Unlocking and pressing integrated device and hanging rail inspection robot

Abstract

The utility model belongs to the technical field of robots, and particularly discloses an unlocking and pressing integrated device, which comprises an unlocking and pressing assembly, a driving wheel seat, a driving wheel seat, a driving wheel seat, a driving wheel seat and a pressing wheel seat, the driving execution assembly is connected with the unlocking and pressing assembly, and the unlocking and pressing assembly is driven to eliminate pressure applied to the driving wheel seat; when the unlocking and pressing assembly exerts pressure on the driving wheel seat, a pressing state is formed, and the driving wheel abuts against the guide rail in a friction mode. When the unlocking and pressing assembly eliminates pressure on the driving wheel seat, an unlocking state is formed, and the driving wheel is separated from the guide rail. The unlocking and pressing assembly is adjusted to be changed into the unlocking state from the pressing state, friction between the driving wheel and the guide rail is avoided, and therefore energy consumed by the rail-mounted rescue robot is reduced, and the rail-mounted inspection robot is dragged to the designated position. The utility model further discloses the hanging rail inspection robot.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of robot technology, concretely relates to a device of unlocking and pressing integration and hanging rail inspection robot. BACKGROUND

[0002] The hanging rail inspection robot is a kind of robot that can be hung on the rail and moves along the rail, is widely applied in logistics storage, chemical industry, mineral and electric power etc. due to the characteristics such as high flexibility, space utilization etc., can execute the inspection task under special environment, replaces artificial inspection, and solves the security hidden danger brought by traditional operator's inspection in high temperature, high humidity, toxic and electric shock dangerous and other adverse environments.The moving rail of the hanging rail inspection robot is arranged in high altitude, and the hanging rail inspection robot walks along the rail, can fully utilize the site space, and improves safety and space utilization.

[0003] At present, the driving force of the hanging rail inspection robot is provided by motor, and finally moves along the guide rail by the friction of driving wheel, and the pressure of driving wheel to rail is provided by pressing device.Even if the hanging rail inspection robot fails when being on the slope guide rail, the pressure provided by the pressing device keeps the hanging rail inspection robot from accident.But there are the following problems: when the hanging rail inspection robot fails, usually special hanging rail rescue robot is used to drag it to the specified position for maintenance through the docking structure, and if the inspection robot is still in the pressing state of pressing device, the hanging rail rescue robot needs to consume more energy to drag the hanging rail inspection robot to the specified position. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a device of unlocking and pressing integration, adjusts driving wheel from pressing state to unlocking state, and driving wheel has no friction with guide rail, thereby reducing the energy consumption of hanging rail rescue robot and dragging the hanging rail inspection robot to the specified position.

[0005] The utility model aims at realizing by the technical scheme, specifically provides a device of unlocking and pressing integration, and includes:

[0006] The unlocking and pressing assembly is installed at one end in robot body, and the other end is hinged to driving wheel seat at prefabricated angle;

[0007] The driving execution assembly is connected with the unlocking and pressing assembly, drives the unlocking and pressing assembly to eliminate the pressure applied to driving wheel seat;

[0008] When the unlocking and pressing assembly applies pressure to driving wheel seat, forms pressing state, and driving wheel rubs against guide rail;When the unlocking and pressing assembly eliminates the pressure to driving wheel seat, forms unlocking state, and driving wheel is separated from guide rail.

[0009] Preferably, the unlocking and pressing assembly includes:

[0010] The base is installed on the end face of the robot body near the guide rail;

[0011] The release bushing is mounted on the base, and its outer surface is provided with ball holes spaced circumferentially for ball passage.

[0012] The limiting ring is sleeved on the outside of the release bushing and located directly above the ball hole. The outer surface of the limiting ring is connected to the drive actuation component, and the inner wall of the limiting ring is provided with a ball retraction groove.

[0013] An elastic element, sleeved on the outside of the release bushing, includes a first spring and a second spring, with a limiting ring located between the first spring and the second spring;

[0014] The release shaft has a release shaft sleeve fitted on the outside of the release shaft. The outer surface of the release shaft has a ball groove, and the release shaft has a cavity.

[0015] The tension spring is installed in the cavity. One end of the tension spring is connected to the drive wheel seat, and the other end is connected to the end face of the moving plate.

[0016] Preferably, there are two sets of ball retraction grooves, which are symmetrically arranged on the inner walls of both ends of the limiting ring.

[0017] Preferably, the unlocking and clamping assembly further includes an adjusting column, one end of which is connected to the end face of the moving plate away from the tension spring. The outer surface of the adjusting column is provided with an external thread, and the cavity is provided with an internal thread that matches the external thread. The moving plate is driven to move in the cavity through the thread engagement.

[0018] Preferably, the release shaft further includes a backstop ring, which is sleeved on the outer surface of the release shaft near the drive wheel seat, and the outer diameter of the backstop ring is larger than the inner diameter of the first cavity.

[0019] Preferably, the base includes a base body and an adapter block. The angle between the adapter block and the base body is adjustable. The adapter block is provided with a first groove. The drive wheel seat is hinged in the adapter block by a pin.

[0020] Preferably, the drive actuation component includes a toggle block, a concave ring on the outer side of the limiting ring, and a boss at one end of the toggle block that cooperates with the concave ring.

[0021] Preferably, the base is provided with a second groove, the boss abuts against the concave ring through the second groove, and the actuating block moves along the second groove.

[0022] Preferably, the base further includes a slider, and the actuating block is provided with a groove that cooperates with the slider, and the actuating block moves along the slider.

[0023] This utility model's integrated unlocking and clamping device applies external force to the drive actuator, which adjusts the unlocking and clamping components to eliminate pressure on the drive wheel seat. Under gravity, the drive wheel disengages from the guide rail, eliminating friction. With the drive wheel in the unlocked state, the rail-mounted rescue robot can pull the rail-mounted inspection robot to the designated position with minimal pulling force, reducing wear and tear on the rail-mounted rescue robot. Furthermore, the integrated unlocking and clamping components avoid the conventional approach of using two separate structures for braking and unlocking the drive wheel, thus simplifying and miniaturizing the device.

[0024] Another objective of this invention is to provide a rail-mounted inspection robot. When the rail-mounted inspection robot malfunctions, an integrated unlocking and clamping device is used to adjust the drive wheel from the clamped state to the unlocked state. Since there is no friction between the drive wheel and the guide rail, it is relatively easy to move the rail-mounted inspection robot to the designated position.

[0025] The purpose of this utility model is achieved through such a technical solution, specifically providing a rail-mounted inspection robot, including a device that integrates unlocking and clamping.

[0026] Due to the adoption of the above technical solution, the beneficial effects of this utility model are as follows: when the rail-mounted inspection robot malfunctions, the active wheel can be adjusted from the pressed state to the unlocked state by using the integrated unlocking and pressing device. The active wheel has no friction with the guide rail, making it easier to move the rail-mounted inspection robot to the designated position. Attached Figure Description

[0027] To more clearly illustrate the specific embodiments of this utility model, the accompanying drawings used in the specific embodiments will be briefly described below. In all the drawings, the elements or parts are not necessarily drawn to scale.

[0028] Figure 1 This is a schematic diagram of the structure of a device that integrates unlocking and clamping according to the present invention;

[0029] Figure 2 A cross-sectional view of the device that integrates unlocking and clamping;

[0030] Figure 3 A schematic diagram of the release shaft;

[0031] Figure 4 A schematic diagram of the release bushing;

[0032] Figure 5 A schematic diagram showing the structure of the device that integrates unlocking and clamping without its base;

[0033] Figure 6 A schematic diagram of the driving execution component;

[0034] Figure 7This is a schematic diagram of the robot body on the guide rail.

[0035] Figure label:

[0036] 1-Unlocking and clamping assembly; 11-Base; 111-Base body; 112-Adapter block; 113-First groove; 114-Second groove; 115-Slider; 12-Release bushing; 121-Ball hole; 122-Second step; 13-Ball; 14-Limit ring; 141-Ball retraction groove; 142-Concave ring; 15-Elastic element; 151-First spring; 152-Second spring; 16-Release shaft; 161-Ball groove; 162-Cavity; 163-First cavity; 164-Second cavity; 165-End plate; 166-Anti-retraction ring; 167-Ring groove; 168-First step; 17-Tension spring; 171-Moving plate; 18-Third spring; 19-Adjusting column.

[0037] 2-Drive actuator component, 21-Actuating block, 211-Boss, 212-Padded block, 213-Slide groove,

[0038] 3-Drive wheel, 31-Drive wheel seat, 32-First pin,

[0039] 4-Robot body, 5-Guide rail. Detailed Implementation

[0040] Please see Figure 1 and Figure 7 A device that integrates unlocking and clamping includes an unlocking and clamping component 1 and a drive execution component 2.

[0041] One end of the unlocking and clamping assembly 1 is mounted on the robot body 4, and the other end is hinged to the drive wheel seat 31 at a pre-set angle. The drive execution assembly 2 is connected to the unlocking and clamping assembly 1, driving the unlocking and clamping assembly 1 to release the pressure applied to the drive wheel seat 31. When the unlocking and clamping assembly 1 applies pressure to the drive wheel seat 31, a clamping state is formed, and the drive wheel 3 rubs against the guide rail 5. When the unlocking and clamping assembly releases the pressure on the drive wheel seat 31, an unlocking state is formed, and the drive wheel 3 disengages from the guide rail 5. Specifically, the robot body 4 hangs upside down on the guide rail 5, supported by load-bearing wheels in the prior art. The unlocking and clamping assembly 1 is installed between the robot body 4 and the guide rail 5. The drive wheel 3 is rotatably mounted on the drive wheel seat 31. The size of the drive wheel 3 is as large as possible, and to reduce abnormal noise during movement, the drive wheel 3 is a rubber wheel. The contact surface between the drive wheel 3 and the guide rail 5 is provided with a textured surface. In this way, the wider drive wheel 3 helps to improve stability during movement. The rubber wheel with tread pattern can increase the friction between the wheel and the guide rail 5, thereby enhancing the movement stability and driving force of the robot body 4 during movement.

[0042] In this invention, the unlocking and clamping device integrates two components. Under normal conditions, the unlocking and clamping assembly 1 continuously applies pressure to the drive wheel seat 31. This pressure exceeds the weight of the drive wheel 3 and the drive wheel seat 31, resulting in a clamping state. The drive wheel 3 is tightly fitted to the guide rail 5, generating friction, and the drive wheel 3 moves on the guide rail 5. When the robot body 4 malfunctions and stops in the guide rail 5, an external force is applied to the drive execution assembly 2. The drive execution assembly 2 drives the unlocking and clamping assembly 1 to release the pressure on the drive wheel seat 31, resulting in an unlocked state. The drive wheel 3 disengages from the guide rail 5 under gravity, eliminating friction. This allows the robot body 4 to be pulled to a designated position with a smaller pulling force, reducing energy consumption of the rail-mounted rescue robot. Furthermore, the integration of the unlocking and clamping components avoids the conventional approach of using two separate structures for braking and unlocking the drive wheel, simplifying and miniaturizing the device.

[0043] Please see Figures 2 to 5 Furthermore, the unlocking and clamping assembly 1 includes: a base 11, a release bushing 12, a ball bearing 13, a limit ring 14, an elastic element 15, a release shaft 16, a tension spring 17, a third spring 18, and an adjusting column 19.

[0044] A base 11 is mounted on one end face of the robot body 4 near the guide rail 5. A release sleeve 12 is mounted on the base 11, and the outer surface of the release sleeve 12 is provided with ball holes 121 for the balls 11 to pass through at intervals along its circumference. A limiting ring 14 is sleeved on the outside of the release sleeve 12 and is located directly above the ball holes 121. The outer surface of the limiting ring 14 is connected to the drive execution component 2, and the inner wall of the limiting ring 14 is provided with a ball retraction groove 141. An elastic element 15 is sleeved on the outside of the release sleeve 12 and includes a first spring 151 and a second spring 152. The limiting ring 14 is located between the first spring 151 and the second spring 152. The release sleeve 12 is sleeved on the outside of the release shaft 16, and the outer surface of the release shaft 16 is provided with a ball groove 161. The release shaft 16 is provided with a cavity 162. Tension spring 17 is disposed in cavity 162. One end of tension spring 17 is connected to drive wheel seat 31, and the other end is connected to one end face of moving plate 171. The inner wall of release bushing 12 is provided with a second step 122, and one end of release shaft 16 is provided with end plate 165. Third spring 18 is disposed between the inner wall of the second step 122 and end plate 165. Specifically, release bushing 12, limiting ring 14 and release shaft 16 are coaxially arranged. The inner wall of release shaft 16 is provided with a first step 168, which divides cavity 162 into a connected first cavity 163 and a second cavity 164. Tension spring 17 and moving plate 171 are disposed in the first cavity 163, and the first step 168 restricts the movement of moving plate 171 into the second cavity 164. An end plate 165 is provided at the end of the release shaft 16 away from the drive wheel seat 31. The outer diameter of the end plate 165 is larger than that of the release bushing 12, which facilitates the movement of the end plate by external force and limits the movement of the release shaft 16. Preferably, the first spring 151 and the second spring 152 have the same parameters, and the limiting ring 14 is located between the first spring 151 and the second spring 152. Preferably, the first spring 151, the second spring 152 and the third spring 18 are all springs.

[0045] Workflow of the integrated unlocking and clamping device:

[0046] Unlocking process: Under the action of external force, the drive actuator 2 pulls the limit ring 14 to move outside the release sleeve 12. When the ball retraction groove 141 moves to the top of the ball 13, the vertical movement space of the ball 13 increases. Under the action of the third spring 18, the ball 13 disengages from the ball groove 161 and squeezes into the ball retraction groove 141. The release shaft 16 loses the constraint of the ball 13. Under the action of the pre-stored energy third spring 18, the release shaft 16 pops away from the drive wheel seat 31. The tension spring 17 loses the pressure of the release shaft 16 and returns to the release state. The tension spring 17 does not apply pressure to the drive wheel seat 31. After the drive wheel seat 31 loses pressure, it moves away from the guide rail 5 around the hinge due to the gravity of the drive wheel 3. The drive wheel 3 disengages from the guide rail 5 and is no longer in contact. Even when subjected to the elastic element 15, the ball 13 locks the limiting ring 14 in the ball retraction groove 141 without any external force, and the limiting ring 14 cannot return to its original position.

[0047] Clamping process: A thrust is applied to the end plate 165, causing the unlocker shaft 16 to move toward the drive wheel seat 31. When the ball groove 161 moves below the ball 13, the ball 13 falls into the ball groove 161. Under the centering action of the first spring 151 and the second spring 152, the limiting ring 14 returns to its original position. The inner wall of the limiting ring 14 locks the ball 13 in the ball groove 161. The release shaft 16 compresses the tension spring 17, and the tension spring 17 applies pressure to the drive wheel seat 31. The drive wheel seat 31 moves around the hinge point to the guide rail 5. The drive wheel 3 presses against the guide rail 5, generating friction. At this time, the third spring 18 is compressed and stores energy.

[0048] Furthermore, two sets of ball retraction grooves 141 are provided, symmetrically arranged on the inner walls of both ends of the limiting ring 14. With this structure, external force can move the limiting ring 14 to the left or right, which can drive the drive wheel 3 to disengage from the guide rail 5, thus improving the application scenarios.

[0049] Please see Figure 2 Furthermore, the unlocking and clamping assembly 1 also includes an adjusting post 19. One end of the adjusting post 19 is connected to the end face of the moving plate 171 away from the tension spring 17. The outer surface of the adjusting post 19 is provided with an external thread, and the cavity 162 is provided with an internal thread that matches the external thread. The moving plate 171 is driven to move in the cavity 162 through the thread engagement. Specifically, the adjusting post 19 is set in the second cavity 164. By adjusting the position of the adjusting post 19 in the second cavity 164 with a tool, the compression degree of the tension spring 17 can be adjusted, thereby adjusting the pressure of the tension spring 17 on the drive wheel seat 31 and the friction between the drive wheel 3 and the guide rail 5, which is beneficial to the stable movement of the robot body 4 on the guide rail 5.

[0050] Please see Figure 2 and Figure 3Furthermore, the release shaft 16 also includes a retaining ring 166, which is sleeved on the outer surface of the release shaft 16 near the drive wheel seat 31, and the outer diameter of the retaining ring 166 is larger than the inner diameter of the cavity 162. Specifically, the outer surface of the release shaft 16 near the drive wheel seat 31 is provided with an annular groove 167, and the retaining ring 166 is tightly fitted in the annular groove 167 and exposed on the outer surface of the release shaft 16. The retaining ring 166 is used to limit the ejection length of the release shaft 16 away from the drive wheel seat 31.

[0051] Please see Figure 2 Furthermore, the base 11 includes a base body 111 and a transition block 112, the angle between the transition block 112 and the base body 111 is adjustable; the transition block 112 is provided with a first groove 113, and the drive wheel seat 31 is hingedly installed in the transition block 112 via a first pin 32. Specifically, the base body 111 and the transition block 112 are provided with a coaxial through hole, and the base body 111 is also provided with a second pin and a nut. The second pin is installed in the through hole, and the transition block 112 rotates around the second pin to adjust its angle with the base body 111. When the angle is appropriate, it is fixed with a nut, which can adjust the angle between the transition block 112 and the guide rail 5. The transition block 112 is provided with a first groove 113, and the drive wheel seat 31 is hingedly installed in the first groove 113 via the first pin 32. When the drive wheel seat 31 is subjected to force or the force is released, the drive wheel seat 31 moves along the first groove 113, thereby causing the drive wheel 31 to abut against or disengage from the guide rail 5. Preferably, there are two first pins 32.

[0052] Please see Figure 5 and Figure 6 Furthermore, the drive execution component 2 includes a toggle block 21, a concave ring 142 on the outer side of the limiting ring 14, and a boss 211 at one end of the toggle block 21 that cooperates with the concave ring 142. Specifically, the concave ring 142 is provided on the outer side of the middle of the limiting ring 14, and the boss 211 is nested in the concave ring 142. Under the action of external force, the boss 211 drives the limiting ring 14 to move.

[0053] Please see Figure 5 Furthermore, the base 11 is provided with a second groove 114, the boss 211 abuts against the concave ring 142 through the second groove 114, and the actuating block 21 moves along the second groove 114.

[0054] Please see Figure 6Furthermore, the base 11 also includes a slider 115, and the actuating block 21 is provided with a groove 213 that mates with the slider 115, allowing the actuating block 21 to move along the slider 115. Specifically, the slider 115 is detachably mounted to the outside of the base 11 by screws, and a pad 212 is provided on the end face of the actuating block 21 near the base 11. The pad 212 is detachably mounted to the actuating block 21 by flat-head screws, and the pad 212 is provided with a groove 213 that mates with the slider 115. The slider 115 and the pad 212 are detachably mounted, facilitating the replacement of the slider 115 and the pad 212. The actuating block 21 moves simultaneously along the second groove 114 and along the slider 115, making the movement of the actuating block 21 directional and stable. Preferably, there are two sets of drive execution components 2, symmetrically arranged on both sides of the unlocking and pressing components 1. The two sets of drive execution components 2 are symmetrically arranged on the base 11, ensuring the stability of the movement of the limit ring 14.

[0055] A rail-mounted inspection robot includes an integrated unlocking and clamping device.

[0056] This utility model discloses an integrated unlocking and clamping device and a rail-mounted inspection robot. In the clamped state, the drive wheel 3 and guide rail 5 are tightly fitted together, generating friction. The robot moves on the guide rail 5 under internal power. When the robot malfunctions, external force is applied to the drive actuator 2, causing the drive actuator 2 to move the limiting ring 14, eliminating the pressure exerted on the drive wheel seat 31 by the unlocking and clamping components 1. The drive wheel 3 then disengages from the guide rail 5 under gravity, eliminating friction and returning the robot to the unlocked state. The rail-mounted rescue robot can then be pulled to a designated position with minimal force, reducing wear and tear on the rescue robot. Furthermore, the integrated unlocking and clamping components avoid the conventional approach of using two separate structures for braking and unlocking the drive wheel 3, simplifying and miniaturizing the device. The unlocking and clamping components 1 are equipped with an adjustment column 19, which can adjust the friction between the drive wheel 3 and guide rail 5, facilitating stable movement of the robot on the guide rail 5. The drive wheel seat 31 is hinged to the first groove 113 via the first pin 32. When the drive wheel seat 31 is subjected to force or the force is released, the drive wheel seat 31 moves along the first groove 113, thereby causing the drive wheel 3 to abut against or disengage from the guide rail 5. The base 11 is provided with a second groove 114 and a slider 115, which makes the movement of the actuating block 21 oriented and stable.

[0057] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this utility model. It should be understood that the above description is only a specific implementation method of this utility model and is not intended to limit this utility model. Any modifications, equivalent substitutions, and improvements made within the scope of the spirit of this utility model should be included within the protection scope of this utility model.

Claims

1. A device that integrates unlocking and clamping, characterized in that, include The unlocking and clamping assembly (1) is mounted on the robot body (4) at one end and hinged to the active wheel seat (31) at a preset angle at the other end. The drive actuation component (2) is connected to the unlocking and clamping component (1), and the drive unlocking and clamping component (1) eliminates the pressure applied to the drive wheel seat (31); When the unlocking and pressing assembly (1) applies pressure to the drive wheel seat (31), it forms a pressing state, and the drive wheel (3) rubs against the guide rail (5); when the unlocking and pressing assembly (1) removes pressure from the drive wheel seat (31), it forms an unlocking state, and the drive wheel (3) disengages from the guide rail (5).

2. The device for unlocking and clamping as described in claim 1, characterized in that, The unlocking and clamping assembly (1) includes: The base (11) is installed on one end face of the robot body (4) near the guide rail (5); Release bushing (12) is mounted on base (11), and its outer surface is provided with ball holes (121) for ball (13) to pass through at intervals along its circumference; The limiting ring (14) is sleeved on the outside of the release bushing (12) and located above the ball hole (121). The outer surface of the limiting ring (14) is connected to the drive execution assembly (2). The inner wall of the limiting ring (14) is provided with a ball retraction groove (141). The elastic element (15) is sleeved on the outside of the release bushing (12) and includes a first spring (151) and a second spring (152). The limiting ring (14) is located between the first spring (151) and the second spring (152). Release shaft (16), release shaft sleeve (12) is sleeved on the outside of release shaft (16), ball groove (161) is provided on the outer surface of release shaft (16), and cavity (162) is provided on release shaft (16). A tension spring (17) is installed in the cavity (162). One end of the tension spring (17) is connected to the drive wheel seat (31), and the other end is connected to the end face of the moving plate (171).

3. The device for unlocking and clamping as described in claim 2, characterized in that, Two sets of ball retraction grooves (141) are provided, which are symmetrically arranged on the inner walls of both ends of the limiting ring (14).

4. The device for integrated unlocking and clamping according to claim 2 or 3, characterized in that, The unlocking and clamping assembly (1) also includes an adjusting column (19). One end of the adjusting column (19) is connected to the end face of the moving plate (171) away from the tension spring (17). The outer surface of the adjusting column (19) is provided with an external thread, and the cavity (162) is provided with an internal thread that matches the external thread. The moving plate (171) is driven to move in the cavity (162) through the thread engagement.

5. The device for unlocking and clamping as described in claim 2 or 3, characterized in that, The release shaft (16) also includes a backstop ring (166), which is sleeved on the outer surface of the release shaft (16) near the drive wheel seat (31), and the outer diameter of the backstop ring (166) is larger than the inner diameter of the cavity (162).

6. The device for unlocking and clamping as described in claim 2 or 3, characterized in that, The base (11) includes a base body (111) and a transition block (112). The angle between the transition block (112) and the base body (111) is adjustable. The transition block (112) is provided with a first groove (113). The drive wheel seat (31) is hinged in the transition block (112) through a first pin (32).

7. The device for integrated unlocking and clamping according to claim 2 or 3, characterized in that, The drive execution component (2) includes a toggle block (21), a concave ring (142) is provided on the outside of the limiting ring (14), and a boss (211) is provided at one end of the toggle block (21) to cooperate with the concave ring (142).

8. The device for unlocking and clamping as described in claim 7, characterized in that, The base (11) is provided with a second groove (114), the boss (211) passes through the second groove (114) and abuts against the concave ring (142), and the actuating block (21) moves along the second groove (114).

9. The device for unlocking and clamping as described in claim 7, characterized in that, The base (11) also includes a slider (115), and the actuating block (21) is provided with a groove (213) that cooperates with the slider (115). The actuating block (21) moves along the slider (115).

10. A rail-mounted inspection robot, characterized in that, The device comprising the unlocking and clamping mechanism as described in any one of claims 1-9.

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