Climbing structure of track inspection robot

Abstract

The utility model discloses a track inspection robot climbing structure which comprises a track, the track is divided into a protruding part and horizontal parts extending on the two sides of the protruding part according to the section, a track inspection robot comprises a suspension base and is hung on the track through the suspension base, plate compartments are symmetrically installed on the two sides of the suspension base, and the plate compartments are arranged on the suspension base. A middle shaft is rotatably mounted between the bottoms of the two plate compartments, a chain wheel is fixedly sleeved on the middle shaft, a chain meshed with the chain wheel is fixed at the bottom of the lug boss of the track, shaft rods are rotatably mounted on the plate compartments above the middle shaft, and friction wheels in rolling contact with the horizontal part of the track are respectively sleeved at one ends, far away from the plate compartments, of the shaft rods. The chain wheels and the friction wheels which rotate synchronously are designed, through the structure that the chain wheels are meshed with the chain, the friction wheels roll and advance on the horizontal parts on the two sides of the track respectively, good climbing force can be provided for the track inspection robot, the track inspection robot is not prone to slipping, and the supporting wheels and the limiting rollers are designed to play a role in limiting and stabilizing.

Description

Technical Field

[0001] The utility model relates to the technical field of mining inspection robots, in particular to a climbing structure of a track inspection robot. Background Art

[0002] Robots are being used in more and more scenarios in people’s production and life, especially in some sites or dangerous environments that are not suitable for human activities.

[0003] Due to the presence of various dangerous substances and dangerous gases in coal mines, various indicators such as temperature, humidity, and concentration of dangerous gases on site may undergo unpredictable changes, and personnel entering may be in danger. Coal mine inspection robots can replace manual labor to automatically inspect special occasions such as coal mine belt conveyors, substations, and gas extraction pump stations, collect equipment operating status data and environmental data, and promptly detect abnormal situations and issue warnings, effectively ensuring production safety. Due to the complex environment of mines and the many ups and downs, general rail-mounted coal mine inspection robots are prone to slipping and shaking due to the influence of gravity when climbing in the mine for inspection, and their stability is poor.

[0004] Based on the above problems, the inventor proposes a track robot climbing structure. Summary of the invention

[0005] The purpose of the utility model is to provide a climbing structure for a track inspection robot, and to design synchronously rotating sprockets and friction wheels. Through the structure in which the sprockets and chains are meshed with each other, the friction wheels roll on the horizontal parts on both sides of the track respectively, which can provide the track inspection robot with better climbing force and is not easy to slip. The design of support wheels and limiting rollers can play a role in limiting stability, thereby solving the problems raised in the background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a climbing structure of a track inspection robot, comprising a track, wherein the track is divided into a raised portion and horizontal portions extending on both sides of the raised portion according to a cross-section, the track inspection robot comprises a suspension base, the track inspection robot is suspended on the track through the suspension base, board boxes are symmetrically installed on both sides of the suspension base, the top of the board box exceeds the suspension base, a central axis is rotatably installed between the bottoms of the two board boxes, a sprocket is fixedly sleeved on the central axis, a chain meshing with the sprocket is fixed to the bottom of the raised portion of the track, and shaft rods are rotatably installed on the board boxes above the central axis, and the ends of the shaft rods away from the board boxes are respectively sleeved with friction wheels that are in rolling contact with the horizontal portion of the track.

[0007] Preferably, supports are respectively mounted on the suspension bases on both sides of the sprocket, and support wheels are rotatably mounted on the tops of the supports, and the support wheels are in rolling contact with the horizontal part of the track.

[0008] Preferably, the support wheel is located directly below the friction wheel. The lower wheel surface of the friction wheel is in rolling contact with the upper surface of the horizontal part of the track, and the upper wheel surface of the support wheel is in rolling contact with the lower surface of the horizontal part of the track, forming a vertical limit clamping.

[0009] Preferably, C-shaped frames are respectively installed on both sides of the suspension base. Limit rollers that are in rolling contact with both side walls of the horizontal part of the track are rotatably installed on the C-shaped frames, forming a horizontal limit clamping.

[0010] Preferably, a driving gear is fixed on the central axis inside the plate box, and a driven gear is fixedly installed on the shaft rod inside the plate box. The driven gear meshes with the driving gear.

[0011] Preferably, the circumferential length of the wheel surface of the sprocket is the same as that of the wheel surface of the friction wheel.

[0012] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0013] By designing a support wheel directly below the friction wheel in the present utility model, the support wheel is arranged in pairs and is respectively located on both sides of the track, and the limit rollers are located on both sides of the moving direction of the track. During use, the lower wheel surface of the friction wheel is in rolling contact with the upper surface of the horizontal part of the track, and the upper wheel surface of the support wheel is in rolling contact with the lower surface of the horizontal part of the track, forming a vertical limit clamping. The limit rollers are in rolling contact with both side walls of the horizontal part of the track, forming a horizontal limit clamping. It has the advantages of stable operation and not being prone to shaking and slipping. By setting the sprocket and chain engagement structure, it is especially suitable for the track inspection robot to climb on the track. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a schematic three-dimensional structure diagram of the present utility model Figure 1 ;

[0015] Figure 2 is a schematic three-dimensional structure diagram of the present utility model Figure 2 ;

[0016] Figure 3 is a schematic diagram of the use state of the present utility model.

[0017] In the figure: 1. Suspension base; 2. Plate box; 3. Central axis; 4. Sprocket; 5. Driving gear; 6. Driven gear; 7. Shaft rod; 8. Friction wheel; 9. Support wheel; 10. Limit roller; 11. Track; 12. Chain; 13. C-shaped frame; 14. Support. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0019] See also Figures 1 to 3 The utility model provides a technical solution: a climbing structure of a track inspection robot, including a track 11, wherein the track 11 is divided into a raised portion and horizontal portions extending on both sides of the raised portion according to a cross section, and the track inspection robot includes a suspension base 1, and the track inspection robot is suspended on the track 11 through the suspension base 1, and panels 2 are symmetrically installed on both sides of the suspension base 1, and the top of the panel 2 exceeds the suspension base 1, and a central axis 3 is rotatably installed between the bottoms of the two panel cabins 2, and the central axis 3 is located below the track 11 and is perpendicular to the track 11, and a sprocket 4 is fixedly sleeved on the central axis 3, and the sprocket 4 is located directly below the track 11, and the bottom of the raised portion of the track 11 is fixed with The chain 12 meshing with the sprocket 4 is fixed at the bottom of the track 11, and the track 11 is also fixed. Therefore, when the sprocket 4 rotates, it will drive the track inspection robot to move along the track 11. The board compartment 2 above the central axis 3 is rotatably mounted with an axle rod 7, and the end of the axle rod 7 away from the board compartment 2 is respectively sleeved with a friction wheel 8 that is in rolling contact with the horizontal part of the track 11. In this device, the wheel circumference of the friction wheel 8 is designed to be the same as the wheel circumference of the sprocket 4, that is, the distance traveled after one rotation is the same, and no relative displacement difference will be generated. When working, the friction wheel 8 rolls on the track 11, and relies on friction to drive the track inspection robot to move along the track 11.

[0020] like Figure 1 and Figure 2 As shown, supports 14 are respectively mounted on the suspension bases 1 on both sides of the sprocket 4, and a channel for the central axis 3 to pass through is opened on the supports 14. Support wheels 9 that are in rolling contact with the track 11 are rotatably mounted on the top of the supports 14.

[0021] like Figure 3 As shown, the support wheel 9 is located directly below the friction wheel 8, the lower wheel surface of the friction wheel 8 is in rolling contact with the upper surface of the track 11, and the upper wheel surface of the support wheel 9 is in rolling contact with the lower surface of the track 11, forming a vertical limit clamp, thereby improving the stability of the track inspection robot moving on the track 11.

[0022] like Figure 2 and Figure 3As shown, a frame 13 is installed on both sides of the suspension base 1, and a limiting roller 10 is rotatably installed on the frame 13 to roll with the two sides of the track 11 to form a horizontal limiting clamp, which reduces the shaking space and further improves the stability of the track inspection robot moving on the track 11.

[0023] (In order to facilitate the description of the internal situation of the board compartment 2, the specification of this application is attached Figure 1-2 The board compartment 2 in the figure hides the cover inside it), such as Figure 1 and Figure 2 As shown, a driving gear 5 is fixed on the central axis 3 inside the board compartment 2, and 6 driven gears are fixedly installed on the 7 inside the board compartment 2. The 6 driven gears and the driving gear 5 are meshed with each other. When the driving gear 5 rotates, the central axis 3 rotates accordingly, causing the sprocket 4 to rotate accordingly. The rotation of the driving gear 5 will also drive the 6 driven gears meshing therewith to rotate synchronously.

[0024] A motor is also installed inside the track inspection robot, and a reducer is connected to the motor delivery end. A drive source gear is provided at the reducer output end. The drive source gear and the drive gear 5 are meshed with each other (not shown in the figure). When working, starting the motor can drive the central axis 3 and the shaft rod 7 to rotate synchronously.

[0025] When the device is working, the driving gear 5 rotates, causing the central axis 3 to rotate, and the sprocket 4 rotates accordingly, and the sprocket 4 and the chain 12 are meshed with each other. Since the chain 12 is fixed at the bottom of the track 11, the rotation of the sprocket 4 will drive the track inspection robot to move along the track 11; while the driving gear 5 rotates, it will also drive the 6 driven gears meshing with it to rotate continuously, causing the shaft 7 to rotate, and the friction wheel 8 to continuously move on the track 11; since the track 11 is constantly moving, the supporting wheel 9 in rolling contact with it will also rotate continuously, and the limiting rollers 10 are respectively abutted against both sides of the track 11 and rotate continuously, thereby playing a role in stabilizing the limit.

[0026] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A track inspection robot climbing structure, comprising a track (11), wherein the track (11) is divided into a raised portion and horizontal portions extending on both sides of the raised portion according to a cross section, wherein the track inspection robot comprises a suspension base (1), and the track inspection robot is suspended on the track (11) via the suspension base (1), wherein: The board compartments (2) are symmetrically mounted on both sides of the suspension base (1), the top of the board compartment (2) protrudes from the suspension base (1), a central axis (3) is rotatably mounted between the bottoms of the two board compartments (2), a sprocket (4) is fixedly sleeved on the central axis (3), a chain (12) meshing with the sprocket (4) is fixed at the bottom of the raised portion of the track (11), and shafts (7) are rotatably mounted on the board compartments (2) above the central axis (3), and a friction wheel (8) is respectively sleeved on the end of the shaft rod (7) away from the board compartment (2) and in rolling contact with the horizontal portion of the track (11).

2. The climbing structure of the rail inspection robot according to claim 1, characterized in that: Supports (14) are respectively mounted on the suspension bases (1) on both sides of the sprocket (4), and support wheels (9) are rotatably mounted on the tops of the supports (14), and the support wheels (9) are in rolling contact with the horizontal part of the track (11).

3. The climbing structure of the rail inspection robot according to claim 2, characterized in that: The support wheel (9) is located directly below the friction wheel (8), the lower wheel surface of the friction wheel (8) is in rolling contact with the upper surface of the horizontal part of the track (11), and the upper wheel surface of the support wheel (9) is in rolling contact with the lower surface of the horizontal part of the track (11), forming a limit clamp in the vertical direction.

4. The climbing structure of the rail inspection robot according to claim 1 or 3, characterized in that: A frame (13) is respectively mounted on both sides of the suspension base (1), and a limiting roller (10) is rotatably mounted on the frame (13) and is in rolling contact with the two side walls of the horizontal part of the track (11), thereby forming a horizontal limiting clamp.

5. The climbing structure of the rail inspection robot according to claim 1, characterized in that: A driving gear (5) is fixed on the central axis (3) inside the board compartment (2), and a driven gear (6) is fixedly installed on the shaft (7) inside the board compartment (2), and the driven gear (6) and the driving gear (5) are meshed with each other.

6. The climbing structure of the rail inspection robot according to claim 1, characterized in that: The circumference of the wheel surface of the sprocket wheel (4) is consistent with the circumference of the wheel surface of the friction wheel (8).

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