CN218316057U

CN218316057U - Walking buffer device of track type inspection robot

Info

Publication number: CN218316057U
Application number: CN202220938795.0U
Authority: CN
Inventors: 彭晓斌; 曾发喜
Original assignee: Guangzhou Guoxun Robot Technology Co ltd
Current assignee: Guangzhou Guoxun Robot Technology Co ltd
Priority date: 2022-04-21
Filing date: 2022-04-21
Publication date: 2023-01-17
Anticipated expiration: 2032-04-21

Abstract

The utility model provides a walking buffer device of a rail-mounted inspection robot, which comprises an alloy rail and a walking mechanism, wherein the walking mechanism comprises a bottom plate, mounting boxes are arranged at the two ends of the bottom plate, a driving wheel mechanism is arranged on the mounting boxes, walking channels matched with the driving wheel mechanism are arranged at the two sides of the alloy rail, mounting parts are arranged at the two sides of a pressure wheel bracket, springs are arranged at the mounting parts, the top ends of the springs are connected with the mounting parts, and the bottom ends of the springs are connected with the bottom plate; the spring on the installation part on one side of the pressure wheel support is extruded, the spring is compressed to generate elastic potential energy, the spring on the installation part on the other side of the pressure wheel support is pulled to generate elastic potential energy, the buffering effect is achieved, the inspection robot is stable in the working process, the shaking phenomenon cannot occur, and the image acquisition work can be performed and clear images can be acquired when the inspection robot walks.

Description

Walking buffer device of track type inspection robot

Technical Field

The utility model relates to a patrol and examine the robotechnology field, particularly, relate to a walking buffer of robot is patrolled and examined to rail mounted.

Background

Along with the development of mobile robot technology, the application of the inspection robot in various industries such as electric power, security and protection is more and more extensive, because the rail-mounted robot is small in size, light in weight, high in moving speed and high in visual field position, the rail-mounted robot has wide industrial application in the industries such as electric power, chemical engineering and petroleum, the rail-mounted robot runs on an overhead rail to perform inspection, image acquisition and other work, the image acquisition work can be clearly performed by a holder in the walking process of the robot, and the working efficiency of the inspection robot is improved.

Through some typical prior art of retrieval discovery, as application number CN 202011088634.9's patent discloses a robot actuating mechanism is patrolled and examined to suspension type, include cloud platform, camera and patrol and examine the track, patrol and examine on the track be provided with the toothed chain and with toothed chain meshed's gear, the fixed one end of gear is connected with driving motor, gear other end fixedly connected with mounting panel, be fixed with elevating system on the mounting panel, the elevating system free end is connected with the mounting disc, follow in the ann carousel all be equipped with a plurality of carousel and be used for driving a plurality of carousel is simultaneously and syntropy pivoted steering mechanism, initial condition time the camera orientation of camera the mounting disc outside. The cameras mounted on the turntable are steered by means of a steering mechanism, each camera taking a quarter of a circle during the rotation. Even if the turntable rotates at a low speed, the area in a circumferential range can be quickly detected, and the shot image has high definition and high detection speed.

It can be seen from this that to the actual problem of awaiting treatment that needs urgent among its practical application (current robot that patrols and examines is when walking, because when the uneven speed of patrolling and examining the during operation goes on or operating personnel carries out the stop motion instruction, under inertial effect, takes place to rock easily, and the cloud platform can't carry out clear image acquisition work, needs the robot after the steadiness, just can carry out image acquisition work, leads to patrolling and examining not high), still there are a lot of not proposed concrete solutions.

SUMMERY OF THE UTILITY MODEL

The utility model provides a walking buffer of robot is patrolled and examined to rail mounted in order to overcome prior art's not enough, the concrete technical scheme of the utility model as follows:

the utility model provides a walking buffer of robot is patrolled and examined to rail mounted, includes alloy track and running gear, running gear includes the bottom plate, the both ends of bottom plate all are provided with the mounting box, all be provided with drive wheel mechanism on the mounting box, the orbital both sides of alloy be provided with drive wheel mechanism matched with walking passageway, the bottom plate with be provided with supporting mechanism between the alloy track, supporting mechanism includes pressure wheel support, spring and pressure wheel, be provided with the pressure wheel support on the bottom plate, the orbital bottom of alloy is provided with the pressure wheel, the pressure wheel support with the pressure wheel cooperation is connected, the both sides of pressure wheel support are provided with the installation department, the installation department all is provided with the spring, the top of spring with the installation department is connected, the bottom of spring with the bottom plate is connected.

Preferably, the drive wheel mechanism includes power device, transmission shaft and action wheel, power device set up in the mounting box, the one end of transmission shaft is passed the outer wall of mounting box just as in the mounting box and with the power device transmission is connected, the other end of transmission shaft is provided with the action wheel, the action wheel set up in the walking passageway.

Preferably, the transmission shaft is provided with a first gear, the power shaft of the power device is provided with a second gear, and the first gear is meshed with the second gear.

Preferably, there are two support mechanisms, and the two support mechanisms are respectively and symmetrically installed between the bottom plate and the alloy track.

Preferably, the driving wheel is wrapped with rubber.

Preferably, the pressure spring device further comprises a pressure spring shaft, the mounting portion is provided with mounting holes, the bottom end of the pressure spring shaft is connected with the bottom plate, the top end of the pressure spring shaft penetrates through the mounting holes, the pressure spring shaft is sleeved with the spring, and the top end of the pressure spring shaft is locked through a locking nut.

Preferably, the two mounting boxes are arranged in parallel.

Preferably, the two ends of the bottom plate and the two mounting boxes are provided with corresponding threaded holes, the mounting boxes are fixedly connected with the bottom plate through bolts, and the bottom ends of the two mounting boxes are respectively connected with the two ends of the bottom plate in a sliding manner.

Preferably, two the mounting box is last all to have seted up the sliding tray, the both ends of bottom plate are provided with the sliding block, the sliding block with sliding tray mutually supports sliding connection.

The utility model discloses the beneficial technological effect who gains includes:

under the operating condition when patrolling and examining the robot walking, patrol and examine the robot and patrol and shoot the part and install in bottom plate below position, drive wheel mechanism on the mounting box drives running gear and removes the operation on the walking passageway, when examining the uneven speed of during operation and go on or operating personnel carries out the stop motion instruction, under inertial effect, the pressure wheel of alloy track bottom with the pressure wheel support receives the power that leans forward or backward, and the pressure wheel rotates relative to the pressure wheel support, and at this moment, the spring on the installation department of one side of the pressure wheel support receives the extrusion, compresses the spring and produces elastic potential energy, and the spring on the installation department of opposite side receives the pulling force, stretches the spring and produces elastic potential energy, plays the effect of buffering, and it is steady to examine the robot working process, and very big reduction takes place the phenomenon of rocking when patrolling and examining the robot walking, and it is steady to patrol and examine the robot walking for can carry out image acquisition work and can gather clear image when patrolling and examining the robot walking.

Drawings

The invention will be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.

Fig. 1 is a schematic view of a first view structure of the present invention;

fig. 2 is a schematic view of a second view angle structure of the present invention;

fig. 3 is a schematic view of a third view structure of the present invention.

FIG. 4 is a schematic view of the supporting mechanism of the present invention;

fig. 5 is the structural schematic diagram of the driving wheel mechanism of the present invention.

In the figure: 1. an alloy rail; 2. a traveling mechanism; 3. a base plate; 4. mounting a box; 5. a drive wheel mechanism; 6. a walking channel; 7. a support mechanism; 8. a pressure wheel support; 9. a pressure wheel; 10. an installation part; 11. a spring; 12. a power plant; 13. a drive shaft; 14. a running wheel; 15. a first gear; 16. a second gear; 17. a compression spring shaft; 18. mounting holes; 19. locking the nut; 20. a threaded hole; 21. a sliding groove; 22. a slider;

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the embodiments thereof; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention. Other systems, methods, and/or features of the present embodiments will become apparent to those skilled in the art upon review of the following detailed description. It is intended that all such additional systems, methods, features and advantages be included within this description, be within the scope of the invention, and be protected by the accompanying claims. Additional features of the disclosed embodiments are described in, and will be apparent from, the detailed description below.

The same or similar reference numbers in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", etc., indicating directions or positional relationships based on those shown in the drawings, it is only for convenience of description and simplicity of description, but not for indicating or implying that the indicated device or component must have a specific direction, be constructed in a specific direction, and operate, and therefore the terms describing the positional relationships in the drawings are used for illustrative purposes only and are not to be construed as limitations of the present patent, and those skilled in the art can understand the specific meanings of the above terms according to specific situations.

The utility model provides a walking buffer of robot is patrolled and examined to rail mounted, includes alloy track 1 and running gear 2, running gear 2 includes bottom plate 3, the both ends of bottom plate 3 all are provided with mounting box 4, all be provided with drive wheel mechanism 5 on mounting box 4, the both sides of alloy track 1 be provided with drive wheel mechanism 5 matched with walking passageway 6, bottom plate 3 with be provided with supporting mechanism 7 between the alloy track 1, supporting mechanism 7 includes pressure wheel support 8, spring 11 and pressure wheel 9, be provided with pressure wheel support 8 on the bottom plate 3, the bottom of alloy track 1 is provided with pressure wheel 9, pressure wheel support 8 with pressure wheel 9 cooperates and connects, pressure wheel support 8's both sides are provided with installation department 10, installation department 10 all is provided with spring 11, spring 11's top with installation department 10 connects, spring 11's bottom with bottom 3 connects.

Specifically, as shown in fig. 1 to 5, in a working state when the inspection robot travels, an inspection shooting part of the inspection robot is installed below a bottom plate 3, a driving wheel mechanism 5 on an installation box 4 drives a traveling mechanism 2 to move on a traveling channel 6, when uneven speed during inspection is performed or an operator stops a movement instruction, under the action of inertia, a pressure wheel 9 at the bottom of an alloy rail 1 and a pressure wheel support 8 are subjected to forward tilting or backward tilting force, the pressure wheel 9 rotates relative to the pressure wheel support 8, at this time, a spring 11 on an installation part 10 on one side of the pressure wheel support 8 is extruded, the spring 11 is compressed to generate elastic potential energy, a spring 11 on an installation part 10 on the other side is subjected to tensile force, the spring 11 is stretched to generate elastic potential energy to play a role in buffering, the working process of the inspection robot is stable, the phenomenon of shaking during travel of the inspection robot is greatly reduced, and the robot travels stably, so that image acquisition work can be performed and clear images can be acquired during travel of the inspection robot.

Further, drive wheel mechanism 5 includes power device 12, transmission shaft 13 and action wheel 14, power device 12 set up in the mounting box 4, the one end of transmission shaft 13 is passed the outer wall of mounting box 4 just with in the mounting box 4 and with power device 12 transmission is connected, the other end of transmission shaft 13 is provided with action wheel 14, action wheel 14 set up in the walking passageway 6.

The joint of the transmission shaft 13 and the outer wall of the mounting box 4 is in rotatable connection, the transmission shaft 13 is driven to rotate by the power device 12, so as to drive the driving wheel 14 on the transmission shaft 13 to rotate, and the driving wheel 14 can move in the walking channel 6,

further, a first gear 15 is arranged on the transmission shaft 13, a second gear 16 is arranged on a power shaft of the power device 12, and the first gear 15 and the second gear 16 are meshed with each other. The second gear 16 on the power shaft of the power device 12 drives the first gear 15 to rotate, and further drives the transmission shaft 13 to rotate, so that the structure is stable and durable.

Furthermore, there are two supporting mechanisms 7, and the two supporting mechanisms 7 are respectively and symmetrically installed between the bottom plate 3 and the alloy rail 1. The driving device is more stable in the driving process.

Further, the running wheels 14 are wrapped with rubber. The rubber can play a role in buffering in the walking process of the walking wheel 14.

Further, still include pressure spring axle 17, all be provided with mounting hole 18 on the installation department 10, the bottom of pressure spring axle 17 with bottom plate 3 is connected, the top of pressure spring axle 17 passes in the mounting hole 18, pressure spring axle 17 cover is provided with spring 11, the top of pressure spring axle 17 is locked through lock nut 19. In the process of extending and retracting the spring 11 in the vertical direction, the spring 11 cannot deflect left and right, and the structure is more stable and reliable.

Further, the two mounting boxes 4 are arranged in parallel with each other. Ensuring that the means driven on the mounting box 4 can run smoothly on the alloy rail 1.

Furthermore, both ends of the bottom plate 3 and two of the mounting boxes 4 are provided with corresponding threaded holes 20, the mounting boxes 4 are fixedly connected with the bottom plate 3 through bolts, and the bottom ends of the two mounting boxes 4 are respectively in sliding connection with both ends of the bottom plate 3. An operator can slide fit and clamp the bottom ends of the mounting boxes 4 through the two ends of the bottom plate 3 until the threaded holes 20 in the mounting boxes 4 are aligned with the threaded holes 20 in the bottom plate 3, and then the mounting box is locked by bolts in the threaded holes 20, so that the mounting box is simple and convenient to mount.

Further, two sliding tray 21 has all been seted up on mounting box 4, the both ends of bottom plate 3 are provided with sliding block 22, sliding block 22 with sliding tray 21 sliding connection that mutually supports, 3 both ends of bottom plate and two the mutual sliding fit joint in bottom of mounting box 4 is more smooth and easy stable.

Although the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications may be made without departing from the scope of the invention. That is, the methods, systems, and devices discussed above are examples. Various configurations may omit, substitute, or add various procedures or components as appropriate. For example, in alternative configurations, the methods may be performed in an order different than described, and/or various components may be added, omitted, and/or combined. Moreover, features described with respect to certain configurations may be combined in various other configurations, as different aspects and elements of the configurations may be combined in a similar manner. Further, elements therein may be updated as technology evolves, i.e., many elements are examples and do not limit the scope of the disclosure or claims.

Specific details are given in the description to provide a thorough understanding of example configurations, including implementations. However, configurations may be practiced without these specific details, e.g., well-known circuits, processes, algorithms, structures, and techniques have been shown without unnecessary detail in order to avoid obscuring the configurations. This description provides example configurations only, and does not limit the scope, applicability, or configuration of the claims. Rather, the foregoing description of the configurations will provide those skilled in the art with an enabling description for implementing the described techniques. Various changes may be made in the function and arrangement of elements without departing from the spirit or scope of the disclosure.

In sum, it is intended that the foregoing detailed description be regarded as illustrative rather than limiting, and that it be understood that it defines the spirit and scope of the invention. The above examples are to be understood as merely illustrative of the present invention and not as limiting the scope of the invention. After reading the description of the present invention, the skilled person can make various changes or modifications to the present invention, and these equivalent changes and modifications also fall within the scope of the present invention defined by the claims.

Claims

1. The utility model provides a walking buffer of robot is patrolled and examined to rail mounted, its characterized in that, including alloy track (1) and running gear (2), running gear (2) include bottom plate (3), the both ends of bottom plate (3) all are provided with mounting box (4), all be provided with drive wheel mechanism (5) on mounting box (4), the both sides of alloy track (1) be provided with drive wheel mechanism (5) matched with walking passageway (6), bottom plate (3) with be provided with supporting mechanism (7) between alloy track (1), supporting mechanism (7) include pressure wheel support (8), spring (11) and pressure wheel (9), be provided with pressure wheel support (8) on bottom plate (3), the bottom of alloy track (1) is provided with pressure wheel (9), pressure wheel support (8) with pressure wheel (9) cooperation is connected, the both sides of pressure wheel support (8) are provided with installation department (10), installation department (10) all are provided with spring (11), the top of spring (11) with installation department (10) connect, the bottom of spring (11) with bottom board (3) connect.

2. The walking buffer device of robot is patrolled and examined to rail-mounted, according to claim 1, characterized in that, driving wheel mechanism (5) include power device (12), transmission shaft (13) and action wheel (14), power device (12) set up in mounting box (4), the one end of transmission shaft (13) is passed the outer wall of mounting box (4) just with in mounting box (4) power device (12) transmission is connected, the other end of transmission shaft (13) is provided with action wheel (14), action wheel (14) set up in walking passageway (6).

3. The walking buffer device of the track type inspection robot according to claim 2, wherein a first gear (15) is arranged on the transmission shaft (13), a second gear (16) is arranged on a power shaft of the power device (12), and the first gear (15) and the second gear (16) are meshed with each other.

4. The walking buffer device of the rail-type inspection robot according to claim 1, wherein the number of the supporting mechanisms (7) is two, and the two supporting mechanisms (7) are respectively and symmetrically arranged between the bottom plate (3) and the alloy rail (1).

5. The walking buffer device of the rail type inspection robot according to claim 2, wherein the moving wheel (14) is wrapped with rubber.

6. The walking buffer device of robot is patrolled and examined to rail mounted according to claim 1, characterized in that still includes pressure spring axle (17), all be provided with mounting hole (18) on installation department (10), the bottom of pressure spring axle (17) with bottom plate (3) are connected, the top of pressure spring axle (17) is passed in mounting hole (18), pressure spring axle (17) cover is provided with spring (11), lock nut (19) locking is passed through on the top of pressure spring axle (17).

7. The walking buffer device of the rail type inspection robot according to claim 1, wherein the two mounting boxes (4) are arranged in parallel with each other.

8. The walking buffering device for the rail-mounted inspection robot according to claim 1, wherein corresponding threaded holes (20) are formed in the two ends of the bottom plate (3) and the two mounting boxes (4), the mounting boxes (4) are fixedly connected with the bottom plate (3) through bolts, and the bottom ends of the two mounting boxes (4) are respectively in sliding connection with the two ends of the bottom plate (3).

9. The walking buffer device of the track type inspection robot according to claim 1, wherein sliding grooves (21) are formed in the two mounting boxes (4), sliding blocks (22) are arranged at two ends of the bottom plate (3), and the sliding blocks (22) are matched with the sliding grooves (21) in a sliding manner.