a wheel set mechanism in motion, according to an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which this application belongs.

Referring to fig. 1, in accordance with an embodiment of the present application, a wheel set mechanism 100 for a guide rail is provided. The wheel set mechanism 100 comprises a rod body consisting of two

rods

101 and 102 coupled axially. The two rods are capable of rotating about the rotation axis 103 in a plane perpendicular to the axial direction. The wheel set mechanism 100 also includes a shock absorbing device consisting of a shock absorbing groove 104 at the rod end of the rod body and a non-slip roller 105 axially coupled to the rod end. The suspension channel 104 includes a suspension component that is comprised of a suspension roller 1041 and a spring hydraulic 1042. A detailed description of the suspension component will be provided below with reference to fig. 3. The wheel set mechanism 100 further includes an angle adjusting device, which is composed of two connecting

rods

106, 107 and a guide rod 108 coupled to each other. One ends of the two

connection links

106 and 107 are coupled to the two

links

101 and 102 of the rod body, respectively. The other ends of the

connection bars

106 and 107 are coupled together in the groove of the guide bar 108 and are movable in the groove. One end of the guide rod 108 is coupled to the rotation shaft 103 of the rod body. The wheel set mechanism 100 further includes a buffer device including a buffer roller 109 coupled to an end of the guide bar 108. The axial direction of the buffer roller 109 is perpendicular to the axial direction of the anti-skid roller 105, and the radial plane of the buffer roller 109 is perpendicular to the radial plane of the anti-skid roller 105. That is, the buffer roller 109 provides buffering in a plane perpendicular to the non-slip roller radial plane, as shown in the side view of fig. 2.

Referring to FIG. 3, a schematic view of a suspension is shown, according to an embodiment of the present application. The shock absorbing means is composed of a shock absorbing groove 104 at the rod end of the rod body and an anti-slip roller 105 axially coupled to the rod end. The suspension channel 104 includes a suspension component that is comprised of a suspension roller 1041 and a spring hydraulic 1042. In one example, the shock groove 104 is trapezoidal in shape. In one example, the lower end of the suspension component is secured via a coupling such as a bolt and allowed to rotate slightly. In one example, the shock roller 1041 has a trapezoidal shape similar to the shock groove 104. In one example, a gap exists between the shock roller 1041 and the inner wall 1043 of the shock groove 104. The gap between the shock absorbing roller 1041 and the inner wall 1043 of the shock absorbing groove 104 can effectively prevent the shock absorbing device from being stuck due to fine particles such as silt in an underwater working environment, for example, and the stability and the normal working state of the wheel set structure are affected. In one example, the shock roller 1041 and the shock groove 104 are symmetrical with respect to an axial plane of the shock roller 1041.

Specifically, referring to fig. 4, the shock roller 1041 and the shock groove 104 are disposed symmetrically with respect to the axial plane of the shock roller 1041. Considering that the rod is subjected to radial load, the side surface of the shock absorbing roller 1041 and the shock absorbing groove inner wall 1043 form an inclined surface, so that the received force F can be decomposed into forces Fx and Fy in two different directions. The radial force is reduced by forming the inclined plane, and the stability and the safety of the rod piece are ensured. Because the resistance required by the wheel set mechanism is large, the shock absorbing device can be contracted when the wheel set mechanism is compressed.

In one example, the suspension component further includes a spring hydraulics 1042. The spring hydraulic device 1042 is configured to suppress vibration of the wheel set mechanism and transfer external force when the magnitude and direction of resistance changes rapidly due to unevenness of the guide rail and the spring expands and contracts rapidly to cause vibration of the mechanism body, thereby stabilizing the operation of the wheel set mechanism. The size and stroke of the spring hydraulics 1042 can be adapted according to the dimensions of the guideway and wheel set mechanism. Preferably, in one example, the spring travel of the suspension member is about 20 cm. More preferably, the spring travel of the suspension is about 5 cm. The problem that the movement of the wheel set mechanism is unstable due to unevenness caused by machining errors or installation errors of the guide rail under most conditions can be solved by adapting the spring hydraulic device 1042 according to the size of the guide rail and the size of the wheel set mechanism.

Returning to fig. 1, the wheel set mechanism 100 further includes an angle adjusting device composed of two connecting

links

106, 107 and a guide link 108 coupled to each other. One ends of the

connection links

106 and 107 are coupled to the two

links

101 and 102 of the lever body, respectively. The other ends of the connection bars 106 and 107 are coupled together in the groove of the guide bar 108 and are movable in the groove. One end of the guide rod 108 is coupled to the rotation shaft 103 of the rod body. In one example, the angle adjusting device is configured to automatically adjust the extension degree of the wheel set mechanism to adapt to the size of the guide rail by moving the connecting rod in the groove of the guide rod to move the guide rod, so that the rotating shaft drives the rod main body to rotate to guide the wheel set mechanism to move when encountering guide rails with different sizes. In one example, the size, the degree of extension of the wheel set mechanism and the length of the groove in the guide bar are arranged to be adapted according to the size of the guide rail. So, can make wheelset mechanism adaptation in guide rail size through the setting of the size setting to wheelset mechanism, the extension adjustment of wheelset mechanism and the slot length in the guide member to guarantee that wheelset mechanism can block on the guide rail and upper and lower smooth movement. In one example, one side of the wheelset mechanism extends at an angle of 15-75. Preferably, in one example, one side of the wheelset mechanism extends at an angle of 30 ° -60 °. In one example, the width of the wheel set mechanism is adapted according to the dimensions of the guide rail. Preferably, in one example, the width of the wheel set mechanism is between 0.6 and 1 meter. The size and the extension degree of the wheel set mechanism are adapted according to the size of the guide rail, so that corresponding working requirements can be met in most application scenes.

With continued reference to fig. 1, the wheel set mechanism 100 further includes a buffer device including a buffer roller 109 coupled to an end of the guide bar 108. The axial direction of the buffer roller 109 is perpendicular to the axial direction of the anti-skid roller 105, and the radial plane of the buffer roller 109 is perpendicular to the radial plane of the anti-skid roller 105. Most of the guide rails are shaped and configured to enclose three sides, one side is open, and the damping device is configured to bear axial force and axial movement to maintain the stability of the movement of the wheel set mechanism. In one example, the top of the bumper is forked and provided with two through

slots

1091 and 1092. Auxiliary rollers 1093-1 and 1093-2 and springs 1094-1 and 1094-2 are respectively disposed on two outer sides of the buffer roller 109. The auxiliary rollers 1093-1 and 1093-2 are connected at one end thereof to the springs 1094-1 and 1094-2, and coupled at the other end thereof to the buffer roller 109 via the through groove 1092, as shown in fig. 5.

In one example, the cushioning means is arranged to provide cushioning in a plane perpendicular to the radial plane of the anti-skid roller, thereby avoiding pressure exerted by the rail foot on the wheelset mechanism and reducing shock. In one example, the size and travel of the auxiliary rollers 1093-1 and 1093-2 and the buffer roller 109 are set according to the size of the rails and the size of the wheelset mechanism. Preferably, in one example, the travel of the auxiliary rollers 1093-1 and 1093-2 and the buffer roller 109 is about 2-8 cm. More preferably, in one example, the travel of the auxiliary rollers 1093-1 and 1093-2 and the buffer roller 109 is about 4-6 cm. The springs 1094-1 and 1094-2 are disposed symmetrically with respect to the radial plane of the buffer roller 109 to increase the strength of the force to ensure stable operation of the wheelset mechanism during the allowable stroke when subjected to a large pressure.

Referring now to fig. 6 and 7, a dock gate detection robot is illustrated to illustrate the operation of the wheel set mechanism for a guideway according to the present application. An example of a dock gate detection robot may be any suitable dock gate detection robot commercially available, such as a dock gate detection robot available from Shanghai Rainbow sea science and technology, Inc. or others.

Referring to fig. 6, a schematic diagram of a wheel set mechanism captured between guide rails is shown, according to an embodiment of the present disclosure. A wheelset mechanism for guide rail according to this application installs in door type robot both ends, and every end symmetry respectively places two wheelset mechanisms that are used for the guide rail. Before the door type robot is put down, the extension angle of the wheel set mechanism is adjusted according to the size of the guide rail. And when the wheel set mechanism blocks the guide rail, the shock absorbing device intervenes in work to relieve redundant load.

Referring next to fig. 7, a schematic diagram of a wheel set mechanism in motion is shown, according to an embodiment of the present disclosure. And two rod pieces of the rod main body are fixedly connected with steel plates at two ends of the door-shaped robot in a welding mode. In order to ensure the safety and the stability, the two rod pieces of the rod main body are arranged to be placed inwards, and the anti-skidding rolling wheels just abut against the bottom surface of the guide rail. In one example, the two rod members of the rod main body are connected by a bolt rotation mechanism, and the whole of the portal robot is suspended by a hoisting mechanism, and the portal robot is slowly lowered from top to bottom. In one example, referring to fig. 7, a four-set wheel set mechanism catches the rail side. In the lowering process of the dock gate detection robot, 16 anti-skidding rollers on two sides are stretched by axial pressure, and the shock absorption device inhibits the shock of the spring after shock absorption when rebounding and absorbs the energy of guide rail impact, so that the wheel set mechanism can resist the uneven surface of the guide rail and can stably move.

In one example, when the extension width of the wheel set mechanism needs to be adjusted, only the tightness of the rotating shaft needs to be adjusted to fix the wheel set mechanism at a desired angle. The anti-skid rollers on two sides are close to the side surfaces of the guide rails on two sides, and a gap is not left between the upper anti-skid roller and the lower anti-skid roller under the action of pressure of the side surfaces of the guide rails on two sides, so that a stable guiding function is achieved. In one example, the left and right anti-skid rollers of the wheel set mechanism are uniformly stressed. And due to the existence of the angle adjusting device, the condition that one side wheel set mechanism inclines can be avoided.

The utility model provides a wheelset mechanism for guide rail can realize the machining error or the extension angle that changes automatic adjustment wheelset mechanism to the guide rail through mutually supporting of pole main part, seismic isolation device, angle adjusting device and buffer, makes the robot keep steady in the motion along the guide rail, realizes the radial shock attenuation of moving away to avoid possible earthquakes of anti-skidding gyro wheel axial and buffering gyro wheel. Simultaneously, through the setting of groove and the gyro wheel of moving away to avoid possible earthquakes, can avoid because of the wheelset mechanism card that tiny particulate matter such as silt arouses is dead. In addition, the wheel set mechanism can be suitable for guide rails with different sizes, and can be mounted on mechanical equipment with various working conditions through various coupling modes (such as bolts or welding) to meet different working requirements.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present disclosure, and the present disclosure should be construed as being covered by the claims and the specification.

List of reference numerals:

101-rod

102-rod

103-rotation axis

104-shock absorbing groove

105-anti-skid roller

106-connecting rod

107-connecting rod

108-guide rod

109-buffer roller

1041-shock absorbing roller

1042-spring hydraulic device

1043-shock absorbing inner wall of groove

1091-through groove

1092-through groove

1093-1-auxiliary roller

1093-2-auxiliary roller

1094-1-spring

1094-2-spring

Claims

1. A wheelset mechanism for a guide rail, comprising:

a rod body including two rod members axially coupled, the two rod members being rotatable about a rotation axis in a plane perpendicular to the axial direction;

the shock absorbing device comprises a shock absorbing groove and an anti-skid roller, wherein the shock absorbing groove is positioned at the end part of the rod piece and comprises a shock absorbing part, and the anti-skid roller is axially coupled to the end part of the rod piece;

the angle adjusting device comprises two connecting rod pieces and a guide rod piece which are mutually coupled, wherein one ends of the two connecting rod pieces are respectively coupled with the two rod pieces of the rod main body, the other ends of the two connecting rod pieces are commonly coupled in the groove of the guide rod piece and can move in the groove, and one end of the guide rod piece is coupled with the rotating shaft of the rod main body; and

the buffer device comprises a buffer roller coupled to the end of the guide rod.

2. The wheel set mechanism as defined in claim 1, wherein said shock absorbing member includes shock absorbing rollers and spring hydraulics.

3. The wheel set mechanism as defined in claim 2, wherein said shock absorbing groove and said shock absorbing roller are trapezoidal and symmetrical with respect to an axial plane of the shock absorbing roller.

4. The wheel set mechanism as in claim 3, wherein a gap exists between the shock groove and the shock roller.

5. The wheel set mechanism as claimed in claim 1, wherein the connecting rod moves in the guide rod groove to move the guide rod, thereby rotating the rod body via the rotating shaft to guide the movement of the wheel set mechanism.

6. The wheel set mechanism as claimed in claim 1, wherein an axial direction of the damper roller is perpendicular to an axial direction of the non-slip roller, and a radial plane of the damper roller is perpendicular to a radial plane of the non-slip roller.

7. The wheel set mechanism as defined in claim 6 wherein, the damper roller includes a spring damper member including a spring, an auxiliary roller connected to the spring in a radial plane and connected to the damper roller via a through slot in an axial plane.

8. The wheel set mechanism as in claim 7, wherein movement of the auxiliary roller within the channel causes the buffer roller to move radially to provide buffering in the direction of the rail.