CN212484447U - Track inspection robot driving system and track inspection system - Google Patents
Track inspection robot driving system and track inspection system Download PDFInfo
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- CN212484447U CN212484447U CN202021734697.2U CN202021734697U CN212484447U CN 212484447 U CN212484447 U CN 212484447U CN 202021734697 U CN202021734697 U CN 202021734697U CN 212484447 U CN212484447 U CN 212484447U
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Abstract
The application discloses robot actuating system and track system of patrolling and examining are patrolled and examined to track. The track inspection robot driving system comprises a track, a traveling mechanism and an inspection robot frame. Guide surfaces are respectively formed on two sides of the track. The walking mechanism comprises at least one pair of motor direct-drive power wheels, two motor direct-drive power wheels in each pair of motor direct-drive power wheels are respectively supported on two guide surfaces of the track, and each pair of motor direct-drive power wheels are connected through a connecting plate. The inspection robot frame is connected with the connecting plate and used for connecting the inspection robot body. Wherein, each motor directly drives the power wheel and drives the frame of the inspection robot to move along the track through the rotation of the motor. The technical scheme that this application provided can solve because the transmission structure of current track inspection robot is complicated, leads to whole system of patrolling and examining to be overstaffed, and weight is big and the big problem of transmission efficiency loss.
Description
Technical Field
The application relates to the technical field of track inspection robots, in particular to a track inspection robot driving system and a track inspection system.
Background
Along with the development and progress of intelligent science and technology, the track inspection robot is more and more widely applied. The existing track inspection robot driving system adopts a motor to drive wheels by adding gears, gears and synchronous belts, thereby walking on the track. Therefore, the conventional track inspection robot is complex in transmission structure, so that the whole inspection system is overstaffed, heavy and large in transmission efficiency loss.
SUMMERY OF THE UTILITY MODEL
The application provides a track inspection robot driving system and a track inspection system, which can solve the problems that the whole inspection system is too bulky, the weight is large and the transmission efficiency loss is large due to the fact that the transmission structure of the existing track inspection robot is complex.
In a first aspect, an embodiment of the utility model provides a robot actuating system is patrolled and examined to track, include:
the guide surfaces are respectively formed on two sides of the track;
the travelling mechanism comprises at least one pair of motor direct-drive power wheels, two motor direct-drive power wheels in each pair of motor direct-drive power wheels are respectively supported on two guide surfaces of the track, and each pair of motor direct-drive power wheels are connected through a connecting plate;
the inspection robot frame is connected with the connecting plate and used for connecting the inspection robot body;
wherein, each motor directly drives the power wheel and drives the frame of the inspection robot to move along the track through the rotation of the motor.
In the above-mentioned scheme, a track inspection robot actuating system is provided. The track inspection robot driving system comprises a track, a traveling mechanism and an inspection robot frame. The inspection robot frame is used for being connected with the inspection robot body, and the traveling mechanism drives the inspection robot frame to move along the extending direction of the rails. In order to solve the problems that the whole routing inspection system is too bulky, heavy in weight and large in transmission efficiency loss due to the fact that the transmission structure of the conventional track routing inspection robot is complex, the traveling mechanism comprises at least one pair of motor direct-drive power wheels. Each pair of the motor direct-drive power wheels comprises two motor direct-drive power wheels, the two motor direct-drive power wheels are respectively supported on two guide surfaces of the track, and each motor direct-drive power wheel rotates through the motor direct-drive power wheel, so that the inspection robot rack is stably driven to move along the track. Different from the mode that adopts outer quick-witted gear of motor, gear, hold-in range drive wheel among the prior art, drive the driving wheel through the motor direct drive in this scheme, so the structure is retrencied, can solve above-mentioned problem.
In an alternative embodiment, the motor direct-drive power wheel comprises a side plate, a drive control plate, a motor stator, a main shaft, a motor rotor and a rubber wheel;
the motor stator is fixed on the side plate;
the driving control board is positioned between the side plate and the motor stator and is connected with the motor stator;
the main shaft is arranged in the center of the motor stator, and the motor rotor is rotatably arranged on the main shaft;
the rubber wheel is arranged on the periphery of the motor rotor.
In an alternative embodiment, the motor direct drive power wheel includes a positioning baffle;
the rubber wheel is detachably arranged on the periphery of the motor rotor along the axial direction of the rubber wheel, and the rubber wheel is locked relative to the motor rotor along the radial direction of the rubber wheel;
the positioning flap is detachably connected to the motor rotor so that the rubber wheel is locked to the motor rotor in the axial direction thereof.
In an alternative embodiment the side plates are provided with guide wheels which cooperate with the sides of the track.
In an optional embodiment, the walking mechanism further comprises a pressure wheel assembly, and the pressure wheel assembly is arranged on the connecting plate and is positioned below the track;
the pressure wheel assembly comprises a damping part and a pressure wheel, wherein the damping part is arranged on the connecting plate and used for driving the pressure wheel to be tightly attached to the lower surface of the track.
In an alternative embodiment, the damping portion includes a bracket, a sleeve, a spring, and a split damper;
the sleeve is fixed on the connecting plate;
the support is slidably arranged in the sleeve, one end of the support penetrates through the connecting plate to be matched with the opening baffle, and the other end of the support is connected with the pressure wheel;
the sleeve is located to the spring cover, and the connecting plate is located to the one end of spring, and the other end and the leg joint of spring for order about the support and drive the pressure wheel and hug closely in the track.
In an alternative embodiment, the traveling mechanism further comprises a bogie assembly, and the bogie assembly is arranged on the connecting plate at the head end;
bogie subassembly turns to the installation department including can be for the connecting plate around orbital axis pivoted, turns to the installation department and connects and patrols and examines the robot frame for make and patrol and examine robot body self-adaptation and turn to.
In an alternative embodiment, the truck assembly includes a steering bearing inner core, a steering bearing outer frame, and a stationary base;
the steering bearing inner core is fixed on the connecting plate;
the steering bearing outer frame is fixed relative to the steering bearing inner core along the axial direction of the steering bearing inner core through the fixed base, and the steering bearing outer frame and the fixed base can rotate relative to the steering bearing inner core around the axial direction of the steering bearing inner core;
the fixed base is connected with the frame of the inspection robot.
In an alternative embodiment, the two guide surfaces are symmetrical with respect to the center axis of the rail and each slope downward with respect to the center axis.
In a second aspect, the embodiment of the utility model provides a track inspection system, include:
the inspection robot body; and
the track inspection robot drive system of any one of the preceding embodiments;
the inspection robot body can move along the track through the traveling mechanism.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a perspective view of a track inspection robot driving system in the present embodiment;
fig. 2 is a sectional view of the track inspection robot driving system in the present embodiment;
FIG. 3 is a cross-sectional view of a motor direct drive power wheel in this embodiment;
FIG. 4 is a perspective view of the motor direct drive power wheel of the present embodiment with the rubber wheel hidden;
FIG. 5 is a cross-sectional view of the pressure wheel assembly of the present embodiment;
FIG. 6 is a cross-sectional view of the link plate and truck assembly of this embodiment.
Icon: 10-a track inspection robot driving system;
11-a track; 110-a guide surface;
12-a running gear; 13-inspecting the robot frame;
20-motor direct drive power wheel; 20 a-connecting plate; 21-side plate; 22-drive control board; 23-a motor stator; 24-a main shaft; 25-a motor rotor; 26-a rubber wheel; 27-positioning the baffle; 28-a guide wheel; 250-grooves; 251-a locating flange; 260-a boss;
30-a pressure wheel assembly; 31-a damping portion; 32-a pressure wheel; 310-a scaffold; 311-a sleeve; 312-a spring; 313-opening baffles;
40-a truck assembly; 41-a steering bearing inner core; 42-steering bearing outer frame; 43-fixed base.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present application, it is to be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, refer to the orientation or positional relationship as shown in the drawings, or as conventionally placed in use of the product of the application, or as conventionally understood by those skilled in the art, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present application.
In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The technical solution in the present application will be described below with reference to the accompanying drawings.
The embodiment provides a driving system 10 of a track inspection robot, which can solve the problems that the whole inspection system is too bulky, heavy and large in transmission efficiency loss due to the complex transmission structure of the conventional track inspection robot.
The track inspection robot driving system 10 includes a track 11, a traveling mechanism 12, and an inspection robot frame 13.
Referring to fig. 1 and 2, fig. 1 is a perspective view of a track inspection robot driving system 10 in the present embodiment, and fig. 2 is a cross-sectional view of the track inspection robot driving system 10 in the present embodiment.
In this embodiment, the travel mechanism 12 includes two pairs of motor direct drive power wheels 20, a pressure wheel assembly 30, and a truck assembly 40.
Guide surfaces 110 are respectively formed on two sides of the track 11, two motor direct-drive power wheels 20 in each pair of motor direct-drive power wheels 20 are respectively supported on the two guide surfaces 110 of the track 11, and each pair of motor direct-drive power wheels 20 are connected through a connecting plate 20 a.
Wherein, each motor directly drives the power wheel 20 to drive the inspection robot frame 13 to move along the track 11 through the rotation of the motor.
Two pairs of motor direct-drive power wheels 20 are supported on the track 11, and the whole walking mechanism 12 and the inspection robot rack 13 move along the track 11 through the work of each motor direct-drive power wheel 20.
Two pairs of motor direct-drive power wheels 20 are arranged at intervals along the length direction of the track, a connecting plate 20a of each pair of motor direct-drive power wheels 20 is connected with the inspection robot rack 13 through a bogie assembly 40, and the inspection robot rack 13 is used for being connected with an inspection robot body.
The pressure wheel assembly 30 is located below the rail 11 to apply pressure to the lower surface of the rail 11 to ensure stability of the entire running gear 12 relative to the rail 11.
Different from the prior art, the driving wheels are driven by adopting motors and additionally adopting transmission structures such as gears, synchronous belts and the like, in the embodiment, each motor is adopted to directly drive the power wheel 20 to work independently, and the two pairs of motors directly drive the power wheels 20 to cooperate together to drive the whole walking mechanism 12 to move, so that the whole track inspection robot driving system 10 is simple in structure, light in weight and low in transmission efficiency loss.
Referring to fig. 3, fig. 3 is a cross-sectional view of the motor direct-drive power wheel 20 in the present embodiment.
The motor direct drive power wheel 20 includes a side plate 21, a drive control plate 22, a motor stator 23, a main shaft 24, a motor rotor 25, and a rubber wheel 26.
The motor stator 23 is fixed to the side plate 21, and the drive control plate 22 is located between the side plate 21 and the motor stator 23 and connected to the motor stator 23.
The main shaft 24 is disposed at the center of the motor stator 23, and the motor rotor 25 is rotatably disposed on the main shaft 24. The rubber wheel 26 is provided on the outer periphery of the motor rotor 25, and the rubber wheel 26 is supported on the guide surface 110 of the rail 11.
When the motor direct-drive power wheel 20 is powered on, the motor rotor 25 can rotate around the main shaft 24 under the action of the magnetic field generated by the motor rotor 25, so as to drive the rubber wheel 26 to rotate, so that the rubber wheel 26 runs on the guide surface 110 of the track 11, and the running mechanism 12 is driven to run along the track 11.
The driving control board 22 is used for controlling the rotation speed of the motor rotor 25, so as to control the traveling speed of the traveling mechanism 12 and control the braking of the traveling mechanism 12.
Since the motor direct drive power wheels 20 rub against the track 11 during travel, prolonged use can wear the rubber wheels 26.
To facilitate replacement of the new rubber wheel 26, in this embodiment the motor direct drive power wheel 20 includes a locating stop 27.
The rubber wheel 26 is detachably provided at the outer periphery of the motor rotor 25 in the axial direction thereof, and the rubber wheel 26 is locked in the radial direction thereof with respect to the motor rotor 25, and the positioning fence 27 is detachably attached to the motor rotor 25 so that the rubber wheel 26 is locked to the motor rotor 25 in the axial direction thereof.
Referring to fig. 3 in combination with fig. 4, fig. 4 is a perspective view of the motor direct-drive power wheel 20 of the present embodiment with the rubber wheel 26 hidden therein.
A plurality of grooves 250 are formed at intervals on the outer circumference of the motor rotor 25, and bosses 260 are formed on the inner band of the rubber wheel 26 corresponding to the plurality of grooves 250. By the cooperation of the groove 250 and the boss 260, the rubber wheel 26 can be locked in the radial direction with respect to the motor rotor 25.
Here, an annular positioning flange 251 may be further formed on the outer periphery of the motor rotor 25, so that the positioning flange 251 and the positioning baffle 27 respectively abut against both sides of the rubber wheel 26, thereby achieving the locking of the rubber wheel 26 in the axial direction.
To ensure that the motor-driven power wheel 20 stably moves along the rail 11, a guide wheel 28 is provided on the side plate 21, and the guide wheel 28 is engaged with the side surface of the rail 11.
As can be seen from fig. 2, the two guide surfaces 110 of the rail 11 are symmetrical with respect to the central axis of the rail 11, and are respectively inclined downward with respect to the central axis, which can be regarded as an inverted V-shaped rail 11. Correspondingly, the motor direct-drive power wheel 20 also needs to be inclined in cooperation with the guide surface 110, and in fig. 2, it can be seen that the side plate 21 of the motor direct-drive power wheel 20 comprises a vertical section and an inclined section.
The two vertical sections of the pair of motor-driven power wheels 20 are connected to each other by a connecting plate 20a, and the rest of the structure of the motor-driven power wheels 20 is fixed to the inclined section, so that the rubber wheel 26 is also inclined to be closely attached to the guide surface 110.
The inverted-V-shaped track 11 can enable the running mechanism 12 to have good centering performance in the moving process, and the working stability of the running mechanism 12 is guaranteed. Meanwhile, the inverted V-shaped design (i.e., the two guide surfaces 110 are obliquely arranged) can increase the contact area with the rubber wheel 26 without increasing the overall width of the rail 11.
Referring again to fig. 2, the pressure wheel assembly 30 is disposed on the connecting plate 20a and below the track 11.
Referring to fig. 5, fig. 5 is a sectional view of the pressure wheel assembly 30 in the present embodiment.
The pressure wheel assembly 30 includes a damping portion 31 and a pressure wheel 32, the damping portion 31 is disposed on the connecting plate 20a and is used for driving the pressure wheel 32 to abut against the lower surface of the track 11.
The damper portion 31 includes a bracket 310, a sleeve 311, a spring 312, and an opening damper 313.
The sleeve 311 is fixed on the connecting plate 20a, the bracket 310 is slidably arranged in the sleeve 311, one end of the bracket 310 penetrates through the connecting plate 20a to be matched with the opening baffle 313, and the other end of the bracket 310 is connected with the pressure wheel 32.
The spring 312 is sleeved on the sleeve 311, one end of the spring 312 is disposed on the connecting plate 20a, and the other end of the spring 312 is connected to the bracket 310 for driving the bracket 310 to drive the pressure wheel 32 to cling to the track 11.
Referring to fig. 1, the truck assembly 40 is disposed below the connection plate 20 a.
Referring to fig. 6, fig. 6 is a sectional view of the connection plate 20a and the truck assembly 40 in the present embodiment. The bogie assembly 40 includes a steering mount portion rotatable about the central axis of the track 11 with respect to the connection plate 20a, the steering mount portion being connected to the inspection robot frame 13 for enabling the inspection robot body connected to the inspection robot frame 13 to be adaptively steered. Wherein, self-adaptation turns to and indicates, patrols and examines robot drive system 10 at the track and be in normal work, and when meetting the turn, patrols and examines the robot body because turn to the installation department and can change the direction slowly along with turning to of running gear 12 to guarantee to patrol and examine the imaging stability of the camera equipment of robot body, simultaneously, because the track is patrolled and examined robot drive system 10 and is in normal work, its speed of travel is not high, so patrol and examine the robot body and can not be out of control because of inertia.
It should be noted that in other embodiments, the bogie assembly 40 may be eliminated, and the connecting plates 20a of the two pairs of motor direct-drive power wheels 20 are both connected to the inspection robot frame 13.
The bogie assembly 40 includes a steering bearing inner core 41, a steering bearing outer frame 42, and a fixed base 43.
The steering bearing inner 41 is fixed to the lower surface of the link plate 20 a.
The steering bearing outer frame 42 is fixed relative to the steering bearing inner core 41 in the axial direction of the steering bearing inner core 41 by a fixing base 43, and the steering bearing outer frame 42 and the fixing base 43 are rotatable relative to the steering bearing inner core 41 about the axial direction of the steering bearing inner core 41.
The fixed base 43 is connected with the inspection robot frame 13.
It should be noted that this embodiment also provides a track inspection system, and the track inspection system includes the track inspection robot driving system 10 provided above and the inspection robot body. The inspection robot body can move along the track 11 through the traveling mechanism 12.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. The utility model provides a track inspection robot actuating system which characterized in that includes:
the guide rail comprises a rail, wherein guide surfaces are respectively formed on two sides of the rail;
the travelling mechanism comprises at least one pair of motor direct-drive power wheels, two motor direct-drive power wheels in each pair of motor direct-drive power wheels are respectively supported on two guide surfaces of the track, and each pair of motor direct-drive power wheels are connected through a connecting plate;
the inspection robot frame is connected with the connecting plate and used for connecting the inspection robot body;
each motor direct-drive power wheel drives the inspection robot rack to move along the track through rotation of the motor direct-drive power wheel.
2. The track inspection robot drive system according to claim 1,
the motor direct-drive power wheel comprises a side plate, a drive control plate, a motor stator, a main shaft, a motor rotor and a rubber wheel;
the motor stator is fixed on the side plate;
the driving control board is positioned between the side plate and the motor stator and is connected with the motor stator;
the main shaft is arranged in the center of the motor stator, and the motor rotor is rotatably arranged on the main shaft;
the rubber wheel is arranged on the periphery of the motor rotor.
3. The track inspection robot drive system according to claim 2,
the motor direct-drive power wheel comprises a positioning baffle;
the rubber wheel is detachably arranged on the periphery of the motor rotor along the axial direction of the rubber wheel, and the rubber wheel is locked relative to the motor rotor in the radial direction of the rubber wheel;
the positioning baffle is detachably connected to the motor rotor so that the rubber wheel is locked to the motor rotor in the axial direction thereof.
4. The track inspection robot drive system according to claim 2,
the side plate is provided with a guide wheel, and the guide wheel is matched with the side face of the track.
5. The track inspection robot drive system according to claim 1,
the walking mechanism further comprises a pressure wheel assembly, and the pressure wheel assembly is arranged on the connecting plate and is positioned below the track;
the pressure wheel assembly comprises a damping part and a pressure wheel, and the damping part is arranged on the connecting plate and used for driving the pressure wheel to be tightly attached to the lower surface of the track.
6. The track inspection robot drive system according to claim 5,
the damping part comprises a bracket, a sleeve, a spring and an opening baffle;
the sleeve is fixed on the connecting plate;
the support is slidably arranged in the sleeve, one end of the support penetrates through the connecting plate to be matched with the opening baffle, and the other end of the support is connected with the pressure wheel;
the spring sleeve is arranged on the sleeve, one end of the spring is arranged on the connecting plate, and the other end of the spring is connected with the support and used for driving the support to drive the pressure wheel to be tightly attached to the rail.
7. The track inspection robot drive system according to claim 1,
the travelling mechanism further comprises a bogie assembly, and each connecting plate is provided with the bogie assembly;
bogie subassembly includes for the connecting plate winds orbital axis pivoted turns to the installation department, it connects to turn to the installation department patrol and examine the robot frame, is used for making it turns to patrol and examine robot body self-adaptation.
8. The track inspection robot drive system according to claim 7,
the bogie assembly comprises a bogie bearing inner core, a bogie bearing outer frame and a fixed base;
the steering bearing inner core is fixed on the connecting plate;
the steering bearing outer frame is fixed relative to the steering bearing inner core along the axial direction of the steering bearing inner core through the fixing base, and the steering bearing outer frame and the fixing base can rotate relative to the steering bearing inner core around the axial direction of the steering bearing inner core;
the fixed base is connected with the inspection robot frame.
9. The track inspection robot drive system according to claim 1,
the two guide surfaces are symmetrical relative to the central axis of the track and incline downwards relative to the central axis respectively.
10. A track inspection system, comprising:
the inspection robot body; and
the track inspection robot drive system according to any one of claims 1-9;
the inspection robot body can move along the track through the traveling mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021734697.2U CN212484447U (en) | 2020-08-14 | 2020-08-14 | Track inspection robot driving system and track inspection system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021734697.2U CN212484447U (en) | 2020-08-14 | 2020-08-14 | Track inspection robot driving system and track inspection system |
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| CN212484447U true CN212484447U (en) | 2021-02-05 |
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| CN202021734697.2U Active CN212484447U (en) | 2020-08-14 | 2020-08-14 | Track inspection robot driving system and track inspection system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115060176A (en) * | 2022-08-18 | 2022-09-16 | 沧州市交通运输局 | Highway guardrail height detection device |
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2020
- 2020-08-14 CN CN202021734697.2U patent/CN212484447U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115060176A (en) * | 2022-08-18 | 2022-09-16 | 沧州市交通运输局 | Highway guardrail height detection device |
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