CN213226233U - Hoist and mount formula track inspection robot - Google Patents
Hoist and mount formula track inspection robot Download PDFInfo
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- CN213226233U CN213226233U CN202022011019.XU CN202022011019U CN213226233U CN 213226233 U CN213226233 U CN 213226233U CN 202022011019 U CN202022011019 U CN 202022011019U CN 213226233 U CN213226233 U CN 213226233U
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- track inspection
- inspection robot
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Abstract
The application relates to a hoist and mount formula track inspection robot, include: the robot main part to and the motion unit and the cloud platform of making a video recording of setting on the robot main part, wherein, the motion unit includes: a plurality of motors provided on the robot main body; each driving wheel set comprises two driving wheels, and each driving wheel is fixedly connected with a corresponding motor; the adjusting device is arranged on the robot main body and used for adjusting the center distance between two driving wheels of the driving wheel set; at least one pair of guides located in front of and/or behind the drive wheel set, each guide comprising: a pair of horizontally mounted first rollers, and/or a pair of vertically mounted second rollers. Through the application, the hoisting type track inspection robot is fixed and stable with the track, does not deviate, and is high in stability.
Description
Technical Field
The application relates to the technical field of machinery, especially, relate to a hoist and mount formula track inspection robot.
Background
In the related art, the track robot mostly adopts rigid wheels as a walking mechanism, and the structure is imperfect, so that the problems of large friction between the robot and a track, poor stability and the like are caused.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem or at least partially solve the technical problem, the application provides a hoisting type track inspection robot.
The application provides a pair of robot is patrolled and examined to hoist and mount formula track, include: the robot main part to and the motion unit and the cloud platform of making a video recording of setting on the robot main part, wherein, the motion unit includes: a plurality of motors provided on the robot main body; each driving wheel set comprises two driving wheels, and each driving wheel is fixedly connected with a corresponding motor; the adjusting device is arranged on the robot main body and used for adjusting the center distance between two driving wheels of the driving wheel set; at least one pair of guides located in front of and/or behind the drive wheel set, each guide comprising: a pair of horizontally mounted first rollers, and/or a pair of vertically mounted second rollers.
In some embodiments, the motor has a motor base, one side of the motor base is arranged on the robot main body through a shaft sleeve and a bolt, and can rotate relative to the bolt; the other side of the motor base is connected with the adjusting device; and the adjusting device is used for enabling the motor to rotate relative to the bolt so as to adjust the center distance between the two driving wheels of the driving wheel set.
In certain embodiments, the adjustment device comprises: adjusting bolt, the pressure spring and the adjusting shim of cover setting on adjusting bolt.
In certain embodiments, each guide comprises: the rotary support is provided with a bearing, and the bearing is rotatably connected with the robot main body; and the two rotating frames are arranged on the rotating support, wherein the first roller and/or the second roller are arranged on the rotating frames.
In some embodiments, each guide further comprises: and one end of the tension spring is connected with the guide device, and the other end of the tension spring is connected with the robot main body.
In some embodiments, each guide further comprises: the roller carrier is arranged on the rotating frame, wherein the first roller is arranged on the roller carrier; one end of the pressure spring is abutted to the first roller, and the other end of the pressure spring is abutted to the rotating frame.
In certain embodiments, the motor is a stepper motor.
In some embodiments, the robot body comprises: the connecting bottom plate is connected with the camera shooting pan-tilt; the angle steel framework is connected with the connecting bottom plate; and the support plate is connected with the angle iron framework and is connected with the movement unit.
In some embodiments, a cavity is formed between the connecting bottom plate, the angle iron framework and the supporting plate; wherein, hoist and mount formula track inspection robot still includes: the storage battery is arranged in the cavity.
In certain embodiments, further comprising: and the motor controller is arranged on the outer side of the angle steel framework.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages: the hoist and mount formula track inspection robot that this application embodiment provided, with the track fixed firm, do not take place skew, stability is high.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic general structural diagram of an implementation manner of a hoisting type track inspection robot provided in an embodiment of the present application;
fig. 2 is an internal structure schematic diagram of an implementation manner of the hoisting type track inspection robot provided in the embodiment of the present application;
FIG. 3 is a schematic structural diagram of an embodiment of a motion unit provided in an embodiment of the present application;
FIG. 4 is a schematic structural diagram of an embodiment of a driving wheel assembly provided in the present application; and
fig. 5 is a schematic structural diagram of an embodiment of a guide device provided in an embodiment of the present application.
The labels in the figure are: the robot comprises a profile steel track 1, a motion unit 2, a robot main body 3, a camera shooting platform 4, a connecting bottom plate 5, a motor controller 6, an angle steel framework 7, a supporting plate 8, a main control plate 9, a main control plate back plate 10, a storage battery 11, a guide device 12, a driving wheel set 13, a shaft sleeve 14, a bolt 141, a motor base 15, a driving wheel 16, a motor 17, a rib plate 18, an adjusting device 19, an adjusting bolt 191, a pressure spring 192, a screw 20, a tension spring 21, a rotary support 22, a rotary frame 23, a roller support 24, a pin shaft 25, a first roller 26, a pressure spring 27, a second roller 28 and a bearing 29.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for the convenience of description of the present application, and have no specific meaning by themselves. Thus, "module", "component" or "unit" may be used mixedly.
The application provides a pair of robot is patrolled and examined to hoist and mount formula track, refer to fig. 1 to fig. 5 and show, the robot is patrolled and examined to hoist and mount formula track can hoist and mount on shaped steel track 1, and the robot is patrolled and examined to hoist and mount formula track includes: a robot main body 3, and a moving unit 2 and a camera head 4 provided on the robot main body 3.
In the embodiment of the present application, the motion unit 2 includes: a plurality of motors 17 provided on the robot main body 3; each driving wheel set 13 comprises two driving wheels 16, and each driving wheel 16 is fixedly connected with a corresponding motor 17; the adjusting device 19 is arranged on the robot main body 3 and is used for adjusting the center distance between the two driving wheels 16 of the driving wheel set 13 so as to avoid generating excessive friction force with the profile steel track 1; at least one pair of guides 12 located in front of and/or behind the driving wheel set 13, each guide 12 comprising: a pair of horizontally installed first rollers 26, and/or a pair of vertically installed second rollers 28, to be stably fixed with the section steel rail 1.
In some embodiments, as shown in fig. 1 and 4, the motor 17 has a motor base 15, one side of the motor base 15 is disposed on the robot main body 3 through a shaft sleeve 14 and a bolt 141 and can rotate relative to the bolt, so that the motor 17 can rotate relative to the bolt, and a driving wheel 16 fixedly connected with the motor can rotate therewith; the other side of the motor base 15 is connected with an adjusting device 19; and an adjusting device 19 for rotating the motor 17 relative to the bolt to adjust the center distance between the two driving wheels 16 of the driving wheel set 13.
In certain embodiments, and as illustrated with reference to fig. 4, the adjustment device 19 comprises: an adjusting bolt 191, a pressure spring 192 sleeved on the adjusting bolt 191 and an adjusting gasket (not shown in the figure).
In certain embodiments, and as illustrated with reference to fig. 1 and 5, each guide 12 comprises: a rotary support 22, the rotary support 22 having a bearing 29, the bearing 29 forming a rotatable connection with the robot main body 3; two turrets 23 arranged on the rotating support 22, wherein a first roller 26 and/or a second roller 28 is arranged on the turrets 23. Therefore, the hoisting type track inspection robot has enough bending performance.
In certain embodiments, and as shown with reference to fig. 1 and 5, each guide 12 further comprises: one end of the tension spring 21 is connected with the guide device 12, the other end is connected with the robot main body 3, and the position of the guide device 12 is stabilized through the tension spring 21.
In certain embodiments, and as shown with reference to fig. 1 and 5, each guide 12 further comprises: a roller frame 24 arranged on the rotating frame 23, wherein a first roller 26 is arranged on the roller frame 24; one end of the pressure spring 27 is abutted against the first roller 26, and the other end is abutted against the rotating stand 23, so that the first roller 26 is clamped with the rail web of the section steel rail 1.
In certain embodiments, the motor 17 is a stepper motor.
In some embodiments, as shown with reference to fig. 1 and 2, the robot main body 3 includes: the connecting bottom plate 5 is connected with the camera pan-tilt 4; the angle steel framework 7 is connected with the connecting bottom plate 5; and the support plate 8 is connected with the angle iron framework 7 and is connected with the movement unit 2.
In some embodiments, referring to fig. 2, a cavity is formed between the connection bottom plate 5, the angle iron framework 7 and the support plate 8; wherein, hoist and mount formula track inspection robot still includes: and the storage battery 11 is arranged in the cavity.
As further shown in fig. 1 and 2, the robot main body 3 includes: angle steel skeleton 7, connecting bottom plate 5 and backup pad 8. The robot main body 3 is provided therein with a motor controller 6, a main control board 9, a battery 11, and the like. The camera shooting pan-tilt 4 is arranged below the connecting bottom plate 5. The moving unit 2 is installed above the support plate 8.
Referring further to fig. 1 and 3, the moving unit 2 is installed on the supporting plate 8, a pair of guide devices 12 symmetrically installed in front and back of the supporting plate 8 ensure that the hoisting type track inspection robot operates stably, and driving wheel sets 13 symmetrically installed in left and right provide advancing power. The moving unit 2 directly drives a pair of driving wheels 16 clamped on two sides of the rail web of the section steel rail 1 by a motor 17 to provide the power for advancing. The centre-to-centre spacing of two action wheels 16 both can initiatively adjust in order to adapt to different shaped steel track 1, can adjust passively to a certain extent again, adapts to the circumstances such as expansion joint, arch on the shaped steel track 1.
The guide device 12 which is symmetrically arranged front and back is provided with a plurality of driven rubber-coated wheel first rollers 26 and driven rubber-coated wheel second rollers 28 which are horizontally or vertically arranged, and simultaneously the lower wing plate and the track web plate of the profile steel track 1 are clamped, so that the hoisting type track inspection robot can only move along the track and the movement stability is ensured. The guide devices 12 can rotate relative to the supporting plate 8, so that the robot is guaranteed to have enough bending performance, and the tension springs 21 are arranged on two sides of each group of guide devices 12, so that the position stability of the guide devices 12 is guaranteed.
As further shown in fig. 1 to 4, in the driving wheel set 13, the driving wheels 16 on the left and right sides are symmetrically installed. The motor base 15 is coupled to the support plate 8 at one side thereof by means of bolts 141 through the bushing 14 and at the other side thereof is mounted on the rib 18 of the support plate 8 using the adjusting means 19, and the motor base 15 is seated on the vertical portion of the support plate 8. The motor 17 is connected to the motor base 15 through a bolt, a motor output shaft of the motor 17 is connected with a driving wheel 16 through a key, and the driving wheel 16 is fixed to the motor output shaft of the motor 17 through a set screw. The driving wheel set 13 formed by the driving wheel 16, the motor 17 and the motor base 15 can rotate relative to the bolt 141 in the shaft sleeve 14 under the adjustment of the adjusting device 19, so as to adjust the center distance between the two driving wheels 16. The adjusting device 19 is composed of an adjusting bolt 191, a compression spring 192 and two adjusting washers (not shown in the figure).
Referring further to fig. 1 to 5, two sets of guides 12 are symmetrically mounted in front and rear, and the frame of the guides 12 is formed by a horizontally mounted swivel support 22 and two vertically mounted swivels 23 connected by bolts (not shown). The rotary support 22 of the guide device 12 is provided with a bearing 29, the bearing 29 is arranged on the support plate 8 by using a pin shaft 25, the guide device 12 can rotate relative to the support plate 8, the robot is ensured to have enough bending performance, two sides of each group of guide device 12 are provided with the screws 20 with holes, and the screws 20 with holes are connected with the screws 20 with holes on the support plate 8 through the tension springs 21, so that the position stability of the guide device 12 is ensured. A pair of roller holders 24 are mounted on two rotating frames 23 in the guide device 12, a pair of first rollers 26 are arranged in the middle of the roller holders 24, and compression springs 27 perpendicular to the rotating frames 23 are arranged on the upper side and the lower side of a pin shaft 25 of each first roller 26, so that the first rollers 26 can clamp a rail web of the section steel rail 1. A pair of second rollers 28 are also symmetrically arranged in the guide device 12, and the second rollers 28 are pressed against the lower wing plate of the section steel track 1 by the self weight of the robot.
Through the embodiment of the application, the problems that the traditional track robot is complex in structure, easy to deviate from the track fixing, low in running load and insufficient in stability are solved, the robot can safely and reliably execute a working task, and the fault risk of the robot is reduced.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a hoist and mount formula track inspection robot which characterized in that includes: the robot main part to and set up motion unit and the cloud platform of making a video recording on the robot main part, wherein, the motion unit includes:
a plurality of motors provided on the robot main body;
each driving wheel set comprises two driving wheels, and each driving wheel is fixedly connected with a corresponding motor;
the adjusting device is arranged on the robot main body and used for adjusting the center distance between two driving wheels of the driving wheel set;
at least one pair of guides located in front of and/or behind the drive wheel set, each guide comprising: a pair of horizontally mounted first rollers, and/or a pair of vertically mounted second rollers.
2. The hoisting type track inspection robot according to claim 1, wherein the motor is provided with a motor base, one side of the motor base is arranged on the robot body through a shaft sleeve and a bolt and can rotate relative to the bolt; the other side of the motor base is connected with the adjusting device, and the adjusting device is used for enabling the motor to rotate relative to the bolt so as to adjust the center distance between the two driving wheels of the driving wheel set.
3. The hoist track inspection robot according to claim 2, wherein the adjustment device includes: the adjusting bolt, the pressure spring and the adjusting gasket are sleeved on the adjusting bolt.
4. The hoist track inspection robot according to claim 2, wherein each guide device includes:
a rotating mount having a bearing forming a rotatable connection with the robot body;
the two rotating frames are arranged on the rotating support, and the first roller wheel and/or the second roller wheel are/is arranged on the rotating frames.
5. The hoist track inspection robot according to claim 4, wherein each guide device further includes: and one end of the tension spring is connected with the guide device, and the other end of the tension spring is connected with the robot main body.
6. The hoist track inspection robot according to claim 4, wherein each guide device further includes: the roller carrier is arranged on the rotating frame, wherein the first roller is arranged on the roller carrier; and one end of the pressure spring is abutted to the first roller, and the other end of the pressure spring is abutted to the rotating frame.
7. The hoist track inspection robot according to claim 1, wherein the motor is a stepper motor.
8. The hoist track inspection robot according to any one of claims 1 to 7, wherein the robot body includes: the connecting bottom plate is connected with the camera shooting pan-tilt; the angle steel framework is connected with the connecting bottom plate; and the supporting plate is connected with the angle iron framework and connected with the movement unit.
9. The overhead track inspection robot according to claim 8, wherein a cavity is formed among the connecting bottom plate, the angle iron framework and the supporting plate; wherein, hoist and mount formula track inspection robot still includes: the storage battery is arranged in the cavity.
10. The overhead track inspection robot according to claim 9, further comprising: and the motor controller is arranged on the outer side of the angle steel framework.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022011019.XU CN213226233U (en) | 2020-09-15 | 2020-09-15 | Hoist and mount formula track inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022011019.XU CN213226233U (en) | 2020-09-15 | 2020-09-15 | Hoist and mount formula track inspection robot |
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| Publication Number | Publication Date |
|---|---|
| CN213226233U true CN213226233U (en) | 2021-05-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022011019.XU Active CN213226233U (en) | 2020-09-15 | 2020-09-15 | Hoist and mount formula track inspection robot |
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| CN (1) | CN213226233U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113696202A (en) * | 2021-10-29 | 2021-11-26 | 北京红山信息科技研究院有限公司 | Inspection robot clamping device and inspection robot |
| CN114131624A (en) * | 2021-12-03 | 2022-03-04 | 北京京能电力股份有限公司 | Be suitable for orbital robot of patrolling and examining in narrow space |
| CN114310960A (en) * | 2022-01-10 | 2022-04-12 | 北京旗硕基业科技股份有限公司 | Intelligent inspection robot |
-
2020
- 2020-09-15 CN CN202022011019.XU patent/CN213226233U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113696202A (en) * | 2021-10-29 | 2021-11-26 | 北京红山信息科技研究院有限公司 | Inspection robot clamping device and inspection robot |
| CN114131624A (en) * | 2021-12-03 | 2022-03-04 | 北京京能电力股份有限公司 | Be suitable for orbital robot of patrolling and examining in narrow space |
| CN114131624B (en) * | 2021-12-03 | 2023-11-17 | 北京京能电力股份有限公司 | Inspection robot applicable to narrow space track |
| CN114310960A (en) * | 2022-01-10 | 2022-04-12 | 北京旗硕基业科技股份有限公司 | Intelligent inspection robot |
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