CN219685597U - Rail robot - Google Patents

Abstract

The present utility model provides a track robot comprising: robot body, installing support, two supporting wheels, two hold-down assemblies and drive the drive arrangement that the robot body moved on the track. The mounting bracket comprises two mounting vertical plates and a first connecting plate connected with the two mounting vertical plates, and an accommodating space for accommodating the rail is formed between the two mounting vertical plates; the two supporting wheels are symmetrically arranged on the two mounting vertical plates; the two compaction assemblies are respectively arranged on the two mounting vertical plates and comprise a first compaction mounting plate, a second compaction mounting plate, a connecting piece for connecting the first compaction mounting plate and the second compaction mounting plate, an elastic piece positioned between the first compaction mounting plate and the second compaction mounting plate and a compaction wheel which is pivotally connected to the second compaction mounting plate, and the second compaction mounting plate can float up and down relative to the first compaction mounting plate; by applying the technical scheme of the utility model, the problem that the track robot is easy to derail in the prior art can be effectively solved.

Description

Rail robot

Technical Field

The utility model relates to the field of robots, in particular to a track robot.

Background

Along with the intelligent development requirement of the power plant, the inspection robot can replace workers to inspect and predict risks in advance, and the intelligent power plant inspection robot becomes a product with great development potential.

Currently, inspection robots generally include a base, a detection device disposed on the base, a battery, a driving device for driving the base to move, and a guide structure for enabling the base to adapt to a track shape.

During the movement of the inspection robot, a capsizing phenomenon may occur, resulting in derailment of the inspection robot.

Disclosure of Invention

The utility model mainly aims to provide a track robot which solves the problem that the track robot is easy to derail in the prior art.

In order to achieve the above object, the present utility model provides a rail robot including: a robot body; the mounting bracket is pivotally arranged below the robot body and comprises two mounting vertical plates which are oppositely arranged along a preset direction n and a first connecting plate which is connected with the two mounting vertical plates, and an accommodating space for accommodating the rail is formed between the two mounting vertical plates; the two supporting wheels are symmetrically arranged on the two mounting vertical plates, and the axial direction of the supporting wheels is a preset direction n so that the supporting wheels are abutted with the lower wing plates of the track; the two compaction assemblies are respectively arranged on the two mounting vertical plates, each compaction assembly comprises a first compaction mounting plate connected with the corresponding mounting vertical plate, a second compaction mounting plate which is arranged opposite to the corresponding first compaction mounting plate and is positioned above the corresponding first compaction mounting plate, a connecting piece for connecting the corresponding first compaction mounting plate with the corresponding second compaction mounting plate, an elastic piece positioned between the corresponding first compaction mounting plate and the corresponding second compaction mounting plate, and a compaction wheel which is pivotally connected to the corresponding second compaction mounting plate, the corresponding second compaction mounting plate can float up and down relative to the corresponding first compaction mounting plate, and the axis of the compaction wheel extends along the preset direction n so that the compaction wheel is in contact with the lower surface of the upper wing plate of the track; and the driving device drives the robot body to move on the track.

In one embodiment, the pinch roller comprises a roller body and a roller shaft, wherein external threads are arranged on the roller shaft, and a threaded hole which extends along a preset direction n and is matched with the external threads is arranged on the inner side surface of the second pinch mounting plate.

In one embodiment, the connector includes a screw and a nut, the screw is threaded onto the first and second compression mounting plates and is threaded with the nut, and the first and second compression mounting plates are located between the head of the screw and the nut.

In one embodiment, the elastic member is a spring sleeved on the screw.

In one embodiment, the connecting members are a plurality of spaced apart along a direction m perpendicular to the preset direction n, and the springs are a plurality of disposed corresponding to the connecting members.

In one embodiment, the two compression assemblies are symmetrically arranged on the two mounting risers.

In one embodiment, the compression assembly further comprises a second connection plate connected to an end of the first compression mounting plate, the compression assembly being connected to the mounting riser by the second connection plate.

In one embodiment, the support wheel is located inside the mounting riser, and the compression assembly is connected to one side of the mounting riser in a direction m through the second connection plate, wherein the direction m is perpendicular to the preset direction n.

In one embodiment, the mounting bracket, the two support wheels and the two compression assemblies form a set of mounting assemblies, the mounting assemblies being in a plurality of sets spaced apart along a direction m perpendicular to the predetermined direction n.

In one embodiment, the driving device comprises two driving motors for driving two supporting wheels of one group of the mounting assemblies to rotate, and the driving motors are connected to a mounting vertical plate where the supporting wheels driven by the driving motors are located.

By applying the technical scheme of the utility model, when the track robot has a tendency to topple over to one side of the track, the first compression mounting plate of the compression assembly positioned on the other side of the track has a tendency to tilt upwards. Because the pinch roller is in abutment with the upper wing plate of the rail, the elastic piece is compressed once the first pinch mounting plate is tilted upwards, so that the downward pressure applied to the first pinch mounting plate is increased, and the rail robot is prevented from continuing to tilt sideways. The structure can avoid the overturning of the track robot in the moving process (especially in the overbending process), thereby improving the moving reliability and stability of the track robot. In addition, the compressing assembly is simple in structure, few in parts, convenient to assemble and capable of improving assembly efficiency.

In addition to the objects, features and advantages described above, the present utility model has other objects, features and advantages. The present utility model will be described in further detail with reference to the drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model. In the drawings:

fig. 1 shows a schematic front view of an embodiment of an orbital robot according to the utility model;

FIG. 2 shows a partially enlarged schematic structural view of the orbital robot of FIG. 1;

FIG. 3 shows a schematic side view of the orbital robot of FIG. 1;

FIG. 4 shows a partially enlarged schematic structural view of the orbital robot of FIG. 3;

fig. 5 shows a schematic perspective view of the orbital robot of fig. 1;

FIG. 6 shows a partially enlarged schematic structural view of the orbital robot of FIG. 5;

FIG. 7 shows a schematic perspective view of a second hold-down mounting plate of the orbital robot of FIG. 1;

FIG. 8 shows a schematic perspective view of a first hold-down mounting plate of the orbital robot of FIG. 1; and

fig. 9 shows a schematic perspective view of a guide wheel of the orbital robot of fig. 1.

Wherein the above figures include the following reference numerals:

1. a track; 10. a robot body; 20. a mounting bracket; 21. installing a vertical plate; 22. a first connection plate; 40. a driving device; 50. a support wheel; 70. a compression assembly; 71. a first compression mounting plate; 72. a second compression mounting plate; 721. a threaded hole; 73. a connecting piece; 731. a screw; 732. a nut; 74. an elastic member; 75. a pinch roller; 751. a wheel body; 752. a wheel axle; 76. a second connecting plate; 80. and (5) installing the assembly.

Detailed Description

It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other. The utility model will be described in detail below with reference to the drawings in connection with embodiments.

In order that those skilled in the art will better understand the present utility model, a technical solution in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, shall fall within the scope of the present utility model.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present utility model and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the utility model described herein are, for example, capable of operation in other environments. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present utility model. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

As shown in fig. 1 to 6, the orbital robot of the present embodiment includes: the robot comprises a robot body 10, a mounting bracket 20, two supporting wheels 50, two pressing assemblies 70 and a driving device 40. Wherein, the mounting bracket 20 is pivotably disposed below the robot body 10, and the mounting bracket 20 includes two mounting risers 21 oppositely disposed along a preset direction n and a first connection plate 22 connecting the two mounting risers 21, and an accommodating space for accommodating the rail 1 is formed between the two mounting risers 21. The two supporting wheels 50 are symmetrically arranged on the two mounting risers 21, and the axial direction of the supporting wheels 50 is a preset direction n so that the supporting wheels 50 are abutted with the lower wing plates of the track 1. The two pressing assemblies 70 are respectively provided on the two mounting risers 21, the pressing assemblies 70 include a first pressing mounting plate 71 connected to the mounting riser 21, a second pressing mounting plate 72 disposed opposite to the first pressing mounting plate 71 and above the first pressing mounting plate 71, a connecting piece 73 connecting the first pressing mounting plate 71 and the second pressing mounting plate 72, an elastic piece 74 between the first pressing mounting plate 71 and the second pressing mounting plate 72, and a pressing wheel 75 pivotally connected to the second pressing mounting plate 72, the second pressing mounting plate 72 is floatable up and down with respect to the first pressing mounting plate 71, and an axis of the pressing wheel 75 extends in a preset direction n to bring the pressing wheel 75 into contact with a lower surface of an upper wing plate of the rail 1. The driving device 40 drives the robot body 10 to move on the rail 1.

With the technical solution of the present embodiment, when the rail robot has a tendency to tilt toward one side of the rail 1, the first pressing mounting plate 71 of the pressing assembly 70 located at the other side of the rail has a tendency to tilt upward. Since the pinch roller 75 abuts against the upper wing plate of the rail 1, the elastic member 74 is compressed once the first pinch mounting plate 71 is tilted upward, thereby increasing the downward pressure applied to the first pinch mounting plate 71, and further preventing the rail robot from continuing to tilt toward the side. The structure can avoid the overturning of the track robot in the moving process (especially in the overbending process), thereby improving the moving reliability and stability of the track robot. In addition, the compressing assembly 70 has a simple structure, fewer parts, convenient assembly and improved assembly efficiency.

As shown in fig. 3, 6, 7 and 9, in the present embodiment, the pressing wheel 75 includes a wheel body 751 and a wheel shaft 752, an external thread is provided on the wheel shaft 752, and a screw hole 721 extending in a preset direction n and engaged with the external thread is provided on an inner side surface of the second pressing mounting plate 72. The above structure makes it possible to directly screw the axle 752 into the screw hole 721 when the pinch roller 75 is mounted, simplifying the mounting structure, and thus, the assembly efficiency can be further improved.

As shown in fig. 2 to 8, in the present embodiment, the connection member 73 includes a screw 731 and a nut 732, the screw 731 is provided to pass through the first and second pressure mounting plates 71 and 72 and is screwed with the nut 732, and the first and second pressure mounting plates 71 and 72 are located between the head of the screw 731 and the nut 732. The structure is simple, the assembly is convenient, and the cost is low.

As shown in fig. 2, 4 and 6, in the present embodiment, the elastic member 74 is a spring that is sleeved on the screw 731. The structure is simple, so that the assembly is convenient, and the assembly efficiency is improved; on the other hand, the structure of a limit spring is not required to be arranged independently, and the cost is reduced.

As shown in fig. 1 and 2, in the present embodiment, the connection members 73 are a plurality of spaced apart in a direction m perpendicular to the preset direction n, and the springs are a plurality of disposed corresponding to the connection members 73. The above structure enables the first pressing mounting plate 71 and the second pressing mounting plate 72 to be guaranteed to be parallel to each other even in the relative movement process, reduces the occurrence of jamming phenomenon, and guarantees the anti-overturning capability of the track robot.

As shown in fig. 3 and 4, in the present embodiment, two pressing assemblies 70 are symmetrically arranged on two mounting risers 21. The above structure makes the ability of the rail robot to resist overturning to both sides of the rail the same.

As shown in fig. 2, 6 and 8, in the present embodiment, the pressing assembly 70 further includes a second connection plate 76 connected to an end of the first pressing mounting plate 71, and the pressing assembly 70 is connected to the mounting riser 21 through the second connection plate 76. The above structure can promote the reliability of the connection of the first pressing mounting plate 71 and the mounting riser 21. Preferably, in the present embodiment, the second connection plate 76 is connected to the mounting riser 21 by a plurality of screws.

As shown in fig. 2, 6 and 8, in the present embodiment, the supporting wheel 50 is located at the inner side of the mounting riser 21, and the pressing assembly 70 is connected to one side of the mounting riser 21 in a direction m perpendicular to a preset direction n through the second connection plate 76. The above structure can shorten the width (length in the preset direction n) of the mounting bracket 20, thereby reducing the cost.

As shown in fig. 1 and 5, in the present embodiment, the mounting bracket 20, the two supporting wheels 50, and the two pressing members 70 form a set of mounting members 80, and the mounting members 80 are in a plurality of groups spaced apart in a direction m perpendicular to the preset direction n. The structure ensures that the rail robot has stronger anti-overturning capability at all positions along the length direction.

As shown in fig. 1, 3 and 5, in the present embodiment, the driving device 40 includes two driving motors for driving the two supporting wheels 50 of one group of the mounting assemblies 80 to rotate, and the driving motors are connected to the mounting riser 21 where the supporting wheels 50 are driven. The structure is simple and easy to realize.

In this embodiment, the track robot is a patrol robot.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present utility model unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In the description of the present utility model, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present utility model and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present utility model; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (10)

1. A track robot, comprising:

a robot body (10);

the mounting bracket (20) is pivotally arranged below the robot body (10), the mounting bracket (20) comprises two mounting vertical plates (21) which are oppositely arranged along a preset direction n and a first connecting plate (22) which connects the two mounting vertical plates (21), and an accommodating space for accommodating the rail (1) is formed between the two mounting vertical plates (21);

the two supporting wheels (50) are symmetrically arranged on the two mounting vertical plates (21), and the axial direction of the supporting wheels (50) is the preset direction n so that the supporting wheels (50) are abutted with the lower wing plates of the track (1);

two pressing assemblies (70) respectively arranged on the two mounting vertical plates (21), wherein each pressing assembly (70) comprises a first pressing mounting plate (71) connected with the corresponding mounting vertical plate (21), a second pressing mounting plate (72) which is opposite to the corresponding first pressing mounting plate (71) and is positioned above the corresponding first pressing mounting plate (71), a connecting piece (73) for connecting the corresponding first pressing mounting plate (71) with the corresponding second pressing mounting plate (72), an elastic piece (74) positioned between the corresponding first pressing mounting plate (71) and the corresponding second pressing mounting plate (72) and a pressing wheel (75) which is pivotably connected to the corresponding second pressing mounting plate (72), the corresponding second pressing mounting plate (72) can float up and down relative to the corresponding first pressing mounting plate (71), and the axis of each pressing wheel (75) extends along the preset direction n so as to enable the corresponding pressing wheel (75) to be in contact with the upper lower wing plate of the corresponding track (1);

and a driving device (40) for driving the robot body (10) to move on the track (1).

2. The orbital robot according to claim 1, wherein the pinch roller (75) comprises a roller body (751) and a wheel axle (752), the wheel axle (752) being provided with external threads, and the second pinch mounting plate (72) being provided on an inside surface with a threaded hole (721) extending in the preset direction n and cooperating with the external threads.

3. The orbital robot of claim 1, wherein the connector (73) comprises a screw (731) and a nut (732), the screw (731) passing through the first compression mounting plate (71) and the second compression mounting plate (72) and being in threaded engagement with the nut (732), the first compression mounting plate (71) and the second compression mounting plate (72) being located between the head of the screw (731) and the nut (732).

4. A rail robot according to claim 3, characterized in that the elastic element (74) is a spring which is fitted over the screw (731).

5. The orbital robot according to claim 4, wherein the connection member (73) is a plurality of the connection members (73) arranged at intervals in a direction m perpendicular to the preset direction n, and the springs are a plurality of the connection members (73) arranged correspondingly.

6. The orbital robot according to claim 1, characterized in that two of said hold-down assemblies (70) are symmetrically arranged on two of said mounting risers (21).

7. The orbital robot of claim 1, wherein the compression assembly (70) further comprises a second connection plate (76) connected to an end of the first compression mounting plate (71), the compression assembly (70) being connected to the mounting riser (21) by the second connection plate (76).

8. The orbital robot according to claim 7, characterized in that the support wheel (50) is located inside the mounting riser (21), the compression assembly (70) being connected to one side of the mounting riser (21) in a direction m by the second connection plate (76), wherein the direction m is perpendicular to the preset direction n.

9. The orbital robot according to any one of claims 1 to 8, wherein the mounting bracket (20), the two support wheels (50) and the two hold-down assemblies (70) form a set of mounting assemblies (80), the mounting assemblies (80) being in a plurality of groups arranged at intervals in a direction m perpendicular to the preset direction n.

10. The orbital robot according to claim 9, characterized in that said driving means (40) comprise two driving motors driving the rotation of two of said support wheels (50) of one of said sets of mounting assemblies (80), said driving motors being connected to said mounting risers (21) on which said support wheels (50) are driven.