Limiting mechanism of monorail type inspection robot

Abstract

The utility model relates to the technical field of track type inspection robots, and discloses a limiting mechanism of a monorail type inspection robot, which comprises a U-shaped limiting frame arranged at the bottom of the robot, an upper limiting wheel and a side limiting wheel are arranged on the inner side of the U-shaped limiting frame, the upper limiting wheel travels along the upper end face of a track, and the side limiting wheel travels along the lower end face of the track. The side limiting wheels walk along the side end faces of the rails. The side limiting wheel comprises a wheel carrier bottom plate, wheel carrier side plates, a connecting frame and a limiting wheel, the wheel carrier bottom plate is fixed to the limiting side plates of the U-shaped limiting frame, a middle plate is arranged between the two wheel carrier side plates, the two wheel carrier side plates are rotationally connected with the middle of the connecting frame, the middle plate is located above the connecting frame, and the limiting wheel is arranged on the middle plate. A guide column is arranged between the connecting frame and the middle plate; the limiting mechanism of the monorail type inspection robot solves the problem that when an existing monorail type inspection robot turns a corner, the existing monorail type inspection robot is prone to side tipping or jamming due to the fact that the speed is too high.

Description

TECHNICAL FIELD

[0001] The utility model relates to a rail type inspection robot technical field, concretely relates to a single rail type inspection robot's limiting mechanism. BACKGROUND

[0002] In recent years, the inspection robot technology is under the impetus of industrial automation and intelligentization and develops rapidly, especially is widely used in coal mine, electric power, railway, petroleum and natural gas and other industries. The walking environment of single rail type inspection robot mainly includes straight section, turning section and climbing section, in order to meet the needs of these complex environments, the track robot chassis needs to have the functions of straight walking, automatic turning and climbing. However, the existing track inspection robot may be improperly controlled when climbing or turning, such as too fast, the inner side wall of the track turning and the inner side wheel of the track robot are unevenly stressed, which is easy to tilt or be stuck, and there is a security risk of deviating from the track or falling off the track, and the overall operation stability is low. SUMMARY

[0003] The utility model aims at providing a single rail type inspection robot's limiting mechanism to solve at least one of the above problems existing in the prior art.

[0004] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme:

[0005] A single rail type inspection robot's limiting mechanism, comprising a U-shaped limiting frame installed at the bottom of the robot, the inner side of the U-shaped limiting frame is provided with an upper limiting wheel and a side limiting wheel, the upper limiting wheel walks along the upper end face of the track, and the side limiting wheel walks along the side end face of the track;The side limiting wheel comprises a wheel frame bottom plate, a wheel frame side plate, a connecting frame and a limiting wheel, the wheel frame bottom plate is fixed on the limiting side plate of the U-shaped limiting frame, an intermediate plate is arranged between the two wheel frame side plates, the two wheel frame side plates are rotatably connected with the middle part of the connecting frame, the intermediate plate is located above the connecting frame, a guide column is arranged between the connecting frame and the intermediate plate, the guide column has an upper limiting end and a lower limiting end, a first spring is arranged between the upper limiting end of the guide column and the intermediate plate, a second spring is arranged between the front end of the connecting frame and the wheel frame bottom plate, the limiting wheel is arranged at the rear end of the connecting frame, a limiting ring is arranged on the limiting wheel, and the limiting ring walks in the groove on the side face of the track.

[0006] The side limiting wheel comprises a wheel frame bottom plate, a wheel frame side plate, a connecting frame and a limiting wheel, the wheel frame bottom plate is fixed on the limiting side plate of the U-shaped limiting frame, an intermediate plate is arranged between the two wheel frame side plates, the two wheel frame side plates are rotationally connected with the middle part of the connecting frame, the intermediate plate is located above the connecting frame, a guide column is arranged between the connecting frame and the intermediate plate, the guide column has an upper limiting end and a lower limiting end, a first spring is arranged between the upper limiting end of the guide column and the intermediate plate, a second spring is arranged between the front end of the connecting frame and the wheel frame bottom plate, and the limiting wheel is arranged at the rear end of the connecting frame.

[0007] In summary, the side limiting wheel with the spring structure can ensure the stability and smoothness of the robot when turning through the deformation of the spring structure. The limiting ring on the side limiting wheel and the groove on the track cooperate to ensure the stability and smoothness of the robot on an uphill slope or when turning, preventing side overturning.

[0008] Further, in order to facilitate the installation of the guide column, the connecting frame comprises two oppositely arranged connecting arms, a connecting plate is arranged between the two connecting arms, the connecting plate is located below the intermediate plate, a lower connecting hole is arranged on the connecting plate, an upper connecting hole is arranged on the intermediate plate, the guide column passes through the lower connecting hole and the upper connecting hole, and the outer diameter of the guide column is smaller than the hole diameter of the lower connecting hole and the upper connecting hole.

[0009] Further, in order to facilitate the installation of the second spring, the front end of each connecting arm is provided with a mounting plate, and two second springs are arranged between the mounting plate and the wheel frame bottom plate.

[0010] Further, in order to directly use the existing bolt and nut to form the overall structure of the guide column and reduce production costs, the guide column is a bolt, the upper limiting end is a bolt head, and the lower limiting end is a nut screwed on the lower end of the bolt.

[0011] Further, in order to install the wheel frame bottom plate to the limiting side plate, a threaded hole is arranged on the wheel frame bottom plate, and the wheel frame bottom plate is fixed to the limiting side plate through a mounting bolt.

[0012] Further, in order to improve the overall supporting effect of the upper limiting wheel, four upper limiting wheels are arranged in two columns on the limiting top plate of the U-shaped limiting frame.

[0013] Further, in order to facilitate the installation of the upper limiting wheel, the upper limiting wheel is fixedly installed on the limiting top plate through a bolt.

[0014] Further, in order to improve the structural strength of the U-shaped limiting frame, a diagonal support plate is arranged between the limiting side plate and the limiting top plate.

[0015] The beneficial effects of the present application are as follows: in the technical scheme, the side limiting wheel comprises a wheel frame bottom plate, a wheel frame side plate, a connecting frame and a limiting wheel, the wheel frame bottom plate is fixed to the limiting side plate of the U-shaped limiting frame, an intermediate plate is arranged between the two wheel frame side plates, the two wheel frame side plates are rotatably connected to the middle part of the connecting frame, the intermediate plate is located above the connecting frame, a guide column is arranged between the connecting frame and the intermediate plate, the guide column has an upper limiting end and a lower limiting end, a first spring is arranged between the upper limiting end of the guide column and the intermediate plate, a second spring is arranged between the front end of the connecting frame and the wheel frame bottom plate, and the limiting wheel is arranged at the rear end of the connecting frame, so that the limiting wheel can be adaptively adjusted in an elastic manner when the inspection robot turns at a high speed, the limiting wheel is uniformly stressed when turning, the stability and smoothness of the robot walking are ensured, and the problem that the existing single-rail inspection robot is prone to tilting or being stuck due to too high speed when turning is solved.

[0016] In summary, the side limiting wheel with the spring structure can ensure the stability and smoothness of the robot when turning through the deformation of the spring structure. The limiting ring on the side limiting wheel and the groove on the track cooperate to ensure the stability and smoothness of the robot when climbing, turning and the like, and prevent the robot from tilting. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a structural schematic view of the present application;

[0018] Figure 2Structure schematic view of the side limiting wheel in the first visual angle of the utility model;

[0019] Figure 3 Structure schematic view of the side limiting wheel in the second visual angle of the utility model;

[0020] Figure 4 Structure schematic view of the side limiting wheel in the third visual angle of the utility model;

[0021] Figure 5 Structure schematic view of the side limiting wheel in the fourth visual angle of the utility model.

[0022] In the figure: limiting side plate 1;Upper limiting wheel 2;Side limiting wheel 3;Track 4;Wheel carrier bottom plate 5;Threaded hole 5.1;Wheel carrier side plate 6;Connecting frame 7;Connecting arm 7.1;Connecting plate 7.2;Limiting wheel 8;Intermediate plate 9;Guide column 10;Upper limiting end 11;Lower limiting end 12;First spring 13;Second spring 14;Limiting ring 15;Groove 16;Lower connecting hole 17;Upper connecting hole 18;Mounting plate 19;Inclined bracing plate 20;Limiting top plate 21. DETAILED DESCRIPTION

[0023] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or prior art, the utility model will be briefly introduced with the description of the embodiments or prior art and the accompanying drawings, and obviously, the following description of the structure of the accompanying drawings is only some embodiments of the utility model, and for those skilled in the art, other drawings can be obtained without creative labor according to these drawings.It needs to be explained that the description of these embodiment modes is used to help understanding the utility model, but does not constitute the limitation of the utility model.

[0024] Embodiment 1:

[0025] As Figures 1-5As shown, the embodiment provides a single track type inspection robot limiting mechanism, which comprises a U-shaped limiting frame installed at the bottom of the robot, the inner side of the U-shaped limiting frame is provided with an upper limiting wheel 2 and a side limiting wheel 3, the upper limiting wheel 2 walks along the upper end surface of the track 4, and the side limiting wheel 3 walks along the side end surface of the track 4; the side limiting wheel 3 comprises a wheel frame bottom plate 5, a wheel frame side plate 6, a connecting frame 7 and a limiting wheel 8, the wheel frame bottom plate 5 is fixed on the limiting side plate 1 of the U-shaped limiting frame, an intermediate plate 9 is arranged between the two wheel frame side plates 6, the two wheel frame side plates 6 are rotatably connected with the middle part of the connecting frame 7, the intermediate plate 9 is located above the connecting frame 7, a guide column 10 is arranged between the connecting frame 7 and the intermediate plate 9, the guide column 10 has an upper limiting end 11 and a lower limiting end 12, a first spring 13 is arranged between the upper limiting end 11 of the guide column 10 and the intermediate plate 9, a second spring 14 is arranged between the front end of the connecting frame 7 and the wheel frame bottom plate 5, the limiting wheel 8 is arranged at the rear end of the connecting frame 7, and a limiting ring 15 is arranged on the limiting wheel 8 and walks in a groove 16 on the side of the track 4.

[0026] The technical scheme has the advantages that: the side limiting wheel 3 comprises the wheel frame bottom plate 5, the wheel frame side plate 6, the connecting frame 7 and the limiting wheel 8, the wheel frame bottom plate 5 is fixed on the limiting side plate 1 of the U-shaped limiting frame, the intermediate plate 9 is arranged between the two wheel frame side plates 6, the two wheel frame side plates 6 are rotatably connected with the middle part of the connecting frame 7, the intermediate plate 9 is located above the connecting frame 7, the guide column 10 is arranged between the connecting frame 7 and the intermediate plate 9, the guide column 10 has the upper limiting end 11 and the lower limiting end 12, the first spring 13 is arranged between the upper limiting end 11 of the guide column 10 and the intermediate plate 9, the second spring 14 is arranged between the front end of the connecting frame 7 and the wheel frame bottom plate 5, the limiting wheel 8 is arranged at the rear end of the connecting frame 7, and the above-mentioned structure makes the limiting wheel 8 adaptively and elastically adjust when the inspection robot turns and the speed is relatively high, the limiting wheel 8 is uniformly stressed when turning, the stability and smoothness of the robot walking are ensured, and thus the problem that the existing single track type inspection robot is easily tilted or stuck due to too high speed when turning is solved. The inner side of the U-shaped limiting frame is provided with the upper limiting wheel 2 and the side limiting wheel 3, the upper limiting wheel 2 walks along the upper end surface of the track 4, the upper limiting wheel 2 supports the whole U-shaped limiting frame, the side limiting wheel 3 walks along the side end surface of the track 4, the limiting ring 15 is arranged on the limiting wheel 8 of the side limiting wheel 3 and walks in the groove 16 on the side of the track 4, in the case that the limiting wheel 8 has the elastic adjustment function, in combination with the limiting matching relationship between the upper limiting wheel 2, the side limiting wheel 3 and the track 4, the whole limiting function is achieved, and thus the robot is prevented from deviating or falling off and turning over during movement.

[0027] In summary, the technical scheme has the side limiting wheel 3 with the spring structure, which can ensure the stability and smoothness of the whole robot when turning through the deformation of the spring structure. The limiting ring 15 on the side limiting wheel 3 cooperates with the groove 16 on the track 4 to ensure the stability and smoothness of the robot in the case of uphill and turning, and prevent the robot from turning over.

[0028] Embodiment 2:

[0029] This embodiment is an optimization based on the above-mentioned embodiment 1.

[0030] In order to facilitate the installation of the guide column 10, the connecting frame 7 includes two oppositely arranged connecting arms 7.1, and a connecting plate 7.2 is arranged between the two connecting arms 7.1. The connecting plate 7.2 is located below the middle plate 9, and the connecting plate 7.2 is provided with a lower connecting hole 17. The middle plate 9 is provided with an upper connecting hole 18, the guide column 10 passes through the lower connecting hole 17 and the upper connecting hole 18, and the outer diameter of the guide column 10 is smaller than the hole diameter of the lower connecting hole 17 and the upper connecting hole 18.

[0031] Embodiment 3:

[0032] This embodiment is an optimization based on the above-mentioned embodiment 2.

[0033] In order to facilitate the installation of the second spring 14, the front ends of the two connecting arms 7.1 are provided with mounting plates 19, and the second spring 14 has two, which are arranged between the mounting plates 19 and the wheel frame bottom plate 5.

[0034] Embodiment 4:

[0035] This embodiment is an optimization based on the above-mentioned embodiment 1.

[0036] In order to directly use the existing bolt and nut to form the overall structure of the guide column 10, reduce the production cost, the guide column 10 is a bolt, the upper limiting end 11 is a bolt head, and the lower limiting end 12 is a nut screwed on the lower end of the bolt.

[0037] Embodiment 5:

[0038] This embodiment is an optimization based on the above-mentioned embodiment 1.

[0039] In order to be able to install the wheel frame bottom plate 5 on the limiting side plate 1, the wheel frame bottom plate 5 is provided with a threaded hole 5.1, and the wheel frame bottom plate 5 is fixed on the limiting side plate 1 by the mounting bolt.

[0040] Embodiment 6:

[0041] This embodiment is an optimization based on the above-mentioned embodiment 1.

[0042] In order to achieve the overall supporting effect of the upper limiting wheel 2, the upper limiting wheel 2 is provided in four and arranged in two columns on the limiting top plate 21 of the U-shaped limiting frame.

[0043] Embodiment 7:

[0044] This embodiment is based on the optimization of the above-mentioned embodiment 6.

[0045] In order to facilitate the installation of the upper limiting wheel 2, the upper limiting wheel 2 is fixedly installed on the limiting top plate 21 by bolts.

[0046] Embodiment 8:

[0047] This embodiment is based on the optimization of the above-mentioned embodiment 6.

[0048] In order to improve the structural strength of the U-shaped limiting frame, the inclined support plate 20 is arranged between the limiting side plate 1 and the limiting top plate 21.

[0049] It should be noted that the technical scheme also has the following advantages:

[0050] Compact mechanism: the connection between various components is tight, saving space, especially in space-limited industrial or mechanical applications.

[0051] Easy maintenance: composed of multiple independent parts, connected by bolts and screws, this modular design makes it easier to repair and replace parts, reducing maintenance costs.

[0052] Easy to install and adjust: connected by bolts and screws, easy to install and adjust.

[0053] Finally, it should be noted that: the above is only the preferred embodiment of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A limiting mechanism for a single-track inspection robot, characterized in that: The application relates to a robot limiting device, which comprises a U-shaped limiting frame installed at the bottom of a robot, an upper limiting wheel arranged on the inner side of the U-shaped limiting frame and walking along the upper end surface of a track, and a side limiting wheel arranged on the inner side of the U-shaped limiting frame and walking along the side end surface of the track.

2. The position limiting mechanism of the single-rail inspection robot according to claim 1, wherein: The side limiting wheel comprises a wheel frame bottom plate, wheel frame side plates, a connecting frame and a limiting wheel, the wheel frame bottom plate is fixed on the limiting side plate of the U-shaped limiting frame, an intermediate plate is arranged between the two wheel frame side plates, the two wheel frame side plates are rotationally connected with the middle part of the connecting frame, the intermediate plate is arranged above the connecting frame, a guide column is arranged between the connecting frame and the intermediate plate, the guide column has an upper limiting end and a lower limiting end, a first spring is arranged between the upper limiting end of the guide column and the intermediate plate, a second spring is arranged between the front end of the connecting frame and the wheel frame bottom plate, the limiting wheel is arranged at the rear end of the connecting frame, a limiting ring is arranged on the limiting wheel, and the limiting ring walks in a groove on the side surface of the track.

3. The position limiting mechanism of the single-rail inspection robot according to claim 2, wherein: The connecting frame comprises two oppositely arranged connecting arms, a connecting plate is arranged between the two connecting arms, the connecting plate is arranged below the intermediate plate, a lower connecting hole is arranged on the connecting plate, an upper connecting hole is arranged on the intermediate plate, the guide column passes through the lower connecting hole and the upper connecting hole, and the outer diameter of the guide column is smaller than the diameters of the lower connecting hole and the upper connecting hole.

4. The position limiting mechanism of the single-rail inspection robot according to claim 1, wherein: The front ends of the two connecting arms are provided with mounting plates, the second spring has two parts, and the two second springs are arranged between the mounting plates and the wheel frame bottom plate.

5. The position limiting mechanism of the single-rail inspection robot according to claim 1, wherein: The guide column is a bolt, the upper limiting end is a bolt head, and the lower limiting end is a nut screwed on the lower end of the bolt.

6. The position limiting mechanism of the single-rail inspection robot according to claim 1, wherein: Threaded holes are arranged on the wheel frame bottom plate, and the wheel frame bottom plate is fixed on the limiting side plate through mounting bolts.

7. The position limiting mechanism of the single-rail inspection robot according to claim 6, wherein: The upper limiting wheel has four parts and is arranged in two columns on the limiting top plate of the U-shaped limiting frame.

8. The position limiting mechanism of the single-rail inspection robot according to claim 6, wherein: The upper limiting wheel is fixed on the limiting top plate through bolts. An inclined support plate is arranged between the limiting side plate and the limiting top plate.

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