Track climbing device

Abstract

The utility model discloses a track climbing device which comprises a middle walking mechanism, a front walking mechanism and a rear walking mechanism, the middle walking mechanism is provided with a middle limiting wheel set, the front walking mechanism is provided with a front walking wheel and a front limiting wheel set, and the rear walking mechanism is provided with a rear walking wheel and a rear limiting wheel set. The middle limiting wheel set, the front limiting wheel set and the rear limiting wheel set are all arranged on the two sides of a rail in a clamped mode, the front walking mechanism and the rear walking mechanism are hinged to the middle walking mechanism, a front guiding elastic assembly is arranged between the front walking mechanism and the middle walking mechanism, and a rear guiding elastic assembly is arranged between the rear walking mechanism and the middle walking mechanism. When the track fluctuates, the front walking mechanism pulls and presses the front guiding elastic assembly, the rear walking mechanism pulls and presses the rear guiding elastic assembly, and the front walking wheels and the rear walking wheels run on the top face of the track. The device can stably run on a fluctuating track, and the track adaptability is high.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of climbing devices, belong to track robot technical field. BACKGROUND

[0002] A large number of transmission towers, signal towers, tunnels and other track-containing foundations need to be regularly maintained, and track mobile robots are in high demand. However, current track robots can only climb on a specific type of track, and have poor stability and reliability, weak environmental adaptability, large size, and heavy weight. It is imperative to develop a track mobile robot that can adapt to vertical, horizontal, and undulating tracks. SUMMARY

[0003] To overcome the shortcomings of the prior art, the utility model provides a track climbing device that addresses the low climbing reliability of existing track climbing robots, the difficulty of climbing undulating tracks, and the large size and complex structure of robots.

[0004] The utility model technical scheme is as follows: a track climbing device includes a middle walking mechanism, a front walking mechanism, and a rear walking mechanism. The middle walking mechanism is equipped with a middle limiting wheel set. The front walking mechanism is equipped with a front walking wheel and a front limiting wheel set. The rear walking mechanism is equipped with a rear walking wheel and a rear limiting wheel set. The middle limiting wheel set, the front limiting wheel set, and the rear limiting wheel set are all clamped on both sides of the track. The front walking mechanism and the rear walking mechanism are respectively hinged to the middle walking mechanism. A front guide elastic component is arranged between the front walking mechanism and the middle walking mechanism. A rear guide elastic component is arranged between the rear walking mechanism and the middle walking mechanism. When the track undulates, the front walking mechanism pulls and presses the front guide elastic component, and the rear walking mechanism pulls and presses the rear guide elastic component. The front walking wheel and the rear walking wheel run on the top surface of the track.

[0005] Further, the front walking wheel and the rear walking wheel are synchronously rotated by a synchronous driving mechanism.

[0006] Further, the synchronous driving mechanism includes a motor, synchronous wheels, and a synchronous belt. The wheel shafts of the front walking wheel and the rear walking wheel are equipped with synchronous wheels. The motor drives the wheel shafts to rotate through the synchronous belt.

[0007] Further, the motor is arranged on the middle walking mechanism. The output shaft of the motor is equipped with a first synchronous wheel. The middle walking mechanism is equipped with a transmission wheel shaft. The transmission wheel shaft is equipped with a second synchronous wheel and a third synchronous wheel on both sides. The wheel shaft of the front walking wheel is equipped with a fourth synchronous wheel. The wheel shaft of the rear walking wheel is equipped with a fifth synchronous wheel. Synchronous belts are arranged between the first synchronous wheel and the second synchronous wheel, between the third synchronous wheel and the third synchronous wheel, and between the third synchronous wheel and the fifth synchronous wheel.

[0008] Further, the wheel shafts of the front and rear walking wheels are parallel to the hinge shafts of the front and rear walking mechanisms and the intermediate walking mechanism.

[0009] Further, the intermediate, front and rear limiting wheel sets each include two limiting wheels arranged side by side.

[0010] Further, the front and rear guiding elastic assemblies each include an upper guiding tube, a lower guiding tube and a spring guiding rod, the lower guiding tube is arranged on the front and rear walking mechanisms respectively, the upper guiding tube is arranged on the front and rear of the intermediate walking mechanism respectively, the spring guiding rod has a middle flange, springs are connected to the upper and lower surfaces of the middle flange respectively, the upper and lower ends of the spring guiding rod are respectively arranged in the upper guiding tube and the lower guiding tube, and the springs are located between the middle flange and the upper guiding tube and between the middle flange and the lower guiding tube.

[0011] Compared with the prior art, the technical scheme provided by the utility model has the advantages that:

[0012] The front and rear walking mechanisms on the two sides generate pressure through the front and rear guiding elastic assemblies, cooperate with the intermediate, front and rear limiting wheel sets arranged on the two sides of the track, and realize locking on the track. When the track is undulating, the elastic force generated by the front and rear guiding elastic assemblies makes the front and rear walking mechanisms form a certain angle, so that the undulating change of the track is adapted and the friction is increased, and the climbing stability is improved. The synchronous driving mechanism drives the active rotation of the front and rear walking wheels in contact with the track, the traction of the climbing device is increased, the climbing ability is improved, and stable and reliable operation of the climbing device on the track is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 Structure schematic view of the track climbing device of the embodiment.

[0014] Figure 2 Front view of the track climbing device of the embodiment.

[0015] Figure 3 Left side view of the track climbing device of the embodiment.

[0016] Figure 4 Top side view of the track climbing device of the embodiment.

[0017] Figure 5 Sectional view of the intermediate walking mechanism of the track climbing device of the embodiment at the intermediate wheel shaft position.

[0018] Figure 6 A cross-sectional view of the track climbing device of the embodiment at the position of the limiting wheels.

[0019] Figure 7 A schematic view of a track structure applicable to the track climbing device of the embodiment. DETAILED DESCRIPTION

[0020] The utility model will be further described below in conjunction with the embodiments, and it should be understood that these embodiments are only used for illustrating the utility model and not for limiting the scope of the utility model. After reading the description, those skilled in the art can make various equivalent modifications to the description, and all these modifications fall within the scope defined by the appended claims.

[0021] Please refer to Figures 1 to 6 The track climbing device of the embodiment comprises three parts, i.e. the middle walking mechanism 1, the front walking mechanism 2 and the rear walking mechanism 3, and further comprises a synchronous driving mechanism for providing power.

[0022] The synchronous driving mechanism comprises a motor 4, synchronous wheels and a synchronous belt 5. The synchronous wheels comprise a first synchronous wheel 6, a second synchronous wheel 7, a third synchronous wheel 8, a fourth synchronous wheel 9 and a fifth synchronous wheel 10. The first synchronous wheel 6, the second synchronous wheel 7 and the third synchronous wheel 8 are installed on the middle walking mechanism. The fourth synchronous wheel 9 is installed on the front walking mechanism 2. The fifth synchronous wheel 10 is installed on the rear walking mechanism 3.

[0023] The middle walking mechanism 1 comprises two middle base plates 101 fixedly connected by bolts at a certain interval. The motor 4 is fixedly installed on the middle base plates 101. The output shaft of the motor 4 is provided with the first synchronous wheel 6 on the first outer side of the middle base plates 101. A middle wheel shaft 102 transversely passes through the two middle base plates 101. The middle wheel shaft 102 is provided with the second synchronous wheel 7 on the first outer side of the middle base plates 101 through a set screw and a short key. The middle wheel shaft 102 is provided with the third synchronous wheel 8 on the second outer side (the first outer side and the second outer side are the two opposite sides of the two middle base plates 101) of the middle base plates 101 through a set screw and a short key. The first synchronous wheel 6 and the second synchronous wheel 7 are driven by the synchronous belt 5. One limiting wheel is further installed on each of the two middle base plates 101. The two limiting wheels are arranged side by side to form a middle limiting wheel set 103.

[0024] The front walking mechanism 2 comprises two front base plates 201 fixedly connected by bolts at a certain interval, and the front base plates 201 are hinged to the middle walking mechanism 1 through the middle axle 102 of the middle walking mechanism 1. The front base plates 201 are provided with a front walking wheel axle 202 crossing thereon, and the front walking wheel axle 202 is provided with front walking wheels 204 between the two front base plates 201 through long keys and locking screws. The front walking wheel axle 202 is provided with a fourth synchronous wheel 9 at the second outer side of the front base plate 201, and the third synchronous wheel 8 and the fourth synchronous wheel 9 are driven by a synchronous belt 5. The two front base plates 201 are respectively provided with a limiting wheel, and the two limiting wheels are arranged side by side to form a front limiting wheel set 203.

[0025] The rear walking mechanism 3 comprises two rear base plates 301 fixedly connected by bolts at a certain interval, and the rear base plates 301 are hinged to the middle walking mechanism 1 through the middle axle 102 of the middle walking mechanism 1. The rear base plates 301 are provided with a rear walking wheel axle 302 crossing thereon, and the rear walking wheel axle 302 is provided with rear walking wheels 304 between the two rear base plates 301 through long keys and locking screws. The rear walking wheel axle 302 is provided with a fifth synchronous wheel 10 at the second outer side of the rear base plate 301, and the third synchronous wheel 8 and the fifth synchronous wheel 10 are driven by a synchronous belt 5. The two rear base plates 301 are respectively provided with a limiting wheel, and the two limiting wheels are arranged side by side to form a rear limiting wheel set 303.

[0026] The front walking wheel axle 202, the middle axle 102 and the rear walking wheel axle 302 are arranged in parallel. When the motor 4 rotates, the first synchronous wheel 6 is driven to rotate, the second synchronous wheel 7 is driven to rotate by the first synchronous wheel 6, the fourth synchronous wheel 9 and the fifth synchronous wheel 10 are driven to rotate by the third synchronous wheel 8 respectively, and finally the front walking wheels 204 and the rear walking wheels 304 are synchronously operated.

[0027] The front walking mechanism 2 and the middle walking mechanism 1 are provided with a front guiding elastic assembly, and the rear walking mechanism 3 and the middle walking mechanism 1 are provided with a rear guiding elastic assembly. The specific front guiding elastic assembly and the rear guiding elastic assembly both comprise an upper guiding pipe 11, a lower guiding pipe 12 and a spring guide rod 13. The front base plate 201 of the front walking mechanism 2 and the rear base plate 301 of the rear walking mechanism 3 are respectively provided with the lower guiding pipe 12, and the middle base plate 101 of the middle walking mechanism 1 is respectively provided with the upper guiding pipe 11 in front and back. The spring guide rod 13 is a round rod with a middle flange, and the upper and lower surfaces of the middle flange are both connected with springs 14. The upper and lower ends of the spring guide rod 13 are respectively arranged in the upper guiding pipe 11 and the lower guiding pipe 12, and the spring 13 is located between the middle flange and the upper guiding pipe 11 and between the middle flange and the lower guiding pipe 12.

[0028] Please combine Figure 7As shown, the track climbing device can be suitable for climbing on a multi-undulating curved track. Before working, the front limiting wheel group 203, the middle limiting wheel group 103 and the rear limiting wheel group 303 are clamped on both sides of the track 15. At this time, the front and rear guide elastic assemblies are compressed, so that the front limiting wheel group 203 and the middle limiting wheel group 103 are tightly attached to the two side walls of the side groove of the track 15, and the rear limiting wheel group 303 and the middle limiting wheel group 103 are tightly attached to the two side walls of the side groove of the track 15. This ensures the locking of the track climbing device on the track 15 (i.e. when there is no power driving, the position of the track climbing device on the track does not change). When working, the front walking wheel 204 and the rear walking wheel 304 are driven by the synchronous driving mechanism to run synchronously on the top surface of the track 15, so that the track climbing device moves along the track 15. When encountering track undulation, the front and rear guide elastic assemblies produce certain stretching and compression changes, changing the angles of the front walking mechanism 2 and the middle walking mechanism 1 and the rear walking mechanism 3 and the middle walking mechanism 1, ensuring the locking on the track 15, so that it can walk stably and reliably on the track 15.

Claims

1. A rail climbing device, characterized in that, The application relates to a walking mechanism, which comprises a middle walking mechanism, a front walking mechanism and a rear walking mechanism, the middle walking mechanism is provided with a middle limiting wheel set, the front walking mechanism is provided with a front walking wheel and a front limiting wheel set, the rear walking mechanism is provided with a rear walking wheel and a rear limiting wheel set, the middle limiting wheel set, the front limiting wheel set and the rear limiting wheel set are clamped on both sides of a track, the front walking mechanism and the rear walking mechanism are hinged with the middle walking mechanism, a front guide elastic component is arranged between the front walking mechanism and the middle walking mechanism, a rear guide elastic component is arranged between the rear walking mechanism and the middle walking mechanism, when the track is up and down, the front walking mechanism pulls and presses the front guide elastic component, the rear walking mechanism pulls and presses the rear guide elastic component, and the front walking wheel and the rear walking wheel run on the top surface of the track.

2. The rail climbing device according to claim 1, characterized in that The front walking wheel and the rear walking wheel are synchronously rotated through a synchronous driving mechanism.

3. The track climbing device of claim 2, wherein, The synchronous driving mechanism comprises a motor, synchronous wheels and a synchronous belt, the wheel shafts of the front walking wheel and the rear walking wheel are provided with the synchronous wheels, and the motor drives the wheel shafts to rotate through the synchronous belt.

4. The track climbing device of claim 3, wherein, The motor is arranged on the middle walking mechanism, the output shaft of the motor is provided with a first synchronous wheel, the middle walking mechanism is provided with a transmission wheel shaft, the transmission wheel shaft is provided with a second synchronous wheel and a third synchronous wheel on both sides, the wheel shaft of the front walking wheel is provided with a fourth synchronous wheel, the wheel shaft of the rear walking wheel is provided with a fifth synchronous wheel, and the first synchronous wheel, the second synchronous wheel, the third synchronous wheel and the fifth synchronous wheel are provided with the synchronous belt.

5. The rail climbing apparatus according to claim 1, wherein The wheel shafts of the front walking wheel and the rear walking wheel are parallel with the hinge shafts of the front walking mechanism and the rear walking mechanism and the middle walking mechanism.

6. The rail climbing apparatus according to claim 1, wherein The middle limiting wheel set, the front limiting wheel set and the rear limiting wheel set each comprise two limiting wheels arranged side by side.

7. The rail climbing apparatus according to claim 1, wherein The front guide elastic component and the rear guide elastic component each comprise an upper guide pipe, a lower guide pipe and a spring guide rod, the front walking mechanism and the rear walking mechanism are respectively provided with the lower guide pipes, the front and rear of the middle walking mechanism are respectively provided with the upper guide pipes, the spring guide rod is provided with a middle flange, springs are connected to the upper and lower surfaces of the middle flange, the upper and lower ends of the spring guide rod are respectively arranged in the upper guide pipe and the lower guide pipe, and the springs are arranged between the middle flange and the upper guide pipe and between the middle flange and the lower guide pipe.

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