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A track elastic pressing device, track robot and method

An orbital robot, elastic pressing technology, applied in the direction of manipulators, manufacturing tools, etc., can solve problems such as difficulty in ensuring the accuracy of parking positions, high precision requirements for rack installation, and inability to brake in time, so as to achieve rational utilization and improve patrolling. Detecting distance and solving the effect of poor climbing ability

Active Publication Date: 2022-03-18
STATE GRID INTELLIGENCE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the pipe corridors are winding, resulting in a height difference between the tracks, requiring the robot to have the ability to climb to meet the daily monitoring of equipment in the tunnel
[0004] Existing monitoring robots for tunnels and integrated pipe corridors mostly use rack and pinion meshing transmission when climbing large-angle tracks. The rack and pinion drive climbing mechanism has a complex structure, and the installation of the rack requires high precision. The construction is difficult and may occur. Problems such as car slipping and skidding; in addition, when the robot is running at high speed, it cannot brake in time by relying on the self-locking of the driving wheel, and it is difficult to ensure the accuracy of the parking position

Method used

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  • A track elastic pressing device, track robot and method
  • A track elastic pressing device, track robot and method
  • A track elastic pressing device, track robot and method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0034] According to an embodiment of the present invention, an embodiment of a track elastic pressing device is provided, referring to Figure 1-2 , including: a base, a bearing seat 1-6 fixed on the base, and a swing arm support 1-5 connected to the bearing seat 1-6 through a bearing 1-8; On the side, elastic tensioning parts are arranged respectively, and one end of the elastic tensioning parts is connected with the swing arm bracket 1-5, and the other end is fixed to the base through a connecting piece; track pressing parts are arranged on the swing arm bracket 1-5.

[0035] Specifically, the track pressing part is a pressing wheel 1-3, and a card slot is provided at the top of the swing arm support 1-5, and a swing frame rotating shaft 1-4 is arranged in the card slot, and the two ends of the swing frame rotating shaft 1-4 are respectively Connect the pressing wheels 1-3 by nuts. Of course, the track pressing member can also be implemented with other structures, such as a...

Embodiment 2

[0042] According to an embodiment of the present invention, an embodiment of an orbital robot 7-1 is provided, referring to image 3 with Figure 4 , including: the track elastic pressing device 3-2 described in Embodiment 1; in addition, a signal reading device is provided at a set position on the track robot 7-1, and a position is set at the beginning end and the end end of the climbing track Tag; in this embodiment, the position tag is an RFID induction tag 4-2, and the signal reading device is an RFID card reader 4-4.

[0043] When the robot moves to the position of the RFID tag (i.e. the RFID sensor tag 7-2 in front of the curved rail) at the climbing point, the RFID card reader 4-4 on the robot receives the RFID tag signal, and the robot controls the electric linear guide rail 1-1 to drive the swing. The arm-type track elastic pressing device moves upward, and the laser ranging sensor installed on the swing-arm elastic pressing mechanism measures the relative distance b...

Embodiment 3

[0053] According to an embodiment of the present invention, an embodiment of a method for an orbital robot 7-1 to climb a track is provided, referring to Figure 7 with Figure 8 ,include:

[0054] When the robot runs to the position of the climbing track and reads the information of the position label at the starting end of the climbing track, the robot control device controls the elastic pressing device of the track to move closer to the track, and measures the distance between the set position of the elastic pressing device of the track and the track in real time. distance, until the distance reaches the set requirements, so as to maintain an optimal pressing force between the track elastic pressing device and the track;

[0055] When the robot reads the information of the position label at the end of the climbing track, the robot control device controls the track elastic pressing device to move away from the track and return to the initial position.

[0056] When the rob...

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Abstract

The invention discloses a track elastic pressing device, a track robot and a method, comprising: a base, a bearing seat fixed on the base, and a swing arm bracket connected to the bearing seat through a bearing; On both sides of the swinging direction of the arm bracket, elastic tensioning parts are respectively arranged, and one end of the elastic tensioning part is connected with the swing arm bracket, and the other end is fixed to the base through the connecting piece; pieces. Beneficial effects of the present invention: The present invention designs a swing arm type track elastic pressing device for a slope track environment, which can increase the pressing force of the robot on the track during a steep climb and improve the climbing ability of the robot. The design can avoid the jamming phenomenon of the vertical contact pressing mechanism during climbing, and solve the problem of poor climbing ability of orbital robots.

Description

technical field [0001] The invention relates to the technical field of track inspection robots, in particular to a track elastic pressing device, a track robot and a method. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] Tunnels and comprehensive pipe corridors are built underground in cities, and are used for centralized laying of public tunnels for municipal pipelines such as electricity, communications, radio and television, and water supply. Due to the narrow space in the tunnel and the comprehensive utility corridor, the equipment layout is relatively concentrated, and it is almost in a closed environment. It is difficult to manually detect the key equipment and the safety risk is high. Nowadays, robots are mostly used to monitor underground power equipment in an unattended manner. Robots run on rails, and the rails are hoisted in t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J5/02B25J13/00B25J13/08B25J19/00
CPCB25J5/02B25J13/00B25J13/081B25J19/00
Inventor 宋志峰王贤华李运厂王斌张永生李海东刘维栋蔺茹贾旭徐怀刚
Owner STATE GRID INTELLIGENCE TECH CO LTD
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