A special horizontal track changing mechanism for a track-type inspection robot

Abstract

The present invention relates to the field of robot horizontal track change technology, and particularly refers to a special horizontal track change mechanism for a track-type inspection robot, comprising an exit track, a trigger rod, an entry track, a mounting rod, a support rod and a track change section track, wherein the track change section track is rotatably arranged on the mounting rod, the exit track is fixed to one side of the mounting rod, and the end of one end of the exit track corresponds to the end of one end of the track change section track, the entry track is fixed to the other side of the mounting rod, and the end of one end of the entry track corresponds to the end of the other end of the track change section track, the upper part of the trigger rod is hinged on the track change section track, the lower part of the trigger rod is connected to one end of the support rod, and the other end of the support rod is limited to the mounting rod. The track change mechanism adopts a pure mechanical transmission method to realize track change, and the track change process has no delay, which is equivalent to the time taken for direct passage, and the track change efficiency is high. The track change mechanism is small in size and simple in structure, and is installed at a position where a turn is required, occupies little space, and is easy to install and simple to disassemble.

Description

Technical Field

[0001] The invention relates to the technical field of robot horizontal track change, and in particular to a special horizontal track change mechanism for a track-type inspection robot. Background Art

[0002] After entering the 21st century, my country's science and economy are moving forward at a high speed, and the application of robots is becoming more and more extensive. At the same time, higher and higher requirements are placed on the performance of robots. Track-type inspection robots need to move back and forth on the track repeatedly to complete the inspection work. Whether the robot can inspect along various tracks has become a crucial indicator.

[0003] Due to its own characteristics, the track inspection robot will inevitably encounter the need to turn on the track. When turning is required, it is necessary to design a relatively complex mechanism for the robot to turn on its own. Moreover, for the designed robot, this improvement takes a lot of time and cost, which is difficult to achieve in most cases. For some lines, running on a tortuous line is also a very important part. Therefore, how the track inspection robot can complete the turning process safely and stably is very important for the inspection work. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a horizontal track changing mechanism dedicated to a track-type inspection robot, which has high mechanical track changing efficiency, simple mechanical structure, low space occupancy, stable structure, safety and reliability, and low manufacturing cost.

[0005] In order to achieve the above object, the technical solution applied by the present invention is as follows:

[0006] A special horizontal track changing mechanism for a track type inspection robot, comprising a section track, a trigger rod,

[0007] An entry track, a mounting rod, a support rod and a track-changing track. The track-changing track is rotatably arranged on the mounting rod. The exit track is fixed to one side of the mounting rod. The end of one end of the exit track is arranged correspondingly to the end of one end of the track-changing track. The entry track is fixed to the other side of the mounting rod. The end of one end of the entry track is arranged correspondingly to the end of the other end of the track-changing track. The upper part of the trigger rod is hinged on the track-changing track. The lower part of the trigger rod is connected to one end of the support rod. The other end of the support rod is limited on the mounting rod.

[0008] Furthermore, the track-changing section track is arranged in a linear structure, a bearing is arranged at the center position of the bottom of the track-changing section track, and the track-changing section track is rotatably arranged on the top of the mounting rod through the bearing.

[0009] Furthermore, a track-changing section track head end is formed at one end of the track-changing section track, and a track-changing section track tail end is formed at the other end of the track-changing section track. The track-changing section track head end is arranged correspondingly to the entry track tail end at one end of the entry track, and the track-changing section track tail end is arranged correspondingly to the exit track head end at one end of the exit track.

[0010] Furthermore, mounting parts and baffles hinged to the trigger rod are symmetrically arranged on both sides of the bearing, and the baffles are arranged on the outside of the mounting parts.

[0011] Furthermore, the mounting member includes a mounting member 1 and a mounting member 2, the trigger rod includes a trigger rod 1 and a trigger rod 2, the trigger rod 1 is hinged to the mounting member 1, and the trigger rod 2 is hinged to the mounting member 2.

[0012] Furthermore, the baffle includes baffle 1 and baffle 2, baffle 1 is arranged corresponding to the entry track, and baffle 2 is arranged corresponding to the exit track.

[0013] Furthermore, the exit track adopts a three-way structure, the bottom of the exit track is fixed to one side of the middle of the mounting rod by a fastening bolt, and one end of the top of the exit track is corresponding to the end of one end of the track change section track.

[0014] Furthermore, the entry track adopts a three-way structure, the bottom of the entry track is fixed to the other side of the middle of the mounting rod by a fastening bolt, and one end of the top of the entry track is corresponding to the other end of the track change track.

[0015] Furthermore, one end of the support rod is connected to the trigger rod, and the other end of the support rod is provided with a strip groove. The mounting rod is provided with a limiting bolt, which is arranged in the strip groove. The support rod can slide a certain distance through the strip groove to be limited on the mounting rod.

[0016] Furthermore, the support rod includes a first support rod and a second support rod, wherein the first support rod is connected to a first trigger rod, and the second support rod is connected to a second trigger rod.

[0017] Beneficial effects of the present invention:

[0018] 1) High track change efficiency: The track change mechanism adopts pure mechanical transmission to achieve track change. There is no delay in the track change process, which is equivalent to the time taken for direct passage and has high track change efficiency;

[0019] 2) Simple mechanical structure and low space occupancy: The track change mechanism is small in size and simple in structure. It can be installed at the position where turning is required, takes up very little space, and is easy to install and disassemble;

[0020] 3) Low cost: The track changing mechanism has a simple structure and low manufacturing cost. Using this track changing mechanism can save the expensive cost of modifying the robot and reduce the cost of line inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is the overall structure diagram of the present invention;

[0022] Figure 2 It is the track structure diagram of the track change section;

[0023] Figure 3 yes Figure 1 Rear view;

[0024] Figure 4 yes Figure 3 A magnified image of position A in the middle;

[0025] Figure 5 It is the working state diagram of the entry track;

[0026] Figure 6 yes Figure 5 Enlarged view of position B in the middle;

[0027] Figure 7 yes Figure 5 Rear view;

[0028] Figure 8 yes Figure 7 Enlarged view of the middle C position;

[0029] Fig. 9 This is the working status diagram of the outbound track.

[0030] 1. Exit track; 10. Head end of exit track; 2. Trigger rod; 20. Trigger rod 1; 21. Trigger rod 2; 3. Entrance track; 30. End of entrance track; 4. Mounting rod; 40. Limiting bolt; 5. Support rod; 50. Support rod 1; 51. Support rod 2; 6. Track change track; 60. Head end of track change track; 61. End of track change track; 7. Baffle; 70. Baffle 1; 71. Baffle 2; 8. Mounting piece; 80. Mounting piece 1; 81. Mounting piece 2; 9. Bearing; 100. Head end of strip groove; 200. End of strip groove. DETAILED DESCRIPTION

[0031] The technical solution of the present invention is described below in conjunction with the accompanying drawings and embodiments.

[0032] like Figures 1 to 9As shown, the present invention discloses a special horizontal track-changing mechanism for a track-type inspection robot, comprising an exit track 1, a trigger rod 2, an entry track 3, a mounting rod 4, a support rod 5 and a track-changing segment track 6, wherein the track-changing segment track 6 is rotatably arranged on the mounting rod 4, the exit track 1 is fixed to one side of the mounting rod 4, and the end of one end of the exit track 1 is arranged correspondingly to the end of one end of the track-changing segment track 6, the entry track 3 is fixed to the other side of the mounting rod 4, and the end of one end of the entry track 3 is arranged correspondingly to the end of the other end of the track-changing segment track 6, the upper portion of the trigger rod 2 is hinged to the track-changing segment track 6, the lower portion of the trigger rod 2 is connected to one end of the support rod 5, and the other end of the support rod 5 is limited on the mounting rod 4. The above constitutes the basic structure of the present invention.

[0033] The mounting rod 4 of the present invention is installed at the position where the robot needs to turn, and the track-changing section track 6 is rotatably arranged on the mounting rod 4, so that the two ends of the track-changing section track 6 can be respectively connected with the exit track 1 and the entry track 3. The function of the trigger rod 2 is to drive the support rod 5 to move when the robot is triggered, so that under the action of the support rod 5 being limited on the mounting rod 4, the track-changing section track 6 can be driven to rotate, thereby achieving the effect of track changing. The track-changing mechanism adopts a pure mechanical transmission method to achieve track changing, and the track-changing process has no delay, which is equivalent to the time taken for direct passage, and the track-changing efficiency is high. At the same time, the track-changing mechanism is small in size and simple in structure. It can be installed at the position where turning is required, takes up very little space, and is easy to install, simple to disassemble, and has a low manufacturing cost. The use of this track-changing mechanism can save the expensive cost of robot modification and reduce the line inspection cost.

[0034] More specifically, the track section track 6 adopts a linear structure, a bearing 9 is provided at the center of the bottom of the track section track 6, and the track section track 6 is rotatably arranged on the top of the mounting rod 4 through the bearing 9. With such a structural arrangement, under the action of the bearing 9, the track section track 6 can achieve the purpose of rotating on the mounting rod 4.

[0035] More specifically, one end of the track-changing section track 6 is formed with a track-changing section track head end 60, and the other end of the track-changing section track 6 is formed with a track-changing section track terminal 61, the track-changing section track head end 60 is arranged corresponding to the entry track terminal 30 at one end of the entry track 3, and the track-changing section track terminal 61 is arranged corresponding to the exit track head end 10 at one end of the exit track 1. With such a structural arrangement, when the track-changing section track head end 60 is arranged corresponding to the entry track terminal 30 at one end of the entry track 3, the robot can move from the entry track 3 to the track-changing section track head end 60, and when the track-changing section track terminal 61 is arranged corresponding to the exit track head end 10 at one end of the exit track 1, the robot can move from the track-changing section track terminal 61 to the exit track 1.

[0036] More specifically, the bearing 9 is symmetrically provided with mounting parts 8 and baffles 7 hinged to the trigger rod 2 on both sides, and the baffles 7 are arranged on the outside of the mounting parts 8. With such a structural arrangement, the trigger rod 2 is easily installed through the mounting parts 8, and the trigger rod 2 is positioned on both sides of the bearing 9 (i.e., both sides of the mounting rod 4). The baffles 7 are used to position the track-changing section track 6 when the track-changing section track 6 rotates to dock with the exit track 1 or the entry track 3, so as to avoid the track-changing section track 6 not being properly docked when docking with the exit track 1 or the entry track 3.

[0037] More specifically, the mounting member 8 includes a mounting member 1 80 and a mounting member 2 81, and the trigger rod 2 includes a trigger rod 1 20 and a trigger rod 21, wherein the trigger rod 1 20 is hinged to the mounting member 1 80, and the trigger rod 21 is hinged to the mounting member 2 81. With such a structural arrangement, when the robot moves from the track-changing section track 6 to the direction of the entry track 3, the rotation of the track-changing section track 6 is controlled by touching the trigger rod 1 20, and when the robot moves from the track-changing section track 6 to the direction of the exit track 1, the rotation of the track-changing section track 6 is controlled by touching the trigger rod 2 21.

[0038] More specifically, the baffle 7 includes baffle 1 70 and baffle 2 71, wherein baffle 1 70 is arranged corresponding to the entry track 3, and baffle 2 71 is arranged corresponding to the exit track 1. With such a structural arrangement, when the track-changing segment track 6 is docked with the entry track 3, baffle 1 70 serves to limit the entry track 3, thereby achieving accurate docking of the track-changing segment track 6 with the entry track 3, and when the track-changing segment track 6 is docked with the exit track 1, baffle 2 71 serves to limit the exit track 1, thereby achieving accurate docking of the track-changing segment track 6 with the exit track 1.

[0039] More specifically, the exit track 1 is provided with a three-way structure, the bottom of the exit track 1 is fixed to one side of the middle of the mounting rod 4 by a fastening bolt, and one end of the top of the exit track 1 is provided corresponding to the end of one end of the track-changing track 6. With such a structural setting, the installation of the exit track 1 can be completed by only tightening the fastening bolt, which is convenient to install and simple to disassemble.

[0040] More specifically, the entry track 3 is provided with a three-way structure, the bottom of the entry track 3 is fixed to the other side of the middle of the mounting rod 4 by a fastening bolt, and one end of the top of the entry track 3 is provided corresponding to the other end of the track change track 6. With such a structural setting, the installation of the entry track 3 can be completed by only tightening the fastening bolt, which is convenient to install and simple to disassemble.

[0041] More specifically, one end of the support rod 5 is connected to the trigger rod 2, and the other end of the support rod 5 is provided with a strip groove. The mounting rod 4 is provided with a limiting bolt 40, and the limiting bolt 40 is arranged in the strip groove. The support rod 5 can slide a certain distance through the strip groove to be limited on the mounting rod 4.

[0042] More specifically, the support rod 5 includes a support rod 1 50 and a support rod 2 51 . The support rod 1 50 is connected to the trigger rod 1 20 , and the support rod 2 51 is connected to the trigger rod 21 .

[0043] Working principle of the present invention:

[0044] In the initial state, if Figure 3 As shown, the entry track end 30 of the entry track 3 and the track change track head end 60 of the track change track 6 are in a docking state, and the robot takes the entry track 3 as the starting position, as shown in FIG. Figure 4 As shown, at this time, the limiting bolt 40 is just set at the position of the first end 100 of the strip groove of the support rod 50. The robot moves along the entry track 3 to the track change track 6. When the robot touches the trigger rod 20, the upper part of the trigger rod 20 is tilted to the right by the thrust of the robot. Figure 5 As shown, the lower part of the trigger rod 20 pulls the support rod 50 to the left until the limiting bolt 40 is just located at the end 200 of the strip groove of the support rod 50. Figure 6 and Figure 7 As shown, the upper surface of the trigger rod 1 20 is flush with the upper surface of the track section track 6. At this time, the robot can continue to move forward until the robot touches the trigger rod 21. Figure 8 As shown, the first end 100 of the strip groove of the second support rod 51 abuts against the limiting bolt 40, and the second trigger rod 21 will not tilt to the right. Under the continuous action of the driving thrust of the robot, as shown in FIG. Fig. 9 As shown, the track section track 6 starts to rotate until the baffle 2 71 contacts the bottom of the exit track 1, and then stops rotating. During the process from the rotation to the stop of the track section track 6, the following states will appear:

[0045] 1) The entry track end 30 of the entry track 3 and the track change track head end 60 of the track change track 6 will be in a state of slowly disconnecting from the docking;

[0046] 2) During the rotation of the track section track 6, the position of the track section track 6 and the mounting rod 4 is changed, the trigger rod 20 and the support rod 50 are changed, and the limiting bolt 40 on the mounting rod 4 is at the end 200 of the bar groove of the support rod 50 before the track section track 6 rotates. During the rotation of the track section track 6, the head end 100 of the bar groove of the support rod 50 will move toward the position of the limiting bolt 40 until the track section track 6 stops rotating, and the head end 100 of the bar groove of the support rod 50 just contacts the limiting bolt 40;

[0047] 3) During the rotation of the track section track 6, the position of the track section track 6 and the mounting rod 4 is changed, the trigger rod 21 and the support rod 2 51 are changed, the support rod 2 51 always contacts the limiting bolt 40, the upper part of the trigger rod 21 slowly tilts to the left, and the lower part of the trigger rod 21 pushes the support rod 2 51 to the right, until the track section track 6 stops, the upper surface of the trigger rod 21 is flush with the upper surface of the track section track 6, and the robot can continue to move forward;

[0048] 4) The end 61 of the track change section track 6 and the head end 10 of the exit track 1 are slowly connected from the disconnected state;

[0049] The track-changing action of the horizontal track-changing mechanism dedicated to the track-type inspection robot described above has the same working principle when the robot returns.

[0050] The technical solutions in the embodiments of the present invention are described above, but the present invention is not limited to the above-mentioned specific implementation modes. The above-mentioned specific implementation modes are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all belong to the protection scope of the present invention.

Claims

1. A horizontal track changing mechanism for a track-type inspection robot, characterized in that: The invention comprises an exit track (1), a trigger rod (2), an entry track (3), a mounting rod (4), a support rod (5) and a track-changing track (6); the track-changing track (6) is rotatably arranged on the mounting rod (4); the exit track (1) is fixed to one side of the mounting rod (4); an end of one end of the exit track (1) is arranged correspondingly to an end of one end of the track-changing track (6); the entry track (3) is fixed to the other side of the mounting rod (4); an end of one end of the entry track (3) is arranged correspondingly to an end of the other end of the track-changing track (6); the upper part of the trigger rod (2) is hinged on the track-changing track (6); the lower part of the trigger rod (2) is connected to one end of the support rod (5); and the other end of the support rod (5) is limited on the mounting rod (4); The track change section track (6) is arranged in a linear structure, a bearing (9) is arranged at the center of the bottom of the track change section track (6), and the track change section track (6) is rotatably arranged on the top of the mounting rod (4) via the bearing (9); A track change section track head end (60) is formed at one end of the track change section track (6), and a track change section track end (61) is formed at the other end of the track change section track (6), wherein the track change section track head end (60) is arranged correspondingly to the entry track end (30) at one end of the entry track (3), and the track change section track end (61) is arranged correspondingly to the exit track head end (10) at one end of the exit track (1); A mounting member (8) and a baffle (7) hinged to the actuating rod (2) are symmetrically arranged on both sides of the bearing (9); the baffle (7) is arranged on the outside of the mounting member (8).

2. According to claim 1, a special horizontal track changing mechanism for a track-type inspection robot is characterized in that: The mounting member (8) comprises a mounting member 1 (80) and a mounting member 2 (81); the actuating rod (2) comprises a actuating rod 1 (20) and actuating rod 2 (21); the actuating rod 1 (20) is hingedly connected to the mounting member 1 (80); and the actuating rod 2 (21) is hingedly connected to the mounting member 2 (81).

3. The horizontal track changing mechanism for a track-type inspection robot according to claim 1, characterized in that: The baffle (7) comprises a baffle 1 (70) and a baffle 2 (71); the baffle 1 (70) is arranged corresponding to the entry track (3), and the baffle 2 (71) is arranged corresponding to the exit track (1).

4. The horizontal track changing mechanism for a track-type inspection robot according to claim 1, characterized in that: The exit track (1) is provided with a three-way structure, the bottom of the exit track (1) is fixed to one side of the middle of the mounting rod (4) by means of a fixing bolt, and one end of the top of the exit track (1) is arranged corresponding to the end of one end of the track change track (6).

5. The horizontal track changing mechanism for a track-type inspection robot according to claim 1, characterized in that: The entry track (3) is provided with a three-way structure, the bottom of the entry track (3) is fixed to the other side of the middle of the mounting rod (4) by means of a fixing bolt, and one end of the top of the entry track (3) is arranged corresponding to the other end of the track change track (6).

6. The horizontal track changing mechanism for a track-type inspection robot according to claim 1, characterized in that: One end of the support rod (5) is connected to the trigger rod (2), and the other end of the support rod (5) is provided with a strip groove. The mounting rod (4) is provided with a limiting bolt (40), and the limiting bolt (40) is arranged in the strip groove. The support rod (5) can slide a certain distance through the strip groove to be limited on the mounting rod (4).

7. The horizontal track changing mechanism for a track-type inspection robot according to claim 6, characterized in that: The support rod (5) comprises a support rod 1 (50) and a support rod 2 (51); the support rod 1 (50) is connected to the trigger rod 1 (20), and the support rod 2 (51) is connected to the trigger rod 2 (21).

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