A walking mechanism for a track inspection robot

Abstract

This invention introduces a walking mechanism for a track inspection robot, including a mounting base, a walking assembly, a floating suspension assembly, and a guide support assembly. The mounting base is disposed on the underside of an I-shaped track, and the walking assembly is housed within the mounting base, with its drive wheels contacting the bottom surface of the I-shaped track. The floating suspension assembly is disposed on both sides of the walking assembly and connected to the left and right sides of both the walking assembly and the mounting base, respectively. The guide support assemblies are disposed on the front and rear ends of the mounting base. This invention features a cross-wheel support structure that ensures smooth operation with low vibration; elastic floating suspension for stable and slip-free contact; symmetrical four-point guidance for precise and non-jamming operation; auxiliary support wheel sets for even load distribution and long service life; and a compact and rationally laid-out structure, suitable for long-term continuous inspection operations.

Description

Technical Field

[0001] This invention relates to the field of track inspection equipment technology, and in particular to a track inspection robot walking mechanism. Background Technology

[0002] Track inspection robots are widely used in scenarios such as integrated utility tunnels, power tunnels, industrial plants, and data centers. The walking mechanism is the core component that determines the robot's operational stability, reliability, and service life.

[0003] The existing locomotion mechanisms of track inspection robots generally suffer from the following technical defects: 1. Unreasonable drive wheel support structure, resulting in large operating vibration: Most adopt a single support structure, which leads to poor coaxiality of the drive wheel, making it prone to vibration, abnormal noise, and accelerated bearing wear during operation; 2. Unstable walking and slipping: The rigid installation of the drive wheel and the undulation and deformation of the bottom surface of the I-shaped track will cause the drive wheel to be suspended and slip, which will not provide stable driving force. 3. The guide structure is too rigid and prone to jamming and deviation: The guide wheel is rigidly fixed and cannot compensate for the installation error and running vibration of the I-shaped track. It is prone to jamming when going through bends or when the I-shaped track is misaligned. 4. The structure is scattered, with low modularity, complex assembly and debugging, and high maintenance costs.

[0004] The existing patents disclose walking mechanisms that do not include designs for a cross-wheel support structure + floating drive + auxiliary support wheel, and cannot simultaneously solve the comprehensive requirements of stability, fit, guidance and load-bearing capacity. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a walking mechanism for a track inspection robot, which has a compact structure, reasonable layout, improved overall stability and load-bearing capacity, and is suitable for long-term continuous inspection operations.

[0006] The technical solution adopted in this invention is: A walking mechanism for a track inspection robot includes a mounting base, a walking assembly, a floating suspension assembly, and a guide support assembly; The mounting base is located on the underside of the I-shaped track, the traveling component is located inside the mounting base, and the drive wheel of the traveling component is in contact with the bottom surface of the I-shaped track; the floating suspension component is located on both sides of the traveling component and is connected to the left and right sides of the traveling component and the mounting base respectively; the guide support component is located on the front and rear ends of the mounting base respectively.

[0007] Specifically, the mounting base is a frame structure with the left and right sides in a Z-shape, with the two sides of the Z-shape located on both sides of the I-shaped track.

[0008] Specifically, the walking assembly includes a drive wheel, bearing housings, and a drive motor; the two ends of the drive wheel axle are respectively located in the two bearing housings, the drive wheel is located in the hollow part of the mounting base, and the top of the drive wheel is in contact with the bottom surface of the I-shaped track; the bearing housings are respectively located on the lower side of the middle part of the mounting base to form a cross-wheel support transmission structure; the output shaft of the drive motor is connected to one end of the drive wheel axle through a coupling.

[0009] More specifically, the drive wheel is a polyurethane-coated wheel.

[0010] More specifically, the floating suspension assembly includes guide columns, compression springs, and adjusting nuts; the upper ends of the two guide columns are symmetrically arranged on the middle of the left and right sides of the mounting base through adjusting nuts, and the lower parts of the guide columns are movably connected to the bearing seats of the traveling assembly through compression springs.

[0011] More specifically, the bearing housing is provided with connecting ears on both sides, and the guide column moves through the corresponding connecting ears on both sides of the bearing housing. Compression springs are respectively provided on the lower outer edge of the two guide columns, and the two ends of the compression springs are respectively abutted on the end of the guide column and the lower side of the connecting ear.

[0012] Specifically, the guide support assembly includes a guide frame, support arms, guide wheels, and support wheels; the guide frame is rotatably mounted on the front and rear ends of the mounting base; the support arms are respectively vertically mounted on the left and right sides of the guide frame, with the two support arms located on both sides of the I-shaped track; the axis of the support wheel is perpendicular to the axis of the guide wheel and is mounted on the support arm.

[0013] More specifically, the guide frame has a U-shaped structure, with mounting holes at the bottom of the U-shape. Bearings are installed in the mounting holes, and the guide frame is rotatably mounted on the front and rear ends of the mounting base via the bearings. A bearing cover plate is installed above the mounting holes.

[0014] More specifically, the support arm is a plate-shaped structure, with several connecting holes provided at the lower end of the support along the height direction, and the two support arms are respectively mounted on the side of the guide frame with adjustable height by screws.

[0015] More specifically, the guide wheels are horizontally mounted on the top of the support arm via bearings, with the outer edge of the guide wheels contacting the corresponding side of the upper wing plate of the I-shaped track; the support wheels are mounted on the inner side of the support arm via a rotating shaft, with the support wheels contacting the upper side of the corresponding lower wing plate of the I-shaped track.

[0016] Due to the adoption of the technical solution described above, the present invention has the following advantages: 1. Cross-wheel support structure for smooth and low-vibration operation: The drive wheel axle is supported by bearing housings at both ends, ensuring high coaxiality of the drive wheel and significantly reducing vibration, abnormal noise, and bearing wear.

[0017] 2. Elastic floating suspension, fitting stably without slipping: The compression spring floating structure enables the driving wheels to fit the track, automatically compensates for unevenness, and improves climbing and load-bearing capabilities.

[0018] 3. Four-point symmetric front and rear guiding, precise without jamming: The front and rear guiding wheels symmetrically clamp the upper flange of the track, with smooth guiding, no deviation, and no jamming.

[0019] 4. Auxiliary support wheel set, with uniform load-bearing and long service life: The support wheels share the load of the driving wheels, reduce wear, and improve overall stability and load-bearing capacity.

[0020] 5. Modular structure, easy to assemble and maintain: The structure is compact and reasonably arranged, suitable for long-term continuous inspection operations. Brief Description of the Drawings

[0021] Figure 1 is the installation schematic diagram of the present invention on the track.

[0022] Figure 2 is the overall schematic of the present invention.

[0023] Figure 3 is the schematic diagram of the walking component of the present invention.

[0024] Figure 4 is the connection schematic diagram of the mounting seat and the guiding and supporting component of the present invention.

[0025] In the figure: 1 - mounting seat, 2 - walking component, 21 - driving wheel, 22 - bearing seat, 23 - driving motor, 3 - floating suspension component, 31 - guiding column, 32 - compression spring, 33 - adjusting nut, 4 - guiding and supporting component, 41 - guiding frame, 42 - supporting arm, 43 - guiding wheel, 44 - supporting wheel, 45 - bearing, 46 - cover plate. Detailed Embodiment

[0026] The following further explains and illustrates the present invention in conjunction with the drawings and embodiments. The protection scope of the present invention cannot be limited hereby. The purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention.

[0027] Combined with the attached Figure 1-4 As shown, a walking mechanism of a track inspection robot includes a mounting seat 1, a walking component 2, a floating suspension component 3, and a guiding and supporting component 4.

[0028] The mounting seat 1 is arranged on the lower side of the I-shaped track. The mounting seat 1 is a frame structure with a U-shaped cross-section on the left and right sides, and the two sides of the U-shape are respectively located on both sides of the I-shaped track.

[0029] The walking assembly 2 is installed inside the mounting base 1. The walking assembly 2 includes a drive wheel 21, a bearing housing 22, and a drive motor 23. The drive wheel 21 is a polyurethane-coated wheel. The two ends of the drive wheel 21 axle are respectively located in the two bearing housings 22. The drive wheel 21 is located in the middle of the mounting base 1. The top of the drive wheel 21 is in contact with the bottom surface of the I-shaped track. The bearing housings 22 are respectively located on the lower side of the middle of the mounting base 1 to form a cross-wheel type support and transmission structure. Connecting ears are provided on both sides of the bearing housing 22. The output shaft of the drive motor 23 is connected to one end of the drive wheel 21 axle through a coupling. The floating suspension assembly 3 includes guide columns 31, compression springs 32, and adjusting nuts 33. The upper ends of the guide columns 31 are symmetrically arranged on the middle of the left and right sides of the mounting base 1 through adjusting nuts 33. The guide columns 31 are movably inserted into the connecting ears on the corresponding bearing seats 22. The compression springs 32 are arranged on the lower outer edge of the guide columns 31, and the upper ends of the compression springs 32 are abutted on the lower side of the connecting ears of the bearing seats 22.

[0030] The guide support assembly 4 includes a guide frame 41, support arms 42, guide wheels 43, and support wheels 44. The guide frame 41 has a U-shaped structure and is mounted on the front and rear ends of the mounting base 1 via bearings 45. A cover plate 46 is also provided at the mounting hole position corresponding to the bearing 45. The support arms 42 are respectively vertically mounted on both sides of the guide frame 41, and the two support arms 42 are respectively located on both sides of the I-shaped track. The guide wheels 43 are respectively horizontally mounted on the top of the support arms 42 via bearings 45, and the outer edge of the guide wheels 43 contacts the corresponding side of the upper flange of the I-shaped track. The axis of the support wheel 44 is perpendicular to the axis of the guide wheel 43. The support wheel 44 is mounted on the support arm 42 via a rotating shaft, and the support wheel 44 contacts the corresponding lower flange of the I-shaped track.

[0031] During operation, the preload of the compression spring 32 is adjusted by adjusting nut 33 to ensure stable contact pressure between the drive wheel 21 and the bottom surface of the I-shaped track, and to provide vertical elastic floating space. The control module and power supply module of the robot body are electrically connected to the drive motor 23 to provide stable driving force for the drive motor 23, which drives the drive wheel 21 to move along the bottom surface of the I-shaped track. The support wheels 44 are in contact with the lower wing plate of the track, bearing the weight of the robot body and the whole. When the track turns, the guide frame 41 rotates at a corresponding angle relative to the mounting base 1 under the action of bearing 45. The guide wheel 43 is always in contact with both sides of the upper wing plate of the I-shaped track, providing a four-point stable guiding structure for the device.

[0032] The parts of this invention not described in detail are prior art.

[0033] The embodiments selected herein for the purpose of disclosing the inventive objectives are currently considered suitable; however, it should be understood that the invention is intended to include all variations and modifications of the embodiments that fall within the scope of this concept and invention.

Claims

1. A walking mechanism for a track inspection robot; characterized in that: Includes mounting base, travel assembly, floating suspension assembly, and guide support assembly; The mounting base is located on the underside of the I-shaped track, the traveling component is located inside the mounting base, and the drive wheel of the traveling component is in contact with the bottom surface of the I-shaped track; the floating suspension component is located on both sides of the traveling component and is connected to the left and right sides of the traveling component and the mounting base respectively; the guide support component is located on the front and rear ends of the mounting base respectively.

2. The walking mechanism of the track inspection robot according to claim 1, characterized in that: The mounting base is a frame structure with the left and right sides in a Z-shape, with the two sides of the Z-shape located on both sides of the I-shaped track.

3. The walking mechanism of the track inspection robot according to claim 1, characterized in that: The walking assembly includes a drive wheel, bearing housings, and a drive motor; the two ends of the drive wheel axle are respectively located in the two bearing housings, the drive wheel is located in the hollow part of the mounting base, and the top of the drive wheel is in contact with the bottom surface of the I-shaped track; the bearing housings are respectively located on the lower side of the middle part of the mounting base to form a cross-wheel support transmission structure; the output shaft of the drive motor is connected to one end of the drive wheel axle through a coupling.

4. The walking mechanism of the track inspection robot according to claim 3, characterized in that: The drive wheel is a polyurethane-coated wheel.

5. The walking mechanism of the track inspection robot according to claim 3, characterized in that: The floating suspension assembly includes guide columns, compression springs, and adjusting nuts; the upper ends of the two guide columns are symmetrically arranged on the middle of the left and right sides of the mounting base through adjusting nuts, and the lower parts of the guide columns are movably connected to the bearing seats of the traveling assembly through compression springs.

6. The walking mechanism of the track inspection robot according to claim 5, characterized in that: Connecting lugs are provided on both sides of the bearing housing. The guide column moves through the corresponding connecting lugs on both sides of the bearing housing. Compression springs are respectively provided on the lower outer edge of the two guide columns, and the two ends of the compression springs are respectively abutted on the end of the guide column and the lower side of the connecting lug.

7. The walking mechanism of the track inspection robot according to claim 1, characterized in that: The guide support assembly includes a guide frame, support arms, guide wheels, and support wheels; the guide frame is rotatably mounted on the front and rear ends of the mounting base; the support arms are respectively vertically mounted on the left and right sides of the guide frame, and the two support arms are respectively located on both sides of the I-shaped track; the axis of the support wheel is perpendicular to the axis of the guide wheel and is mounted on the support arm.

8. The walking mechanism of the track inspection robot according to claim 7, characterized in that: The guide frame has a U-shaped structure, with mounting holes at the bottom of the U-shape. Bearings are installed in the mounting holes, and the guide frame is rotatably mounted on the front and rear ends of the mounting base via the bearings. A bearing cover plate is installed above the mounting holes.

9. The walking mechanism of the track inspection robot according to claim 8, characterized in that: The support arm is a plate-shaped structure, with several connecting holes provided at the lower end along the height direction. The two support arms are respectively mounted on the side of the guide frame with adjustable height via screws.

10. The walking mechanism of the track inspection robot according to claim 9, characterized in that: The guide wheels are horizontally mounted on the top of the support arm via bearings, with the outer edge of the guide wheel contacting the corresponding side of the upper wing plate of the I-shaped track; the support wheel is mounted on the inner side of the support arm via a rotating shaft, and the support wheel is in contact with the upper side of the corresponding lower wing plate of the I-shaped track.

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