A device for smooth cornering of an inspection robot
By designing vertically slidable mounting part and hanging bracket structure in the inspection robot, the problem of poor power connection when the inspection robot turns on the curved track is solved, and the robot can achieve smooth movement and continuous power supply on the curve. .
Patent Information
- Application Number
- CN202010737370.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2020-07-28
- Publication Date
- 2024-12-10
- Estimated Expiration
- 2040-07-28
AI Technical Summary
On curved or curved tracks, the inspection robot rotates the hanging bracket when turning, resulting in poor power connection, which affects the normal operation of the inspection robot.
A smooth curved device including the first and second mounting parts is designed. The first mounting part and the second mounting part can slide perpendicular to the walking direction, and a power connection assembly and a driving assembly are fixed, and connected to the conductive sheet and the synchronization belt, There is a hanging bracket on the second mounting part, which is hung on the track, and the first mounting part moves relative to the second mounting part when cornering, ensuring a stable connection between the power connection assembly and the driving assembly.
The inspection robot is able to smoothly turn on non-linear tracks, avoiding the power outage of power connection components and driving components, and ensuring the normal operation and continuous power supply of the robot.
Smart Images
Figure CN111770318B_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the field of rail inspection robots, and more specifically relates to a stable cornering device for the inspection robot. Background Art
[0002] The monitoring system is an important system for unmanned important places. In places with harsh environments, where people are not suitable for duty or are not suitable for long-term duty, it is necessary to install a monitoring system. Traditional monitoring is to install cameras at fixed points, so it is impossible to achieve all-round monitoring without blind spots. If the venue is too large and there are many objects blocking the view in the venue, it is necessary to install multiple cameras, resulting in high investment costs for monitoring equipment. In this way, inspection robots are put into operation, among which rail inspection robots are widely used because of their reliable control, easy installation, and determined walking path.
[0003] In the prior art, in order to ensure that the rail inspection robot can work for a long time, a conductive sheet is generally installed on the inspection track to power the robot body and drive components. However, in the prior art, the inspection track is often not completely a straight track, but also has a curved track, a curved track, etc. In particular, some special monitoring places have S-curves, or even multiple turns, etc. When the inspection robot turns, due to the radius of the curve, the hanging bracket will rotate, which will cause the inspection robot to have problems such as poor power connection when turning, affecting the normal inspection work of the inspection robot. Summary of the invention
[0004] The purpose of the present invention is to provide a smooth cornering device for an inspection robot to ensure that the inspection robot moves smoothly when passing through a non-linear inspection track, and the power connection component is always connected to the conductive sheet in the inspection track, and power outages and other problems will not occur.
[0005] The technical solution of the present invention is a smooth cornering device for an inspection robot, comprising a first mounting part and a second mounting part connected to each other, wherein the first mounting part and the second mounting part can slide relative to each other in a direction perpendicular to the inspection walking direction; a power connection component and a drive component are fixedly provided on the first mounting part, and the power connection component and the drive component are respectively connected to the conductive sheets and synchronous belts arranged on both side surfaces of the inspection track; a hanging bracket is fixed on the second mounting part, and the hanging bracket is hung on the inspection track, and the bottom of the second mounting part is fixedly connected to the robot body; when cornering, the first mounting part moves relative to the second mounting part in a direction perpendicular to the walking direction.
[0006] Preferably, the first mounting part and the second mounting part include a first mounting plate and a second mounting plate respectively, and a sliding mechanism is arranged between the first mounting plate and the second mounting plate, and the sliding mechanism enables the first mounting plate to slide relative to the second mounting plate in a direction perpendicular to the inspection walking direction.
[0007] Preferably, the first mounting plate is arranged on the upper part of the second mounting plate, and the sliding mechanism includes a sliding sleeve fixed on the bottom surface of the first mounting plate and a sliding rail fixed on the upper surface of the second mounting plate, the sliding sleeve is sleeved on the sliding rail, and the sliding rail is arranged perpendicular to the inspection walking direction.
[0008] Preferably, at least two slide rails are provided and are parallel to each other.
[0009] Preferably, a reset mechanism is provided between the first mounting plate and the second mounting plate, and the reset mechanism includes a reset spring arranged parallel to the slide rail, and limit plates are respectively fixed at both ends of the reset spring, and the two limit plates are respectively fixed to the bottom surface of the first mounting plate and the upper surface of the second mounting plate.
[0010] Preferably, a guide groove parallel to the slide rail is provided at the bottom of the first mounting plate, and a connecting bolt passing through the guide groove is provided on the limiting plate connected to the first mounting plate, and the connecting bolt slides in the guide groove.
[0011] Preferably, two hanging mounting holes are provided on the second mounting portion, and the two hanging mounting holes are both arranged directly below the inspection track, and the connecting line of the two hanging mounting holes is parallel to the inspection track; a hanging bracket is respectively connected to the two hanging mounting holes, and a hanging wheel group is provided on the top of the hanging bracket, and the hanging wheel group is hung on the inspection track.
[0012] Preferably, the two hanging mounting holes are respectively disposed on the outside of the first mounting portion.
[0013] The beneficial effect of a smooth cornering device for an inspection robot according to the technical solution of the present invention is that when the robot passes through a non-linear inspection track position, the first mounting part moves relative to the second mounting part in a direction perpendicular to the walking direction, so that when the suspension directly rotates, the normal operation of the power connection component and the drive component is not affected, thereby ensuring the normal operation of the inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 This is a schematic diagram of the structure of the track inspection robot according to the technical solution of the present invention.
[0015] Figure 2 This is a schematic diagram of a stable cornering device for an inspection robot according to the technical solution of the present invention.
[0016] Figure 3 for Figure 2 A top view of
[0017] Figure 4 is a bottom view of the first mounting plate,
[0018] Figure 5 is a schematic diagram of the three-dimensional structure of the first mounting plate,
[0019] Figure 6 Schematic diagram of the inspection robot of the present invention when turning. DETAILED DESCRIPTION
[0020] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.
[0021] like Figure 1 As shown, it is a schematic diagram of the structure of the track inspection robot in the technical solution of the present invention (wherein the inspection robot body is not drawn), the inspection robot includes an inspection track 1; includes a conductive sheet 2 and a synchronous belt 3 respectively installed on the left and right sides of the inspection track; includes a power connection component 4 and a drive component 5 respectively connected to the conductive sheet 2 and the synchronous belt 3; the drive component 5 includes a driving gear meshed with the synchronous belt 3, and the driving gear is driven by a drive motor 6; includes a hanging bracket 7, and a hanging wheel group 71 is arranged on the hanging bracket 7, and the hanging wheel group 71 realizes the hanging of the hanging bracket 7 and the inspection robot. In order to realize the smooth cornering of the inspection robot, a smooth cornering device is provided, and the smooth cornering device realizes that when the inspection robot is cornering, the hanging bracket 7 rotates, but the relative positions of the power connection component 4 and the drive component 5 do not change, and the power connection component 4 and the drive component 5 are tightly clamped on both sides of the inspection track 1 to realize close contact with the conductive sheet 2 and the synchronous belt 3, respectively, to realize smooth wake-up and always connected to electricity, and to continuously supply power to the drive motor 6 and the inspection robot.
[0022] like Figure 1 and Figure 2 As shown, the technical solution of the present invention is a smooth cornering device for an inspection robot, comprising a first mounting portion 8 and a second mounting portion 9 that are interconnected. The first mounting portion 8 and the second mounting portion 9 can slide relative to each other in a direction perpendicular to the inspection walking direction, that is, slide in a direction perpendicular to the inspection track 1. A power connection component 4, a drive motor 6, and a drive component 5 are fixedly arranged on the first mounting portion 8. The power connection component 4 and the drive component 5 are respectively connected to the conductive sheet 2 and the synchronous belt 3 arranged on both side surfaces of the inspection track 1. A hanging bracket 7 is fixed on the second mounting portion 9, and the hanging bracket 7 is hung on the inspection track 1. The bottom of the second mounting portion 9 is fixedly connected to the robot body (the robot body is Figure 1The power connection assembly 4 and the drive assembly 5 are fixed to the first mounting portion, that is, the relative position between the power connection assembly 4 and the drive assembly 5 will never change. The power connection assembly 4 and the drive assembly 5 are clamped by the two sides of the inspection track 1 to ensure that the power connection assembly 4 and the drive assembly 5 are always connected to the conductive sheet 2 and the synchronous belt 3. The conductive sheet 2 always continuously supplies power to the drive motor 6 and the robot body to ensure that the inspection robot continues to work uninterruptedly. The drive assembly 5 is always engaged with the synchronous belt 3 when turning, so as to achieve the driving of the inspection robot to walk smoothly and continuously.
[0023] In the technical solution of the present invention, the relative positions of the first mounting portion 8, the power connection component 4, the drive component 53 and the drive motor 6 remain unchanged. The power connection component 4 and the drive component 5 are always connected to the conductive sheet 2 and the synchronous belt 3 respectively. The relative positions of the second mounting portion 9 and the hanging bracket 7 remain unchanged. The hanging bracket 7 is provided with a front and rear hanging wheel set 71 along the walking direction. When turning, the front and rear hanging wheel sets 71 are erected on the inspection track in a straight line, that is, the hanging bracket 7 will rotate in a curve along the curved track. In order to achieve smooth turning on the curve, at this time, the first mounting portion 8 moves relative to the second mounting portion 9 in a direction perpendicular to the walking direction.
[0024] like Figure 6 As shown, when the inspection robot is turning, the hanging bracket 7 is in a straight line with the inspection track. Figure 6 State, at this time, the hanging bracket 7 rotates and moves along the curve of the inspection track, so that the hanging bracket 7 straddles the inspection track, and the power connection component 4 and the driving component 5 are between the two front and rear hanging wheel groups 71, and clamp the inspection track, the power connection component 4 is continuously and uninterruptedly powered, and at this time the first mounting part 8 will slide along the slide rail relative to the second mounting part 9 to achieve smooth cornering.
[0025] like Figure 2 , Figure 4 and Figure 5 As shown, the first mounting portion 8 and the second mounting portion 9 respectively include a first mounting plate and a second mounting plate. A sliding mechanism is provided between the first mounting plate and the second mounting plate. The sliding mechanism enables the first mounting plate to slide relative to the second mounting plate in a direction perpendicular to the inspection walking direction. The first mounting plate is arranged on the upper part of the second mounting plate, and the sliding mechanism includes a sliding sleeve 11 fixed on the bottom surface of the first mounting plate and a sliding rail 12 fixed on the upper surface of the second mounting plate. The sliding sleeve 11 is sleeved on the sliding rail 12, and the sliding rail 12 is arranged perpendicular to the inspection walking direction. At least two sliding rails 12 are provided, and they are parallel to each other.
[0026] When turning, the hanging bracket 7 will rotate along the curve of the inspection track 1, the relative positions of the first mounting plate, the power connection assembly and the driving assembly 3 of the synchronous belt remain unchanged, and the first mounting plate will slide on the slide rail 12 relative to the second mounting plate.
[0027] like Figure 2 , Figure 4 and Figure 5 As shown, a reset mechanism is provided between the first mounting plate and the second mounting plate, and the reset mechanism includes a reset spring 13 provided parallel to the slide rail 12, and limit plates 14 and 17 are fixed at both ends of the reset spring 13, respectively, and the two limit plates 14 and 17 are fixed to the bottom surface of the first mounting plate and the upper surface of the second mounting plate, respectively. A guide groove 16 parallel to the slide rail 12 is provided at the bottom of the first mounting plate, and a connecting bolt 18 passing through the guide groove 16 is provided on the limit plate 14 connected to the first mounting plate, and the connecting bolt 18 slides in the guide groove 16.
[0028] like Figure 3 The second mounting portion 9 is provided with two hanging mounting holes 15, both of which are arranged directly below the inspection track 1, and the connecting line of the two hanging mounting holes 15 is parallel to the inspection track 1; the two hanging mounting holes 15 are respectively connected with a hanging bracket 7, and a hanging wheel group is arranged on the top of the hanging bracket 7, and the hanging wheel group is hung on the inspection track. The two hanging mounting holes 15 are respectively placed on the outside of the first mounting portion 8. In the design of this structure, the first mounting plate will not interfere with the second mounting plate when sliding on the slide rail 12.
[0029] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without creative work should fall within the scope of protection of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention are implemented according to the conventional means in the field unless otherwise specified and limited.
Claims
1. A stable cornering device for an inspection robot, characterized in that: It comprises a first mounting part and a second mounting part connected to each other; a power connection component and a drive component are fixedly arranged on the first mounting part, and the power connection component and the drive component are respectively connected to the conductive sheets and the synchronous belt arranged on the two side surfaces of the inspection track; a hanging bracket is fixed on the second mounting part, and the hanging bracket is hung on the inspection track; the bottom of the second mounting part is fixedly connected to the robot body; when turning, the first mounting part moves relative to the second mounting part in a direction perpendicular to the walking direction; The first mounting portion and the second mounting portion include a first mounting plate and a second mounting plate, respectively. A sliding mechanism is provided between the first mounting plate and the second mounting plate, and the sliding mechanism enables the first mounting plate to slide relative to the second mounting plate in a direction perpendicular to the inspection walking direction; The first mounting plate is arranged on the upper part of the second mounting plate, the sliding mechanism comprises a sliding sleeve fixed on the bottom surface of the first mounting plate and a sliding rail fixed on the upper surface of the second mounting plate, the sliding sleeve is sleeved on the sliding rail, and the sliding rail is arranged perpendicular to the inspection walking direction; at least two sliding rails are arranged and are parallel to each other; A reset mechanism is also arranged between the first mounting plate and the second mounting plate, the reset mechanism comprises a reset spring arranged parallel to the slide rail, and limit plates are respectively fixed at both ends of the reset spring, and the two limit plates are respectively fixed to the bottom surface of the first mounting plate and the upper surface of the second mounting plate; a guide groove parallel to the slide rail is arranged at the bottom of the first mounting plate, and a connecting bolt passing through the guide groove is arranged on the limit plate connected to the first mounting plate, and the connecting bolt slides in the guide groove; The second mounting portion is provided with two hanging mounting holes, and the two hanging mounting holes are both arranged directly below the inspection track, and the connecting line of the two hanging mounting holes is parallel to the inspection track; the two hanging mounting holes are respectively connected with a hanging bracket, and a hanging wheel group is arranged on the top of the hanging bracket, and the hanging wheel group is hung on the inspection track, and the two hanging mounting holes are respectively placed on the outside of the first mounting portion.