Butt joint structure and rail hanging robot assembly

Abstract

The utility model belongs to the technical field of robots, and particularly discloses a butt-joint structure which comprises a clamping assembly, a butt-joint assembly and a butt-joint assembly, the clamping assembly comprises a clamping seat and a clamping part, and the clamping part is installed on the clamping seat in a hinged mode and provided with a clamping space; the insertion assembly is provided with an insertion part, and the insertion part is inserted into the clamping space; the adjusting assembly is arranged in the clamping assembly and used for adjusting the size of the clamping space and clamping or loosening the insertion part. According to the butt joint structure, when the butt joint structure moves after butt joint, even if the butt joint structure is subjected to vibration acting force, the clamping assembly and the inserting assembly of the butt joint structure cannot be separated. Meanwhile, the utility model further discloses a rail hanging robot assembly.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of robot, concretely relates to a docking structure and a hanging rail robot assembly. BACKGROUND

[0002] The hanging rail inspection robot is an advanced device integrating robot technology, sensor technology and data analysis technology, and has been widely applied in the fields of electric power, chemical industry, rail transit and breeding.

[0003] Usually, the hanging rail inspection robot works on the guide rail in the sky, and when a fault occurs, a special rescue device is used to pull the hanging rail inspection robot to a designated position for maintenance. For example, a rescue system suitable for pipeline robot operation is disclosed in the application publication No. CN111946942A, which specifically discloses a collision part and a grabbing part. The collision part includes a conical head fixed at the front end of the rescue robot. The grabbing part includes a shaft and a grabbing mechanism arranged on the shaft. The grabbing mechanism includes a first fixed frame fixedly arranged on the middle part of the shaft, and a plurality of connecting members are hinged at the front end of the first fixed frame. A conical limiting piece is sleeved on the shaft at the rear end of the first fixed frame, and the conical surface of the conical limiting piece is in contact with a plurality of wheels. A buffer is movably sleeved on the front end of the shaft, and a first spring is sleeved on the shaft between the buffer and the fixed frame. This patent can autonomously align the robot stuck in the pipeline, and the pipeline robot is effectively separated from the combination through the mechanical device, realizing the rapid docking of the rescue system and the rescued robot. The unique conical piece makes it not easy to come off after docking, improving the success rate of rescue. However, there are the following problems: when running in a straight line, this structure is not easy to come off, but the track is not straight, and there are bends and slopes. When encountering obstacles or the connection position between tracks, the hanging rail inspection robot and the rescue robot are easy to vibrate, and the grabbing mechanism is hinged, which is easy to open and make the conical head fall off under vibration. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a docking structure, which can prevent the components of the docking structure from coming off when the hanging rail inspection robot and the rescue robot are moving on the track even under the action of vibration.

[0005] The utility model is achieved by the technical scheme, and specifically provides a docking structure, which comprises:

[0006] The clamping assembly comprises a clamping seat and a clamping part, the clamping part is hingedly installed on the clamping seat, and the clamping part is provided with a clamping space.

[0007] The insertion assembly is provided with an insertion part, and the insertion part is inserted into the clamping space.

[0008] The adjusting assembly is arranged in the clamping assembly to adjust the size of the clamping space, and to clamp or loosen the insertion part.

[0009] Preferably, the insertion part is a ball head, and the clamping part is a jaw matched with the ball head, and the plurality of jaws are arranged on the clamping seat in a circumferential direction and are hingedly connected to the clamping seat.

[0010] Preferably, the adjusting assembly comprises a constraint member and a plurality of first elastic members, the constraint member is sleeved on the outside of the clamping part, and the first elastic members are arranged between the constraint member and the clamping seat.

[0011] Preferably, the clamping seat is provided with an elastic member column, the first elastic members are at least partially arranged in the elastic member column, one end of the first elastic members is connected with the inner wall of the elastic member column, and the other end is in abutment with the constraint member.

[0012] Preferably, the insertion assembly further comprises an insertion handle, a handle groove is arranged between the insertion handle and the insertion part, and the inner wall of the clamping part is provided with an inner concave arc matched with the shape of the insertion part.

[0013] Preferably, the outer diameter of the clamping part gradually increases from the tail end of clamping to the head end of clamping.

[0014] Preferably, the insertion assembly further comprises a conical guide part, the conical guide part is arranged at the front end of the insertion part, the clamping assembly is provided with a circular column, the circular column is provided with an inner hole matched with the shape of the conical guide part, and the conical guide part is inserted into the inner hole.

[0015] Preferably, the inner hole is provided with a buffer member, the buffer member comprises a second elastic member and a baffle, one end of the second elastic member is connected with the inner wall of the inner hole, and the other end is connected with the baffle.

[0016] Preferably, the side wall of the inner hole is provided with a plurality of third elastic members, and the third elastic members are in abutment with the outside of the conical guide part when the conical guide part is inserted into the inner hole.

[0017] In the docking structure, the adjusting assembly is arranged on the outside of the clamping part, the adjusting assembly is moved to the clamping seat to store energy when the insertion part is inserted into the clamping part, the adjusting assembly exerts pressure on the clamping part after the insertion part is inserted into the clamping space, the insertion part is fastened in the clamping assembly, so that the clamping assembly is prevented from being loosened due to external vibration, and the insertion assembly is separated from the clamping assembly.

[0018] Another object of the utility model is to provide a hanging rail robot assembly, through the docking structure, the rescue robot stably moves the inspection robot to the specified position.

[0019] The utility model discloses another purpose is realized through such technical scheme, specifically provides a kind of docking structure, including docking structure, still including inspection robot and rescue robot, clamping assembly is installed on rescue robot or is installed on inspection robot, correspondingly, insertion assembly is installed on inspection robot or is installed on rescue robot.

[0020] Since the above technical scheme is adopted, the utility model has the following advantages: through the docking structure, the rescue robot stably moves the inspection robot to the specified position. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the embodiment of the utility model, the drawings needed in the embodiment will be briefly introduced below. In all the drawings, the elements or parts are not necessarily drawn according to the actual proportion.

[0022] Figure 1 It is the structure diagram of the utility model docking structure;

[0023] Figure 2 It is the structure diagram of the utility model clamping seat;

[0024] Figure 3 It is the structure diagram of the utility model clamping assembly;

[0025] Figure 4 It is the schematic diagram of the utility model insertion assembly;

[0026] Figure 5 It is the schematic diagram of the utility model clamping part;

[0027] Figure 6 It is the schematic diagram of the utility model round table column;

[0028] Figure 7 It is the schematic diagram of the utility model hanging rail robot assembly.

[0029] Reference signs:

[0030] 1-clamping assembly, 11-clamping seat, 111-supporting table, 112-connecting shaft, 113-elastic member column, 114-annular groove, 115-first through hole, 116-mounting groove, 12-clamping part, 121-clamping space, 122-tail end of clamping, 123-head end of clamping, 124-limiting table, 125-internal concave arc, 126-second through hole, 127-clamping branch, 13-round table column, 131-internal hole, 132-second elastic member, 133-baffle, 134-cushioning member, 135-third elastic member,

[0031] 2-insertion assembly, 21-insertion part, 22-insertion handle, 23-handle groove, 24-tapered guide part,

[0032] 3 - adjustment assembly, 31 - restraint, 32 - first elastic member,

[0033] 4 - fastening hoop, 5 - inspection robot, 6 - rescue robot. DETAILED DESCRIPTION

[0034] Referring to Figures 1 to 3 A docking structure comprises a clamping assembly 1, an insertion assembly 2 and an adjustment assembly 3.

[0035] The clamping assembly 1 comprises a clamping seat 11 and a clamping part 12, the clamping part 12 is hingedly installed on the clamping seat 11, and the clamping part 12 is provided with a clamping space 121; the insertion assembly 2 is provided with an insertion part 21, and the insertion part 21 is inserted into the clamping space 121; the adjustment assembly 3 is arranged in the clamping assembly 1, and the adjustment assembly 3 adjusts the size of the clamping space 121 and clamps or loosens the insertion part 21. Specifically, the shaft centers of the insertion part 21 and the clamping part 12 are arranged on the same straight line in advance, the end of the clamping seat 11 is a disc, the clamping part 12 is composed of a plurality of clamping branches 127, the clamping branches 127 are hingedly installed on the clamping seat 11 in a circumferential direction, the clamping seat 11 is provided with a support table 111 matched with the outer shape of the clamping part 12, the support table 111 is nested between adjacent two clamping parts 12 to support the clamping part 12 connected by the clamping branches 127. The side of the support table 111 is provided with a first through hole 115, the clamping part 12 is provided with a second through hole 126, and the first through hole 115 and the second through hole 126 are coaxial. The clamping seat 11 is provided with a connecting shaft 112, the connecting shaft 112 is fixedly installed in the first through hole 115 of adjacent two support tables 111, the clamping branch 127 is hingedly installed in the support table 111 through the connecting shaft 112, and the clamping branch 127 can rotate by a certain angle, so that the plurality of clamping branches 127 can be close to or away from each other, and the inner walls of the plurality of clamping branches 127 constitute the clamping space 121 for accommodating the insertion part 21. The clamping seat 11 is provided with a mounting groove 116 of the clamping branch 127, which plays a positioning and quick installation role during installation; and restricts the movement of the clamping branch 127 together with the support table 111 during use. In a free state, the inner wall diameter of the end of the clamping part 12 is smaller than the diameter of the insertion part 21, and the inner diameter of the clamping space 121 is greater than the inner wall diameter of the end of the clamping part 12. The docking structure further comprises a fastening hoop 4 arranged outside the clamping seat 11. Specifically, an annular groove 114 is arranged along the outer side wall of the support table 111 and the clamping part 12, the fastening hoop 4 is nested in the annular groove 114, the rotation angle of the clamping part 12 is restricted, and the clamping branches 127 are connected together. Preferably, the number of clamping branches 127 is four, and they are uniformly and spacedly arranged on the clamping seat 11.

[0036] The utility model discloses a butt joint structure, when using, one of insertion assembly 2 or clamping assembly 1 is fixed, and the other moves under the drive of external force, and insertion part 21 is inserted into clamping part 12, and clamping part 12 cannot rotate under the pressure action of adjusting assembly 3 to clamping part 12, and insertion part 21 is fixed in clamping part 12, and will not fall off when being subjected to external vibration.

[0037] Please refer to Figure 4 And Figure 5 Further, insertion part 21 is a ball head, clamping part 12 is a claw matched with the ball head, and the claw is hingedly installed on clamping seat 11 in the circumferential direction. By adopting the structure, the ball head is a circular body, the size of insertion into clamping part 12 changes from small to big and then to small, and the claw is first opened and then closed, so that the automatic adjustment of adjusting assembly 3 is facilitated. Specifically, clamping part 12 is provided with a tail end 122 and a head end 123, and the outer diameter of clamping part 12 gradually increases from the tail end 122 to the head end 123, so that restraint member 31 moves along the outside of the claw. The head end 123 is provided with a limiting table 124, and restraint member 31 is sleeved between the limiting table 124 and clamping seat 11. The limiting table 124 is arranged to prevent restraint member 31 from popping out of clamping part 12.

[0038] Please refer to Figure 1 And Figure 3 Further, adjusting assembly 3 includes restraint member 31 and a plurality of first elastic members 32, restraint member 31 is sleeved on the outside of clamping part 12, and first elastic members 32 are arranged between restraint member 31 and clamping seat 11. Specifically, first elastic members 32 are evenly and circumferentially arranged on clamping seat 11, one end of first elastic members 32 is fixedly installed on clamping seat 11 by welding, and the other end abuts against restraint member 31. Preferably, first elastic members 32 are springs, and the number is four, which are evenly and circumferentially arranged on clamping seat 11. When in use, clamping part 12 is gradually opened under the action of insertion part 21, and restraint member 31 on the outside of clamping part 12 is driven to move towards clamping seat 11, and first elastic members 32 are compressed to store energy; insertion part 21 enters clamping space 121, at this time, the inner diameter of clamping space 121 is greater than the outer diameter of insertion part 21, restraint member 31 is driven by first elastic members 32 to move towards the head end 123, so that clamping part 127 is driven by adjusting assembly 3 to move towards the axis, until the outer wall of insertion part 21 is tightly connected with the inner wall of clamping part 12, and insertion part 21 is fixed in clamping space 121. It will not fall off when subjected to external vibration. When not in use, an action force is applied to restraint member 3 to move towards clamping seat 11, restraint member 3 loosens clamping part 12, clamping part 12 can rotate, so that insertion part 21 can be taken out.

[0039] Please refer to Figure 3Further, the clamping seat 11 is provided with an elastic member column 113, the first elastic member 32 is arranged at least partially in the elastic member column 113, one end of the first elastic member 32 is connected with the inner wall of the elastic member column 113, and the other end is abutted with the constraint member 31. Specifically, the elastic member column 113 is arranged through the clamping seat 11, one end of the elastic member column 113 is provided with a top wall, one end of the first elastic member 32 is mounted on the inner wall of the elastic member column 113 by welding, and preferably, the depth of the elastic member column 113 is long enough to make the first elastic member 32 arranged mostly in the elastic member column 113. With this structure, the stretching direction of the first elastic member 32 is along the axial direction of the elastic member column 113, the deformation direction of the first elastic member 32 is limited, and the stretching of the first elastic member 32 will not deviate.

[0040] Please refer to Figure 4 and Figure 5 Further, the insertion assembly 2 further comprises an insertion handle 22, the insertion handle 22 is provided with a handle groove 23 between the insertion handle 22 and the insertion part 21, and the inner wall of the clamping part 12 is provided with an inner concave arc 125 matched with the shape of the insertion part 21. Specifically, the outer diameter of the handle groove 23 is smaller than the outer diameter of the insertion part 21 and the outer diameter of the insertion handle 22. After the insertion part 21 is inserted into the clamping space 121, the end of the clamping part 12 is fitted in the handle groove 23, which helps the insertion part 21 to be stably inserted into the clamping space 121.

[0041] Please refer to Figure 3 and Figure 4 Further, the insertion assembly 2 comprises a conical guide part 24 arranged at the front end of the insertion part 21, and the clamping assembly 1 is provided with a circular truncated cone column 13 provided with an inner hole 131 matched with the shape of the conical guide part, and the conical guide part 24 is inserted into the inner hole 131. Specifically, the circular truncated cone column 13 is mounted on the clamping seat 11 by welding, or the circular truncated cone column 13 is integrally formed with the clamping seat 11, and the circular truncated cone column 13 is at least partially inserted into the end of the clamping part 12 away from the insertion assembly 2. Preferably, the axis of the inner hole 131, the axis of the conical guide part 24 and the axis of the clamping seat 11 are on a straight line. The end of the conical guide part 24 close to the circular truncated cone column 13 is a cylinder, and the rear end is a cone. The inner hole 131 is matched with the shape of the conical guide part 24. With this structure, the conical butt joint ensures centering and guiding effect, and ensures installation accuracy and strength.

[0042] Please refer to Figure 6 Further, the inner hole 131 is provided with a buffer 134, the buffer 134 comprises a second elastic member 132 and a baffle 133, one end of the second elastic member 132 is connected with the inner wall of the inner hole 131, and the other end is connected with the baffle 133. Preferably, the second elastic member 132 is a spring. With this structure, the conical guide part 24 has a buffering effect when inserted into the inner hole 131, which avoids the rigid insertion of the conical guide part 24 into the inner hole 131, and has a protective effect on the conical guide part 24.

[0043] Please refer to Figure 6 Further, the side wall of the inner hole 131 is spaced apart from the third elastic member 135, and the tapered guide portion 24 is inserted into the inner hole 131 and abuts against the outer side of the third elastic member 135. Specifically, the third elastic member 135 is provided in a plurality of parts and is uniformly and spaced apart from the inner wall of the inner hole 131. The inner wall of the inner hole 131 is provided with a strip groove, and the third elastic member 135 is installed in the strip groove. The outer side of the third elastic member 135 abuts against the outer side of the tapered guide portion 24. Preferably, the third elastic member 135 is a spring sheet. With this structure, the tapered guide portion 24 is clamped in the third elastic member 135, which helps the insertion portion 21 not to be separated from the clamping assembly 1.

[0044] Please refer to Figure 7 The hanging rail robot assembly includes a docking structure, and further includes an inspection robot 5 and a rescue robot 6. The clamping assembly 1 is installed on the rescue robot 6 or the inspection robot 5, and correspondingly, the insertion assembly 2 is installed on the inspection robot 5 or the rescue robot 6. Specifically, the clamping assembly 1 is provided with a mounting hole and is installed on the front end of the rescue robot 6 by means of bolts. Similarly, the insertion assembly 2 is installed on the rear end of the inspection robot 5. It should be noted that the clamping assembly 1 can also be installed on the inspection robot 5, and the insertion assembly 2 is installed on the rescue robot 6. When the inspection robot 5 fails, the inspection robot 5 stops on the rail. The rescue robot 6 is driven by its own power, the clamping assembly 1 moves towards the insertion assembly 2, completes the docking work and drags the inspection robot 5 to a designated position, and the constraint member 31 is moved towards the clamping seat 11 to remove the inspection robot 5 for maintenance.

[0045] The adjustment assembly 3 is arranged outside the clamping portion 12. When the insertion portion 21 is inserted into the clamping portion 12, the adjustment assembly 3 is moved towards the clamping seat 11 to store energy. After the insertion portion 21 is inserted into the clamping space 121, the constraint member 31 is moved towards the clamping head end 123 under the action of the first elastic member 32 to apply a constraint pressure to the clamping portion 12, so as to tightly fix the insertion assembly 2 in the clamping assembly 1 and avoid the insertion portion 21 from falling off from the clamping assembly 1. The elastic member column 113 is arranged in the clamping seat 11, and the first elastic member 32 is stable in extension and retraction and will not deviate. The circular table column 13 is arranged in the clamping assembly 1, the circular table column 13 is provided with the second elastic member 132 and the third elastic member 135, and has a protection and clamping effect on the tapered guide portion 24, which helps the insertion portion 21 not to fall off from the clamping assembly 1.

[0046] The above specific embodiments further illustrate the purpose, technical scheme and beneficial effects of the present application. It should be understood that the above description is only a specific implementation method of the present application and is not used to limit the present application. Any modification, equivalent replacement and improvement made within the spirit of the present application shall be included in the protection scope of the present application.

Claims

1. A docking structure, characterized by, The utility model relates to a kind of hanging rail robot assembly, including: clamping assembly (1), including clamping seat (11) and clamping part (12), clamping part (12) is hingedly installed in clamping seat (11), and clamping part (12) is equipped with clamping space (121);Insertion assembly (2) is equipped with insertion part (21), and insertion part (21) is inserted into clamping space (121);And adjustment component (3) is arranged in clamping assembly (1), and the size of clamping space (121) is adjusted, and insertion part (21) is clamped or loosened. Insertion part (21) is ball head, and clamping part (12) is claw matched with ball head, and a plurality of claws are hingedly installed in clamping seat (11) along the circumference of clamping seat (11). Adjustment component (3) includes restraint (31) and a plurality of first elastic members (32), restraint (31) is sleeved on the outside of clamping part (12), and first elastic member (32) is arranged between restraint (31) and clamping seat (11) at intervals. Clamping seat (11) is equipped with elastic member column (113), and first elastic member (32) is at least partially arranged in elastic member column (113), one end of first elastic member (32) is connected with the inner wall of elastic member column (113), and the other end is in abutment with restraint (31).

2. The docking structure of claim 1, wherein, Insertion assembly (2) further includes insertion handle (22), and handle groove (23) is arranged between insertion handle (22) and insertion part (21), and the inner wall of clamping part (12) is equipped with inner concave arc (125) matched with the shape of insertion part (21).

3. The docking structure of claim 1 or 2, wherein, The outer diameter of clamping part (12) gradually increases from the tail end (122) of clamping to the head end (123) of clamping.

4. The docking structure of claim 3, wherein, Insertion assembly (2) further includes conical guide part (24), and conical guide part (24) is arranged at the front end of insertion part (21), and clamping assembly (1) is equipped with circular table column (13), and circular table column (13) is equipped with inner hole (131) matched with the shape of conical guide part (24), and conical guide part (24) is inserted into inner hole (131).

5. The docking structure of claim 1, 2 or 4, wherein, Inner hole (131) is equipped with buffer (134), and buffer (134) includes second elastic member (132) and baffle (133), one end of second elastic member (132) is connected with the inner wall of inner hole (131), and the other end is connected with baffle (133).

6. The docking structure of claim 1, 2, or 4, wherein, The side wall of inner hole (131) is equipped with a plurality of third elastic members (135) at intervals, and conical guide part (24) is in abutment with the outside of third elastic member (135) when being inserted into inner hole (131).

7. The docking structure of claim 1, 2, or 4, wherein, 10.A hanging rail robot assembly, comprising the docking structure according to any one of claims 1-9, further comprising an inspection robot (5) and a rescue robot (6), the clamping assembly (1) is mounted on the rescue robot (6) or the inspection robot (5), and correspondingly, the insertion assembly (2) is mounted on the inspection robot (5) or the rescue robot (6).

8. The docking structure of claim 7, wherein, ​ 9. The docking structure of claim 7, wherein, ​ ​

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