CN213562603U

CN213562603U - Folding track inspection robot

Info

Publication number: CN213562603U
Application number: CN202021404405.9U
Authority: CN
Inventors: 胡阳; 董海颖
Original assignee: Feixun Zhihang Chengdu Technology Co ltd
Current assignee: Feixun Zhihang Chengdu Technology Co ltd
Priority date: 2020-07-16
Filing date: 2020-07-16
Publication date: 2021-06-29
Anticipated expiration: 2030-07-16

Abstract

The utility model discloses a folding track inspection robot belongs to rail detection technical field, and it includes mounting panel, four support arm subassemblies and removal subassembly, four a support arm subassembly tip all is connected with the mounting panel through the upper portion joint, and another tip of four support arm subassemblies all is connected with the removal subassembly through the lower part joint. The support arm assembly and the corresponding moving assembly of the track inspection machine can realize a folding function.

Description

Folding track inspection robot

Technical Field

The utility model relates to a rail detects technical field, especially relates to a folding 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 rail detection of the tunnel rail and the surface defect detection of the rail segment are independent and separated, and the detection equipment of the surface defect of the rail segment 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 rail board, contact net, tunnel vault, rail additional structure.

Chinese patent No. CN111267884A discloses a traveling mechanism of a tunnel track inspection robot, the tunnel track inspection robot is provided with a frame, and two ends of the frame are provided with a first driving mechanism and a second driving mechanism which are in one-to-one correspondence with the two ends of the frame, slide in a limited manner with respect to a track, and have the same structure; the first driving mechanism comprises a driving box, a first frame mounting seat and a second frame mounting seat which are arranged in the driving box and fixedly connected with a frame, a hub motor which is fixed on the driving box and advances along the direction of a rail, a second bearing which is arranged at the bottom of the driving box and matched with the hub motor to limit on the rail, a driven wheel which is in sliding contact with the rail and provided with a bearing end part penetrating through the driving box, a first bearing which is arranged at the bottom of the driving box and matched with the driven wheel to limit on the rail, and a connecting port which is fixed on the driving box and connected with the hub motor by adopting a cable; the frame is two support columns that lay for parallel arrangement each other, and the tip and first frame mount pad and the one-to-one correspondence fixed connection of second frame mount pad of support column.

Although the tunnel track inspection robot can finish the work of moving along the rail and detecting the rail, the rail gauge of the rail is generally 1435 mm-1450 mm, the whole tunnel track inspection robot is long and cannot be folded, the tunnel track inspection robot is inconvenient for workers to carry, and meanwhile, the tunnel track inspection robot occupies a large area during storage and is inconvenient for storage.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a folding track inspection robot has foldablely, the advantage of being convenient for transport and depositing.

In order to realize the purpose, the utility model discloses a technical scheme is: the utility model provides a folding track inspection robot, includes mounting panel, four support arm subassemblies and removal subassembly, four support arm subassembly one end all is connected with the mounting panel through upper portion joint, and another tip of four support arm subassemblies all is connected with the removal subassembly through lower part joint.

Preferably, the upper joint comprises a first connecting block and a second connecting block, the first connecting block is connected with the mounting plate, and the second connecting block is connected with the support arm assembly;

first connecting block and second connecting block rotate through first pivot to be connected, the terminal surface that first connecting block is close to support arm assembly can with the lateral wall butt of second connecting block, the edge that first connecting block is close to support arm assembly and is close to ground is equipped with and is used for supplying first connecting block to turn over 90 fillets of turning over to the ground direction.

Preferably, the lower joint comprises a third connecting block and a fourth connecting block, the third connecting block and the fourth connecting block are rotatably connected through a second rotating shaft, the third connecting block is connected with the lower surface of the supporting arm assembly, the fourth connecting block is connected with the moving assembly, and a butting block capable of butting against the end part of the supporting arm assembly is arranged on the fourth connecting block.

Preferably, the support arm assembly is used for being provided with the stopper with the terminal surface of butt piece butt, stopper and butt piece butt, the stopper is made by magnetic material, the butt piece is made by the material that can be adsorbed by magnetic material.

Preferably, a first through hole with an axis parallel to the second rotating shaft is formed in the third connecting block, a first bean jumping spring is arranged in the first through hole, a groove used for containing a jumping bean is formed in the fourth connecting block, and the limiting block is abutted to the abutting block in the bean jumping groove.

Preferably, a second through hole is formed in the third connecting block, the first through hole and the second through hole are respectively located on two sides of the second rotating shaft, and a second bean jumping spring for enabling the fourth connecting block and the third connecting block to be folded when the beans are contained in the groove is arranged in the second through hole.

Preferably, the first rotating shaft and the second rotating shaft are both sleeved with damping pieces.

Preferably, support arm component includes two connecting rods and carries out the coupling assembling of fixing a position with two connecting rods, but coupling assembling includes last locating piece and the lower locating piece of lock, all offers the centre gripping groove that is used for the different connecting rods of centre gripping respectively on the terminal surface of going up locating piece and lower locating piece lock, go up the locating piece and pass through bolted connection between the locating piece down.

Compared with the prior art, the utility model has the advantages of:

the track detection robot can be folded, and is convenient to carry and store;

the folding mode is simple, the position relation of the partition parts can be positioned under the action of self weight, and the positioning work among the unfolded parts is simplified;

the damping piece is arranged, so that the supporting arm assembly and the moving assembly can be prevented from randomly shaking under the self-weight, and the probability of damage caused by collision of the supporting arm assembly with other equipment due to random shaking in the carrying process is reduced;

fourthly, the setting of second jump beans spring can effectually prevent to remove the random rocking of subassembly after folding, reduces the probability that removes the subassembly and damage.

Drawings

FIG. 1 is a schematic view of the overall structure of the present embodiment;

FIG. 2 is a front view of the present embodiment;

FIG. 3 is a schematic structural view of the support arm assembly, upper joint, lower joint and moving assembly of the present embodiment;

FIG. 4 is an enlarged view of portion A of FIG. 3;

FIG. 5 is a schematic structural view of the upper joint and the lower joint of the present embodiment;

FIG. 6 is a schematic structural diagram of the lower joint and the moving assembly of the present embodiment;

fig. 7 is a schematic structural view of the connecting assembly of the present embodiment.

In the figure: 1. mounting a plate; 2. a support arm assembly; 21. a connecting rod; 22. a connecting assembly; 221. an upper positioning block; 222. a lower positioning block; 223. a clamping groove; 3. a moving assembly; 4. an upper joint; 41. a first connection block; 42. a second connecting block; 5. a lower joint; 51. a third connecting block; 511. a first through hole; 512. a first bean-jumping spring; 513. a second through hole; 514. a second jumping spring; 52. a fourth connecting block; 521. a groove; 53. a butting block; 6. a limiting block; 7. a damping member.

Detailed Description

The present invention will be further explained below.

Example (b):

as shown in fig. 1 and 2, a folding track inspection robot includes a mounting plate 1, four support arm assemblies 2 and a moving assembly 3, four ends of the support arm assemblies 2 are connected with the mounting plate 1 through upper joints 4, in this embodiment, the mounting plate 1 is used for installing an inspection device, the mounting plate 1 is integrally rectangular, and the four support arm assemblies 2 are arranged near four corners of the mounting plate 1. The other ends of the four support arms are connected with the moving assemblies 3 through lower joints 5, so that the four moving assemblies 3 are divided into two groups, the moving assemblies 3 in the same group move along the same guide rail, and the moving members in the other group move along the other guide rail.

As shown in fig. 3 and 5, the upper joint 4 includes a first connecting block 41 and a second connecting block 42, the first connecting block 41 is fixedly connected to the mounting plate 1 through nails, the second connecting block 42 is connected to the support arm assembly 2, and the first connecting block 41 and the second connecting block 42 are rotatably connected through a first rotating shaft.

As shown in fig. 3 and 5, in the present embodiment, the side wall of the second connecting block 42 facing the first connecting block 41 is provided with a notch penetrating through the upper and lower surfaces of the first connecting block 41 for inserting the first connecting block 41, and the inserted portion of the first connecting block 41 is rotatably connected to the second connecting block 42 by the first rotating shaft. In order to facilitate the rotation between the first connecting block 41 and the second connecting block 42 and the processing of the notch, the notch is formed to penetrate the upper and lower surfaces of the first connecting block 41. In order to prevent the second connecting block 42 from being folded upwards, the end surface of the first connecting block 41 facing the support arm assembly 2 may abut against the side wall of the notch, limiting the degree of freedom of the second connecting block 42. The edge of the first connecting block 41, which is close to the support arm assembly 2 and close to the ground, is provided with a fillet for the first connecting block 41 to turn over 90 degrees towards the ground. Rotate second connecting block 42 when carrying and accomodating and make the contained angle between first connecting block 41 and second connecting block 42 be 90, four support arm assembly 2 of track inspection robot at this moment draw close each other for track inspection robot's whole length reduces, accomplishes folding for the first time.

As shown in fig. 3 and 6, the lower joint 5 includes a third connecting block 51 and a fourth connecting block 52, the third connecting block 51 and the fourth connecting block 52 are rotatably connected by a second rotating shaft, the third connecting block 51 is connected to the lower surface of the support arm assembly 2, and the fourth connecting block 52 is connected to the moving assembly 3. The fourth connecting block 52 is further provided with an abutting block 53 for abutting against the end of the support arm assembly 2. So that the whole moving assembly 3 can be turned down and cannot be turned up, and the whole structure is stabilized by the weight of the detecting device mounted on the mounting plate 1 and the weight of the support arm assembly 2 itself. In order to prevent the moving assembly 3 from overturning under the action of self weight when the track detection robot is taken, a limiting block 6 is arranged on the end face of the support arm assembly 2, which is used for being abutted to the abutting block 53, the limiting block 6 can be abutted to the abutting block 53, the limiting block 6 is made of a magnet, and the abutting block 53 is made of a material which can be adsorbed by the magnet. After the limit block 6 and the abutting block 53 are contacted, the relative position between the fourth connecting block 52 and the support arm assembly 2 is limited under the action of magnetic force. In order to assist the limiting operation of the abutting block 53 and the limiting block 6, a first through hole 511 is formed in the third connecting block 51, the axis of the first through hole is parallel to the second rotating shaft, a first bean jumping spring 512 is arranged in the first through hole 511, a groove 521 for accommodating beans is formed in the fourth connecting block 52, and when the beans are accommodated in the groove 521, the limiting block 6 is just abutted against the abutting block 53.

As shown in fig. 3 and 5, in order to prevent the support arm assembly 2 and the moving assembly 3 from freely rotating under the action of self weight after being folded, the first rotating shaft and the second rotating shaft are both sleeved with damping members 7. The friction force is increased, and the support arm assembly 2 and the moving assembly 3 are prevented from rotating automatically under the effect of no external force. In order to assist the positioning of the moving assembly 3 after being folded, the third connecting block 51 is provided with a second through hole 513, a second bean jumping spring 514 is disposed in the second through hole 513, and when the bean jumping is accommodated in the groove 521, the moving assembly 3 and the support arm assembly 2 are folded.

As shown in fig. 7, in order to reduce the overall weight of the track robot, the support arm assembly 2 in this embodiment includes two links 21 and a connecting assembly 22 that positions the two links 21. The connecting assembly 22 includes an upper positioning block 221 and a lower positioning block 222 that can be fastened, clamping grooves 223 for clamping different connecting rods 21 are respectively formed on the fastened end surfaces of the upper positioning block 221 and the lower positioning block 222, and the positions of the two connecting rods 21 are fixed when the upper positioning block 221 and the lower positioning block 222 are fastened by screws. In the present embodiment, the links 21 are parallel to each other when the links 21 are fixed.

As shown in fig. 3, the two connecting rods 21 are connected with the second connecting block 42 in an inserting manner, the second connecting block 42 is provided with connecting holes for the two connecting rods 21 to be inserted into, the second connecting block 42 is further provided with positioning holes communicated with the connecting holes, after the connecting rods 21 are inserted into the connecting holes, screws are installed at the positioning holes, and the connecting rods 21 are fixed to the second connecting block 42 by the screws. The fixing mode can fix the position between the two connecting rods 21 at the same time, thereby achieving two purposes. The connecting component 22 is arranged at one end of the connecting rod 21 far away from the second connecting block 42, and is matched and positioned with the second connecting block 42, and in order to reinforce the connection between the two connecting rods 21, the connecting component 22 is also arranged at the middle position of the two connecting rods 21.

As shown in fig. 7, in this embodiment, the third connecting block 51 is disposed on the lower positioning block 222, the number of the limiting blocks 6 is four, two limiting blocks 6 are disposed on the lower positioning block 222, another two limiting blocks 6 are disposed on the upper positioning block 221, the four limiting blocks 6 are all abutted to the abutting block 53, and the four limiting blocks 6 are disposed so that the stress on the upper positioning block 221 and the stress on the lower positioning block 222 are uniform.

As shown in fig. 7, the moving assembly 3 in this embodiment is a moving assembly 3 dedicated to this embodiment, and includes an upper roller for rolling along the top surface of the rail, a lower roller for limiting the upper roller to roll along the top surface of the rail, and a mounting member for mounting the upper roller and the lower roller and providing power for the upper roller and the lower roller. The lateral wall of installed part and fourth connecting block 52 are connected through two dwang, and the tie point of installed part and first dwang is close to ground setting, and ground setting is kept away from with the tie point of installed part to the second dwang, and support arm assembly 2 setting is kept away from with the tie point of third connecting block 51 to first dwang, and the tie point of second dwang and third connecting block 51 is close to support arm assembly 2 setting, mutual parallel arrangement between two dwang. The connection between the rotating rod and the mounting part and the fourth connecting block 52 is a rotating connection, so that the fourth connecting block 52 and the mounting part can move relatively. The part of installed part towards fourth connecting block 52 rotates and is connected with the bumper shock absorber, and the other end and the butt piece 53 of bumper shock absorber rotate and be connected, and the setting of bumper shock absorber and dwang can make this removal subassembly 3 carry out real-time adjustment according to the change of rail camber and rail direction. The moving assembly 3 can achieve a certain track gauge and track width by matching with the upper joint 4 and the lower joint 5, and can smoothly pass through a turnout part.

Folding process:

the operator takes off this track robot from the rail, breaks support arm assembly 2 off with the fingers and thumb afterwards, can make support arm assembly 2 fold with mounting panel 1. The moving assembly 3 is broken off, so that the moving assembly 3 and the support arm assembly 2 can be folded, and the second bean jumping spring 514 positions the position of the moving assembly 3 after the folding is completed, so as to prevent the moving assembly 3 from swinging under the self weight. This track robot can fold, reduces the holistic size of this track robot, is convenient for carry and deposit to the cooperation removes subassembly 3 and can reach certain gauge and wheel base, and can be smooth through the fork position.

The principle and the implementation of the present invention are explained herein by using specific examples, and the above description of the embodiments is only used to help understand the method and the core idea of the present invention; while the invention has been described in terms of specific embodiments and applications, it will be apparent to those skilled in the art that numerous variations and modifications can be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. The utility model provides a folding track inspection robot, its characterized in that includes mounting panel (1), four support arm subassemblies (2) and removes subassembly (3), four support arm subassembly (2) one end all is connected with mounting panel (1) through upper portion joint (4), and another tip of four support arm subassemblies (2) all is connected with removing subassembly (3) through lower part joint (5).

2. The folding track inspection robot according to claim 1, characterized in that the upper joint (4) comprises a first connecting block (41) and a second connecting block (42), the first connecting block (41) being connected to the mounting plate (1), the second connecting block (42) being connected to the support arm assembly (2);

first connecting block (41) and second connecting block (42) rotate through first pivot and connect, the terminal surface that first connecting block (41) are close to support arm component (2) can with the lateral wall butt of second connecting block (42), first connecting block (41) are close to support arm component (2) and are close to the edge on ground and are equipped with and are used for supplying first connecting block (41) to turn over 90 fillets to the ground direction.

3. The folding track inspection robot according to claim 2, wherein the lower joint (5) comprises a third connecting block (51) and a fourth connecting block (52), the third connecting block (51) and the fourth connecting block (52) are rotatably connected through a second rotating shaft, the third connecting block (51) is connected with the lower surface of the support arm assembly (2), the fourth connecting block (52) is connected with the moving assembly (3), and a butting block (53) capable of butting against the end of the support arm assembly (2) is arranged on the fourth connecting block (52).

4. The folding track detection robot according to claim 3, wherein the end face of the support arm assembly (2) for abutting against the abutting block (53) is provided with a limit block (6), the limit block (6) abuts against the abutting block (53), the limit block (6) is made of a magnetic material, and the abutting block (53) is made of a material which can be adsorbed by the magnetic material.

5. The folding track detection robot as claimed in claim 3 or 4, wherein the third connecting block (51) is provided with a first through hole (511) having an axis parallel to the second rotating shaft, a first bean jumping spring (512) is disposed in the first through hole (511), the fourth connecting block (52) is provided with a groove (521) for accommodating bean jumping, and the limiting block (6) abuts against the abutting block (53) when the bean jumping accommodating groove (521) is disposed therein.

6. The folding track detection robot as claimed in claim 5, wherein a second through hole (513) is formed in the third connecting block (51), the first through hole (511) and the second through hole (513) are respectively located at two sides of the second rotating shaft, and a second bean jumping spring (514) for folding the fourth connecting block (52) and the third connecting block (51) when beans jump and are accommodated in the groove (521) is arranged in the second through hole (513).

7. The folding track inspection robot according to claim 3, wherein the first rotating shaft and the second rotating shaft are sleeved with damping members (7).

8. The folding track detection robot according to claim 1, wherein the support arm assembly (2) comprises two connecting rods (21) and a connecting assembly (22) for positioning the two connecting rods (21), the connecting assembly (22) comprises an upper positioning block (221) and a lower positioning block (222) which can be buckled, clamping grooves (223) for clamping different connecting rods (21) are formed in buckled end faces of the upper positioning block (221) and the lower positioning block (222), and the upper positioning block (221) is connected with the lower positioning block (222) through bolts.