Mounting type robot track switching mechanism

Abstract

The utility model discloses a mounting type robot track switching mechanism, and belongs to the field of tracks. Comprising at least two rails, a rail switching section and a switching device, each rail is provided with a disconnection position with a set length, and the length of the disconnection position is consistent with that of the rail switching section; the switching device is arranged above the at least two rails and comprises a frame structure, a moving mechanism is arranged on the frame structure, and the moving mechanism is fixedly connected with the rail switching section; and the moving mechanism is connected with a driving device for integrally moving the moving mechanism, the track switching section and the mounting type robot from the disconnected position of one track to the disconnected position of the other track. According to the rail switching mechanism, the mounting type robot can be automatically switched from one rail to the other rail, the rail switching mechanism can be suitable for switching of two rails and can also be suitable for switching of more rails, and the flexibility of robot inspection is improved. The overall structure is simple, and installation and maintenance are easy.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of track, especially a kind of mounting type robot track switching mechanism. BACKGROUND

[0002] The mounting type robot is applied in indoor (for example factory building etc.), tunnel inner top wall and other application scenarios, is hung on the fixed track of top, and walks along track one kind of robot, for example, tunnel or factory building's inspection robot, tunnel's fire-fighting robot etc.

[0003] Taking inspection robot as an example, it can provide safer, more efficient and accurate inspection service, save time and labor cost for enterprise user, and has become indispensable intelligent equipment in many industries.In the field of transportation, inspection robot is often used for inspection in tunnel section.

[0004] Generally, walking track needs to be set on top in tunnel, and the mounting type robot walks on walking track and executes corresponding function.Currently, most of mounting type robots adopt single track, and execute inspection task along single track, and for complex pipe gallery and complex route inside substation, the function of single track inspection obviously cannot meet the demand. SUMMARY

[0005] The utility model provides a kind of mounting type robot track switching mechanism, realize the automatic switching track of mounting type robot, improve the flexibility of robot inspection, overall structure is simple, easy to install and maintain.

[0006] The utility model provides technical scheme as follows:

[0007] A kind of mounting type robot track switching mechanism, including at least two tracks, track switching section and switching device, each track has the disconnecting position of set length, the length of disconnecting position is consistent with the length of track switching section;

[0008] The switching device is arranged above the at least two tracks, and the switching device includes a frame structure, a moving mechanism is arranged on the frame structure, the moving mechanism is fixedly connected with the track switching section, and the moving mechanism is connected with a driving device for moving the moving mechanism, track switching section and mounting type robot as a whole from the disconnecting position of one track to the disconnecting position of another track.

[0009] Further, the moving mechanism includes a connecting slider, the connecting slider is arranged on a slide rail and can slide along the slide rail, the slide rail spans the disconnecting position of the at least two tracks, the bottom of the connecting slider is fixedly connected with the top of the track switching section, the connecting slider is connected with a synchronous belt, and the driving device is connected with and drives the synchronous belt.

[0010] Furthermore, there are multiple connecting sliders, each slider corresponds to a slide rail and a synchronous belt, the driving device includes a motor, the motor is connected to the driving shaft, and multiple synchronous pulleys are provided on the driving shaft, and each synchronous pulley is connected to a corresponding synchronous belt.

[0011] Furthermore, the top of the frame structure is suspended and fixed by a hanger.

[0012] Furthermore, the frame structure includes a longitudinal profile parallel to the track and a transverse profile perpendicular to the longitudinal profile. The longitudinal profile and the transverse profile are interconnected to form a profile frame structure. The slide rail is arranged on the transverse profile and is parallel to the transverse profile.

[0013] Furthermore, a position detection sensor is provided on the transverse profile or slide rail, and a trigger structure for triggering the position detection sensor is provided on the synchronous belt or connecting slider. The number of the position detection sensors is consistent with the number of rails. When the trigger structure triggers the position detection sensor, the rail switching section is aligned with the rail corresponding to the position detection sensor.

[0014] Furthermore, a connecting structure is provided at the connection between the longitudinal profile and the transverse profile. The connecting structure is L-shaped, and two sides of the connecting structure are respectively connected to the longitudinal profile and the transverse profile.

[0015] Furthermore, the sides of the longitudinal profile and the transverse profile are provided with profile grooves extending along their length directions, and the profile grooves are provided with pre-set nuts that can move along the profile grooves, and the two sides of the connecting structure are respectively fastened to the pre-set nuts by respective screws.

[0016] Furthermore, limiting structures for limiting the mounted robot from sliding out of the track switching section are provided at both ends of the track switching section.

[0017] Furthermore, the tracks at both ends of the disconnected position are provided with locking structures for locking the switched track sections.

[0018] The utility model has the following beneficial effects:

[0019] The utility model uses a track switching mechanism to automatically switch the mounted robot from one track to another. It can be applied to the switching of two tracks or more tracks, thus improving the flexibility of the robot inspection. The overall structure is simple and easy to install and maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1This is a three-dimensional diagram of the track switching mechanism of the mounted robot of the present invention;

[0021] Figure 2 This is a top view of the track switching mechanism of the mounted robot of the present invention;

[0022] Figure 3 This is a partial schematic diagram of the track switching mechanism of the mounted robot of the present invention;

[0023] Figure 4 It is a schematic diagram of the connection of the frame structure;

[0024] Figure 5 This is a schematic diagram of the limiter releasing the limit of the mounted robot;

[0025] Figure 6 This is a schematic diagram of the limiter limiting the mounted robot;

[0026] Figure 7 is an overall schematic diagram of the locking structure;

[0027] Figure 8 A schematic diagram of the locking device. DETAILED DESCRIPTION

[0028] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0029] In practice, mounted robots often need to switch tracks. For example, for complex pipeline corridors and the intricate routes within substations, a single track inspection is insufficient, necessitating the use of multiple tracks. Another example is the provision of additional inspection tracks to facilitate robot maintenance. In these situations, robots often require multiple tracks, necessitating the switching of the robot from one track to another.

[0030] In order to solve the above problems, the present invention provides a mounting type robot track switching mechanism, such as Figure 1-8 As shown, it includes at least two rails 1 , a rail switching segment 115 and a switching device 3 . Each rail 1 has a disconnection position 131 of a set length, and the length of the disconnection position 131 is consistent with the length of the rail switching segment 115 .

[0031] The track 1 may include a vertically arranged wall panel 101 and a tread panel 102 located at the bottom end of the wall panel 101 and arranged horizontally. The wall panel 101 and the tread panel 102 are in an inverted T shape as a whole. The top surface of the tread panel 102 forms symmetrical walking treads 103 on both sides of the wall panel 101, and the mounted robot walks on the walking treads 103.

[0032] The switching device 3 is arranged above at least two tracks 1, and the switching device 3 includes a frame structure 301. A moving mechanism 302 is provided on the frame structure 301. The moving mechanism 302 is fixedly connected to the track switching section 115. The moving mechanism 302 is connected to a driving device 303 that moves the moving mechanism 302, the track switching section 115 and the mounted robot as a whole from the disconnected position of one track to the disconnected position of another track.

[0033] When switching tracks, the mounted robot is first controlled to move to the track switching section 115. The motor's shaft lock function is then used to lock the robot's running wheels, securing the robot to the track switching section 115. The drive unit 303 is then activated to move the moving mechanism 302, the track switching section 115, and the mounted robot mounted on the track switching section 115 to the disconnected position of the other track, switching the mounted robot to the other track.

[0034] This utility model uses a track switching mechanism to automatically switch a mounted robot from one track to another. This mechanism is applicable to switching between two tracks or multiple tracks (e.g., three or more), improving the flexibility of robot inspections. Furthermore, the overall structure is simple and easy to install and maintain.

[0035] As an improvement to an embodiment of the present invention, the aforementioned moving mechanism 302 includes a connecting slider 304, which is arranged on a slide rail 305 and can slide along the slide rail 305. The slide rail 305 spans the disconnection position of the at least two aforementioned rails. The bottom of the connecting slider 304 is fixedly connected to the top of the rail switching section 115, and the connecting slider 304 is connected to the synchronous belt 306. The driving device 303 is connected to and drives the synchronous belt 306. The driving device can be a motor (such as a DC motor) and its matching deceleration mechanism and transmission structure, etc.

[0036] Specifically, the number of connecting sliders 304 can be multiple, each connecting slider 304 corresponds to a slide rail 305 and a synchronous belt 306, the motor is connected to the drive shaft 307, and multiple synchronous pulleys 308 are provided on the drive shaft 307. The synchronous pulleys 308 can be in the form of gears. The drive shaft 307 can be connected to the synchronous pulleys 308 through a coupling, and each synchronous pulley 308 is connected to a corresponding synchronous belt 306.

[0037] During operation, the DC motor rotates to drive the drive shaft 307, the drive shaft 307 drives the synchronous pulley 308 to drive the synchronous belt 306, the synchronous belt 306 drives the connecting slider 304 to move linearly along the slide rail 305, and the connecting slider 304 is connected to the track switching segment 115, thereby realizing the translational movement of the track switching segment 115.

[0038] The utility model discloses adopt a plurality of synchronous belt and slide rail, can reduce the swing angle in the moving process.

[0039] The frame structure 301 is suspended and fixed at the top of a tunnel or a factory building through a hanger 309.

[0040] In one example, the frame structure 301 includes longitudinal profiles 310 parallel to the track 1 and transverse profiles 311 perpendicular to the longitudinal profiles 310, the longitudinal profiles 310 and the transverse profiles 311 are connected to each other to form the profile frame structure 301, the slide rails 305 are arranged on the transverse profiles 311, and the slide rails 305 are arranged parallel to the transverse profiles 311.

[0041] The connection between the longitudinal profiles 310 and the transverse profiles 311 is provided with a connecting structure 312, the connecting structure 312 is L-shaped, and the two edges of the L-shaped connecting structure are connected to the longitudinal profiles 310 and the transverse profiles 311 respectively.

[0042] Specifically, the side surfaces of the longitudinal profiles 310 and the transverse profiles 311 are provided with profile grooves 313 extending along the length direction thereof, the profile grooves 313 are provided with preset nuts 314 capable of moving along the profile grooves 313, and the two edges of the connecting structure 312 are fastened and connected to the preset nuts 314 through respective screws 315. The screws 315 can also be equipped with flat washers and elastic washers.

[0043] In order to realize the precise alignment of the track switching section after switching with the original track, the utility model is provided with position detection sensors 316 on the transverse profiles 311 or the slide rails 305, the synchronous belts 306 or the connecting sliding blocks 304 are provided with trigger structures 317 capable of triggering the position detection sensors 316, the number of the position detection sensors 316 is consistent with the number of the tracks 1, and the position detection sensors 316 correspond to the tracks 1 one by one, when the trigger structures 317 trigger the position detection sensors 316, the track switching section 115 is aligned with the track 1 corresponding to the position detection sensor 316.

[0044] The position detection sensors 316 can be photoelectric sensors, and the trigger structures 317 are corresponding structures capable of triggering the photoelectric sensors. The position detection sensors 316 can also be micro switches, and the trigger structures 317 are corresponding structures capable of triggering the micro switches.

[0045] As described above, when switching the track, the walking wheels of the mounted robot can be locked through the motor locking shaft function, so as to realize the fixation of the robot on the track switching section 115. However, when the robot motor fails or the software control is improper, the robot will slide or move by itself, resulting in the falling of the robot from the track switching section 115 during switching, and improving the safety during switching the track.

[0046] In order to solve the above problem, the present invention provides limiting structures 2 at both ends of the track switching section 115 to limit the mounted robot from sliding out of the track switching section 115 .

[0047] The limiting structure can be any mechanical structure, and the present invention does not limit its specific structure, as long as it can achieve limiting.

[0048] In one example, Figure 5 As shown, the limiter 2 is installed on the top of the track switching section 115, which includes two limit arms 201. The two limit arms 201 are symmetrically arranged on both sides of the wall plate 101 of the track switching section 115. The limit arms 201 rotate under the drive of the limit arm motor 203. When the limit arm 201 rotates to the bottom (as shown in FIG. Figure 6 As shown), the mounted robot is limited. When the limit arm 201 rotates upward, the limit of the mounted robot is released (as shown Figure 5 shown).

[0049] In order to achieve the fixation of the track switching section 115 after switching, the utility model provides a locking structure on the track 1 at both ends of the disconnection position 131 to lock the track switching section 115 after switching.

[0050] The locking structure can be of various forms, and the present invention does not limit its specific structure, as long as it can achieve locking.

[0051] In one example, Figure 5 、 7 As shown in Figures 8 and 9 , at least one hollow notch 111 is defined on each end face of the track switching section 115. The hollow notches 111 are arranged along the length of the track switching section 115. The disconnection location 131 has locking notches at both ends similar to the hollow notches 111 of the track switching section 115. A locking device 116 is disposed within the hollow notch 111. The locking device 116 comprises a fixed section 117 and a telescopic section 118. The fixed section 117 is entirely located within the hollow notch 111 of the track switching section 115.

[0052] The telescopic section 118 is connected to the fixed section 117 via a telescopic drive mechanism 130. Driven by the telescopic drive mechanism 130, the telescopic section 118 extends and retracts along the length of the track switching section 115. When the telescopic section 118 extends, it fully or partially extends out of the hollow slot 111 of the track switching section 115 and into the locking slots at both ends of the disconnection position 131. When the telescopic section 118 retracts, it completely retracts into the hollow slot 111 of the track switching section 115.

[0053] The locking mechanism of this utility model is installed within the hollow track switching section. The expansion and contraction of the telescopic section enables dynamic locking and unlocking of the track. This utility model overcomes the drawbacks of external locking mechanisms, reduces the external volume of the track, avoids external environmental influences, reduces the risk of mechanical failure, and is more stable and reliable, improving the safety and operational efficiency of track system switching. Furthermore, it features a compact structure, stable operation, and simple maintenance.

[0054] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles described in the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A mounted robot track switching mechanism, characterized in that: The system comprises at least two tracks, a track switching section and a switching device, wherein each track has a disconnection position of a set length, and the length of the disconnection position is consistent with the length of the track switching section; The switching device is arranged above the at least two tracks, and the switching device includes a frame structure. A moving mechanism is provided on the frame structure, and the moving mechanism is fixedly connected to the track switching section. The moving mechanism is connected to a driving device that moves the moving mechanism, the track switching section and the mounted robot as a whole from a disconnected position of one track to a disconnected position of another track.

2. The mounted robot track switching mechanism according to claim 1, characterized in that: The moving mechanism includes a connecting slider, which is arranged on a slide rail and can slide along the slide rail. The slide rail spans the disconnected position of the at least two rails. The bottom of the connecting slider is fixedly connected to the top of the rail switching section. The connecting slider is connected to a synchronous belt, and the driving device is connected to and drives the synchronous belt.

3. The track switching mechanism of the mounted robot according to claim 2, characterized in that: There are multiple connecting sliders, each slider corresponds to a slide rail and a synchronous belt, the driving device includes a motor, the motor is connected to the driving shaft, and multiple synchronous pulleys are provided on the driving shaft, and each synchronous pulley is connected to a corresponding synchronous belt.

4. The mounted robot track switching mechanism according to claim 2 or 3, characterized in that: The top of the frame structure is suspended and fixed by a hanger.

5. The track switching mechanism for a mounted robot according to claim 4, characterized in that: The frame structure includes a longitudinal profile parallel to the track and a transverse profile perpendicular to the longitudinal profile. The longitudinal profile and the transverse profile are connected to each other to form a profile frame structure. The slide rail is arranged on the transverse profile and is parallel to the transverse profile.

6. The track switching mechanism for a mounted robot according to claim 5, characterized in that: A position detection sensor is provided on the transverse profile or the slide rail, and a trigger structure for triggering the position detection sensor is provided on the synchronous belt or the connecting slider. The number of the position detection sensors is consistent with the number of rails. When the trigger structure triggers the position detection sensor, the rail switching section is aligned with the rail corresponding to the position detection sensor.

7. The track switching mechanism for a mounted robot according to claim 5, characterized in that: A connecting structure is provided at the connection between the longitudinal profile and the transverse profile. The connecting structure is L-shaped, and two sides of the connecting structure are respectively connected to the longitudinal profile and the transverse profile.

8. The track switching mechanism for a mounted robot according to claim 7, characterized in that: The sides of the longitudinal profile and the transverse profile are provided with profile grooves extending along their length directions. Preset nuts that can move along the profile grooves are provided in the profile grooves. The two sides of the connecting structure are respectively fastened to the preset nuts by respective screws.

9. The track switching mechanism for a mounted robot according to any one of claims 1 to 3, characterized in that: Limiting structures for limiting the mounted robot from sliding out of the track switching section are provided at both ends of the track switching section.

10. The track switching mechanism for a mounted robot according to claim 9, characterized in that: The tracks at both ends of the disconnection position are provided with locking structures for locking the switched track sections.

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