Switchable wheeled walking mechanism for track inspection robot

Abstract

The application discloses a switchable wheel type walking mechanism for a track inspection robot and belongs to the technical field of the inspection robot; the switchable wheel type walking mechanism comprises two groups of function units symmetrically arranged on the left and right sides of a track inspection robot vehicle body, each group of the function units is composed of a wheel changing assembly and an avoiding assembly; the wheel changing assembly takes a screw rod motor as a driving core, a screw rod nut drives a wheel changing plate to move along a first sliding block guide rail, and then drives a conical wheel sleeved on a flat wheel to switch a working position or an idle position, so that wheel type conversion is realized; the avoiding assembly pushes a roller through linkage of a convex top plate of the wheel changing plate, drives a track support base to move downward along a second sliding block guide rail and compresses a spring, so that the track support base supports the vehicle body, and a wheel set is separated from the track, and wheel rail interference during wheel changing is avoided; through switching of the flat wheel and the conical wheel, the switchable wheel type walking mechanism is respectively adapted to flexible track linear operation and rigid track steering requirements, and adaptability and operation reliability of the inspection robot in a complex track environment are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of track inspection robot technology, specifically a switchable wheeled walking mechanism for track inspection robots. Background Technology

[0002] Track inspection robots, as core equipment for automated inspection in industrial sites, can replace manual labor in completing inspection tasks in narrow and high-risk areas, effectively reducing labor costs and improving operational safety. Existing track inspection robots mainly use two types of tracks: rigid tracks and flexible tracks. Rigid tracks offer high operational stability but suffer from high installation costs, difficulty in subsequent adjustments, and poor flexibility. Flexible tracks, typically using steel strands as a carrier, offer advantages such as convenient installation, low cost, and flexible adjustment, making them better suited to the needs of complex industrial environments.

[0003] However, due to the low stiffness of the flexible track itself, the inspection robot still needs to rely on the rigid steering track to achieve stable cornering in the turning area. This means that the flexible track inspection robot needs to meet the operating requirements of two track conditions at the same time: In the flexible track area, the flat wheel structure can avoid the horizontal thrust generated by wheel-rail contact and reduce the risk of lateral deviation or derailment of the steel strand; In the rigid steering track area, the conical wheel can learn from the steering mechanism of railway vehicles and achieve differential-speed smooth steering through the difference in equivalent rolling radii between the inner and outer sides. However, the flat wheel is difficult to adapt to the difference in length between the inner and outer tracks in this scenario, and its steering performance is limited.

[0004] In existing technologies, track inspection robots lack a reliable structure capable of autonomously switching wheel types. If a single wheel type is used, it cannot meet the operational requirements of two types of tracks: conical wheels pose a risk of derailment on flexible tracks, while flat wheels face difficulties in steering on rigid steering tracks. This wheel type compatibility contradiction results in insufficient adaptability and operational reliability of inspection robots in complex track environments, limiting the widespread application of flexible track inspection robots. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a switchable wheeled walking mechanism for a track inspection robot.

[0006] The specific solution adopted in this invention is as follows:

[0007] A switchable wheeled walking mechanism for a track inspection robot is provided, which enables the track inspection robot to switch wheel types when switching between different types of tracks. The switchable wheeled walking mechanism includes two sets of functional units symmetrically arranged on the left and right sides of the track inspection robot body. Each set of functional units consists of a wheel changing component and an avoidance component. The wheel changing component and the avoidance component cooperate to complete the track collision avoidance action during the wheel type switching and wheel changing process.

[0008] The wheel-changing assembly includes a wheel-changing plate, a wheel set, a lead screw motor, a lead screw, a lead screw nut, a first slider, and a first slider guide rail. The lead screw motor is fixedly installed on the vehicle body, and its output end is connected to the lead screw drive. The lead screw nut is threadedly engaged with the lead screw and is fixedly connected to the wheel-changing plate. The first slider guide rail is vertically fixedly installed on the vehicle body, and the first slider is slidably mounted on the first slider guide rail. The wheel-changing plate is fixedly connected to the first slider. The lead screw motor drives the lead screw to rotate, causing the lead screw nut and the wheel-changing plate to perform linear reciprocating motion along the first slider guide rail.

[0009] The wheel set includes a flat wheel and a conical wheel. The flat wheel is rotatably mounted on the vehicle body, and the conical wheel is slidably sleeved on the flat wheel. The edge of the conical wheel is embedded in the wheel-changing plate. Through the linear reciprocating motion of the wheel-changing plate, the conical wheel is driven to switch along the wheel axis of the flat wheel to a working position in contact with the track or an idle position away from the track, thereby realizing the switching of the working state between the conical wheel and the flat wheel.

[0010] The collision avoidance assembly includes a top plate, a track support, rollers, roller brackets, springs, and spring fixing brackets. The top plate has a convex structure and is fixed below the wheel-changing plate. The rollers are rotatably mounted on the top of the track support via the roller brackets. The spring fixing brackets are fixed to the vehicle body. One end of the spring is fixedly connected to the track support, and the other end is fixedly connected to the spring fixing brackets. When the wheel-changing plate moves, the top plate moves synchronously with it and pushes against the rollers, causing the track support to move downwards and compress the springs, so that the track support contacts the track and supports the vehicle body. At this time, the wheel set is completely separated from the track, realizing track collision avoidance during the wheel-changing process.

[0011] Preferably, the outer side of the flat wheel is provided with a groove extending along the wheel axis of the flat wheel, and the inner side of the conical wheel is provided with a protrusion that matches the groove. The protrusion is embedded in the groove and slides along the groove to limit the sliding direction of the conical wheel and transmit steering torque.

[0012] Preferably, the wheel set is provided on both sides of the wheel changing plate;

[0013] Both sides of the wheel-changing plate are provided with arc-shaped slots that are adapted to the bottom outer edge of the conical wheel. The bottom outer edge of the conical wheel is embedded in the arc-shaped slots to realize the connection between the wheel-changing plate and the conical wheel.

[0014] Preferably, the first slider guide rail is fixedly installed on the vehicle body via a first slider guide rail bracket.

[0015] Preferably, a second slider is fixedly provided on the side of the track support facing the vehicle body, and a second slider guide rail is fixedly provided on the vehicle body accordingly. The track support slides vertically along the second slider guide rail via the second slider.

[0016] Preferably, the spring is a compression spring, and when the spring is in its naturally extended state, a preset safety gap is maintained between the track support and the flexible track.

[0017] Preferably, the range of the preset safety gap is 5 to 10 mm.

[0018] Preferably, both the roller and the top plate are made of wear-resistant metal material, the outer edge of the roller is an arc-shaped surface, and the convex structure surface of the top plate is a rounded transition design, and the two fit together to form rolling contact.

[0019] Preferably, the lead screw motor is a servo motor.

[0020] Preferably, the switchable wheeled walking mechanism is adapted to the switching conditions between flexible track and rigid steering track. The flat wheel is a working wheel adapted to the flexible track for the inspection robot to move in a straight line on the flexible track, and the conical wheel is a working wheel adapted to the rigid steering track for the inspection robot to turn and move on the rigid steering track.

[0021] Compared with the prior art, the present invention has at least one of the following advantages or beneficial effects:

[0022] (1) Precise wheel type matching significantly improves operational stability: By autonomously switching wheel types, flat wheels are adapted to flexible tracks to avoid derailment risks, and conical wheels are adapted to rigid steering tracks to achieve smooth steering, thus solving the core contradiction that a single wheel type cannot take into account the two track conditions.

[0023] (2) The wheel changing process is safe and reliable: the avoidance component and the wheel changing component work together. When changing wheels, the wheel set is removed from the track, which effectively avoids wheel-rail interference. The rolling contact design between the top plate and the roller reduces wear and extends the service life of the mechanism.

[0024] (3) Compact structure and simple control: It adopts a screw motor drive and guide rail structure, and is connected with a slotted wheel set. The wheel type can be switched without complicated disassembly and assembly. It responds quickly and positions accurately. The overall structure is conducive to the miniaturization design of the robot.

[0025] (4) High adaptability and low maintenance cost: It has low dependence on the accuracy of track layout, can be adapted to a variety of complex industrial scenarios, and can replace traditional differential or complex steering mechanisms by switching wheel types, simplifying control logic, improving system reliability and reducing maintenance costs. Attached Figure Description

[0026] The invention, its features, shape, and advantages will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings. Like reference numerals denote like parts throughout the drawings. The drawings are not drawn to scale; the emphasis is on illustrating the main points of the invention.

[0027] Figure 1 This is a perspective view of the switchable wheeled walking mechanism for the track inspection robot in the flat wheel working state in an embodiment of the present invention;

[0028] Figure 2 This is a front view of the switchable wheeled walking mechanism for the track inspection robot in the flat wheel working state in this embodiment of the invention;

[0029] Figure 3 yes Figure 2 Schematic diagram of the cross section at point BB;

[0030] Figure 4 This is a top view of the switchable wheeled walking mechanism for the track inspection robot in the flat wheel working state in this embodiment of the invention;

[0031] Figure 5 This is a perspective view of the switchable wheeled walking mechanism for the track inspection robot in the working state of the conical wheel in this embodiment of the invention;

[0032] The components are as follows: 1. Track; 2. Wheel changing plate; 3. Lead screw nut; 4. Lead screw motor; 5. First slider; 6. First slider guide rail; 7. Slider guide rail fixing bracket; 8. Roller; 9. Top plate; 10. Roller bracket; 11. Track support seat; 12. Spring; 13. Spring fixing bracket; 14. Flat wheel; 15. Conical wheel; 16. Second slider guide rail; 17. Second slider; 18. Car body. Detailed Implementation

[0033] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but these are not intended to limit the scope of the invention.

[0034] As shown in Figures 1-5, this invention provides a switchable wheeled walking mechanism for a track inspection robot, suitable for industrial inspection scenarios where flexible steel strand tracks and rigid steering tracks coexist. This mechanism enables the track inspection robot to switch wheel types when switching between the two types of tracks. The core of this mechanism is the coordinated design of wheel type switching and downward movement to avoid obstacles, allowing the inspection robot to operate stably under different track conditions. This ensures both operational safety in the flexible track area and meets the steering performance requirements of the rigid track area.

[0035] I. Overall Structure

[0036] The switchable wheeled walking mechanism includes two sets of functional units, which are symmetrically arranged on the left and right sides of the vehicle body 18 of the track inspection robot. Each set of functional units consists of a wheel-changing component and an avoidance component, which work together to complete the wheel type switching and the collision avoidance action on track 1 during the wheel-changing process.

[0037] II. Structure and Function of the Wheel Changing Assembly

[0038] The wheel changing assembly mainly consists of a wheel changing plate 2, a wheel set, a lead screw motor 4, a lead screw, a lead screw nut 3, a first slider 5, and a first slider guide rail 6.

[0039] Drive section: The lead screw motor 4 is a servo motor, fixedly installed inside the vehicle body 18. The motor's output shaft is coaxially fixed to the lead screw via a coupling, and the other end of the lead screw is connected to the bearing seat on the vehicle body 18 via a deep groove ball bearing to ensure smooth rotation of the lead screw. The lead screw nut 3 is threaded to the lead screw and is bolted to the center of the wheel changing plate 2, forming a precise linear drive structure, which is also the core power source for the wheel changing action.

[0040] Guiding section: The first slider guide rail 6 is a linear guide rail, vertically fixed to the vehicle body 18 via a slider guide rail fixing bracket 7. The first slider guide rail 6 is detachably connected to the slider guide rail fixing bracket 7 for easy replacement. The length of the first slider guide rail 6 is designed according to the sliding stroke of the conical wheel 15. The first slider 5 is adapted to the first slider guide rail 6 and slidably mounted on it. The bottom of the wheel changing plate 2 is fixed to the first slider 5. This design ensures that the wheel changing plate 2 can only reciprocate linearly along the first slider guide rail 6, with a guiding accuracy error not exceeding ±0.05mm. This effectively prevents the wheel changing plate 2 from shifting or jamming during movement, improving the operational stability and reliability of the wheel changing mechanism under complex working conditions.

[0041] Wheelset: The wheelset includes a flat wheel 14 and a conical wheel 15. The flat wheel 14 is rotatably mounted on the vehicle body 18 via an axle and bearings. The conical wheel 15 is coaxially slidably fitted onto the outer side of the flat wheel 14. A T-shaped groove is formed on the outer side of the flat wheel 14 along the axle direction, the length of which matches the sliding stroke of the conical wheel 15. A T-shaped protrusion is integrally formed on the inner side of the conical wheel 15, fitting into the T-shaped groove and sliding along it. The sliding clearance is controlled at 0.02-0.05mm, thus limiting the sliding direction of the conical wheel 15 and transmitting the rotational torque of the flat wheel 14. Arc-shaped slots are formed on both sides of the wheel-changing plate 2, the arc of which matches the arc of the outer bottom edge of the conical wheel 15. The outer bottom edge of the conical wheel 15 is fitted into the slots, enabling synchronous movement of the wheel-changing plate 2 and the conical wheel 15 without affecting the rotation of the conical wheel 15 with the flat wheel 14. By controlling the direction and stroke of the lead screw motor 4, the position of the wheel-changing plate 2 can be precisely controlled, thereby driving the conical wheel 15 to switch to a working position in contact with the track 1 or an idle position detached from the track 1, realizing the switching between the two wheel types. This structure can complete the wheel type conversion without complicated disassembly and assembly, and is not only compact in structure but also very responsive.

[0042] III. Structure and Function of the Avoidance Component

[0043] The obstacle avoidance assembly consists of a top plate 9, a track support 11, rollers 8, roller brackets 10, springs 12, and spring fixing brackets 13.

[0044] Top plate and rollers: The top plate 9 has a convex structure, fixed below the wheel-changing plate 2 and perpendicular to it. Its convex surface features a rounded transition design to avoid stress concentration. The rollers 8 are rotatably mounted on top of the track support 11 via roller brackets 10. The outer edge of the rollers 8 is arc-shaped, allowing for rolling contact with the arc-shaped surface of the top plate 9. Both are made of wear-resistant metal, effectively reducing frictional resistance during relative movement, minimizing wear during long-term operation, and extending the service life of the mechanism.

[0045] Track support seat and guide structure: A second slider 17 is fixed on the side of the track support seat 11 facing the car body 18. The second slider 17 is a linear slider. A vertical second slider guide rail 16 is fixed on the car body 18. The track support seat 11 slides vertically along the second slider guide rail 16 through the second slider 17 to ensure that the downward movement and reset of the track support seat 11 are smooth.

[0046] Spring and Fixing Structure: The spring fixing bracket 13 is fixed to the vehicle body 18. One end of the spring 12 is connected to the track support seat 11, and the other end is connected to the spring fixing bracket 13. When the spring 12 is in its naturally extended state, a preset safety gap of 8mm is maintained between the track support seat 11 and the flexible track 1 (this gap can be adjusted within the range of 5-10mm), preventing interference between the track support seat 11 and the track 1 during normal robot operation. At the same time, the spring 12 can provide a restoring force to the track support seat 11, allowing the track support seat 11 to automatically reset in the non-wheel-changing state, always maintaining a safe gap with the track 1 and preventing unnecessary contact.

[0047] When the wheel-changing plate 2 moves, the top plate 9 moves synchronously and comes into contact with the roller 8, which in turn pushes the roller 8 and drives the track support 11 to move downward, compressing the spring 12. When the track support 11 contacts the track 1 and supports the vehicle body 18, the wheel set will disengage from the track 1, achieving collision avoidance protection of the track 1 during the wheel-changing process; after the wheel-changing is completed, the top plate 9 returns to its original position with the wheel-changing plate 2, and the robot gradually falls back to its working state under the action of gravity.

[0048] The core workflow of the aforementioned switchable wheeled walking mechanism is as follows:

[0049] During the straight-line movement phase of the flexible track: the spring 12 is in its natural state, the track support 11 maintains a safe gap with the track 1, the conical wheel 15 is in an idle position, and only the flat wheel 14 is in contact with the flexible track, enabling the robot to move in a stable straight line.

[0050] Wheel type switching preparation stage: When the robot is about to enter the rigid steering track, the lead screw motor 4 starts, driving the wheel changing plate 2 to move along the first slider guide rail 6, and the top plate 9 moves synchronously and pushes the roller 8.

[0051] Collision avoidance phase: Under the thrust of the top plate 9, the track support seat 11 slides down along the second slider guide rail 16, and the spring 12 is compressed until the track support seat 11 contacts the track 1 and supports the vehicle body 18. At this time, the wheel set is completely separated from the surface of the track 1.

[0052] Wheel type switching stage: The lead screw motor 4 continues to drive the wheel changing plate 2 to move, and through the arc-shaped slot, the conical wheel 15 slides along the T-shaped slide of the flat wheel 14 to the working position, and the flat wheel 14 switches to the idle state.

[0053] Rigid track steering phase: The wheel assembly falls back under the influence of gravity, and the conical wheel 15 contacts the rigid steering track. Utilizing the equivalent rolling radius difference formed by the inner and outer sides of the conical wheel 15, the robot achieves differential-free smooth steering.

[0054] Reset Phase: After the robot passes through the rigid steering track 1, the lead screw motor 4 reverses and repeats the collision avoidance action. The wheel changing plate 2 drives the conical wheel 15 to reset to the idle position, and the flat wheel 14 re-contacts the track 1, and the robot resumes its straight-line running state.

[0055] In summary, this invention achieves wheel type switching and safe operation of a flexible track inspection robot under different track conditions through the organic cooperation of the lead screw driven wheel changing assembly and the avoidance assembly. The overall structure is reasonable, the control method is simple, and it has good engineering applicability.

[0056] Those skilled in the art should understand that variations can be implemented by combining existing technology with the above embodiments. Such variations do not affect the essence of the present invention and will not be elaborated upon here.

[0057] The preferred embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and the devices and structures not described in detail should be understood as being implemented in a conventional manner in the art. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention using the methods and techniques disclosed above, or modify them into equivalent embodiments with equivalent changes, without departing from the scope of the present invention. This does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the present invention's technical solutions still fall within the protection scope of the present invention.

Claims

1. A switchable wheeled locomotive mechanism for a track inspection robot, used to enable wheel type conversion when the track inspection robot switches between different types of tracks, characterized in that, The switchable wheeled walking mechanism includes two sets of functional units symmetrically arranged on the left and right sides of the track inspection robot body. Each set of functional units consists of a wheel changing component and an avoidance component. The wheel changing component and the avoidance component cooperate to complete the track collision avoidance action during the wheel type switching and wheel changing process. The wheel-changing assembly includes a wheel-changing plate, a wheel set, a lead screw motor, a lead screw, a lead screw nut, a first slider, and a first slider guide rail. The lead screw motor is fixedly installed on the vehicle body, and its output end is connected to the lead screw drive. The lead screw nut is threadedly engaged with the lead screw and is fixedly connected to the wheel-changing plate. The first slider guide rail is vertically fixedly installed on the vehicle body, and the first slider is slidably mounted on the first slider guide rail. The wheel-changing plate is fixedly connected to the first slider. The lead screw motor drives the lead screw to rotate, causing the lead screw nut and the wheel-changing plate to perform linear reciprocating motion along the first slider guide rail. The wheel set includes a flat wheel and a conical wheel. The flat wheel is rotatably mounted on the vehicle body, and the conical wheel is slidably sleeved on the flat wheel. The edge of the conical wheel is embedded in the wheel-changing plate. Through the linear reciprocating motion of the wheel-changing plate, the conical wheel is driven to switch along the wheel axis of the flat wheel to a working position in contact with the track or an idle position away from the track, thereby realizing the switching of the working state between the conical wheel and the flat wheel. The collision avoidance assembly includes a top plate, a track support, rollers, roller brackets, springs, and spring fixing brackets. The top plate has a convex structure and is fixed below the wheel-changing plate. The rollers are rotatably mounted on the top of the track support via the roller brackets. The spring fixing brackets are fixed to the vehicle body. One end of the spring is fixedly connected to the track support, and the other end is fixedly connected to the spring fixing brackets. When the wheel-changing plate moves, the top plate moves synchronously with it and pushes against the rollers, causing the track support to move downwards and compress the springs, so that the track support contacts the track and supports the vehicle body. At this time, the wheel set is completely separated from the track, realizing track collision avoidance during the wheel-changing process.

2. The switchable wheeled walking mechanism for a track inspection robot according to claim 1, characterized in that, The outer side of the flat wheel has a groove extending along the wheel axis, and the inner side of the conical wheel has a protrusion that matches the groove. The protrusion is embedded in the groove and slides along the groove to limit the sliding direction of the conical wheel and transmit rotational torque.

3. The switchable wheeled walking mechanism for a track inspection robot according to claim 1, characterized in that, The wheel set is provided on both sides of the wheel changing plate; Both sides of the wheel-changing plate are provided with arc-shaped slots that are adapted to the bottom outer edge of the conical wheel. The bottom outer edge of the conical wheel is embedded in the arc-shaped slots to realize the connection between the wheel-changing plate and the conical wheel.

4. The switchable wheeled walking mechanism for a track inspection robot according to claim 1, characterized in that, The first slider guide rail is fixedly installed on the vehicle body via a first slider guide rail bracket.

5. The switchable wheeled walking mechanism for a track inspection robot according to claim 1, characterized in that, A second slider is fixedly installed on the side of the track support facing the vehicle body, and a second slider guide rail is fixedly installed on the vehicle body accordingly. The track support slides vertically along the second slider guide rail via the second slider.

6. The switchable wheeled walking mechanism for a track inspection robot according to claim 1, characterized in that, The spring is a compression spring, and when the spring is in its naturally extended state, a preset safety gap is maintained between the track support and the flexible track.

7. The switchable wheeled walking mechanism for a track inspection robot according to claim 6, characterized in that, The preset safety gap ranges from 5 to 10 mm.

8. The switchable wheeled walking mechanism for a track inspection robot according to claim 1, characterized in that, Both the roller and the top plate are made of wear-resistant metal. The outer edge of the roller is an arc-shaped surface, and the convex structure surface of the top plate is designed with a rounded transition. The two fit together to form a rolling contact.

9. The switchable wheeled walking mechanism for a track inspection robot according to claim 1, characterized in that, The lead screw motor is a servo motor.

10. The switchable wheeled walking mechanism for a track inspection robot according to claim 1, characterized in that, The switchable wheeled walking mechanism is adapted to switching between flexible and rigid steering tracks. The flat wheel is a working wheel adapted to the flexible track and is used for the inspection robot to move in a straight line on the flexible track. The conical wheel is a working wheel adapted to the rigid steering track and is used for the inspection robot to turn on the rigid steering track.

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