CN211867829U - Driving mechanism for tunnel track detection robot - Google Patents
Driving mechanism for tunnel track detection robot Download PDFInfo
- Publication number
- CN211867829U CN211867829U CN202020243797.9U CN202020243797U CN211867829U CN 211867829 U CN211867829 U CN 211867829U CN 202020243797 U CN202020243797 U CN 202020243797U CN 211867829 U CN211867829 U CN 211867829U
- Authority
- CN
- China
- Prior art keywords
- track
- driving
- driving mechanism
- box
- bearing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a actuating mechanism for tunnel track inspection robot, including the drive case, fix on the drive case, and the in-wheel motor who advances along the track direction, the setting is in the bottom of drive case, and match spacing second bearing on the track with in-wheel motor, sliding contact is on the track, and bearing end runs through the follower that the drive case set up, set up the bottom of drive case, and match spacing first bearing on the track with the follower, and fix on the drive case, and adopt the connection port that the cable is connected with in-wheel motor and electron storehouse respectively. By the proposal, the utility model has the advantages of simple structure, multiple functional, equipment input cost low, have very high practical value and spreading value in track detection technology field.
Description
Technical Field
The utility model belongs to the technical field of the track detects technique and specifically relates to an actuating mechanism for tunnel track inspection robot.
Background
With the continuous development of railway engineering, the railway mileage is continuously increased; according to the requirements of railway detection and maintenance, regular or/and irregular detection needs to be carried out on a railway line, at present, the railway line in the prior art mostly adopts manual or semi-automatic detection, the detection efficiency is extremely low, and long time is needed; meanwhile, in the prior art, the track detection of the tunnel track and the surface defect detection of the track segment are independent and separated, and the track segment surface defect detection equipment is complex; moreover, some railway line check out test set functions among the prior art are comparatively simple, can't realize the high-efficient comprehensive defect detection to track board, contact net, tunnel vault, track additional structure.
Therefore, the applicant particularly provides a tunnel track detection robot, which comprises a vehicle frame, a first driving mechanism and a second driving mechanism which are fixed at two ends of the vehicle frame in a one-to-one correspondence manner, slide in a limiting manner with a track and have the same structure, a first track surface acquisition assembly, the bottom of which is fixedly connected with the first driving mechanism and is used for shooting an image on one side of the track, a second track surface acquisition assembly, the bottom of which is fixedly connected with the second driving mechanism and is used for shooting an image on the other side of the track and has the same structure with the first track surface acquisition assembly, a vault acquisition assembly, the bottom of which is fixed in the middle of the vehicle frame and is used for shooting an image of a vault of a tunnel, and an electronic bin, wherein the electronic bin is fixed on the vehicle frame in a bridging manner and is electrically connected with the first driving mechanism, the second driving mechanism, the first track surface acquisition assembly, the vault. However, there is no drive mechanism available in the market.
SUMMERY OF THE UTILITY MODEL
To the above problem, an object of the utility model is to provide an actuating mechanism for tunnel track inspection robot, the utility model discloses a technical scheme as follows:
a driving mechanism for a tunnel track detection robot is provided with a frame and an electronic bin, wherein a first driving mechanism and a second driving mechanism which slide in a limiting manner and have the same structure as a track are arranged at two ends of the frame in a one-to-one correspondence manner; the first driving mechanism comprises a driving box, a hub motor, a second bearing, a driven wheel, a first bearing and a connecting port, wherein the hub motor is fixed on the driving box and advances along the track direction, the second bearing is arranged at the bottom of the driving box and matched with the hub motor to be limited on the track, the driven wheel is in sliding contact with the track, the end part of the bearing penetrates through the driving box, the first bearing is arranged at the bottom of the driving box and matched with the driven wheel to be limited on the track, and the connecting port is fixed on the driving box and connected with the hub motor and the electronic bin by cables.
Furthermore, the first driving mechanism further comprises a first frame mounting seat and a second frame mounting seat which are arranged in the driving box and fixedly connected with the frame.
Furthermore, the first driving mechanism further comprises a driving gear, a driven gear and an encoder, wherein the driving gear is arranged in the driving box and is coaxially connected with the end part of the bearing of the driven wheel, the driven gear is meshed with the driving gear, and the encoder is fixed in the driving box and is coaxially connected with the driven gear.
Preferably, the first drive mechanism further comprises a track collection mount disposed within the drive box.
Preferably, the first driving mechanism further comprises a lifting lug arranged at the top of the driving box.
Compared with the prior art, the utility model discloses following beneficial effect has:
(1) the utility model skillfully adopts two support columns which are arranged in parallel as the frame and utilizes the electronic bin as the bridging connection component; therefore, the support connection strength can be ensured, and the weight can be reduced; meanwhile, a frame mounting seat fixedly connected with the support column is arranged in the driving mechanism, and the connection is reliable.
(2) The utility model skillfully adopts the in-wheel motor as the advancing drive, and utilizes the in-wheel motor and the first bearing, the driven wheel and the second bearing to slide in a limiting way on the track, so as to ensure that the driving mechanism for the tunnel track detection robot moves along the track direction; in addition, the utility model provides a wheel hub motor of first actuating mechanism and the wheel hub motor of second actuating mechanism are laid to the opposite angle, and it guarantees that the actuating mechanism who is used for tunnel track inspection robot can advance, retreat along the track direction;
(3) the utility model is provided with an encoder in the driving box to record the position of the driving mechanism for the tunnel track detection robot, so as to record the position of the track or/and the vault defect and provide guarantee for later-stage maintenance;
(4) the utility model is provided with a first track surface acquisition component and a second track surface acquisition component to shoot images at two sides of the track; in addition, the utility model is also provided with a light supplement lamp to ensure that clear track images can be shot;
(5) the utility model realizes multi-angle vault image shooting by arranging the camera, the light source bracket, the conductive slip ring and the vault camera and driving the vault camera by utilizing the rotary driving motor; the device is simplified, and simultaneously, complete image shooting of tunnel vault segment can be ensured;
to sum up, the utility model has the advantages of simple structure, multiple functional, equipment input cost low, have very high practical value and spreading value in track detection technology field.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as a limitation of the scope of protection, and for those skilled in the art, other related drawings may be obtained from these drawings without inventive effort.
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of the frame and the driving mechanism of the present invention.
Fig. 3 is a schematic structural diagram (de-electron bin) of the present invention.
Fig. 4 is a schematic structural diagram (a) of the driving mechanism of the present invention.
Fig. 5 is a schematic structural diagram (ii) of the driving mechanism of the present invention.
Fig. 6 is a schematic structural view of the track surface collecting assembly of the present invention.
Fig. 7 is a schematic structural diagram (a) of the vault collection assembly of the present invention.
Fig. 8 is a schematic structural diagram (ii) of the vault collection assembly of the present invention.
In the drawings, the names of the parts corresponding to the reference numerals are as follows:
1-a vehicle frame, 2-an electronic cabin, 3-a first driving mechanism, 4-a second driving mechanism, 5-a first track surface acquisition component, 6-a vault acquisition component, 7-a second track surface acquisition component, 20-a box body, 21-a battery pack, 22-a circuit board, 30-a driving box, 31-a hub motor, 32-a driven wheel, 36-a track acquisition mounting seat, 37-a connecting port, 38-a lifting lug, 51-a track acquisition mounting bracket, 52-a camera mounting plate, 53-a track surface camera, 54-a light supplement lamp and a heat radiator, 61-a first vault acquisition component bracket, 62-a second vault acquisition component bracket, 63-a vault camera mounting seat, 64-a driving mounting seat and 65-a rotary driving motor, 67-camera and light source holder, 69-conductive slip ring, 331-driving gear, 332-driven gear, 333-encoder, 341-first frame mount, 342-second frame mount, 351-first bearing, 352-second bearing, 661-first gear, 662-second gear, 681-first dome camera, 682-second dome camera.
Detailed Description
To make the objectives, technical solutions and advantages of the present application more clear, the present invention will be further described with reference to the accompanying drawings and examples, and embodiments of the present invention include, but are not limited to, the following examples. 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 application.
Examples
As shown in fig. 1 to 8, the present embodiment provides a tunnel track inspection robot that travels (advances or retreats) in a track direction. In the present embodiment, the terms "first", "second", and the like are used only for distinguishing the similar components, and are not to be construed as limiting the scope of protection. In addition, in the present embodiment, the directional terms such as "bottom", "top", "peripheral edge", "center", and the like are explained based on the drawings; moreover, the circuit board of the present embodiment is obtained by purchasing, and the control method thereof is conventional in the art, and will not be described herein again.
In this embodiment, the tunnel track inspection robot comprises a vehicle frame 1, a first driving mechanism 3 and a second driving mechanism 4 which are fixed at two ends of the vehicle frame 1 in a one-to-one correspondence manner, slide with a track in a limiting manner and have the same structure, a first track surface acquisition assembly 5 which is fixedly connected with the first driving mechanism 3 at the bottom and is used for shooting an image at one side of the track, a second track surface acquisition assembly 7 which is fixedly connected with the second driving mechanism 4 at the bottom and is used for shooting an image at the other side of the track and has the same structure with the first track surface acquisition assembly 5, a vault acquisition assembly 6 which is fixed at the middle part of the vehicle frame 1 at the bottom and is used for shooting an image of a tunnel vault, and the electronic bin 2 is fixed on the frame 1 in a bridging manner and is electrically connected with the first driving mechanism 3, the second driving mechanism 4, the first track surface acquisition component 5, the vault acquisition component 6 and the second track surface acquisition component 7 respectively. The frame 1 is two support columns arranged in parallel, and the end portions of the support columns are fixedly connected with the first frame mounting seat 341 and the second frame mounting seat 342 in a one-to-one correspondence manner.
In this embodiment, the electronic cabin 2 includes a box 20 fixed on the frame 1 in a bridging manner, and a battery pack 21 and a circuit board 22 disposed in the box 20 and electrically connected to the first driving mechanism 3, the second driving mechanism 4, the first track surface collecting assembly 5, the dome collecting assembly 6 and the second track surface collecting assembly 7, respectively. The battery pack 21 provides power for the hub motor 31, the camera, the light supplement lamp, the rotation driving motor, the circuit board, and the like, and controls the robot to move and take pictures by using the circuit board 22 (with a chip embedded therein) (conventional procedures).
In the embodiment, in order to drive the robot to travel along the track direction, the traveling position of the robot is recorded, so that the defect position can be searched in the later period; the first driving mechanism 3 and the second driving mechanism 4 are skillfully arranged in the embodiment, and the first driving mechanism 3 and the second driving mechanism 4 have the same structure and are diagonally and symmetrically arranged; the structure of the first driving mechanism 3 will be described by taking only the first driving mechanism 3 as an example, the first driving mechanism 3 includes a driving box 30, a first frame mounting base 341 and a second frame mounting base 342 which are provided in the driving box 30 and fixedly connected to the frame 1, a wheel hub motor 31 which is fixed to the driving box 30 and travels in the track direction, a second bearing 352 which is provided at the bottom of the driving box 30 and is engaged with and restrained on the track by the wheel hub motor 31, a driven wheel 32 which is slidably contacted on the track and is provided with a bearing end portion penetrating the driving box 30, a first bearing 351 which is provided at the bottom of the driving box 30 and is engaged with and restrained on the track by the driven wheel 32, a connection port 37 which is fixed to the driving box 30 and is connected to the wheel hub motor 31 and the electronic compartment 2 by a cable, a driving gear 331 which is provided in the driving box 30 and is coaxially connected to the bearing end portion of the driven wheel 32, and a driven gear 332 which is engaged with, an encoder 333 fixed in the driving box 30 and coaxially connected to the driven gear 332, a rail-collecting mount 36 provided in the driving box 30, and a lifting lug 38 provided on the top of the driving box 30. In the present embodiment, the first bearing 351 and the second bearing 352 are caught at the inner side of the track, and the hub motor 31 and the driven wheel 32 are placed on the track surface.
In order to obtain an image of a track surface, a first track surface acquisition component 5 and a second track surface acquisition component 7 which have the same structure are arranged; the first track surface collecting assembly 5 includes a track collecting mounting bracket 51 fixed at the bottom of the first driving mechanism 3 (the included angle between the track collecting mounting bracket 51 and the track direction is 45 °), a camera mounting plate 52 fixed at the top of the track collecting mounting bracket 51, a light supplement lamp and heat sink 54 vertically installed downward on the camera mounting plate 52, and a track surface camera 53. In order to ensure the definition of the image shot by the track, the light supplementing lamp is skillfully adopted for compensating illumination in the embodiment. In addition, the vault acquisition assembly 6 comprises a first vault acquisition assembly bracket 61 and a second vault acquisition assembly bracket 62 which are fixed on the vehicle frame 1 at the bottom and jointly form an eight-character shape, a vault camera mounting seat 63 which is fixed at the top of the first vault acquisition assembly bracket 61 and the second vault acquisition assembly bracket 62, is arranged along the track direction and is U-shaped, a driving mounting seat 64 arranged at one side of the vault camera mounting seat 63, a rotary driving motor 65 which penetrates through and is fixed on the driving mounting seat 64 from bottom to top, a first gear 661 arranged at the top of the rotary driving motor 65, a second gear 662 engaged with the first gear 661 and converting a horizontal direction rotation into a longitudinal circumferential rotation, a conductive slip ring 69 and a camera and light source bracket 67 provided between the U-shapes of the dome camera mount 63, and a first dome camera 681 and a second dome camera 682 fixed to the camera and light source bracket 67; the camera and light source bracket 67 is provided in two pieces, and the first dome camera 681 and the second dome camera 682 are sandwiched between the two pieces of camera and light source bracket 67. In the present embodiment, the rotation driving motor 65 drives the first gear 661 and the second gear 662 to rotate, and drives the first dome camera 681 and the second dome camera 682 to rotate in the tunnel radial direction; in addition, the conductive slip ring 69 of the present embodiment is a mature component, and the data line is connected through the conductive slip ring, so as to ensure the data transmission of the first dome camera 681 and the second dome camera 682, which rotate.
The above-mentioned embodiments are merely preferred embodiments of the present invention, and are not limitations on the protection scope of the present invention, but all the changes made by adopting the design principle of the present invention and performing non-creative work on this basis shall fall within the protection scope of the present invention.
Claims (5)
1. A driving mechanism for a tunnel track detection robot is provided with a frame (1) and an electronic bin (2), wherein a first driving mechanism (3) and a second driving mechanism (4) which slide along a track in a limiting manner and have the same structure are correspondingly arranged at two ends of the frame (1), the driving mechanism is characterized in that the first driving mechanism (3) comprises a driving box (30), a hub motor (31) which is fixed on the driving box (30) and advances along the track direction, a second bearing (352) which is arranged at the bottom of the driving box (30) and is matched with the hub motor (31) and limited on the track, a driven wheel (32) which is in sliding contact with the track and is arranged at the end part of the bearing through the driving box (30), a first bearing (351) which is arranged at the bottom of the driving box (30) and is matched with the driven wheel (32) and limited on the track, and a connecting port (37) which is fixed on the driving box (30) and is respectively connected with the hub motor (31) and the electronic bin (2) by cables.
2. The driving mechanism for the tunnel track inspection robot according to claim 1, characterized in that the first driving mechanism (3) further comprises a first frame mounting seat (341) and a second frame mounting seat (342) which are arranged in the driving box (30) and fixedly connected with the frame (1).
3. The driving mechanism for the tunnel track inspection robot according to claim 1, wherein the first driving mechanism (3) further comprises a driving gear (331) disposed in the driving box (30) and coaxially connected to the bearing end of the driven wheel (32), a driven gear (332) engaged with the driving gear (331), and an encoder (333) fixed in the driving box (30) and coaxially connected to the driven gear (332).
4. A drive mechanism for a tunnel track inspection robot according to claim 1, 2 or 3, characterized in that the first drive mechanism (3) further comprises a track collection mount (36) arranged within the drive box (30).
5. A drive mechanism for a tunnel track inspection robot according to claim 1, 2 or 3, characterized in that the first drive mechanism (3) further comprises a lifting lug (38) arranged on top of the drive box (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020243797.9U CN211867829U (en) | 2020-03-03 | 2020-03-03 | Driving mechanism for tunnel track detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020243797.9U CN211867829U (en) | 2020-03-03 | 2020-03-03 | Driving mechanism for tunnel track detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211867829U true CN211867829U (en) | 2020-11-06 |
Family
ID=73254511
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020243797.9U Active CN211867829U (en) | 2020-03-03 | 2020-03-03 | Driving mechanism for tunnel track detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211867829U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111185894A (en) * | 2020-03-03 | 2020-05-22 | 成都圭目机器人有限公司 | Tunnel track inspection robot |
| CN111300444A (en) * | 2020-03-04 | 2020-06-19 | 成都圭目机器人有限公司 | Rotary scanning assembly for tunnel track detection robot |
-
2020
- 2020-03-03 CN CN202020243797.9U patent/CN211867829U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111185894A (en) * | 2020-03-03 | 2020-05-22 | 成都圭目机器人有限公司 | Tunnel track inspection robot |
| CN111185894B (en) * | 2020-03-03 | 2024-04-26 | 成都圭目机器人有限公司 | Tunnel track detection robot |
| CN111300444A (en) * | 2020-03-04 | 2020-06-19 | 成都圭目机器人有限公司 | Rotary scanning assembly for tunnel track detection robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111267884B (en) | Tunnel track inspection robot's mechanism of marcing | |
| CN211867800U (en) | Tunnel track inspection robot | |
| CN211867829U (en) | Driving mechanism for tunnel track detection robot | |
| CN211627408U (en) | Detection mechanism for tunnel track detection robot | |
| CN111185894A (en) | Tunnel track inspection robot | |
| CN206088035U (en) | Mecanum wheel shuttle | |
| CN202517796U (en) | Laminating machine device | |
| CN111300444A (en) | Rotary scanning assembly for tunnel track detection robot | |
| CN111217076A (en) | Emergency navigation aid lamp storage device | |
| CN208502368U (en) | A kind of oversize vehicle mechanical three-dimensional access device | |
| CN103425005A (en) | Light-source-modulation-based mask pre-aligning system and pre-aligning method | |
| CN205720671U (en) | A kind of novel can the navigator of split screen display available | |
| CN205296954U (en) | A qxcomm technology's car for passenger car moves and carries | |
| CN104670179B (en) | The battery case of electric automobile more changing device | |
| CN210005455U (en) | visual inspection vehicle for surface defects of rail parts | |
| CN211308295U (en) | A but, circulating charging carousel device for electric automobile quick replacement battery | |
| CN204452400U (en) | The battery box more changing device of electronlmobil | |
| CN108773273B (en) | Continuous current collecting mechanism in discontinuous power supply state and use method thereof | |
| CN203745612U (en) | Mechanical transmission device of wheel hub motor experiment table for electric vehicle | |
| CN219971139U (en) | Station conversion device | |
| CN112660390A (en) | A cargo platform for unmanned aerial vehicle | |
| CN206259648U (en) | Intelligent inspection robot | |
| CN206757407U (en) | Solar energy sun-following device | |
| CN208189038U (en) | 4G wireless LED bus stop board | |
| CN113858962B (en) | Guide rail robot, climbing device and energy recovery method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |