A bridge tower inspection robot walking system based on track

Abstract

The present invention discloses a bridge tower detection robot walking system based on a track, the bridge tower detection robot walking system based on the track comprises a track, a body tightly held with the track, and a driving wheel system and a swing arm mechanism arranged on the body, the driving wheel system comprises a driver, a rotating shaft, a transmission wheel and a transmission chain, the driver is connected with the rotating shaft, the transmission wheel is meshed with the transmission chain for transmission, the transmission wheel is axially mounted on the rotating shaft and can move axially along the rotating shaft, the body moves along the transmission chain and the track under the drive of the driver, and the transmission wheel adapts to the curvature change of the transmission chain by axial movement. The bridge tower detection robot walking system based on the track disclosed by the present invention realizes the purpose that the body can turn smoothly in the horizontal direction without derailment, the body can run smoothly even in the case of a route with many bends, and the turning on the bend is more flexible and reliable, so that it can adapt to narrow spaces and more complex working conditions, and improve the obstacle avoidance ability of the robot.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a bridge tower detection robot walking system based on a track. Background Art

[0002] With the continuous development of information technology and mechanical design technology, intelligent equipment and industrial automation equipment have been widely used in industrial production, structural processing and large-scale structural operation and maintenance, replacing time-consuming and labor-intensive manual operations, greatly improving the efficiency of production construction and operation and maintenance, and generating huge economic effects. Faced with various industrial scenarios, corresponding intelligent and automated equipment have been developed according to the characteristics of the scenarios to adapt to common single scenarios such as on the ground, in the air, and underwater, and to carry out corresponding equipment to complete the operation needs. At present, there is still a lack of intelligent detection equipment on the market that can not only run on a plane, but also climb on a vertical plane, reach the top of the structure, cover the entire structure with the detection surface, and carry out detection operations in a small space. Conventional detection operations through traditional manual work are very difficult. For example, bridge inspection, many bridge projects have entered a period of urgent need for management and maintenance. The bridge tower in the bridge refers to a tall structural component that is mainly under pressure in a cable-supported bridge. When the robot detects the bridge tower, it needs to travel through the tall, closed and narrow arch tower structure.

[0003] In the related technology, common walking systems of bridge tower inspection robots include wheel drive, track drive, rotor drive, etc. The above three commonly used walking methods are only suitable for open land and airspace. Although they have flexible movement functions in different scenarios and strong spatial accessibility, they require the inspection environment to be as open as possible. The ability of wheeled and tracked drives to cross obstacles is poor, especially in a small space where obstacles cannot be bypassed and can only be crossed, so that the complete structural inspection operation cannot be carried out smoothly, and facing a movement path with a large slope, it is impossible to climb the slope. Rotor-type equipment has a strong obstacle avoidance ability and can overcome various height inspection operations, but in a small space and under complex working conditions, it is extremely easy to collide with the surrounding environment, causing damage to the equipment. In summary, the above walking methods commonly used in wide environments cannot adapt to inspection environments with small spaces and large slopes.

[0004] In view of this, it is necessary to propose a track-based bridge tower inspection robot walking system to solve the above defects. Summary of the invention

[0005] The main purpose of the present invention is to provide a track-based bridge tower inspection robot walking system, aiming to solve the problem that the existing inspection robots can only operate in open environments and cannot adapt to narrow spaces and complex working conditions.

[0006] To achieve the above-mentioned purpose, the present invention provides a track-based bridge tower inspection robot walking system, including a track, a body that is tightly embraced with the track and can walk on the track, and a driving wheel system arranged on the body, wherein the driving wheel system includes a driver, a rotating shaft, a transmission wheel and a transmission chain, the driver is connected to the rotating shaft, the rotating shaft is installed on the body, the transmission wheel is meshed with the transmission chain for transmission, the transmission wheel is axially installed on the rotating shaft and can move axially along the rotating shaft, the transmission chain and the track have the same motion trajectory, the transmission chain is laid on a track surface of the track, the body is driven by the driver to move along the transmission chain and the track at the same time, and the transmission wheel adapts to the curvature change of the transmission chain by axial movement.

[0007] Preferably, the driving gear system also includes an axial stopper and an axial displacement compensator, both of which are axially mounted on the rotating shaft, and the axial displacement compensator is located between the transmission wheel and the axial stopper, and its two ends are respectively abutted against the transmission wheel and the axial stopper.

[0008] Preferably, the axial displacement compensation member is a spring.

[0009] Preferably, the rotating shaft is a gear shaft, the transmission wheel is a sprocket with meshing teeth arranged on the inner ring, and the transmission chain is a chain.

[0010] Preferably, the vehicle body includes a vehicle body and a driven wheel system, the driven wheel system includes an upper rail-holding wheel group and a lower rail-holding wheel group which are spaced apart from each other and respectively contact the upper and lower rail surfaces of the track, the upper rail-holding wheel group is fixedly mounted on the vehicle body, and the lower rail-holding wheel group is mounted on the vehicle body via a swing arm mechanism, and the swing arm mechanism can undergo elastic deformation in the height direction of the vehicle body to adapt to the change in the spacing distance between the lower rail-holding wheel group and the upper rail-holding wheel group, so as to keep the lower rail-holding wheel group in contact with the track.

[0011] Preferably, the swing arm mechanism includes a swing arm and a height displacement compensation component, the swing arm is arranged along the height direction of the vehicle body, one end of the swing arm is rotatably connected to the bottom of the vehicle body, and the other end is connected to the top of the vehicle body through one end of the height displacement compensation component, and the lower rail-holding wheel group is installed on the inner side of the swing arm.

[0012] Preferably, the upper rail-holding wheel group and the lower rail-holding wheel group both include a rail-holding wheel axle, a single-sided wheel and an axial limiting member, the rail-holding wheel axle is mounted on the vehicle body, the single-sided wheel is axially mounted on the rail-holding wheel axle, the inner surface of the edge of the single-sided wheel coincides with the edge of the track, the limiting member is axially mounted between the single-sided wheel and the vehicle body, and the single-sided wheel on the upper rail-holding wheel group and the single-sided wheel on the lower rail-holding wheel group are in contact with the upper and lower rail surfaces of the track at the same time.

[0013] Preferably, the swing arm includes two folding rods and a cross brace connected between the two folding rods, one end of the folding rod is rotatably connected to the bottom of the vehicle body, and the other end is connected to the top of the vehicle body through the height displacement compensation member.

[0014] Preferably, it further comprises a torsion mechanism, the vehicle body is composed of at least two sections, and two adjacent vehicle body sections are connected by the torsion mechanism.

[0015] Preferably, the torsion mechanism includes a support block, a fork arm, a rotating pin and an elastic connecting member, the support block is fixed to the previous section of the vehicle body, the rotating pin is installed on the support block, one end of the fork arm is axially connected to the rotating pin, and the other end is fixedly connected to the next section of the vehicle body, and the two ends of the elastic connecting member are respectively connected to the two adjacent sections of the vehicle body.

[0016] Compared with the prior art, the track-based bridge tower inspection robot walking system provided by the present invention has the following beneficial effects:

[0017] The track-based bridge tower inspection robot walking system provided by the present invention drives the rotating shaft to rotate through the set driver, and the rotating shaft drives the transmission wheel installed thereon to move along the transmission chain, so that the body moves along the track and the transmission chain. Since the transmission wheel can move along the rotating shaft, when encountering a turn during the movement, the transmission wheel has freedom in the left and right directions, so that when the transmission chain bends and changes, the transmission wheel can deflect left and right with the transmission chain to adapt to the curvature of the transmission chain, effectively avoiding the problem of the transmission wheel and the transmission chain being separated during operation. When encountering a turn, the body can float left and right to adapt to the bending change of the path, achieving the purpose of the body turning smoothly in the horizontal direction without derailment. Even in the case of a route with many bends, the body can run smoothly, and the turning on the bend is more flexible and reliable, so that it can adapt to narrow spaces and more complex working conditions, thereby greatly improving the robot's obstacle avoidance ability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0019] Figure 1 A schematic diagram of the structure of a track-based bridge tower inspection robot walking system provided by the present invention;

[0020] Figure 2 for Figure 1 The structural schematic diagram of the driving gear train shown;

[0021] Figure 3 for Figure 1 The motion trajectory diagram of the robot when walking is shown;

[0022] Figure 4 for Figure 1 A schematic diagram of the structure of the vehicle body shown;

[0023] Figure 5 for Figure 1 Exploded view of the torsion mechanism shown.

[0024] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0025] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0028] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0029] See also Figure 1 The present invention provides a track-based bridge tower inspection robot walking system. The track-based bridge tower inspection robot walking system includes a track 1, a body 3 that hugs the track 1 and can walk along the track 1, and an active wheel system 5 installed on the body 3 for driving the body 3 to walk along the track 1. It should be noted that the robot is an inspection robot, which is specifically used in application scenarios such as bridge arch towers, and of course, can also be used for the inspection of narrow tunnels. The track 1 is fixed in the bridge arch tower, and the track 1 travels inside the bridge tower according to the structure of the bridge tower. It is worth mentioning that the inspection robot can also be used in scenarios such as horizontal planes and ground.

[0030] Please refer to Figure 1 and Figure 2The driving wheel train 5 is used to drive the vehicle body 3 to move along the track 1. Specifically, the driving wheel train 5 includes a driver 51, a rotating shaft 53, a transmission wheel 55 and a transmission chain 57. The driver 51 is connected to the rotating shaft 53 to drive the rotating shaft 53 to rotate. The rotating shaft 53 is installed on the vehicle body 3 along the width direction of the vehicle body 3. The transmission wheel 55 is meshed with the transmission chain 57 for transmission. The transmission wheel 55 is axially installed on the rotating shaft 53 and can be axially moved along the rotating shaft 53 to adjust the position of the transmission wheel 55 on the rotating shaft 53. The transmission chain 57 has the same motion trajectory as the track 1. The transmission chain 57 is laid on a track surface of the track 1. The vehicle body 3 moves along the transmission chain 57 and the track 1 at the same time under the drive of the driver 51. When turning, the transmission wheel 55 adapts to the curvature change of the motion trajectory of the transmission chain 57 by moving axially along the rotating shaft 53. Under the condition that the vehicle body 3 is tightly held against the track 1, the driver 51 drives the rotating shaft 53 to rotate, and the rotating shaft 53 drives the transmission wheel 55 installed thereon to move along the transmission chain 57, so that the vehicle body 3 moves along the track 1 and the transmission chain 57. Since the transmission wheel 55 can move along the rotating shaft 53, when encountering a turn during the movement, the transmission wheel 55 has freedom in the left and right directions, so that when the movement trajectory of the transmission chain 57 changes, the transmission wheel 55 can adapt to the curvature of the movement trajectory of the transmission chain 57 as the transmission chain 57 deflects left and right, and always maintains consistency with the movement trajectory of the transmission chain 57, effectively avoiding the problem of the transmission wheel 55 and the transmission chain 57 being separated during operation. When encountering a turn, the vehicle body 3 can float left and right to adapt to the bending change of the path, thereby achieving the purpose of the vehicle body 3 being able to turn smoothly in the horizontal direction, and can adapt to various turns in the narrow space of complex bridge tower components.

[0031] It needs to be explained that Figure 3 As shown, Figure 3The diagram shows the movement trend of the vehicle body 3 when the vehicle body 3 is turning, that is, when the movement trajectory of the transmission chain 57 is in an arc shape. When the transmission wheel 55 is driving on the transmission chain 57, if the transmission wheel 55 cannot be offset, the transmission wheel 55 moves in a straight line along route A, and the transmission wheel 55 will be separated from the movement trajectory B of the transmission chain 57, and the movement trajectory of the transmission wheel 55 will not change along the curvature of the transmission chain 57. Therefore, the freedom of the transmission wheel 55 in the left and right directions enables the transmission wheel 55 to achieve left and right offsets during the meshing transmission process to adapt to the trajectory change of the transmission chain 57, so that the vehicle body 3 can smoothly move along the preset trajectory when turning, and will not derail. Even in the case of a route with many curves, the vehicle body 3 can run smoothly, and the turning on the curve is more flexible and reliable, so that it can adapt to narrow spaces and more complex working conditions, thereby greatly improving the obstacle avoidance ability of the robot.

[0032] Furthermore, the driving gear train 5 further includes an axial stopper 58 and an axial displacement compensator 59, both of which are axially mounted on the rotating shaft 53, and the axial displacement compensator 59 is located between the transmission wheel 55 and the axial stopper 58, and the two ends of the axial displacement compensator 59 are respectively in contact with the transmission wheel 55 and the axial stopper 58. The axial displacement compensator 59 can apply a thrust to straighten the transmission wheel 55 close thereto. Specifically, the axial displacement compensator 59 is a spring, and the spring maintains the motion state of the transmission wheel 55 through a preload force. When turning, the transmission wheel 55 deflects and moves along the transmission chain 57. When turning and tending to move in a straight line, the axial displacement compensator 59 pushes the transmission wheel 55 to adapt to the straight track. In this way, the driving gear train 5 can move in any curved and straight conditions, and can adapt to complex driving routes, so that it can work in narrow spaces and can also drive smoothly in complex routes. Specifically, the axial stopper 58 is a positioning sleeve, and the positioning sleeve is used to limit and position the axial displacement compensation member.

[0033] In addition, the driving gear train 5 further includes a driving flange and a spline, and the driver is connected to the rotating shaft 53 via the driving flange. Preferably, one end of the rotating shaft 53 is connected to the driving flange via the spline, and the other end of the rotating shaft 53 is mounted on the vehicle body via a bearing.

[0034] Specifically, in this embodiment, the rotating shaft 53 is a gear shaft, the transmission wheel 55 is a sprocket with meshing teeth on the inner ring, and the transmission chain 57 is a chain. It can be understood that the sprocket is meshed with the chain, and the gear shaft rotates under the drive of the driver 51 and drives the sprocket to crawl on the chain, which is the active driving force for the robot to travel, forming the active gear train 5 of the robot.

[0035] See also Figure 4The vehicle body 3 includes a vehicle body 31 and a driven wheel train 33. The driven wheel train 33 includes an upper rail-holding wheel group 35 and a lower rail-holding wheel group 36 which are spaced apart from each other and respectively contact the upper and lower rail surfaces of the track 1. The upper rail-holding wheel group 35 is fixedly mounted on the vehicle body 31 of the vehicle body. The lower rail-holding wheel group 36 is mounted on the vehicle body 31 of the vehicle body through a swing arm mechanism 37. The swing arm mechanism 37 can be elastically deformed in the height direction of the vehicle body 3 to adapt to the spacing distance between the lower rail-holding wheel group 36 and the upper rail-holding wheel group 35, so that the lower rail-holding wheel group 36 maintains contact with the track 1. When the track 1 is deformed, such as when it is bent longitudinally or thickened, the distance between the lower rail-holding wheel set 36 and the upper rail-holding wheel set 35 is enlarged, and the height of the whole machine structure becomes higher. The lower rail-holding wheel set 36 is pulled back by the swing arm mechanism 37, so that the distance between the lower rail-holding wheel set 36 and the upper rail-holding wheel set 35 is restored, so that the lower rail-holding wheel set 36 is always in contact with the track 1, so that the robot can run smoothly when passing through the longitudinal bend. Therefore, when the transmission wheel 55 and the transmission chain 57 form the active wheel train 5, the driven wheel train 33 is set to hold the track 1 tightly, and the upper rail-holding wheel set 35 and the lower rail-holding wheel set 36 are kept in contact with the track 1 through the swing arm mechanism 37, so that the robot can be driven to move stably in a narrow space under any slope of the track 1, and can adapt to the flat bend and longitudinal bend of the track 1, that is, it has the flexible obstacle avoidance movement ability of flat straight line movement, vertical climbing movement, longitudinal bending movement and plane bending movement. Especially in the detection working scenes such as arch towers, the meshing of the transmission wheel 55 and the transmission chain 57, combined with the clamping action of the upper rail-holding wheel group 35 and the lower rail-holding wheel group 36 with the track 1, can achieve high-altitude vertical climbing. It is worth mentioning that for the interior of the towering structure with a slope close to vertical and no pre-laid track, it is necessary to set up a track to control the running route of the detection robot, and also to provide the detection robot with a stable vertical climbing ability. The commonly used running system of the track-based detection robot cannot adapt. In addition, inside the towering structure, there are usually reinforcing components or structural components such as diaphragms and cables, so that the track is not laid on the same plane. It is necessary to design flat curved tracks and longitudinal curved tracks to cross these obstacles to ensure the passability of the detection robot. Further, the detection robot is required to have not only the ability to climb, but also the ability to adapt to various deformations of the track. This is impossible for the running system of the conventional track-based detection robot. The detection robot of the present invention can move forward and backward, left and right, up and down in specific occasions according to the established route to reach the target area. Compared with the wheeled and tracked drives in the prior art that have poor ability to cross obstacles, the inspection robot provided by the present invention greatly improves the ability to cross obstacles in a narrow space where it cannot bypass them, and can smoothly implement complete structural inspection operations.

[0036] The swing arm mechanism 37 includes a swing arm 371 and a height displacement compensation member 373. The swing arm 371 is arranged along the height direction of the vehicle body 3. One end of the swing arm 371 is rotatably connected to the bottom of the vehicle body 3, and the other end is connected to the top of the vehicle body 3 through one end of the height displacement compensation member 373. The lower rail-holding wheel set 36 is installed on the inner side of the swing arm 371. It can be understood that when the track 1 is longitudinally bent, the rail-holding angle between the lower rail-holding wheel set 36 and the upper rail-holding wheel set 35 changes, and the spacing between the upper rail-holding wheel set 35 and the lower rail-holding wheel set 36 is enlarged. The swing arm 371 rotates around the connection with the vehicle body 3 to adapt to the movement of the lower rail-holding wheel set 36. The height displacement compensation member 373 pulls the swing arm 371 back, so that the upper rail-holding wheel set 35 and the lower rail-holding wheel set 36 are always in contact with the track 1. In this way, during the climbing process, the vehicle body 3 always moves along the track 1. Specifically, the height displacement compensation member 373 is a spring, which pulls the swing arm to pull back through a preload force.

[0037] The upper rail-holding wheel set 35 and the lower rail-holding wheel set 36 each include a rail-holding wheel axle 351, a single-sided wheel 353 and an axial stopper 355. The rail-holding wheel axle 351 is mounted on the vehicle body 3. The single-sided wheel 353 is axially mounted on the rail-holding wheel axle 351. The inner edge surface of the single-sided wheel 353 coincides with the edge of the track 1. The axial stopper 355 is axially mounted between the single-sided wheel 353 and the vehicle body 3. The single-sided wheel on the upper rail-holding wheel set 35 and the single-sided wheel on the lower rail-holding wheel set 36 are in contact with the upper and lower rail surfaces of the track 1 at the same time. The axial stopper 355 is a spring. Those skilled in the art can understand that the spring has the function of being compressible and stretchable. The spring is supported between the single-sided wheel 353 and the vehicle body 3. The two single-sided wheels 353 hold the track 1 from both sides of the track 1. Under the action of the spring, the two single-sided wheels 353 have a certain degree of freedom in the left and right directions, and can adapt to the width change of the track 1 to improve the movement flexibility of the driven wheel system 33.

[0038] The difference between the upper rail-holding wheel 35 and the lower rail-holding wheel group 36 is that the rail-holding wheel axle of the upper rail-holding wheel group 35 is a whole axle with single-sided wheels installed at both ends of the whole axle, while the rail-holding wheel axle on the lower rail-holding wheel group 36 is two disconnected axles with a single-sided wheel installed on each axle.

[0039] It is worth mentioning that the vertical spacing between the upper rail-holding wheel group 35 and the lower rail-holding wheel group 36 is smaller than the track height, that is, the vertical spacing between the contact wheel surface of the single-sided wheel on the upper rail-holding wheel group and the contact wheel surface of the single-sided wheel on the lower rail-holding wheel group is smaller than the height of the track, forming an interference fit, so that the upper rail-holding wheel group and the lower rail-holding wheel group are tightly held on the upper and lower rail surfaces of the track, thereby increasing the friction during vertical climbing and enhancing the robot's vertical climbing function.

[0040] Specifically, the swing arm 371 is connected to the end of the vehicle body 3 in a gate shape, and the swing arm 371 includes two folding rods 375 and a cross brace 377 connected between the two folding rods 375. One end of the folding rod 375 is rotatably connected to the bottom of the vehicle body 3 through a bearing and a rotating shaft, and the other end is connected to the top of the vehicle body 3 through the height displacement compensation member 373. The folding rod 375 rotates around the connection with the vehicle body 3 to achieve the up and down floating of the vehicle body 3.

[0041] See also Figure 5 In another preferred embodiment, the track-based bridge tower inspection robot walking system further includes a torsion mechanism 7, and the vehicle body 3 is at least two sections, and two adjacent vehicle bodies are connected by the torsion mechanism 7. The first section of the vehicle body drives the other section of the vehicle body to swing through the torsion mechanism 7 to adapt to the operation of multiple vehicle bodies on a curved route, and the structure is flexible.

[0042] Further, the torsion mechanism 7 includes a support block 71, a fork arm 73, a rotation pin 75 and an elastic connector 77, wherein the support block 71 is fixed to the preceding section of the vehicle body 3, the rotation pin 75 is installed on the support block 71 along the height direction of the vehicle body 3, one end of the fork arm 73 is axially rotationally connected to the rotation pin 75, and the other end is fixedly connected to the following section of the vehicle body 3, and the two ends of the elastic connector 77 are respectively connected to two adjacent sections of the vehicle body 3. Specifically, the fork arm 73 is installed on the rotation pin 75 through a bearing, so that the fork arm 73 can rotate around the rotation pin 75, so that the following section of the vehicle body 3 can swing under the action of the fork arm 73, and in the case of a horizontal turn, the following section of the vehicle body 3 can adapt to the turning angle. Specifically, the elastic connector 77 is a spring, which adapts to the angle change of the vehicle body during torsion through the deformability of the spring.

[0043] The robot walking system based on the track 1 provided by the present invention drives the rotating shaft 53 to rotate through the driver 51 provided, and the rotating shaft 53 drives the transmission wheel 55 installed thereon to move along the transmission chain 57, so that the body 3 travels along the track 1 and the transmission chain 57. Since the transmission wheel 55 can move a certain distance along the rotating shaft 53, when encountering a turn during the travel, the transmission wheel 55 has a degree of freedom in the left and right directions, so that when the transmission chain 57 is bent, the transmission wheel 55 can be deflected left and right with the transmission chain 57 to adapt to the curvature of the transmission chain 57, effectively avoiding the problem of the transmission wheel 55 and the transmission chain 57 being separated during operation. When encountering a turn, the body 3 can float left and right to adapt to the bending change of the path, so that the body 3 can turn smoothly in the horizontal direction without derailment. Even in the case of a route with many bends, the body 3 can run smoothly, and the turning on the bend is more flexible and reliable, so that it can adapt to narrow spaces and working conditions with more complex structures, thereby greatly improving the obstacle avoidance ability of the robot.

[0044] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A bridge tower inspection robot walking system based on a track, characterized in that: It comprises a track, a vehicle body that is tightly attached to the track and can travel on the track, and a driving wheel system installed on the vehicle body, wherein: The driving wheel system includes a driver, a rotating shaft, a transmission wheel and a transmission chain, wherein the driver is connected to the rotating shaft, the rotating shaft is mounted on the vehicle body, the transmission wheel is meshed with the transmission chain for transmission, the transmission wheel is axially mounted on the rotating shaft and can move axially along the rotating shaft, the movement track of the transmission chain and the track are the same, the transmission chain is laid on a track surface of the track, the vehicle body moves along the transmission chain and the track at the same time under the drive of the driver, and the transmission wheel adapts to the curvature change of the transmission chain by axial movement; The driving gear train further includes an axial stopper and an axial displacement compensating member, both of which are axially mounted on the rotating shaft, and the axial displacement compensating member is located between the transmission wheel and the axial stopper, and two ends of the axial displacement compensating member are respectively in contact with the transmission wheel and the axial stopper; The vehicle body comprises a vehicle body and a driven wheel system, wherein the driven wheel system comprises an upper rail-holding wheel set and a lower rail-holding wheel set which are arranged at intervals from top to bottom and contact the upper and lower rail surfaces of the rail respectively, wherein the upper rail-holding wheel set is fixedly mounted on the vehicle body, and the lower rail-holding wheel set is mounted on the vehicle body via a swing arm mechanism, wherein the swing arm mechanism can be elastically deformed in the height direction of the vehicle body to adapt to the change in the spacing distance between the lower rail-holding wheel set and the upper rail-holding wheel set, so that the lower rail-holding wheel set maintains contact with the rail; The swing arm mechanism comprises a swing arm and a height displacement compensating member, the swing arm is arranged along the height direction of the vehicle body, one end of the swing arm is rotatably connected to the bottom of the vehicle body, and the other end is connected to the top of the vehicle body through one end of the height displacement compensating member, and the lower rail-holding wheel set is installed on the inner side of the swing arm; The swing arm rotates around the connection point of the vehicle body to adapt to the movement of the lower rail-holding wheel set; The swing arm includes two folding rods and a cross brace connected between the two folding rods. One end of the folding rod is rotatably connected to the bottom of the vehicle body, and the other end is connected to the top of the vehicle body through the height displacement compensation component.

2. The track-based bridge tower inspection robot walking system according to claim 1 is characterized in that: The axial displacement compensation component is a spring.

3. The track-based bridge tower inspection robot walking system according to claim 1 is characterized in that: The rotating shaft is a gear shaft, the transmission wheel is a sprocket wheel with meshing teeth arranged on the inner ring, and the transmission chain is a chain.

4. The track-based bridge tower inspection robot walking system according to claim 1, characterized in that: The upper rail-holding wheel group and the lower rail-holding wheel group both include a rail-holding wheel axle, a single-sided wheel and an axial limiting member. The rail-holding wheel axle is mounted on the vehicle body, and the single-sided wheel is axially mounted on the rail-holding wheel axle. The inner surface of the edge of the single-sided wheel coincides with the edge of the track, and the limiting member is axially mounted between the single-sided wheel and the vehicle body. The single-sided wheel on the upper rail-holding wheel group and the single-sided wheel on the lower rail-holding wheel group are in contact with the upper and lower rail surfaces of the track at the same time.

5. The track-based bridge tower inspection robot walking system according to any one of claims 1 to 4, characterized in that: It also includes a torsion mechanism, the vehicle body is at least two sections, and two adjacent vehicle body sections are connected by the torsion mechanism.

6. The track-based bridge tower inspection robot walking system according to claim 5, characterized in that: The torsion mechanism includes a support block, a fork arm, a rotating pin and an elastic connecting piece. The support block is fixed to the previous section of the vehicle body, the rotating pin is installed on the support block, one end of the fork arm is axially connected to the rotating pin, and the other end is fixedly connected to the next section of the vehicle body, and the two ends of the elastic connecting piece are respectively connected to the two adjacent sections of the vehicle body.

Images