WO2021088685A1 - 轨道行走装置 - Google Patents

轨道行走装置 Download PDF

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Publication number
WO2021088685A1
WO2021088685A1 PCT/CN2020/124060 CN2020124060W WO2021088685A1 WO 2021088685 A1 WO2021088685 A1 WO 2021088685A1 CN 2020124060 W CN2020124060 W CN 2020124060W WO 2021088685 A1 WO2021088685 A1 WO 2021088685A1
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WO
WIPO (PCT)
Prior art keywords
vehicle body
track walking
walking device
wheels
connecting plate
Prior art date
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PCT/CN2020/124060
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English (en)
French (fr)
Inventor
武传标
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京东数科海益信息科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 京东数科海益信息科技有限公司 filed Critical 京东数科海益信息科技有限公司
Priority to US17/772,050 priority Critical patent/US20220402531A1/en
Priority to EP20884539.6A priority patent/EP4035966A4/en
Publication of WO2021088685A1 publication Critical patent/WO2021088685A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
    • B61D15/08—Railway inspection trolleys
    • B61D15/12—Railway inspection trolleys power propelled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C9/00—Locomotives or motor railcars characterised by the type of transmission system used; Transmission systems specially adapted for locomotives or motor railcars
    • B61C9/38—Transmission systems in or for locomotives or motor railcars with electric motor propulsion
    • B61C9/52—Transmission systems in or for locomotives or motor railcars with electric motor propulsion with transmission shafts at an angle to the driving axles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
    • B61F1/00—Underframes
    • B61F1/08—Details
    • B61F1/14—Attaching or supporting vehicle body-structure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
    • B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
    • B61K9/08—Measuring installations for surveying permanent way

Definitions

  • the present disclosure relates to the technical field of rail traveling machinery, and in particular to a rail traveling device.
  • the traditional inspection method is that the staff carry the inspection equipment manually to carry out the walk inspection. This method requires a long inspection time, but also needs to be equipped with more inspection personnel, and the single measurement data is small, and the error is large. , The efficiency is low; moreover, the traditional inspection method requires workers to walk on the track, which poses a serious safety hazard.
  • the intelligent inspection equipment is equipped with wheels. Some inspection equipment needs to be pushed by people, and some inspection equipment automatically walks by carrying batteries.
  • the track spacing of ordinary railways, subways, and high-speed railways is different. Although the standard gauge is 1435mm, the actual track spacing will deviate from the standard gauge.
  • the wheel spacing of existing inspection equipment is fixed, which is not convenient to adjust; some wheel spacing is too small, and the car body will shake from side to side during walking; in order to prevent the car body from shaking side to side, some inspection equipment is equipped with rails Clamping device, but the railway road conditions are more complicated, there are various intersections and turnouts, the installation of the track clamping device will make the passability of the inspection equipment worse.
  • the embodiment of the present disclosure proposes a track walking device, including:
  • Two sets of wheels are arranged on both sides of the car body, and the wheels are provided with rims;
  • the connecting device includes an elastic member that deforms under the action of the weight of the car body to make the wheel edges of the two sets of wheels tightly contact the sides of the rail.
  • the direction of the force applied by the elastic element to the wheel is a direction inclined from the vehicle body to a direction away from the symmetry plane between the two rails.
  • the angle between the direction of the force and the plane of symmetry is 30°-60°.
  • the direction of the force applied to the corresponding wheels by the two elastic members corresponding to the two wheels arranged symmetrically about the plane of symmetry is symmetric about the plane of symmetry.
  • each wheel is connected to the vehicle body through an independent connecting device.
  • each independent connecting device includes a plurality of elastic members, and the plurality of elastic members are arranged in parallel.
  • the connecting device further includes a first connecting plate and a second connecting plate, the first connecting plate is connected to the wheel, the second connecting plate is connected to the bottom of the vehicle body, and the elastic member is provided on the first connecting plate and the second connecting plate. Between the connection plates.
  • the connecting device further includes a guiding device for guiding the direction of deformation of the elastic member.
  • the guiding device includes a guiding shaft, the elastic member is sleeved on the outer circumference of the guiding shaft, and the guiding shaft is arranged obliquely with respect to the symmetry plane between the two rails.
  • the first end of the guide shaft is connected to the first connecting plate, the second connecting plate is provided with a slideway, and the second end of the guide shaft is inserted into the slideway.
  • the guide device further includes a sleeve, the sleeve is disposed in the slideway, and the second end of the guide shaft is inserted into the sleeve.
  • an opening is provided at one end of the slideway away from the first connecting plate, and the guiding device further includes a flexible pad installed at the end of the second end of the guiding shaft.
  • the second connecting plate is provided with a receiving cavity, and the receiving cavity communicates with the slideway.
  • the first connecting plate includes a vertical plate arranged vertically and a horizontal plate arranged horizontally.
  • the vertical plate is connected to the horizontal plate, the vertical plate is connected to the wheel, and the horizontal plate is connected to the guide shaft.
  • the horizontal plate includes a mounting portion, and the mounting portion includes a surface parallel to the end surface of the guide shaft.
  • the track walking device further includes a driving device installed on the first connecting plate and drivingly connected with the wheels, and the driving device is arranged in parallel with the track.
  • the track walking device further includes an anti-collision bar, and the anti-collision bar is installed on the front side and/or the rear side of the vehicle body.
  • the track walking device further includes a sensor installed on the vehicle body for detecting the distance between the obstacle and the vehicle body.
  • the track walking device further includes a monitoring device installed on the vehicle body for monitoring the surrounding environment of the vehicle body.
  • the track walking device further includes a detection device, which is installed on the vehicle body to detect the connection state of the vehicle body, the connecting device, and the components on the wheels.
  • one end of the connecting device in the embodiment of the present disclosure is connected to the bottom of the car body.
  • the wheel edges of the wheel and the side of the track can be tightly attached to each other to prevent the car body from shaking from side to side.
  • the connecting device includes an elastic member, which can be deformed to adjust the relative position between the wheel and the car body, and then adjust the distance between the two sets of wheels on the left and right sides. Improve the adaptability to track pitch changes.
  • Fig. 1 is a schematic structural diagram of an embodiment of the track walking device of the present disclosure.
  • Fig. 2 is a schematic diagram of the connection structure of a wheel, a connecting device and a driving device in an embodiment of the track walking device of the present disclosure.
  • Fig. 3 is a top view of Fig. 2.
  • Fig. 4 is a cross-sectional view of the A-A section in Fig. 3.
  • Fig. 5 is a schematic diagram of the connection structure of another wheel and the connection device in an embodiment of the track walking device of the present disclosure.
  • Fig. 6 is a top view of Fig. 5.
  • Fig. 7 is a cross-sectional view of the B-B section in Fig. 6.
  • the track walking device includes a car body 20, a connecting device 40, and two sets of wheels 30.
  • the two sets of wheels 30 are respectively arranged on the left and right sides of the car body 20.
  • the wheels 30 are provided with rims 31, and the connecting device One end of 40 is connected to the bottom of the car body 20, and the other end of the connecting device 40 is connected to the wheel 30.
  • the connecting device 40 includes an elastic member 41.
  • the elastic member 41 deforms under the gravity of the car body 20 to make the two sets of wheels 30
  • the wheel rim 31 is in close contact with the side surface of the rail 10.
  • one end of the connecting device 40 is connected to the bottom of the car body 20.
  • the rim 31 of the wheel 30 and the side surface of the rail 10 can be tightly attached to each other to prevent the car body 20 from happening.
  • the connecting device 40 includes an elastic member 41, which can be deformed to adjust the relative position between the wheel 30 and the car body 20, thereby adjusting the left and right sides
  • the spacing between the two sets of wheels 30 improves the adaptability to changes in track spacing.
  • the track running device includes a track clamping device for clamping the wheel and the track.
  • the track clamping device can maintain the running stability of the track running device to a certain extent, it cannot adapt to the change of the track spacing. When the track spacing changes, the track clamping device will fail or the track walking device cannot pass normally.
  • the track running device automatically adjusts the distance between the two sets of wheels 30 on the left and right sides through the deformation of the elastic member 41, so as to adapt to the change of the track distance and reduce the influence on the passability of the track running device.
  • the vehicle body 20 has a rectangular shape as a whole, the top surface and the bottom surface are both rectangular, the four side surfaces are all trapezoid shapes, and the area of the top surface is smaller than the area of the bottom surface.
  • the vehicle body 20 may also have other shapes such as a cube or a triangular prism.
  • the vehicle body 20 includes a vehicle body and a floor 21.
  • the floor 21 is provided at the bottom of the vehicle body and the floor 21 is used to support the vehicle body.
  • a wheel rim 31 is provided at one end of the wheel 30 close to the inner side of the rail 10, and the wheel rim 31 extends outward along the radial direction of the wheel 30.
  • the wheel 30 also includes a protective cover 32 for protecting the internal parts of the wheel 30.
  • the direction of the force applied by the elastic member 41 to the wheel 30 is a direction inclined from the vehicle body 20 to a direction away from the plane of symmetry between the two rails 10.
  • the symmetry plane between the two rails 10 is a vertical plane and is parallel to the extending direction of the rails.
  • the force applied by the elastic member 41 in the tilt direction of the wheel 30 can be decomposed into a vertical downward component force and a horizontal component force directed from the inner side of the rail 10 to the outer side of the rail 10, and the vertical downward component force can ensure the wheel 30
  • the outer peripheral surface of the rail is in contact with the top surface of the rail 10, and the horizontal component of the force from the inner side of the rail 10 to the outer side of the rail 10 can make the wheel rim 31 and the inner side of the rail 10 close to each other to ensure the smoothness of the rail walking device.
  • the angle between the direction of the force applied by the elastic member 41 to the wheel 30 and the plane of symmetry is 30°-60°, such as 30°, 45° or 60°.
  • the track walking device includes four wheels 30, two wheels 30 are respectively arranged on the left and right sides of the car body 20, and the wheels 30 on both sides are arranged symmetrically about the above-mentioned symmetry plane.
  • the number of wheels 30 and the connecting devices 40 are the same, and each wheel 30 is connected to the vehicle body 20 through an independent connecting device 40, which is beneficial to ensure effective contact between at least a part of the wheels 30 and the rail 10.
  • the total number of wheels 30 may also be two, three or more.
  • the number of wheels 30 in each group may be one or more, and the number of wheels 30 in each group may be the same or different.
  • Each independent connecting device 40 includes a plurality of elastic members 41, and the plurality of elastic members 41 are arranged in parallel. As shown in FIG. 1, each independent connecting device 40 includes four elastic members 41. In other embodiments, each independent connecting device 40 may include one, two or more elastic members 41.
  • the direction of force applied to the corresponding wheels 30 by the two elastic members 41 corresponding to the two wheels 30 arranged symmetrically with respect to the above-mentioned symmetry plane is symmetrical with respect to the symmetry plane. In this way, the wheels 30 on both sides can be in close contact with the sides of the rail 10 outwards.
  • the connecting device 40 further includes a first connecting plate 42 and a second connecting plate 43.
  • the first connecting plate 42 is connected to the wheel 30, and the second connecting plate 43 is connected to the bottom of the vehicle body 20, elastic
  • the piece 41 is arranged between the first connecting plate 42 and the second connecting plate 43.
  • the second connecting plate 43 is connected to the bottom plate 21 of the vehicle body 20, and may also be integrally formed with the bottom plate 21.
  • the connecting device 40 further includes a guide device for guiding the deformation direction of the elastic member 41.
  • a guide device for guiding the deformation direction of the elastic member 41.
  • the guide device includes a guide shaft 44, the elastic member 41 is sleeved on the outer circumference of the guide shaft 44, and the guide shaft 44 is arranged obliquely with respect to the symmetry plane between the two rails 10.
  • the inclination direction of the guide shaft 44 is inclined from the vehicle body 20 in a direction away from the above-mentioned symmetry plane, that is, inclined to the outside of the rail 10.
  • the first end of the guide shaft 44 is connected to the first connecting plate 42, the second connecting plate 43 is provided with a slideway, and the second end of the guide shaft 44 is inserted into the slideway.
  • the guiding device further includes a sleeve 45, the sleeve 45 is arranged in the slideway, and the second end of the guide shaft 44 is inserted into the sleeve 45.
  • the guide device further includes a flexible pad 46 installed on the second end of the guide shaft 44 Ends. By providing the flexible pad 46, it is possible to avoid collision with other components after the guide shaft 44 passes through the slideway, and effectively protect the guide shaft 44.
  • the second connecting plate 43 is provided with a receiving cavity 431, and the receiving cavity 431 communicates with the slideway.
  • the guide shaft 44 can be prevented from protruding out of the second connecting plate 43, and the guide shaft 44 can be prevented from colliding with the vehicle body 20.
  • the cross section of the accommodating cavity 431 is triangular, which can ensure that the upper surface of the second connecting plate 43 is still a horizontal plane.
  • the second connecting plate 43 is provided with a groove, and the inner space of the groove is the receiving cavity 431.
  • the first connecting plate 42 includes a vertical plate 422 arranged vertically and a horizontal plate 421 arranged horizontally.
  • the horizontal plate 421 is parallel to the second connecting plate 43, the vertical plate 422 is connected to the horizontal plate 421, and the vertical plate 422 is connected to the wheel 30. Connected, the horizontal plate 421 is connected with the guide shaft 44.
  • the horizontal plate 421 includes a mounting portion 423, and the mounting portion 423 includes a surface parallel to the end surface of the guide shaft 44.
  • the mounting portion 423 has a triangular cross-section.
  • the track walking device further includes a driving device 50 installed on the first connecting plate 42 and drivingly connected with the wheels 30, and the driving device 50 is arranged in parallel with the rail 10. This arrangement can prevent the drive device 50 from occupying the space between the two rails 10.
  • each set of wheels 30 a part of the wheels 30 are driving wheels, and a part of the wheels 30 are driven wheels, and the driving device 50 is drivingly connected with the driving wheels.
  • the wheel 30 as the driving wheel is connected to the connecting device 40 and the driving device 50.
  • the driving device 50 includes a motor 51 and a reducer 52, and the output shaft 521 of the reducer 52 It is connected with the connecting flange 53, and a first pressing plate 54 is provided on the outer side of the connecting flange 53.
  • FIG. 5 a schematic view of the structure of the wheel 30 as a driven wheel connected to the connecting device 40.
  • the first connecting plate 42 of the connecting device 40 is connected to the rotating shaft 55, and the rotating shaft 55 is connected to the wheel 30 through the bearing 56.
  • the outer side of the wheel 30 is provided with a protective cover 32, and the inner side of the wheel 30 is provided with a second pressing plate 57.
  • All the wheels 30 may be driving wheels, or all the wheels 30 are driven wheels, and the track walking device further includes a driving device, and the driving device drives the vehicle body 20 to move.
  • the track walking device also includes an anti-collision bar 60, which is installed on the front and/or rear side of the car body 20 to prevent the car body 20 from being impacted by external forces and effectively protect the car body 20.
  • the track walking device further includes a sensor 70 installed on the vehicle body 20 for detecting the distance between the obstacle and the vehicle body 20.
  • the sensor 70 may send an alarm signal to the controller provided in the vehicle body 20, and the controller may send a signal to stop the driving device 50 to stop the operation of the driving device 50. Stop the track walking device to avoid collision with obstacles.
  • the sensor 70 can be a laser sensor, which is more sensitive and faster in detection.
  • the track walking device also includes a monitoring device 80 installed on the vehicle body 20 for monitoring the surrounding environment of the vehicle body 20.
  • the monitoring device 80 can detect whether there are people or livestock around the vehicle body 20, avoid the collision of the track walking device with the people or livestock, avoid causing safety accidents, and improve walking safety.
  • the track running device further includes a detection device 90 which is installed on the vehicle body 20 to detect the connection state of the vehicle body 20, the connection device 40 and the various components on the wheels 30. By providing the detection device 90, the connection status of each component can be detected and monitored in real time, so as to avoid the failure of the connection of each component and the occurrence of safety accidents.
  • a detection device 90 which is installed on the vehicle body 20 to detect the connection state of the vehicle body 20, the connection device 40 and the various components on the wheels 30.
  • the car body 20 can also be provided with a handrail 100, an indicator light 110, a display screen 120, a start switch 130, and an emergency stop button 140.
  • the handrail 100 is convenient for the consignment of the track walking device, and the indicator light 110 can indicate whether the track walking device is in a running state.
  • the display screen 120 can display various data and parameters related to the operation.
  • the start switch 130 is used to turn on the track walking device. When an emergency occurs, the emergency stop button 140 can be operated to realize emergency braking.
  • the vehicle body 20 can also be provided with a power supply device, a drive control device, a communication device, and a data processing device.
  • the power supply device provides electric power for the walking of the vehicle body 20.
  • the drive control device is used to control the start and stop of the drive device 50.
  • the communication device can be used for Connect with the signal of the external control terminal to send the walking state and related data of the track walking device to the external control terminal or receive instructions sent by the external control terminal.
  • the data processing device can be used to process the sensor 70, the monitoring device 80 and the detection device 90 Wait for the measurement data of the monitoring components so that the controller can make corresponding control instructions.
  • the various embodiments of the track walking device provided by the present disclosure can be pressed on the track by its own weight, and suitable elastic parts can be selected to adjust to the variation range of different track spacing; it will not shake left and right during the walking process, which is convenient for detection It can make intelligent inspections without leaving the road, and has high passability, suitable for various track scenes.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Rehabilitation Tools (AREA)

Abstract

一种轨道行走装置，包括车体(20)、连接装置(40)和两组车轮(30)，两组车轮(30)分别设置在车体(20)的两侧，车轮(30)包括与轨道(10)配合的轮边(31)，连接装置(40)的一端连接在车体(20)的底部，连接装置(40)的另一端与车轮(30)连接，连接装置(40)包括弹性件(41)，弹性件(41)在车体(20)的重力作用下发生变形以调节两组车轮(30)的轮边(31)之间的间距。该轨道行走装置在车体(20)的重力作用下，可使车轮(30)的轮边(31)与轨道(10)的侧面相互贴紧，防止车体(20)发生左右晃动；同时，连接装置(40)包括弹性件(41)，能够适应两条轨道(10)之间的间距变化。

Description

轨道行走装置
本申请是以中国申请号为201911068297.4，申请日为2019年11月5日的申请为基础，并主张其优先权，该中国申请的公开内容在此作为整体引入本申请中。
技术领域
本公开涉及轨道行走机械技术领域，尤其涉及一种轨道行走装置。
背景技术
近些年，铁路行业发展迅猛，随之而来的是铁路越来越长，铁路轨道巡检的工作量也越来越大。传统的巡检方式是工作人员通过人工携带巡检设备进行徒步巡检，这种方式需要占用较长的巡检时间，还需要配置较多的巡检人员，并且单次测量数据少，误差大，效率低；而且，传统的巡检方式需要工人在轨道上行走，安全隐患大。
目前已有一些公司在研发铁路或地铁上的智能巡检设备，智能巡检设备上安装有车轮，有些巡检设备需要通过人推着走，有些巡检设备通过携带电池自动行走。普通铁路、地铁、高铁的轨道间距是不一样的，虽然标准轨距是1435mm，但实际使用的轨道的间距都会与标准轨距有所偏差。目前已有的巡检设备的车轮间距都是固定的，不方便调整；有些车轮间距偏小，行走的过程中车体会发生左右晃动；为防止车体左右晃动，有些巡检设备上安装有轨道夹紧装置，可是铁路道路状况比较复杂，有各种交叉路口和道岔，设置轨道夹紧装置后会使巡检设备的通过性变差。
需要说明的是，公开于本公开背景技术部分的信息仅仅旨在增加对本公开的总体背景的理解，而不应当被视为承认或以任何形式暗示该信息构成已为本领域技术人员所公知的现有技术。
发明内容
本公开实施例提出一种轨道行走装置，包括：
车体；
两组车轮，分别设置在车体的两侧，车轮设有轮边；和
连接装置，一端连接在车体的底部，另一端与车轮连接，连接装置包括弹性件，弹性件在车体的重力作用下发生变形以使两组车轮的轮边与轨道的侧面贴紧。
在一些实施例中，弹性件施加于车轮的作用力方向为自车体向远离两条轨道之间的对称面的方向倾斜的方向。
在一些实施例中，作用力的方向与对称面之间的夹角为30°～60°。
在一些实施例中，关于对称面对称布置的两个车轮所对应的两个弹性件所施加于对应车轮的作用力方向关于对称面对称。
在一些实施例中，每个车轮分别通过独立的连接装置与车体连接。
在一些实施例中，每个独立的连接装置包括多个弹性件，多个弹性件平行布置。
在一些实施例中，连接装置还包括第一连接板和第二连接板，第一连接板与车轮连接，第二连接板连接在车体的底部，弹性件设置在第一连接板和第二连接板之间。
在一些实施例中，连接装置还包括导向装置，导向装置用于对弹性件的变形方向进行导向。
在一些实施例中，导向装置包括导向轴，弹性件套设在导向轴的外周，导向轴相对于两条轨道之间的对称面倾斜布置。
在一些实施例中，导向轴的第一端与第一连接板连接，第二连接板设有滑道，导向轴的第二端插入滑道内。
在一些实施例中，导向装置还包括套筒，套筒设置在滑道内，导向轴的第二端插入套筒中。
在一些实施例中，滑道的远离第一连接板的一端设有开口，导向装置还包括柔性垫，柔性垫安装在导向轴的第二端的端部。
在一些实施例中，第二连接板设有容纳腔，容纳腔与滑道相通。
在一些实施例中，第一连接板包括竖直设置的竖直板和水平设置的水平板，竖直板与水平板连接，竖直板与车轮连接，水平板与导向轴连接。
在一些实施例中，水平板包括安装部，安装部包括与导向轴的端面相互平行的表面。
在一些实施例中，轨道行走装置还包括驱动装置，驱动装置安装在第一连接板上并与车轮驱动连接，驱动装置与轨道平行设置。
在一些实施例中，轨道行走装置还包括防撞条，防撞条安装在车体的前侧和/或后侧。
在一些实施例中，轨道行走装置还包括传感器，传感器安装在车体上用于检测障碍物与车体之间的距离。
在一些实施例中，轨道行走装置还包括监控装置，监控装置安装在车体上用于监控车体的周围环境。
在一些实施例中，轨道行走装置还包括检测装置，检测装置安装在车体上用于检测车体、连接装置和车轮上各部件的连接状态。
基于上述技术方案，本公开实施例中连接装置的一端连接在车体的底部，在车体的重力作用下，可使车轮的轮边与轨道的侧面相互贴紧，防止车体发生左右晃动，提高轨道行走装置在行走过程中的平稳性；同时，连接装置包括弹性件，弹性件可以发生变形以调节车轮与车体之间的相对位置，进而调节左右两侧两组车轮之间的间距，提高对轨道间距变化的适应性。
通过以下参照附图对本公开的示例性实施例的详细描述，本公开的其它特征及其优点将会变得清楚。
附图说明
为了更清楚地说明本公开实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本公开的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。
图1为本公开轨道行走装置一个实施例的结构示意图。
图2为本公开轨道行走装置一个实施例中一个车轮、连接装置和驱动装置的连接结构示意图。
图3为图2的俯视图。
图4为图3中A-A截面的剖视图。
图5为本公开轨道行走装置一个实施例中另一个车轮和连接装置的连接结构示意图。
图6为图5的俯视图。
图7为图6中B-B截面的剖视图。
具体实施方式
下面将结合本公开实施例中的附图，对实施例中的技术方案进行清楚、完整地描述。显然，所描述的实施例仅仅是本公开的一部分实施例，而不是全部的实施例。基 于本公开的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
在本公开的描述中，需要理解的是，术语“中心”、“横向”、“纵向”、“前”、“后”、“左”、“右”、“上”、“下”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开保护范围的限制。
参考图1～7所示，轨道行走装置包括车体20、连接装置40和两组车轮30，两组车轮30分别设置在车体20的左右两侧，车轮30设有轮边31，连接装置40的一端连接在车体20的底部，连接装置40的另一端与车轮30连接，连接装置40包括弹性件41，弹性件41在车体20的重力作用下发生变形以使两组车轮30的轮边31与轨道10的侧面贴紧。
在上述实施例中，连接装置40的一端连接在车体20的底部，在车体20的重力作用下，可使车轮30的轮边31与轨道10的侧面相互贴紧，防止车体20发生左右晃动，提高轨道行走装置在行走过程中的平稳性；同时，连接装置40包括弹性件41，弹性件41可以发生变形以调节车轮30与车体20之间的相对位置，进而调节左右两侧两组车轮30之间的间距，提高对轨道间距变化的适应性。
在相关技术中，轨道行走装置包括用于将车轮与轨道夹紧的轨道夹紧装置，虽然轨道夹紧装置能够在一定程度上保持轨道行走装置的行走平稳性，但是无法适应轨道间距的变化，在轨道间距发生变化时，轨道夹紧装置会失效或者使轨道行走装置无法正常通过。而在本申请实施例中，轨道行走装置通过弹性件41的变形自动调节左右两侧两组车轮30之间的间距，从而适应轨道间距的变化，减小对轨道行走装置的通过性的影响。
车体20的整体呈四方体形状，顶面和底面均呈长方形，四个侧面均为梯形形状，顶面的面积小于底面的面积。在其他实施例中，车体20也可以为正方体、三棱柱等其他形状。
车体20包括车体本体和底板21，底板21设置在车体本体的底部，底板21用于支撑车体本体。
车轮30的靠近轨道10内侧的一端设有轮边31，轮边31沿车轮30的径向向外延伸。车轮30还包括防护盖板32，用于防护车轮30的内部零件。
弹性件41施加于车轮30的作用力方向为自车体20向远离两条轨道10之间的对称面的方向倾斜的方向。两条轨道10之间的对称面为竖直面，且与轨道延伸方向平行。弹性件41施加于车轮30的倾斜方向的作用力可以分解为竖直向下的分力和从轨道10的内侧指向轨道10的外侧的水平分力，竖直向下的分力可以保证车轮30的外周面与轨道10的顶面接触，从轨道10的内侧指向轨道10的外侧的水平分力则可以使轮边31与轨道10的内侧面相互贴紧，以保证轨道行走装置行走的平稳性，防止车体20发生左右晃动，同时适应轨道间距的变化。
弹性件41施加于车轮30的作用力的方向与对称面之间的夹角为30°～60°，比如30°、45°或60°。
如图1所示，轨道行走装置包括四个车轮30，车体20的左侧和右侧分别设置两个车轮30，两侧的车轮30关于上述对称面左右对称布置。车轮30与连接装置40的数量相同，每个车轮30分别通过独立的连接装置40与车体20连接，这样有利于保证至少一部分车轮30与轨道10的有效接触。
在其他实施例中，车轮30的总数量也可以为两个、三个或更多个。每组车轮30的数量可以为一个或多个，每组车轮30的数量可以相同，也可以不同。
每个独立的连接装置40包括多个弹性件41，多个弹性件41平行布置。如图1所示，每个独立的连接装置40包括四个弹性件41。在其他实施例中，每个独立的连接装置40可以包括一个、两个或更多个弹性件41。
关于上述对称面对称布置的两个车轮30所对应的两个弹性件41所施加于对应车轮30的作用力方向关于对称面对称。这样可以使两侧的车轮30分别向外与轨道10的侧面贴紧。
如图2和图5所示，连接装置40还包括第一连接板42和第二连接板43，第一连接板42与车轮30连接，第二连接板43连接在车体20的底部，弹性件41设置在第一连接板42和第二连接板43之间。
第二连接板43与车体20的底板21连接，也可以与底板21一体成型。
连接装置40还包括导向装置，导向装置用于对弹性件41的变形方向进行导向。通过设置导向装置，可以对弹性件41进行支撑和导向，提高对车轮30的挤压作用。
导向装置的具体结构可以有多种选择。如图2～7所示，导向装置包括导向轴44，弹性件41套设在导向轴44的外周，导向轴44相对于两条轨道10之间的对称面倾斜布置。导向轴44的倾斜方向为自车体20向远离上述对称面的方向倾斜，即向轨道10 的外侧倾斜。
如图4所示，导向轴44的第一端与第一连接板42连接，第二连接板43设有滑道，导向轴44的第二端插入滑道内。
导向装置还包括套筒45，套筒45设置在滑道内，导向轴44的第二端插入套筒45中。通过设置套筒45，可以有效保证导向轴44在套筒45内的平稳滑动。
进一步地，滑道的远离第一连接板42的一端设有开口，即滑道的两端均为敞口设置，导向装置还包括柔性垫46，柔性垫46安装在导向轴44的第二端的端部。通过设置柔性垫46，可以在导向轴44穿出滑道后避免与其他部件发生碰撞，有效保护导向轴44。
第二连接板43设有容纳腔431，容纳腔431与滑道相通。通过设置容纳腔431，可以避免导向轴44伸出第二连接板43之外，防止导向轴44与车体20发生碰撞。容纳腔431的截面呈三角形，这样可以保证第二连接板43的上表面仍为水平面。第二连接板43上设有凹槽，凹槽的内部空间即为容纳腔431。
第一连接板42包括竖直设置的竖直板422和水平设置的水平板421，水平板421与第二连接板43平行，竖直板422与水平板421连接，竖直板422与车轮30连接，水平板421与导向轴44连接。
水平板421包括安装部423，安装部423包括与导向轴44的端面相互平行的表面。安装部423的截面呈三角形，通过设置安装部423，避免导向轴44与水平板421的连接。
轨道行走装置还包括驱动装置50，驱动装置50安装在第一连接板42上并与车轮30驱动连接，驱动装置50与轨道10平行设置。这样设置可以避免驱动装置50占用两条轨道10之间的空间。
每组车轮30中的一部分车轮30为主动轮，一部分车轮30为从动轮，驱动装置50与主动轮驱动连接。
如图2、图3和图4所示，为作为主动轮的车轮30与连接装置40和驱动装置50连接的结构示意图，驱动装置50包括电机51和减速机52，减速机52的输出轴521与连接法兰53连接，连接法兰53的外侧设有第一压板54。
如图5、图6和图7所示，为作为从动轮的车轮30与连接装置40连接的结构示意图，连接装置40的第一连接板42与转轴55连接，转轴55通过轴承56与车轮30连接，车轮30的外侧设有防护盖板32，车轮30的内侧设有第二压板57。
全部车轮30可以均为主动轮，或者全部车轮30均为从动轮，轨道行走装置还包括驱动设备，驱动设备驱动车体20运动。
轨道行走装置还包括防撞条60，防撞条60安装在车体20的前侧和/或后侧，防止车体20受到外力碰撞，有效保护车体20。
轨道行走装置还包括传感器70，传感器70安装在车体20上用于检测障碍物与车体20之间的距离。在前方障碍物与车体20之间的距离小于预设值时，传感器70可以向设置于车体20内的控制器发送警报信号，控制器可以做出使驱动装置50停止运行的信号，以使轨道行走装置停止行走，避免与障碍物发生碰撞。
传感器70可以采用激光传感器，检测更加灵敏和快速。
轨道行走装置还包括监控装置80，监控装置80安装在车体20上用于监控车体20的周围环境。监控装置80可以检测车体20的周围是否出现人或牲畜，避免轨道行走装置与人或牲畜发生碰撞，避免造成安全事故，提高行走安全性。
轨道行走装置还包括检测装置90，检测装置90安装在车体20上用于检测车体20、连接装置40和车轮30上各部件的连接状态。通过设置检测装置90，可以对各部件的连接状态进行实时检测和监控，避免各部件连接失效而发生安全事故。
车体20上还可以设有扶手100、指示灯110、显示屏120、启动开关130和急停按钮140，扶手100便于轨道行走装置的托运，指示灯110可以指示轨道行走装置是否处于行走状态，显示屏120可以显示与运行相关的各类数据和参数，启动开关130用于开启轨道行走装置，在遇到紧急情况时可以操作急停按钮140，实现紧急制动。
车体20内还可以设置电源装置、驱动控制装置、通信装置和数据处理装置，电源装置为车体20的行走提供电动力，驱动控制装置用于控制驱动装置50的启停，通信装置可用于与外界控制端的信号连通，以将轨道行走装置的行走状态及相关数据发送给外界控制端或者接收外界控制端所发送的指令，数据处理装置可以用于处理传感器70、监控装置80和检测装置90等监测部件的测量数据，以使控制器能够做出相应控制指令。
本公开提供的轨道行走装置的各个实施例可以依靠自身重量压紧在轨道上，可选择合适的弹性件来调整适应不同轨道间距的变化范围；在行走的过程中不会左右晃动，方便检测，能做到人不下道，智能巡检；而且通过性高，适合各种轨道场景。
最后应当说明的是：以上实施例仅用以说明本公开的技术方案而非对其限制；尽管参照较佳实施例对本公开进行了详细的说明，所属领域的普通技术人员应当理解： 在不脱离本公开原理的前提下，依然可以对本公开的具体实施方式进行修改或者对部分技术特征进行等同替换，这些修改和等同替换均应涵盖在本公开请求保护的技术方案范围当中。

Claims (20)

  1. 一种轨道行走装置，包括：
    车体(20)；
    两组车轮(30)，分别设置在所述车体(20)的两侧，所述车轮(30)包括与轨道(10)配合的轮边(31)；和
    连接装置(40)，一端连接在所述车体(20)的底部，另一端与所述车轮(30)连接，所述连接装置(40)包括弹性件(41)，所述弹性件(41)在所述车体(20)的重力作用下发生变形以调节两组所述车轮(30)的所述轮边(31)之间的间距。
  2. 根据权利要求1所述的轨道行走装置，其中，所述弹性件(41)施加于所述车轮(30)的作用力方向为自所述车体(20)向远离两条所述轨道(10)之间的对称面的方向倾斜的方向。
  3. 根据权利要求2所述的轨道行走装置，其中，所述作用力的方向与所述对称面之间的夹角为30°～60°。
  4. 根据权利要求2所述的轨道行走装置，其中，关于所述对称面对称布置的两个所述车轮(30)所对应的两个所述弹性件(41)所施加于对应所述车轮(30)的作用力方向关于所述对称面对称。
  5. 根据权利要求1所述的轨道行走装置，其中，每个所述车轮(30)分别通过独立的所述连接装置(40)与所述车体(20)连接。
  6. 根据权利要求1所述的轨道行走装置，其中，每个独立的所述连接装置(40)包括多个所述弹性件(41)，多个所述弹性件(41)平行布置。
  7. 根据权利要求1所述的轨道行走装置，其中，所述连接装置(40)还包括第一连接板(42)和第二连接板(43)，所述第一连接板(42)与所述车轮(30)连接，所述第二连接板(43)连接在所述车体(20)的底部，所述弹性件(41)设置在所述 第一连接板(42)和所述第二连接板(43)之间。
  8. 根据权利要求7所述的轨道行走装置，其中，所述连接装置(40)还包括导向装置，所述导向装置用于对所述弹性件(41)的变形方向进行导向。
  9. 根据权利要求8所述的轨道行走装置，其中，所述导向装置包括导向轴(44)，所述弹性件(41)套设在所述导向轴(44)的外周，所述导向轴(44)相对于两条所述轨道(10)之间的对称面倾斜布置。
  10. 根据权利要求9所述的轨道行走装置，其中，所述导向轴(44)的第一端与所述第一连接板(42)连接，所述第二连接板(43)设有滑道，所述导向轴(44)的第二端插入所述滑道内。
  11. 根据权利要求10所述的轨道行走装置，其中，所述导向装置还包括套筒(45)，所述套筒(45)设置在所述滑道内，所述导向轴(44)的第二端插入所述套筒(45)中。
  12. 根据权利要求10所述的轨道行走装置，其中，所述滑道的远离所述第一连接板(42)的一端设有开口，所述导向装置还包括柔性垫(46)，所述柔性垫(46)安装在所述导向轴(44)的第二端的端部。
  13. 根据权利要求10所述的轨道行走装置，其中，所述第二连接板(43)设有容纳腔(431)，所述容纳腔(431)与所述滑道相通。
  14. 根据权利要求9所述的轨道行走装置，其中，所述第一连接板(42)包括竖直设置的竖直板(422)和水平设置的水平板(421)，所述竖直板(422)与所述水平板(421)连接，所述竖直板(422)与所述车轮(30)连接，所述水平板(421)与所述导向轴(44)连接。
  15. 根据权利要求14所述的轨道行走装置，其中，所述水平板(421)包括安装 部(423)，所述安装部(423)包括与所述导向轴(44)的端面相互平行的表面。
  16. 根据权利要求7所述的轨道行走装置，还包括驱动装置(50)，所述驱动装置(50)安装在所述第一连接板(42)上并与所述车轮(30)驱动连接，所述驱动装置(50)与所述轨道(10)平行设置。
  17. 根据权利要求1所述的轨道行走装置，还包括防撞条(60)，所述防撞条(60)安装在所述车体(20)的前侧和/或后侧。
  18. 根据权利要求1所述的轨道行走装置，还包括传感器(70)，所述传感器(70)安装在所述车体(20)上用于检测障碍物与所述车体(20)之间的距离。
  19. 根据权利要求1所述的轨道行走装置，还包括监控装置(80)，所述监控装置(80)安装在所述车体(20)上用于监控所述车体(20)的周围环境。
  20. 根据权利要求1所述的轨道行走装置，还包括检测装置(90)，所述检测装置(90)安装在所述车体(20)上用于检测所述车体(20)、所述连接装置(40)和所述车轮(30)上各部件的连接状态。
PCT/CN2020/124060 2019-11-05 2020-10-27 轨道行走装置 WO2021088685A1 (zh)

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