Hanging type robot track system

Abstract

The utility model discloses a mounting type robot track system, and belongs to the field of tracks. Comprising a track and sliding contact lines, the number of the sliding contact lines is two, the two sliding contact lines are the positive electrode and the negative electrode respectively, and the two sliding contact lines are distributed on the two sides of the upper portion of the track; the track is suspended and fixed through a suspension device, the top of the track is provided with a sliding contact line fixing cross beam perpendicular to the track, the two ends of the sliding contact line fixing cross beam are respectively provided with a sliding contact line clamp, and the two sliding contact line clamps respectively clamp and fix two sliding contact lines. The rail system capable of supplying power continuously in real time is designed, the two sliding contact lines with the positive electrode and the negative electrode are arranged on the two sides of the rail, power is supplied to the mounting type robot continuously in real time through the sliding contact lines, the defects of existing battery power supply are overcome, uninterrupted work of the mounting type robot is achieved, and the work frequency of the mounting type robot is greatly improved. And the track system is compact in structure and stable in performance.

Description

Technical Field

[0001] This utility model relates to the field of track, and in particular to a mounted robot track system. Background Technology

[0002] Mounted robots are robots used in indoor environments (such as factory ceilings), tunnel walls, and other applications. They are mounted on fixed tracks on the ceiling and move along those tracks. Examples include inspection robots for tunnels or factories, and firefighting robots for tunnels.

[0003] Taking inspection robots as an example, they can provide safer, more efficient, and more accurate inspection services, saving enterprise users time and labor costs, and have become indispensable intelligent devices in many industries. In the transportation sector, inspection robots are often used for the inspection of tunnels and other road sections. Generally, a walking track needs to be set up on the top of the tunnel, and the mounted robot walks on the walking track and performs the corresponding functions.

[0004] Using batteries as a power source is a common solution for mounted robots. However, battery-powered designs struggle to support truly 24 / 7 uninterrupted operation. Battery-powered solutions may require frequent returns to charging stations to replenish energy when performing complex inspection tasks. Utility Model Content

[0005] This invention provides a mounted robot track system that enables real-time continuous power supply to the mounted robot.

[0006] The technical solution provided by this utility model is as follows:

[0007] A mounted robot track system includes a track and a sliding contact line, wherein:

[0008] The number of sliding contact lines is two, with the two sliding contact lines being the positive and negative poles, respectively, and the two sliding contact lines are distributed on both sides of the upper part of the track; the track is suspended and fixed by a hanging device, and a sliding contact line fixing beam perpendicular to the track is provided at the top of the track. A sliding contact line clamp is provided at each end of the sliding contact line fixing beam, and the two sliding contact line clamps hold and fix the two sliding contact lines respectively.

[0009] Furthermore, the track includes a vertically arranged wall panel and a tread plate located at the bottom of the wall panel and arranged horizontally. The wall panel and the tread plate are integrally formed into an inverted T shape. The top surface of the tread plate forms symmetrical walking treads on both sides of the wall panel. The walking treads have a slope that slopes downward at a set angle from the inside to the outside.

[0010] Furthermore, the track includes multiple track units, each track unit having a connecting groove along its length. The connecting groove extends from the end of the track unit along its length, and adjacent track units are fixedly connected through the connecting groove and a connecting member.

[0011] The connecting groove opening has inwardly extending concave limiting portions on both sides on one end. The connecting member includes a strip slider, which is inserted into the connecting groove from one end of the track unit. Under the restriction of the connecting groove, the strip slider only has the degree of freedom to move along the length direction of the track unit.

[0012] The strip slider is equipped with a first set of screws, which are connected to the strip slider and press and fix the strip slider to the concave limiting part.

[0013] Furthermore, the track has an expansion joint at a set position, with two adjacent track units on both sides of the expansion joint. At least one hollow slot is provided on the end face of the track unit on both sides of the expansion joint. The hollow slot is arranged along the length direction of the track unit. The expansion joint is equipped with a track connecting pin. One end of the track connecting pin is fixed in the hollow slot of the track unit on one side of the expansion joint, and the other end slides freely in the hollow slot of the track unit on the other side of the expansion joint.

[0014] Furthermore, the suspension device includes a suspension component and a fall arrestor rope;

[0015] The lifting component includes a lifting component base and a clamp disposed below the lifting component base. The lifting component base is connected to the clamp via an adjustable bolt sleeve. The upper part of the wall panel is concave and narrowed to form a hanging part. The clamp is clamped on the hanging part, and the top of the lifting component base is suspended and fixed.

[0016] The bottom end of the fall protection safety rope is fixed in the connecting groove, and the top end is suspended and fixed.

[0017] Furthermore, the hanging device also includes an anti-tilt hanger and an end fixing bracket. The anti-tilt hanger includes an anti-tilt hanger base and a first connecting plate fixed below the anti-tilt hanger base. The first connecting plate is fixed to the upper part of the wall panel by a second set of screws.

[0018] The end fixing hanger includes an end fixing hanger base and a second connecting plate fixed below the end fixing hanger base. The second connecting plate is fixed at the end of the track by a third set of screws.

[0019] Furthermore, the hanging device also includes an extended hanging device, which includes an extended hanging device base and an extended clamp connected below the extended hanging device base. The extended clamp is fastened to the hanging part, and the top of the extended hanging device base is suspended and fixed.

[0020] The extended hanging device is provided with hanging rings on both sides. The bottom of the hanging rings is fixed to the hanging part by clamps, and the top of the hanging rings is fixed to the base of the extended hanging device by inclined turnbuckles.

[0021] Furthermore, the side of the sliding contact line is provided with a sliding contact line groove, the bottom end of the sliding contact line clamp has a clamp for holding the sliding contact line groove, the top end of the sliding contact line clamp is connected to the suspension rod, the suspension rod is provided with an insulator, the insulator is connected to the sliding contact line fixing beam by a U-bolt; a washer is provided on the top of the insulator, and a slotted nut is fitted on the suspension rod, the slotted nut and the washer fix the insulator to the suspension rod.

[0022] Furthermore, the sliding contact line is wrapped with an insulating cover, the bottom end of the sliding contact line clamp is fastened to the outside of the insulating cover, and the top end is connected to the sliding contact line fixing beam; the bottom end of the insulating cover is provided with a sliding contact groove that exposes the sliding contact line, and the sliding contact groove is provided along the length of the sliding contact line.

[0023] Furthermore, an anti-collision device is provided at the end of the track. The anti-collision device includes an anti-collision seat, a hydraulic buffer, and a strike post. The anti-collision seat is fixed on the track, and the hydraulic buffer and strike post are disposed on the anti-collision seat. The axial direction of the hydraulic buffer and strike post is parallel to the length direction of the track.

[0024] This utility model has the following beneficial effects:

[0025] This invention designs a track system for real-time continuous power supply. By setting two sliding contact lines with positive and negative poles on both sides of the track, the sliding contact lines provide real-time continuous power to the mounted robot, overcoming the shortcomings of existing battery power supply, realizing uninterrupted operation of the mounted robot, and greatly increasing the working frequency of the mounted robot. Furthermore, the track system has a compact structure and stable performance. Attached Figure Description

[0026] Figure 1 This is an overall schematic diagram of a mounted robot track system with a sliding contact line as shown in Example 1.

[0027] Figure 2 for Figure 1 Top view;

[0028] Figure 3 for Figure 1A schematic diagram of the end;

[0029] Figure 4 This is a schematic diagram of the sliding contact line in Example 1;

[0030] Figure 5 This is an overall schematic diagram of a mounted robot track system with a sliding contact line as shown in Example 2.

[0031] Figure 6 for Figure 5 Side view;

[0032] Figure 7 for Figure 5 A schematic diagram of the sliding contact line fixing beam;

[0033] Figure 8 for Figure 5 A schematic diagram of the lifting component;

[0034] Figure 9 for Figure 5 A schematic diagram of the extended suspension device;

[0035] Figure 10 for Figure 5 A schematic diagram of the end;

[0036] Figure 11 This is a schematic diagram of the track;

[0037] Figure 12 This is a schematic diagram of the end face structure of the track unit;

[0038] Figure 13 This is a structural diagram of the track expansion joint. Detailed Implementation

[0039] To make the technical problems, technical solutions and advantages of this utility model clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0040] This utility model provides a mounted robot track system, such as Figure 1-13 As shown, it includes track 1 and sliding contact line 401 (or 501), wherein:

[0041] There are two sliding contact lines 401 (or 501), which are the positive and negative poles respectively. The two sliding contact lines 401 (or 501) are distributed on both sides of the upper part of the track 1. The track 1 is suspended and fixed by a hanging device. A sliding contact line fixing beam 425 perpendicular to the track is set at the top of the track 1. A sliding contact line clamp 404 (or 504) is set at each end of the sliding contact line fixing beam 425. The two sliding contact line clamps 404 (or 504) respectively clamp and fix the two sliding contact lines 401 (or 501).

[0042] This invention designs a track system for real-time continuous power supply. By setting two positive and negative sliding contact lines on both sides of the track, the sliding contact lines provide real-time continuous power to the mounted robot, overcoming the shortcomings of existing battery power supply. This enables the mounted robot to work 24 / 7 without interruption, greatly increasing the frequency of its operation. Furthermore, the track system has a compact structure and stable performance.

[0043] As an improvement of this utility model embodiment, the track 1 includes a vertically arranged wall panel 101 and a tread plate 102 located at the bottom of the wall panel 101 and arranged horizontally. The wall panel 101 and the tread plate 102 are generally in an inverted T shape. The top surface of the tread plate 102 forms symmetrical walking tread surfaces 103 on both sides of the wall panel 101. The walking tread surfaces 103 have a slope surface with a set downward inclination from the inside to the outside.

[0044] This invention designs the walking tread surface beneath the track as a sloped surface with a certain angle. When the robot's wheels run on this tread surface, they can automatically adjust their center due to their own gravity, ensuring that the robot does not scrape against the side walls of the track. Compared to I-beam steel structure tracks, this design saves more materials and allows the robot to operate without scraping the track even without side guide wheels, improving the stability of the robot's operation. The structure is simple and reliable.

[0045] The aforementioned track 1 includes multiple track units 104. A connecting groove 105 is provided on the track unit 104 along the length direction. The connecting groove 105 extends from the end of the track unit 101 along the length direction of the track unit 101. Adjacent track units 104 are fixedly connected by the connecting groove 105 and the provided connector 106.

[0046] Specifically, the connecting groove 105 has inwardly extending recessed limiting portions 107 on both sides of one end of the opening. The connecting member 106 includes a strip slider, which is inserted into the connecting groove 105 from one end of the track unit 104. Under the restriction of the recessed limiting portion 107 of the connecting groove 105, the strip slider only has the degree of freedom to move along the length direction of the track unit 104.

[0047] The strip slider is equipped with a first set of screws 108. The first set of screws 108 and its equipped washer 109 are connected to the strip slider and press the strip slider and the concave limiting part 107 together.

[0048] To facilitate the connection of the sliding contact line fixing beam 425, a slider nut 431 can be installed in the connecting groove 105, and the sliding contact line fixing beam 425 can be fixed to the top of the track by the slider nut 431.

[0049] As another improvement of this utility model embodiment, the track 1 has an expansion joint at a set position, and two adjacent track units 104 are on both sides of the expansion joint. At least one hollow slot 111 is opened on the end face of the track unit 104 on both sides of the expansion joint. The hollow slot 111 is arranged along the length direction of the track unit 104. The expansion joint is equipped with a track connecting pin 112. One end of the track connecting pin 112 is fixed in the hollow slot 111 of the track unit 104 on one side of the expansion joint (for example, it can be fixed by a screw 113), and the other end slides freely in the hollow slot 111 of the track unit 104 on the other side of the expansion joint.

[0050] When the track expands or contracts, the side of the track connecting pin that is not fixed can slide freely inside the hollow slot of the track unit, adapting to changes in the track's length. This invention is a non-rigid connection, which, compared to traditional rigid connections, can automatically adjust the track gap under different temperature conditions, preventing the track from twisting or deforming due to temperature changes and maintaining the track's performance and stability under varying temperature conditions.

[0051] To facilitate the insertion of the track connecting pin 112 into the hollow slot 111, insertion guides 114 are provided at both ends of the track connecting pin 112.

[0052] This utility model does not limit the specific structural form of the suspension device. In one example, the suspension device includes a suspension component 601 and a fall protection safety rope 602.

[0053] The lifting component 601 includes a lifting component base 603 and a clamp 604 disposed below the lifting component base 603. The lifting component base 603 is connected to the clamp 604 through an adjustable bolt sleeve 605. The upper part of the wall panel 101 is concave and narrowed to form a hanging part 110. The clamp 604 is clamped on the hanging part 110. The top of the lifting component base 603 is suspended and fixed to the top of the tunnel or factory building.

[0054] The bottom end of the fall arrest safety rope 602 is fixed in the connecting groove 105, and the top end is suspended and fixed to the top of the tunnel or factory building. The bottom end of the fall arrest safety rope 602 can be fixed by a slider nut pre-set in the connecting groove 105.

[0055] Furthermore, the suspension device also includes an anti-tilt hanger 606 and an end fixing bracket 607. The anti-tilt hanger 606 includes an anti-tilt hanger base 608 and a first connecting plate 609 fixed below the anti-tilt hanger base 608. The first connecting plate 609 is fixed to the upper part of the wall panel 101 by a second set of screws 610. The connection between the anti-tilt hanger and the track is a rigid connection, which can prevent the track from tilting.

[0056] The end fixing hanger 607 includes an end fixing hanger base 611 and a second connecting plate 612 fixed below the end fixing hanger base 611. The second connecting plate 612 is fixed to the end of the track 1 by a third set of screws 613.

[0057] To further increase the stability of the track suspension, the suspension device may also include an extended suspension device 614. The extended suspension device 614 includes an extended suspension device base 615 and an extended clamp 616 connected below the extended suspension device base 615. The extended clamp 616 is clamped on the suspension part 110, and the top of the extended suspension device base 615 is suspended and fixed to the top of the tunnel or factory building.

[0058] The extended hanging device 614 is provided with hanging ring hanging devices 617 on both sides. The bottom of the hanging ring hanging device 617 is fixed to the hanging part 110 by a clip 604, and the top of the hanging ring hanging device 617 is fixed to the extended hanging device base 615 by an inclined turnbuckle 618.

[0059] The sliding contact line of this utility model can be configured in various ways. Two examples are given below:

[0060] Example 1:

[0061] The sliding contact line 501 is wrapped with an insulating cover 503. The bottom end of the sliding contact line clamp 504 is fastened to the outside of the insulating cover 503, and the top end is connected to the sliding contact line fixing beam 425. The bottom end of the insulating cover 503 is provided with a sliding contact groove 505 that exposes the sliding contact line 501. The sliding contact groove 505 is set along the length of the sliding contact line 501.

[0062] Example 2:

[0063] The sliding contact line 401 has a sliding contact line groove 403 on its side. The sliding contact line clamp 404 has a clamp at its bottom end to hold the sliding contact line groove 403. The top of the sliding contact line clamp 404 is connected to the hanger rod 426. An insulator 427 is installed on the hanger rod 426. The insulator 427 is connected to the sliding contact line fixing beam 425 by a U-bolt 428. A washer 429 is installed on the top of the insulator 427. A slotted nut 430 is fitted on the hanger rod 426. The slotted nut 430 is equipped with a corresponding cotter pin. The slotted nut 430 and the washer 429 fix the insulator 427 to the hanger rod 426.

[0064] To prevent the sliding contact line 401 from moving or swaying, the sliding contact line 401 is fixed by the feeder clamp 432. The sliding contact line 401 can be composed of multiple segments spliced ​​together, and the splice points are connected by the intermediate connector 433 of the sliding contact line.

[0065] To prevent the mounted robot from crashing into the end of the track and causing damage, this utility model provides an anti-collision device 7 at the end of the track 1. The anti-collision device 7 includes an anti-collision seat 701, a hydraulic buffer 702, and a collision post 703. The anti-collision seat 701 is fixed on the track 1. The hydraulic buffer 702 and the collision post 703 are disposed on the anti-collision seat 701. The axial direction of the hydraulic buffer 702 and the collision post 703 is parallel to the length direction of the track 1 and faces the inner side of the end of the track 1.

[0066] The above description is the preferred embodiment of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications should also be considered within the protection scope of this utility model.

Claims

1. A mounted robot track system, characterized in that, Includes the track and the conductor rail, wherein: The number of sliding contact lines is two, with the two sliding contact lines being the positive and negative poles, respectively, and the two sliding contact lines are distributed on both sides of the upper part of the track; the track is suspended and fixed by a hanging device, and a sliding contact line fixing beam perpendicular to the track is provided at the top of the track. A sliding contact line clamp is provided at each end of the sliding contact line fixing beam, and the two sliding contact line clamps hold and fix the two sliding contact lines respectively.

2. The mounted robot track system according to claim 1, characterized in that, The track includes a vertically arranged wall panel and a tread plate located at the bottom of the wall panel and arranged horizontally. The wall panel and the tread plate are in an inverted T shape. The top surface of the tread plate forms a symmetrical walking tread on both sides of the wall panel. The walking tread has a slope that slopes downward at a set angle from the inside to the outside.

3. The mounted robot track system according to claim 2, characterized in that, The track includes multiple track units, and each track unit has a connecting groove along its length. The connecting groove extends from the end of the track unit along its length, and adjacent track units are fixedly connected by the connecting groove and the provided connector. The connecting groove opening has inwardly extending concave limiting portions on both sides on one end. The connecting member includes a strip slider, which is inserted into the connecting groove from one end of the track unit. Under the restriction of the connecting groove, the strip slider only has the degree of freedom to move along the length direction of the track unit. The strip slider is equipped with a first set of screws, which are connected to the strip slider and press and fix the strip slider to the concave limiting part.

4. The mounted robot track system according to claim 3, characterized in that, The track has an expansion joint at a set position, and there are two adjacent track units on both sides of the expansion joint. At least one hollow slot is opened on the end face of the track unit on both sides of the expansion joint. The hollow slot is arranged along the length direction of the track unit. The expansion joint is equipped with a track connecting pin. One end of the track connecting pin is fixed in the hollow slot of the track unit on one side of the expansion joint, and the other end slides freely in the hollow slot of the track unit on the other side of the expansion joint.

5. The mounted robot track system according to claim 3 or 4, characterized in that, The suspension device includes a lifting component and a fall protection safety rope; The lifting component includes a lifting component base and a clamp disposed below the lifting component base. The lifting component base is connected to the clamp via an adjustable bolt sleeve. The upper part of the wall panel is concave and narrowed to form a hanging part. The clamp is clamped on the hanging part, and the top of the lifting component base is suspended and fixed. The bottom end of the fall protection safety rope is fixed in the connecting groove, and the top end is suspended and fixed.

6. The mounted robot track system according to claim 5, characterized in that, The hanging device also includes an anti-tilt hanger and an end fixing bracket. The anti-tilt hanger includes an anti-tilt hanger base and a first connecting plate fixed below the anti-tilt hanger base. The first connecting plate is fixed to the upper part of the wall panel by a second set of screws. The end fixing hanger includes an end fixing hanger base and a second connecting plate fixed below the end fixing hanger base. The second connecting plate is fixed at the end of the track by a third set of screws.

7. The mounted robot track system according to claim 6, characterized in that, The hanging device also includes an extended hanging device, which includes an extended hanging device base and an extended clamp connected below the extended hanging device base. The extended clamp is fastened to the hanging part, and the top of the extended hanging device base is suspended and fixed. The extended hanging device is provided with hanging rings on both sides. The bottom of the hanging rings is fixed to the hanging part by clamps, and the top of the hanging rings is fixed to the base of the extended hanging device by inclined turnbuckles.

8. The mounted robot track system according to claim 1, characterized in that, The sliding contact line has a sliding contact line groove on its side. The bottom end of the sliding contact line clamp has a clamp for holding the sliding contact line groove. The top end of the sliding contact line clamp is connected to the suspension rod. An insulator is installed on the suspension rod. The insulator is connected to the sliding contact line fixing beam by a U-bolt. A washer is installed on the top of the insulator. A slotted nut is fitted on the suspension rod. The slotted nut and the washer fix the insulator to the suspension rod.

9. The mounted robot track system according to claim 1, characterized in that, The sliding contact line is wrapped with an insulating cover. The bottom end of the sliding contact line clamp is fastened to the outside of the insulating cover, and the top end is connected to the sliding contact line fixing beam. The bottom end of the insulating cover has a sliding contact groove that exposes the sliding contact line. The sliding contact groove is set along the length of the sliding contact line.

10. The mounted robot track system according to claim 1, characterized in that, An anti-collision device is provided at the end of the track. The anti-collision device includes an anti-collision seat, a hydraulic buffer, and a strike post. The anti-collision seat is fixed on the track, and the hydraulic buffer and strike post are disposed on the anti-collision seat. The axial direction of the hydraulic buffer and strike post is parallel to the length direction of the track.

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