Track structure

Abstract

The utility model provides a track structure, the track structure comprises a walking assembly and multiple columns of track assemblies, the multiple columns of track assemblies are arranged in parallel, the walking assembly reciprocates along the track assemblies, each column of track assembly comprises multiple linear track units and at least one flexible connecting unit, and the linear track units are connected with the flexible connecting units. The multiple linear rail units are sequentially connected to form a linear rail with the preset length, and the flexible connecting units are arranged between every two adjacent rail units. The embodiment of the utility model can be suitable for being arranged in tunnels with different internal structures, arrangement can be performed according to the different internal structures of the tunnels, and in addition, accurate positioning of the walking assembly can be realized through a short-distance communication mode.

Description

Technical Field

[0001] The present disclosure relates to the technical field of track structures, and in particular, to a track structure. Background Art

[0002] With the continuous advancement of robot technology, tunnel inspection robots for cable trenches have gradually developed. Tunnel inspection robots mostly use track-based walking, but considering the complex internal structure of the tunnel, the existing tracks can only be arranged in a straight line and cannot be adaptively arranged along the internal structure of the tunnel. In addition, since the tunnel inspection distance is relatively long, usually hundreds or even thousands of meters, the traditional long-distance communication positioning method used by tunnel inspection robots has defects such as high cost, complex calculation method, and large cumulative error. Utility Model Content

[0003] In view of this, the present disclosure aims to provide a track structure to solve the technical problems in the prior art that existing tracks can only be arranged along a straight line but cannot be adaptively arranged along the internal structure of a tunnel and that traditional positioning methods are costly.

[0004] One aspect of the present disclosure provides a track structure, including a traveling assembly and a plurality of columns of track assemblies, wherein the plurality of columns of track assemblies are arranged parallel to each other, and the traveling assembly reciprocates along the track assemblies, and the track assemblies in each column include a plurality of linear track units and at least one flexible connection unit, wherein the plurality of linear track units are connected in sequence to form a linear track of a predetermined length, and the flexible connection unit is arranged between two adjacent track units.

[0005] In some embodiments, the first linear track unit is located in a first plane, the second linear track unit is located in a second plane, and the flexible connection unit is arranged between the first linear track unit and the second linear track unit.

[0006] In some embodiments, the first linear track unit is arranged along a first straight line, the second linear track unit is arranged along a second straight line, and the flexible connection unit is disposed between the first linear track unit and the second linear track unit.

[0007] In some embodiments, the flexible connection unit is made of a flexible steel wire rope or a spring.

[0008] In some embodiments, the track structure further includes a plurality of positioning components, and the plurality of positioning components are sequentially arranged along an extension direction of the track component.

[0009] In some embodiments, the positioning assembly includes a base, the base is arranged between the two columns of the track assemblies, a positioning device is arranged on the base, a cover plate is arranged on the positioning device, and the positioning device is fixed to the base through the cover plate.

[0010] In some embodiments, the positioning device includes a bracket, the bracket is U-shaped, and includes a main body, the main body extends along the length direction of the base, a mounting groove is arranged on the main body, and a positioning label is arranged in the mounting groove.

[0011] In some embodiments, connecting parts are provided at both ends of the main body, and connecting holes are provided at the ends of the connecting parts.

[0012] In some embodiments, a waterproof gasket is disposed around the positioning tag, and the peripheral side of the cover plate is fixed to the base by fasteners to cover the waterproof gasket and compact it to achieve sealing of the installation groove.

[0013] In some embodiments, the walking component includes a walking wheel, a driving unit and a control unit that cooperate with the track component; the driving unit drives the walking wheel to move along the track assembly; the control unit is connected to the driving unit, and is used to collect the number of the positioning device and determine the current position information of the walking component based on the number.

[0014] The embodiments of the present disclosure can be applicable to tunnels with different internal structures and can be arranged according to the different internal structures of the tunnels. In addition, the precise positioning of the walking components can be achieved through short-distance communication.

[0015] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In the drawings that are not necessarily drawn to scale, the same reference numerals may describe similar parts in different views. The same reference numerals with letter suffixes or different letter suffixes may represent different instances of similar parts. The drawings generally illustrate various embodiments by way of example and not limitation, and together with the specification and claims, are used to illustrate the disclosed embodiments. When appropriate, the same reference numerals are used throughout the drawings to refer to the same or similar parts. Such embodiments are illustrative and are not intended to be exhaustive or exclusive embodiments of the present apparatus or method. The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of this application. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation of the present disclosure. In the drawings:

[0017] Figure 1 is a schematic structural diagram of a track structure provided by an embodiment of the present disclosure;

[0018] Figure 2 is a schematic diagram of the arrangement of positioning components in the track structure provided by an embodiment of the present disclosure;

[0019] Figure 3 It is a structural schematic diagram of a positioning device in a track structure provided in an embodiment of the present disclosure.

[0020] The above drawings include the following reference numerals:

[0021] 1-linear track unit; 2-flexible connection unit; 3-base; 4-cover plate; 5-bracket; 51-main body; 52-connecting part; 6-positioning label; 7-waterproof gasket; 8-positioning assembly; 9-fastener. DETAILED DESCRIPTION

[0022] The specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings, but are not intended to limit the present disclosure.

[0023] It should be understood that various modifications may be made to the embodiments disclosed herein. Therefore, the above description should not be considered as limiting, but merely as an example of an embodiment. Other modifications within the scope and spirit of the present disclosure will occur to those skilled in the art.

[0024] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the general description of the present disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0025] These and other characteristics of the present disclosure will become apparent from the following description of a preferred form of embodiment given as a non-limiting example, with reference to the attached drawings.

[0026] It should also be understood that, although the present disclosure has been described with reference to some specific examples, those skilled in the art will be able to realize many other equivalent forms of the present disclosure that have the features described in the claims and are therefore within the scope of protection defined thereby.

[0027] The above and other aspects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.

[0028] Specific embodiments of the present disclosure are described hereinafter with reference to the accompanying drawings; however, it should be understood that the disclosed embodiments are merely examples of the present disclosure, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to avoid obscuring the present disclosure with unnecessary or redundant details. Therefore, the specific structural and functional details disclosed herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach those skilled in the art to use the present disclosure in a variety of ways with substantially any suitable detailed structure.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0030] This specification may use the phrases "in one embodiment," "in another embodiment," "in a further embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present disclosure.

[0031] The utility model provides a track structure, which includes a travel component and multiple columns of track components, wherein the multiple columns of track components are arranged in parallel with each other, and the travel component can move back and forth on and along the multiple columns of track components. In this embodiment, two columns of track components are used as an example, so that the travel component can move unidirectionally on the two columns of track components. Of course, four columns of track components can also be used, so that two travel components can move in the same direction or in the opposite direction on two columns of track components.

[0032] The two adjacent rows of track components are spaced apart by a predetermined distance, and the predetermined distance matches the size of the travel component. Figure 1 As shown, each column of the track assembly includes a plurality of linear track units 1 and at least one flexible connection unit 2. The plurality of linear track units 1 can be sequentially connected to form a linear track of a predetermined length; the flexible connection unit is arranged between two adjacent track units.

[0033] Specifically, when the track components are arranged along the same straight line in the same plane, a plurality of the linear track units can be connected to each other; however, when the track structure is arranged in a tunnel, it is necessary to avoid obstacles or adjust the position according to the internal structure of the tunnel. When the track components are arranged in different planes or need to be arranged along different straight lines, adjacent linear track units can be connected by the flexible connection units.

[0034] For example, the first linear track unit is located in a first plane, the second linear track unit is located in a second plane, and the flexible connection unit is arranged between the first linear track unit and the second linear track unit; for another example, the first linear track unit is arranged along a first straight line, the second linear track unit is arranged along a second straight line, and the flexible connection unit is arranged between the first linear track unit and the second linear track unit.

[0035] The flexible connection unit here can be made of, for example, a flexible steel wire rope or a spring, and is used to connect two adjacent linear track units in the track assembly of the same row, so that the walking assembly can move from one of the two adjacent linear track units to the other. The flexible connection unit here has a certain strength and can be bent to form different angles.

[0036] Furthermore, the track structure also includes a plurality of positioning components 8, and the plurality of positioning components 8 are sequentially arranged along the extension direction of the track component, and the positioning components 8 are used to obtain the position information of the traveling component on the track component.

[0037] Specifically, the positioning assembly 8 includes a base 3, which is arranged between the two rows of the track assemblies, and is preferably arranged perpendicular to the linear track units. A positioning device is arranged on each base 3, and a cover plate 4 is arranged on the positioning device, and the positioning device can be fixed on the base 3 through the cover plate 4. Here, the multiple bases 3 are arranged in sequence along the extension direction of the track assembly, and the intervals between two adjacent bases 3 are the same.

[0038] Furthermore, the positioning devices here are numbered in numerical order along the track assembly; each number corresponds to the location information of the positioning assembly 8. Specifically, the positioning device is arranged on the base 3, and can be arranged in the middle of the base 3, and the positioning devices are numbered in numerical order in reference to the direction from the head to the tail of the fully mechanized mining face; and each number corresponds to the location information of the positioning device. Exemplarily, the positioning devices are numbered 01, 02, 03, 04, etc. in reference to the direction from the head to the tail of the fully mechanized mining face, and so on until all the positioning devices are numbered.

[0039] Each of the positioning devices here has corresponding position information. In one embodiment, the position information in the positioning device can be a correction coordinate formed by measuring the distance between the positioning devices using a surveying tool such as an infrared rangefinder or a calibration ruler; and the correction coordinates and the corresponding numbers are stored.

[0040] like Figure 2 and Figure 3 As shown, in some embodiments, the positioning device includes a bracket 5, which is U-shaped and includes a main body 51, and the main body 51 extends along the length direction of the base 3. Connecting parts 52 are arranged at both ends of the main body 51, and connecting holes are arranged at the ends of the connecting parts 52. The connecting holes are used to fix the bracket 5 on the base 3 by cooperating with fasteners.

[0041] The bracket 5 is provided with an installation groove, wherein the installation groove can be a square structure with an accommodating space that is recessed inward from the middle of the bracket 5. A positioning tag 6 is provided in the installation groove, wherein the positioning tag 6 is an RFID positioning tag. It is known that RFID is a wireless radio frequency identification technology, which is a type of automatic identification technology. It performs non-contact two-way data communication through wireless radio frequency, and uses wireless radio frequency to read and write recording media (electronic tags or radio frequency cards), thereby achieving the purpose of identifying targets and exchanging data.

[0042] The positioning tag 6 in this embodiment stores coordinate information, and the positioning tags 6 in the positioning devices with different numbers correspond to different position information according to the stored coordinate information. In this way, when the walking assembly moves on the track assembly, the position information in the positioning tag 6 can be received by, for example, an RFID card reader provided on the walking assembly when it is within a certain distance range from the positioning tag 6.

[0043] Furthermore, in order to ensure the reading accuracy of the positioning tag 6, a waterproof gasket 7 is arranged around the positioning tag 6. When the cover plate 4 is installed on the positioning device, it covers the waterproof gasket 7 and is compacted to achieve sealing of the installation groove to prevent external moisture from entering the installation groove.

[0044] Furthermore, the peripheral side of the cover plate 4 here is fixed on the base 3 by fasteners 9 such as screws so as to compact and fix the waterproof gasket 7. It can be understood that the area of ​​the cover plate 4 here is larger than the area of ​​the installation groove.

[0045] Furthermore, the specific structure of the walking component in this embodiment can be various, for example, including a walking wheel, a driving unit and a control unit that cooperate with the track assembly; the driving unit drives the walking wheel to move along the track assembly; the control unit is connected to the driving unit, and is used to collect the number of the positioning device and determine the current position information of the walking component according to the number.

[0046] In some embodiments, the driving unit here is a motor; the control unit includes a Hall sensor and an RFID reader; wherein the Hall sensor obtains the number of pulses of the motor; the RFID reader reads the position information on the positioning tag 6 corresponding to the current position of the walking component; in this way, the position information of the walking component is obtained by receiving the information read by the RFID reader and the number of pulses of the motor obtained by the Hall sensor.

[0047] In this embodiment, the number of pulses of the motor is obtained by the Hall sensor, and the position information in the positioning tag 6 is received by the RFID card reader when the positioning tag 6 is within the predetermined distance range. The control unit obtains the current position information of the walking component through a pre-stored algorithm. The specific formula is as follows:

[0048] L=L RFID +CR formula (1)

[0049] Among them, L represents the current position information of the walking component, LRFID represents the position information in the positioning tag 6 read by the RFID card reader, C represents the circumference of the walking wheel, and R represents the number of rotations of the motor.

[0050] In addition, when the RFID card reader reads the position information on the positioning tag 6, the control unit can also determine whether the number recorded on the positioning tag 6 has changed and make corrections after confirming the change; and clear the number of pulses of the motor at the same time. Specifically, it can determine whether the number on the positioning tag 6 has changed and make corrections after confirming the change. The number change on the positioning tag 6 can be corrected once for the data error, where ΔL is the calculation method of the change displacement as shown in formula (2);

[0051] ΔL=L2-L1 Formula (2)

[0052] Wherein, L2 is the position of the positioning tag 6 after the position is updated, L1 is the position of the positioning tag 6 before the position is updated, and ΔL is the change displacement;

[0053] When ΔL>0, and the absolute value of the ratio of ΔL to the distance between the two positioning tags 6 L2 and L1 is greater than 5%, formula (1) is changed to (3):

[0054] L=LRFID + 0.95CR Formula (3)

[0055] When ΔL<0, and the absolute value of the ratio of ΔL to the distance between the two positioning tags 6 L2 and L1 is greater than 5%, the formula (1) is changed to formula (4):

[0056] L=L RFID +1.05CR formula (4).

[0057] In this way, when the walking component is positioned by the track component involved in this embodiment, the discrete coordinate information in the positioning tag 6 is combined with the continuous position information obtained by the Hall sensor to improve the positioning accuracy of the walking component; wherein the RFID card reader is used to quickly read the coordinate information in the positioning tag 6 to avoid the influence of distance and misalignment; finally, the control unit is used to determine whether the number on the positioning tag 6 has changed, and to make corrections after confirming the change; at the same time, the number of pulses of the motor is cleared to avoid cumulative errors in long-distance calculations. In this way, by using the self-compensation algorithm to effectively compensate for the positioning deviation caused by the wear of the power wheel and other reasons during the movement, the position continuity correction of the walking component after passing through the different linear track units and the flexible connection units in the track component is achieved, and finally a positioning accuracy of less than 5% is achieved.

[0058] The embodiments of the present disclosure can be applicable to tunnels with different internal structures and can be arranged according to the different internal structures of the tunnels. In addition, the precise positioning of the walking components can be achieved through short-distance communication.

[0059] Multiple embodiments of the present disclosure are described in detail above, but the present disclosure is not limited to these specific embodiments. Those skilled in the art can make various variations and modifications to the embodiments based on the concepts of the present disclosure, and these variations and modifications should all fall within the scope of protection required by the present disclosure.

[0060] In the above embodiments of the present disclosure, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0061] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" may include both "above" and "below". The device may also be positioned in other different ways, rotated 90 degrees or in other orientations, and the spatially relative descriptions used herein are interpreted accordingly.

[0062] In addition to the above, it should be noted that "one embodiment", "another embodiment", "embodiment", etc. mentioned in this specification refer to the specific features, structures or characteristics described in conjunction with the embodiment included in at least one embodiment generally described in this application. The same expression appearing in multiple places in the specification does not necessarily refer to the same embodiment. Further, when describing a specific feature, structure or characteristic in conjunction with any embodiment, it is claimed that the realization of such feature, structure or characteristic in conjunction with other embodiments also falls within the scope of the present disclosure.

[0063] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0064] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A track structure, characterized in that: It includes a traveling component and a plurality of columns of track components, wherein the plurality of columns of track components are arranged parallel to each other, and the traveling component reciprocates along the track components, and each column of the track components includes a plurality of linear track units and at least one flexible connection unit, and the plurality of linear track units are connected in sequence to form a linear track of a predetermined length, and the flexible connection unit is arranged between two adjacent track units.

2. The track structure according to claim 1, characterized in that: The first linear track unit is located in a first plane, the second linear track unit is located in a second plane, and the flexible connection unit is arranged between the first linear track unit and the second linear track unit.

3. The track structure according to claim 1, characterized in that: The first linear track unit is arranged along a first straight line, the second linear track unit is arranged along a second straight line, and the flexible connection unit is arranged between the first linear track unit and the second linear track unit.

4. The track structure according to claim 2 or 3, characterized in that: The flexible connection unit is made of flexible steel wire rope or spring.

5. The track structure according to claim 1, characterized in that: The track structure also includes a plurality of positioning components, and the plurality of positioning components are arranged in sequence along the extension direction of the track component.

6. The track structure according to claim 5, characterized in that: The positioning assembly comprises a base, the base is arranged between the two rows of the track assemblies, a positioning device is arranged on the base, a cover plate is arranged on the positioning device, and the positioning device is fixed to the base through the cover plate.

7. The track structure according to claim 6, characterized in that: The positioning device comprises a bracket, which is U-shaped and comprises a main body portion, the main body portion extends along the length direction of the base, a mounting groove is arranged on the main body portion, and a positioning label is arranged in the mounting groove.

8. The track structure according to claim 7, characterized in that: Connecting parts are arranged at both ends of the main body, and connecting holes are arranged at the ends of the connecting parts.

9. The track structure according to claim 7, characterized in that: A waterproof gasket is arranged around the positioning label, and the peripheral side of the cover plate is fixedly arranged on the base through fasteners to cover the waterproof gasket and compact it so as to achieve sealing of the installation groove.

10. The track structure according to claim 6, characterized in that: The walking component includes a walking wheel, a driving unit and a control unit that cooperate with the track component; the driving unit drives the walking wheel to move along the track component; the control unit is connected to the driving unit, and is used to collect the number of the positioning device and determine the current position information of the walking component according to the number.

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