An overspeed locking mechanism and a track inspection robot

Abstract

The present invention discloses an overspeed locking mechanism and a track inspection robot, wherein one end of a lock body is sealed by an end cover, a bearing and a matching rotating shaft are arranged inside the lock body, the bearing is fixed to the inner wall of the lock body, and two ends of the rotating shaft are respectively extended out of the lock body and the end cover and connected to the corresponding driving wheels; four tongues and two springs are arranged on the rotating shaft, and the tongues are limited by the springs respectively; when the rotation speed of the driving wheel is less than 4 revolutions per second, the springs limit the tongues so that they do not contact the lock body, and when the speed of the driving wheel is greater than 4 revolutions per second, a pair of tongues in the walking direction overcome the elastic force of the springs and then open to contact the lock body, friction occurs and further open under the action of the friction until they are completely locked, so that the rotating shaft and the driving wheel no longer move.

Description

Technical Field

[0001] The invention belongs to the track robot technology, and in particular relates to an overspeed locking mechanism and a track inspection robot. Background Art

[0002] Track inspection robots are often used in various pipe galleries, tunnels, coal handling trestles and other scenarios that require long-term fixed-point inspections. During operation, the robot will inevitably need to experience up and down slopes, especially on coal handling trestles, where the robot is on a slope almost 90% of the time.

[0003] Working on a ramp brings a risk point to rail robots, which is to prevent the robot from losing power and sliding down the slope. The reasons for power failure may be various, but the result is that the robot loses control and power. In addition, it is on a ramp, so the entire robot will rush down the ramp, posing a threat to equipment and personnel along the way.

[0004] The initial approach to prevent this risk was to use a motor power-off brake solution, that is, to install a power-off damper to lock the rotating shaft when the robot is powered off. However, the disadvantage of this solution is that the robot cannot be moved manually if power is not supplied, which greatly increases the difficulty in installing, inspecting, and maintaining the robot. Summary of the invention

[0005] Purpose of the invention: The purpose of the present invention is to solve the deficiencies in the prior art and to provide an overspeed locking mechanism and a track inspection robot. The overspeed locking mechanism of the present invention can be quickly assembled onto the drive wheel to achieve overspeed locking, has a simple structure, and is safe and efficient.

[0006] Technical solution: An overspeed locking mechanism of the present invention comprises a lock body and an end cover, one end of the lock body is sealed by the end cover, a bearing and a matching rotating shaft are arranged inside the lock body, the bearing is fixed to the inner wall of the lock body, and the two ends of the rotating shaft are respectively extended from the lock body and the end cover and connected to the corresponding driving wheel; two pairs of tongues and two springs are arranged on the rotating shaft, the two pairs of tongues are fixed to the shaft body of the rotating shaft and each pair of tongues are symmetrically distributed along the rotating shaft, the two springs are fixed to the rotating shaft and are located outside the tongues for limiting the two pairs of tongues; after the driving wheel drives the rotating shaft to rotate, the four tongues and the two springs follow; when the driving wheel speed is less than a preset value, the elasticity and centrifugal force of the tongues are both within the pressure of the springs, and the springs limit the tongues so that they do not contact the lock body; when the driving wheel rotates greater than or equal to the preset value, the elasticity and centrifugal force of the tongues exceed the pressure of the springs, and one pair of tongues opens and contacts the inner wall of the lock body, and finally locks the rotating shaft.

[0007] The two pairs of tongues and springs can rotate along with the rotation of the rotating shaft and are fixed in the lock body through bearings.

[0008] Furthermore, there are four tongues in total, including a first tongue, a second tongue, a third tongue and a fourth tongue in sequence. The first tongue and the second tongue are symmetrical along the rotation axis, and the third tongue and the fourth tongue are symmetrical along the rotation axis. The two reeds are the first reed and the second reed, respectively. The first reed restricts the first tongue and the fourth tongue, and the second reed restricts the second tongue and the third tongue.

[0009] Furthermore, when the speed of the driving wheel is less than 4 revolutions per second, the spring restricts the tongue so that it does not contact the inner wall of the lock body. When the speed of the driving wheel is greater than or equal to 4 revolutions per second, all the tongues overcome the elastic force of the springs and open to contact the inner wall of the lock body, and the pair of tongues in the walking direction rub against the inner wall of the lock and then further open under the action of the friction force until they are completely locked, so that the rotating shaft and the driving wheel are stuck and locked and no longer move.

[0010] Furthermore, the tongue piece includes a head, a middle part and a root part connected in sequence, the root part is fixed to the rotating shaft, the head part is far away from the rotating shaft and its edge is arc-shaped. Through the design of this structure and shape, when the rotating shaft speed is too fast (i.e., the centrifugal force is large), the tongue piece will break through the pressure of the spring piece and the edge of the head part will contact the inside of the lock body.

[0011] Among them, when the driving wheel speed is less than a preset value, the entire arc-shaped part of the tongue head does not contact the inner wall of the lock body; when the driving wheel rotates greater than or equal to the preset value, one end of the arc-shaped part of the tongue head fully contacts the inner wall of the lock body, so that the rotating shaft is locked, and here the other end of the arc-shaped part of the tongue head has a certain gap with the inner wall of the lock body, which is convenient for reversing the rotating shaft to unlock.

[0012] Furthermore, in order to quickly restore the working state, whenever the rotating shaft is locked, it is only necessary to rotate the rotating shaft in the reverse direction at a low speed, so that the locked pair of tongues will be separated from the inner wall of the lock body, thereby unlocking the device.

[0013] Furthermore, in order to improve the application scope of the present invention, the outer periphery of the lock body is adapted to the driving wheel and can be fixed to the bearing frame of the driving wheel, which is simple to assemble.

[0014] Furthermore, the tongue is made of carbon steel and the reed is made of copper, which can extend the service life of the entire mechanism, and when the rotation speed is too high, the tongue can just break through the suppression and limitation of the reed and then press against the inner wall of the lock body.

[0015] The present invention also discloses a rail inspection robot with an overspeed locking function, comprising a robot body and an overspeed locking mechanism, wherein the overspeed locking mechanism comprises a locker body and an end cover, the locker body is fixed to a driving wheel bearing frame of the robot body, the end cover is sealed to one end of the locker body, a bearing and a rotating shaft are arranged in the locker body, two pairs of tongues and two springs are arranged on the rotating shaft, the two pairs of tongues are fixed to the shaft body of the rotating shaft and each pair of tongues are symmetrically distributed along the rotating shaft, the two springs are fixed to the rotating shaft and are located outside the tongues for limiting the two pairs of tongues; After the driving wheel drives the rotating shaft to rotate, the four tongues and two springs follow; when the driving wheel speed of the robot body is less than the preset value, the elasticity and centrifugal force of the tongues do not exceed the pressure of the springs, and the springs restrict the tongues from contacting the locker body. At this time, the robot body walks normally along the track; when the driving wheel rotation of the robot body is greater than or equal to the preset value, the elasticity and centrifugal force of the tongues exceed the pressure of the springs, and one pair of tongues opens and contacts the inner wall of the locker body, eventually locking the rotating shaft, and then the driving wheel is also locked, forcing the robot body to stop at the current position on the track and not move.

[0016] Furthermore, when the speed of the driving wheel of the robot body is less than 4 revolutions per second, the spring restricts the tongue so that it does not contact the inner wall of the lock body. When the speed of the driving wheel of the robot body is greater than or equal to 4 revolutions per second, all the tongues overcome the elastic force of the springs and open to contact the inner wall of the lock body, and the pair of tongues in the walking direction rub against the inner wall of the lock and then further open under the action of friction until they are completely locked, so that the rotating shaft and the driving wheel are stuck and locked, and the robot body no longer moves along the track.

[0017] Beneficial effects: Compared with the prior art, the present invention has the following advantages:

[0018] (1) The present invention can quickly lock the wheel axle according to the rotation speed to prevent overspeed and slipping.

[0019] (2) In the present invention, pushing the robot in the reverse direction causes the locked tongue to be released and the robot to resume working state.

[0020] (3) The overspeed locking mechanism in the present invention can be quickly disassembled and installed to the robot body, is easy to use, and is easy to replace and maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the overspeed locking mechanism in the present invention;

[0022] Figure 2 This is a schematic diagram of the lock body and the end cover after installation in the present invention;

[0023] Figure 3 It is a schematic diagram of the installation of the tongue and the reed in the present invention;

[0024] Figure 4 It is a locking schematic diagram of the present invention;

[0025] Figure 5 Schematic diagram of the track inspection robot in the present invention;

[0026] Figure 6 It is a schematic diagram of the installation of the overspeed locking mechanism and the robot body in the present invention;

[0027] Figure 7 for Figure 6 The cross-sectional view along the BB direction;

[0028] Figure 8 It is a schematic diagram of the position of the tongue piece and the inner wall of the lock body in the present invention. DETAILED DESCRIPTION

[0029] The technical solution of the present invention is described in detail below, but the protection scope of the present invention is not limited to the embodiments.

[0030] Embodiment 1:

[0031] like Figure 1 and Figure 2 An overspeed locking mechanism of this embodiment includes a lock body 1 and an end cover 3. One end of the lock body 1 is sealed by the end cover 3. A bearing 4 and a rotating shaft 5 matched therewith are arranged inside the lock body 1. The bearing is fixed to the inner wall of the lock body 1. The two ends of the rotating shaft 5 extend out of the lock body 1 and the end cover 3 respectively and are connected to the corresponding driving wheels 8; two pairs of tongues 2 and two springs 6 are arranged on the rotating shaft 5. The two pairs of tongues 2 are fixed to the shaft body of the rotating shaft 5 and each pair of tongues 2 are symmetrically distributed along the rotating shaft 5. The two springs 6 is fixed to the rotating shaft 5 and is located outside the tongue piece 2 to limit the two pairs of tongue pieces 2; after the driving wheel 8 drives the rotating shaft 5 to rotate, the four tongue pieces 2 and the two spring pieces 6 follow; when the speed of the driving wheel 8 is less than the preset value, the elasticity and centrifugal force of the tongue piece 2 are both within the pressure of the spring piece 6, and the spring piece 6 limits the tongue piece 2 so that it does not contact the lock body 1; when the driving wheel 8 rotates greater than or equal to the preset value, the elasticity and centrifugal force of the tongue piece 2 exceed the pressure of the spring piece 6, and one pair of tongue pieces 2 opens to contact the inner wall of the lock body 1, and finally locks the rotating shaft 5. The two pairs of tongue pieces 2 and the spring piece 6 can rotate with the rotation of the rotating shaft 5, and are fixed in the lock body 1 through the bearing.

[0032] The tongue piece 2 comprises a head, a middle part and a root part connected in sequence, the root part is fixed to the rotating shaft 5, the head part is far away from the rotating shaft 5 and its edge is arc-shaped. Through the design of this structure and shape, when the rotating shaft 5 is too fast (i.e., the centrifugal force is large), the tongue piece 2 will break through the pressure of the spring piece 6 and the edge of the head part will contact the inside of the lock body 1.

[0033] In this embodiment, when all tongues 2 are stationary and not locked, and under the action of the spring 6, the head edge of the tongue 2 is a certain distance away from the inner wall of the lock body 1. Here, the inner wall of the lock body 1 is circular as a whole. Therefore, when rotating at a low speed, the tongue 2 will not press against the inner wall of the lock body 1; only when the rotation speed of the rotating shaft 5 is too high, the tongue 2 will break through the restriction of the spring 6 under centrifugal force and press against the inner wall of the lock body 1.

[0034] Embodiment 2:

[0035] like Figure 3 and Figure 4 As shown, the tongue piece 2 of this embodiment has a total of four pieces, including the first tongue piece 2-1, the second tongue piece 2-2, the third tongue piece 2-3 and the fourth tongue piece 2-4 in sequence. The first tongue piece 2-1 and the second tongue piece 2-2 are symmetrical along the rotation axis 5, and the third tongue piece 2-3 and the fourth tongue piece 2-4 are symmetrical along the rotation axis 5; the two reeds 6 are the first reed piece 6-1 and the second reed piece 6-2, respectively. The first reed piece 6-1 restricts the first tongue piece 2-1 and the fourth tongue piece 2-4, and the second reed piece 6-2 restricts the second tongue piece 2-2 and the third tongue piece 2-3.

[0036] When the rotation speed of the driving wheel 8 is less than 4 revolutions per second, the spring 6 restricts the tongue 2 from contacting the inner wall of the lock body 1. When the speed of the driving wheel 8 is greater than or equal to 4 revolutions per second, all the tongues 2 overcome the elastic force of the spring 6 and open to contact the inner wall of the lock body 1. A pair of tongues 2 in the walking direction (for example, the third tongue 2-3 and the fourth tongue 2-4) rub against the inner wall of the lock body 1 and then further open under the action of friction until they are completely locked, so that the rotating shaft 5 and the driving wheel 8 are stuck and locked and no longer move.

[0037] like Figure 8 As shown, when the rotation speed of the driving wheel 8 is less than the preset value, the entire arc-shaped portion of the head of the tongue piece 2 does not contact the inner wall of the lock body 1; when the rotation of the driving wheel 8 is greater than or equal to the preset value, one end of the arc-shaped portion of the head of the tongue piece 2 is fully in contact with the inner wall of the lock body 1, so that the rotating shaft 5 is locked, and here the other end of the arc-shaped portion of the head of the tongue piece 2 has a certain gap with the inner wall of the lock body 1, which is convenient for reversing the rotating shaft 5 to unlock. ( Figure 8 The dotted line in the middle circle represents the positional relationship between the tongue 2 and the inner wall of the lock body 1 when they are in contact).

[0038] Embodiment 3:

[0039] The overspeed locking mechanism in this embodiment has the same structure as that in the above embodiment.

[0040] like Figures 5 to 7As shown, the rail inspection robot with overspeed locking function of this embodiment includes a robot body and an overspeed locking mechanism, the overspeed locking mechanism includes a lock body 1 and an end cover 3, the lock body 1 is fixed to the bearing frame of the driving wheel 8 of the robot body, the end cover 3 is sealed to one end of the lock body 1, a bearing 5 and a rotating shaft 5 are arranged in the lock body 1, two pairs of tongues 2 and two springs 6 are arranged on the rotating shaft 5, the two pairs of tongues 2 are fixed to the shaft body of the rotating shaft 5 and each pair of tongues 2 are symmetrically distributed along the rotating shaft 5, the two springs 6 are fixed to the rotating shaft 5 and are located on the outside of the tongues 2 for limiting the two pairs of tongues 2; the driving wheel After 8 drives the rotating shaft 5 to rotate, the four tongues 2 and the two springs 6 follow; when the rotation speed of the driving wheel 8 of the robot body is less than the preset value, the elasticity and centrifugal force of the tongue 2 are both within the pressure of the spring 6, and the spring 6 restricts the tongue 2 from contacting the lock body 1. At this time, the robot body walks normally along the track 7; when the driving wheel 8 of the robot body rotates greater than or equal to the preset value, the elasticity and centrifugal force of the tongue 2 exceed the pressure of the spring 6, and one pair of the tongues 2 opens and contacts the inner wall of the lock body 1, eventually locking the rotating shaft 5, and then the driving wheel 8 is also locked, forcing the robot to stop at the current position of the track 7 and not move.

[0041] like Figure 5 and Figure 3 As shown, the overspeed locking mechanism of this embodiment is fixed to the robot body through the outer periphery of the lock body 11 and will not rotate. When the robot body starts to move, the rotating shaft 5 inside the overspeed locking mechanism rotates with the tongue 22 (the first tongue 2-1, the second tongue 2-2, the third tongue 2-3 and the fourth tongue 2-4) and the reed 6 (the first reed 6-1, the second reed 6-2) following the driving wheel 8.

[0042] At normal working speed, due to the limiting effect of the first reed 6-1 and the second reed 6-2, the first tongue 2-1, the second tongue 2-2, the third tongue 2-3 and the fourth tongue 2-4 will be limited to the position shown in the figure ( Figure 4 ), and will not contact the inner wall of the outer ring's lock body 1, and the robot is in a normal walking state here.

[0043] However, once the motor 9 loses power, the robot body will start to slide down the slope along the track 7. At this time, the rotation speed of the driving wheel 8 of the robot will accelerate sharply under the action of sliding down the slope, driving the rotating shaft of the locking mechanism to rotate faster (the speed of the driving wheel 8 exceeds 4 revolutions per second). Under the action of centrifugal force, the four tongues 2 are opened and contact the inner wall of the lock body 11 under the action of centrifugal force, but the pair of tongues 2 in the walking direction (the third tongue 2-3 and the fourth tongue 2-4) overcome the elastic force of the corresponding spring 6 to open and contact the lock body 1, causing friction, and further open under the action of friction until it is completely locked, preventing the robot from sliding down the slope further.

[0044] At this time, the other two tongue pieces 2 (the first tongue piece 2 - 1 and the second tongue piece 2 - 2 ) are retracted inwardly under the action of the force, and thus will not continue to press the inner wall of the lock body 1 .

[0045] If the rotation direction of the rotating shaft 5 is opposite to the above rotation direction, the first tongue piece 2-1 and the second tongue piece 2-2 will be locked.

[0046] When unlocking is required, the rotating shaft 5 only needs to be rotated at a low speed in the direction opposite to the original rotation direction. The two stuck tongue pieces 2 will be separated from the inner wall of the lock body 1 under the action of the rotation, and then recovered under the action of the spring leaf 6 to restore the original state.

Claims

1. An overspeed locking mechanism, characterized in that: It includes a lock body and an end cover, one end of the lock body is sealed by the end cover, a bearing and a matching rotating shaft are arranged inside the lock body, the bearing is fixed to the inner wall of the lock body, and the two ends of the rotating shaft extend out of the lock body and the end cover respectively and are connected to the corresponding driving wheels; The rotating shaft is provided with two pairs of tongues and two springs, the two pairs of tongues are fixed to the shaft body of the rotating shaft and each pair of tongues are symmetrically distributed along the rotating shaft, the two springs are fixed to the rotating shaft and are located outside the tongues to limit the two pairs of tongues; after the driving wheel drives the rotating shaft to rotate, the four tongues and the two springs follow; When the speed of the driving wheel is less than the preset value, the elasticity and centrifugal force of the tongue piece are both within the pressure of the spring piece, and the spring piece restricts the tongue piece from contacting the lock body; When the speed of the driving wheel is greater than or equal to the preset value, the elasticity and centrifugal force of the tongue piece exceed the pressure of the spring piece, and one pair of tongue pieces opens and contacts the inner wall of the lock body, eventually locking the rotating shaft; The tongue pieces have four pieces in total, including a first tongue piece, a second tongue piece, a third tongue piece and a fourth tongue piece in sequence, the first tongue piece and the second tongue piece are symmetrical along the rotation axis, and the third tongue piece and the fourth tongue piece are symmetrical along the rotation axis; the two spring pieces are respectively the first spring piece and the second spring piece, the first spring piece restricts the first tongue piece and the fourth tongue piece, and the second spring piece restricts the second tongue piece and the third tongue piece; The tongue piece includes a head, a middle part and a root part connected in sequence, the root part is fixed to the rotating shaft, the head part is away from the rotating shaft and its edge is arc-shaped; when the driving wheel rotation speed is less than a preset value, the entire arc-shaped part of the tongue piece head part does not contact the inner wall of the lock body; when the driving wheel rotation speed is greater than or equal to the preset value, one end of the arc-shaped part of the tongue piece head part is fully in contact with the inner wall of the lock body, so that the rotating shaft is locked, and here the other end of the arc-shaped part of the tongue piece head part has a certain gap with the inner wall of the lock body, which is convenient for reversing the rotating shaft to unlock.

2. The overspeed locking mechanism according to claim 1, characterized in that: When the speed of the driving wheel is less than 4 revolutions per second, the spring restricts the tongue so that it does not contact the inner wall of the lock body. When the speed of the driving wheel is greater than or equal to 4 revolutions per second, all the tongues overcome the elastic force of the springs and open to contact the inner wall of the lock body, and the pair of tongues in the walking direction rub against the inner wall of the lock and further open under the action of friction until they are completely locked, so that the rotating shaft and the driving wheel are stuck and locked and no longer move.

3. The overspeed locking mechanism according to claim 1, characterized in that: After the rotating shaft is locked, the rotating shaft is rotated in the reverse direction at a low speed, and the locked pair of tongue pieces are separated from the inner wall of the lock body, thereby unlocking the lock.

4. The overspeed locking mechanism according to claim 1, characterized in that: The outer periphery of the lock body is matched with the driving wheel.

5. The overspeed locking mechanism according to claim 1, characterized in that: The tongue piece is made of carbon steel, and the reed piece is made of copper sheet.

6. A track inspection robot with an overspeed locking function, characterized in that: It comprises a robot body and an overspeed locking mechanism, wherein the overspeed locking mechanism comprises a locker body and an end cover, the locker body is fixed on the driving wheel bearing frame of the robot body, the end cover is sealed on one end of the locker body, a bearing and a rotating shaft are arranged in the locker body, two pairs of tongues and two springs are arranged on the rotating shaft, the two pairs of tongues are fixed on the shaft body of the rotating shaft and each pair of tongues are symmetrically distributed along the rotating shaft, the two springs are fixed on the rotating shaft and are located outside the tongues for limiting the two pairs of tongues; after the driving wheel drives the rotating shaft to rotate, the four tongues and the two springs follow; When the speed of the driving wheel of the robot body is less than the preset value, the elasticity and centrifugal force of the tongue piece are both within the pressure of the spring piece, and the spring piece restricts the tongue piece from contacting the lock body. At this time, the robot body moves normally along the track; When the speed of the driving wheel of the robot body is greater than or equal to the preset value, the elasticity and centrifugal force of the tongue piece exceeds the pressure of the spring piece, and one pair of tongue pieces opens and contacts the inner wall of the lock body, eventually locking the rotating shaft, and then the driving wheel is also locked, forcing the robot body to stop at the current position of the track; The tongue pieces have four pieces in total, including a first tongue piece, a second tongue piece, a third tongue piece and a fourth tongue piece in sequence, the first tongue piece and the second tongue piece are symmetrical along the rotation axis, and the third tongue piece and the fourth tongue piece are symmetrical along the rotation axis; the two spring pieces are respectively the first spring piece and the second spring piece, the first spring piece restricts the first tongue piece and the fourth tongue piece, and the second spring piece restricts the second tongue piece and the third tongue piece; The tongue piece includes a head, a middle part and a root part connected in sequence, the root part is fixed to the rotating shaft, the head part is away from the rotating shaft and its edge is arc-shaped; when the driving wheel rotation speed is less than a preset value, the entire arc-shaped part of the tongue piece head part does not contact the inner wall of the lock body; when the driving wheel rotation speed is greater than or equal to the preset value, one end of the arc-shaped part of the tongue piece head part is fully in contact with the inner wall of the lock body, so that the rotating shaft is locked, and here the other end of the arc-shaped part of the tongue piece head part has a certain gap with the inner wall of the lock body, which is convenient for reversing the rotating shaft to unlock.

7. The track inspection robot with overspeed locking function according to claim 6, characterized in that: When the speed of the driving wheel is less than 4 revolutions per second, the spring restricts the tongue so that it does not contact the inner wall of the lock body. When the speed of the driving wheel is greater than or equal to 4 revolutions per second, all the tongues overcome the elastic force of the springs and open to contact the inner wall of the lock body, and the pair of tongues in the walking direction rub against the inner wall of the lock and further open under the action of friction until they are completely locked, so that the rotating shaft and the driving wheel are stuck and locked and no longer move.

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