A variable-diameter double-circle track-based flexible active obstacle-crossing carrier trolley

Abstract

The utility model discloses a based on the double circle track of flexible initiative barrier formula carrier trolley of variable diameter, including chassis component, walking wheel subassembly, walking wheel power system subassembly and flexible clamping system subassembly, and walking wheel subassembly includes four walking wheels of matrix arrangement, walking wheel power system subassembly is connected with four walking wheels, is used for driving four walking wheels and walks on double circle track, flexible clamping system subassembly includes four guide wheels and guide drive system of four guide wheels are connected with opposite settings, and guide wheel can roll along the inner wall of double circle track both sides, and guide drive system can adjust guide wheel automatic keep with the inner wall of double circle track constant pressure contact according to the size between the inner wall of double circle track. Based on the double circle track of flexible initiative barrier formula carrier trolley of variable diameter, has solved the technical problem of traditional rigid structure easy to jam, derailment on the double circle track, and has high stability, strong environmental adaptability simultaneously.

Description

Technical Field

[0001] This utility model relates to the field of bridge inspection technology, specifically to a flexible active obstacle-crossing vehicle trolley based on variable diameter double circular rails. Background Technology

[0002] With the rapid development of industrial automation and rail transit technologies, dual-circular-rail systems are widely used in logistics transportation, heavy equipment assembly, and material handling in special scenarios due to their high load-bearing capacity, structural stability, and efficient spatial layout. A dual-circular-rail system typically consists of two sets of parallel circular rails. During operation, the vehicle travels on the dual circular rails to perform related detection and measurement tasks. However, its unique structure leads to the following technical bottlenecks:

[0003] 1. Technical shortcomings:

[0004] Rigid wheel assembly structure: Relies on precision wheel-rail matching. Although it has high positioning accuracy, it is sensitive to minor defects such as weld points and misalignment of the circular rail, which can easily cause jamming, derailment and motor overload.

[0005] Passive obstacle crossing mechanism: It passively adapts to obstacles by means of springs or elastic wheel flanges. The response is slow and the success rate depends on the shape of the obstacle. It is prone to failure under continuous obstacles and has high energy consumption and derailment risk.

[0006] 2. Guidance and stability issues:

[0007] Rigid wheelsets rely on small contact surface rims for guidance, and the imbalance of lateral forces in corners accelerates wear.

[0008] Passive mechanisms are difficult to adapt to the variable curvature of dual circular rails, and are prone to slipping and tilting when climbing slopes or curves.

[0009] 3. Conflict between load and maintenance:

[0010] Increasing load capacity requires adding wheelsets or reinforcing the structure, which leads to increased weight and deterioration of obstacle-crossing performance;

[0011] Rigid wheel sets require frequent maintenance, the elastic elements of the passive mechanism are prone to fatigue, and maintenance costs are high.

[0012] 4. Limitations of intelligentization attempts:

[0013] The narrow space of the dual-track system restricts sensor layout, and optical detection is affected by reflective surfaces.

[0014] Multi-degree-of-freedom adjustment mechanisms are highly complex, their control algorithms lack real-time performance, and it is difficult to balance cost and reliability.

[0015] In summary, existing dual-circular-rail vehicle designs have significant shortcomings in terms of obstacle-crossing capability, motion stability, load compatibility, and maintenance economy, making it difficult to meet the needs of highly complex and reliable industrial scenarios. Utility Model Content

[0016] To address the shortcomings of existing technologies, the present invention aims to provide a flexible active obstacle-crossing vehicle based on a variable-diameter double-circular track. This solves the technical problem of traditional rigid structures easily getting stuck and derailing on variable-diameter double-circular tracks, while also possessing the advantages of high stability, strong environmental adaptability, and modularity.

[0017] To achieve the above objectives, this utility model is implemented through the following technical solution: a flexible active obstacle-crossing vehicle based on a variable-diameter dual-circular-rail system, comprising:

[0018] Chassis components;

[0019] The wheel assembly includes four wheels arranged in a matrix;

[0020] A wheel drive system assembly, connected to the four wheels, for driving the four wheels to move on a double circular track; and

[0021] A flexible clamping system assembly includes guide wheels arranged opposite each other and a guide drive system connected to the guide wheels. The guide wheels can roll along the inner wall on the same side of the double circular rails. The guide drive system can adjust the guide wheels to automatically maintain constant pressure contact with the inner wall of the double circular rails according to the size between the inner walls of the double circular rails.

[0022] Furthermore, the walking wheel power system component includes a first rotary power source, a drive wheel axle, a pulley transmission structure, and a driven wheel axle. The drive wheel axle and the driven wheel axle are rotatably and parallel to each other on the chassis component. The drive wheel axle drives the driven wheel axle to rotate through the pulley transmission structure. The first rotary power source is used to drive the drive wheel axle to rotate. The four walking wheels are respectively mounted on the drive wheel axle and the driven wheel axle.

[0023] Furthermore, there are two pulley drive structures, which are symmetrically arranged.

[0024] Furthermore, the guiding drive system includes a telescopic power source and symmetrically arranged clamping mounting frames. The telescopic power source is connected to the two clamping mounting frames and can automatically adjust the two clamping mounting frames to move closer or further apart according to the distance between the two circular rails. Each clamping mounting frame is provided with a guide wheel at both its front and rear ends.

[0025] Furthermore, the telescopic power source includes a second servo motor, a lead screw, and a slider. The second servo motor is mounted on the chassis assembly and is connected to drive the lead screw. The second servo motor can be driven to rotate clockwise or counterclockwise by the axial force fed back by the lead screw. The two ends of the lead screw are provided with threads of opposite directions. Two clamping mounting brackets are respectively threaded to the two ends of the lead screw, and each clamping mounting bracket is connected to the chassis assembly through a slider. The slider can slide parallel to the lead screw on the chassis.

[0026] Furthermore, the guide wheel is connected to the clamping mounting bracket via an elastic fine-tuning component, and the guide wheel is pressed against the double circular rail by the elastic force of the elastic fine-tuning component.

[0027] Furthermore, the elastic fine-tuning component includes an elastic sleeve and a sliding shaft. The clamping mounting bracket has an insertion hole perpendicular to the double circular rail. The sliding shaft is disposed on the guide wheel and slidably inserted into the insertion hole. The elastic sleeve is sleeved on the sliding shaft, and both ends of the elastic sleeve abut against the clamping mounting bracket and the guide wheel, respectively. Under the action of the elastic sleeve, the guide wheel always abuts against the side wall of the double circular rail.

[0028] Furthermore, the elastic sleeve is a spring.

[0029] Furthermore, there are four guide wheels, which are arranged in a matrix.

[0030] Furthermore, it also includes a rotating component, which is disposed on the top of the chassis assembly.

[0031] The beneficial effects of this utility model are:

[0032] The aforementioned flexible active obstacle-crossing vehicle based on variable-diameter dual-circular-rail has the following beneficial effects:

[0033] 1. Active obstacle crossing and adaptive diameter change capability: By setting up a flexible clamping system component and four guide wheels distributed in a matrix, combined with the dynamic adjustment function of the guide drive system, it can sense the change in the distance between the inner walls of the double circular rails in real time and adaptively adjust the position of the guide wheels to ensure that the vehicle trolley maintains constant pressure contact when there are obstacles (such as welds or deformed sections) on the variable diameter track, which significantly improves obstacle crossing stability and track adaptability.

[0034] 2. Walking stability and anti-deviation performance: The vehicle adopts a collaborative design of four walking wheel components and a flexible clamping system. The walking wheels provide the main driving force, and the guide wheels form lateral constraints through constant pressure contact, which effectively suppresses the risk of lateral deviation or overturning of the vehicle trolley on the double circular rails. It is especially suitable for smooth walking under high-speed movement or sudden load change conditions.

[0035] 3. Synchronous drive and traction optimization: The synchronous drive of the four wheels through the walking wheel power system components avoids the problem of single-side wheel slippage or uneven power distribution, ensuring balanced traction of the walking wheels on both sides of the double circular rail, enhancing climbing ability and passability in complex road conditions.

[0036] 4. Compact structure and modular integration: The walking wheels, guide wheels and their drive system are integrated into the chassis components, resulting in a compact overall layout. This not only meets the installation requirements in the narrow space of the dual circular rails, but also facilitates quick disassembly and maintenance, and is suitable for track inspection scenarios of different specifications. Attached Figure Description

[0037] 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.

[0038] Figure 1 A schematic diagram of a flexible active obstacle-crossing vehicle based on a variable-diameter dual-circular-rail system, provided for an embodiment of this utility model;

[0039] Figure 2 for Figure 1 The diagram shows a flexible active obstacle-crossing vehicle trolley based on a variable-diameter dual-circular-rail system with detection equipment installed.

[0040] Figure label:

[0041] 400. Vehicle trolley;

[0042] 410. Chassis components;

[0043] 420. Walking wheel assembly;

[0044] 430. Walking wheel power system components; 431. First rotational power source; 432. Driving wheel axle; 433. Pulley drive structure; 434. Driven wheel axle;

[0045] 440. Flexible clamping system component; 441. Guide wheel; 442. Guide drive system; 4421. Telescopic power source; 4423. Second servo motor; 4424. Lead screw; 4425. Slider; 4422. Clamping mounting bracket; 443. Elastic fine-tuning component; 4431. Elastic sleeve; 4432. Sliding shaft.

[0046] 450. Rotating component;

[0047] 500. Inspect the equipment. Detailed Implementation

[0048] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the invention; therefore, the invention is not limited to the specific embodiments disclosed below.

[0049] Please see Figure 1 and Figure 2 In this embodiment, the vehicle 400 includes a chassis assembly 410, a wheel assembly 420, a wheel power system assembly 430, and a flexible clamping system assembly 440.

[0050] Specifically, chassis assembly 410 is used to mount other components, such as power supply and control system. Wheel assembly 420 includes four wheels arranged in a matrix. Wheel power system assembly 430 is connected to the four wheels and is used to drive the four wheels to move on the double circular rails.

[0051] The flexible clamping system assembly 440 includes guide wheels 441 arranged opposite each other and a guide drive system 442 connected to the guide wheels 441. The guide wheels 441 can roll along the inner wall on the same side of the double circular rails. The guide drive system 442 can adjust the four guide wheels 441 according to the size between the inner walls of the double circular rails so that they automatically maintain constant pressure contact with the inner wall of the double circular rails.

[0052] In use, the walking wheel power system component 430 and the guide drive system 442 are activated. The walking wheel power system component 430 drives the walking wheels to move along the top of the double circular rails. During the movement, the guide wheels 441 are always clamped against the inner wall of the double circular rails, guiding the entire trolley forward. When encountering dimensional changes, such as weld protrusions, misalignment, or foreign object accumulation, the guide drive system 442 adjusts the dimensions between the guide wheels 441 to automatically adapt to the dimensional changes of the double circular rails through feedback from the guide wheels 441. This ensures that the guide wheels 441 maintain constant pressure contact with the inner wall of the double circular rails, thereby providing stable guidance for the entire trolley to move smoothly.

[0053] In a specific implementation, four guide wheels 441 can be set and arranged in a matrix to further improve stability.

[0054] In this embodiment, the walking wheel power system assembly 430 includes a first rotary power source 431, a drive wheel axle 432, a pulley transmission structure 433, and a driven wheel axle 434. The drive wheel axle 432 and the driven wheel axle 434 are rotatably and parallel to each other on the chassis assembly 410. The drive wheel axle 432 drives the driven wheel axle 434 to rotate through the pulley transmission structure 433. The first rotary power source 431 is used to drive the drive wheel axle 432 to rotate. The four walking wheels are respectively mounted on the drive wheel axle 432 and the driven wheel axle 434.

[0055] In use, when the first rotary power source 431 is started, it drives the two front walking wheels to move through the drive wheel shaft 432, and at the same time drives the driven wheel shaft 434 to rotate through the pulley transmission structure 433, thereby driving the two rear walking wheels to move.

[0056] It should be noted that, in this embodiment, the first rotary power source 431 can be a servo motor or any other mechanism capable of driving the drive shaft 432 to rotate. The pulley drive structure 433 can also be other transmission mechanisms, such as a sprocket structure, a gear mechanism, etc. Furthermore, the first rotary power source 43 can be connected to the drive shaft 432 via a transmission flange. Additionally, two pulley drive structures 433 can be configured, symmetrically arranged left and right, which can improve transmission stability.

[0057] In this embodiment, the guide drive system 442 includes a telescopic power source 4421 and two clamping mounting frames 4422 arranged symmetrically on the left and right. The telescopic power source 4421 is connected to the two clamping mounting frames 4422 and can automatically adjust the two clamping mounting frames 4422 to move closer or further apart according to the distance between the two circular rails. Each clamping mounting frame 4422 is provided with a guide wheel 441 at both the front and rear ends.

[0058] Specifically, the telescopic power source 4421 includes a second servo motor 4423, a lead screw 4424, and a slider 4425. The second servo motor 4423 is mounted on the chassis assembly 410. The second servo motor 4423 is connected to the drive lead screw 4424 and can be driven to rotate clockwise or counterclockwise by the axial force fed back from the lead screw 4424. The two ends of the lead screw 4424 are provided with threads of opposite directions. Two clamping mounting brackets 4422 are respectively threaded to the two ends of the lead screw 4424, and each clamping mounting bracket 4422 is connected to the chassis assembly 410 through a slider. The slider 4425 can slide parallel to the lead screw 4424 on the chassis.

[0059] In use, the servo motor employs torque control mode, and the second servo motor 4423 actively controls the clamping force through the axial force fed back by the lead screw 4424. When there are irregular obstacles such as weld protrusions, misalignment, or foreign object accumulation on the double circular rails, the spacing between the double circular rails will suddenly change. When the spacing between the double circular rails increases, the clamping force of the double circular rails on the guide wheel 441 decreases. The second servo motor 4423 drives the lead screw 4424 to rotate, driving the clamping mounting bracket 4422 to expand outward, increasing the force of the guide wheel 441 on the double circular rails, and maintaining a constant clamping force. Conversely, when the spacing between the double circular rails decreases, the clamping force of the double circular rails on the guide wheel 441 increases. The second servo motor 4423 will actively adjust the clamping mounting bracket 4422 to retract inward, reducing the force of the guide wheel 441 on the double circular rails, thereby achieving the purpose of maintaining a constant clamping force.

[0060] As a preferred embodiment, in specific implementation, the guide wheel 441 can be connected to the clamping mounting bracket 4422 via the elastic fine-tuning component 443, and the guide wheel 441 is pressed onto the double circular rail by the elastic force of the elastic fine-tuning component 443.

[0061] Specifically, the elastic fine-tuning component 443 includes an elastic sleeve 4431 and a sliding shaft 4432. The clamping mounting bracket 4422 has an insertion hole perpendicular to the double circular rails. The sliding shaft 4432 is mounted on the guide wheel 441 and slidably inserted into the insertion hole. The elastic sleeve 4431 is sleeved on the sliding shaft 4432, with both ends of the elastic sleeve 4431 abutting against the clamping mounting bracket 4422 and the guide wheel 441, respectively. Under the action of the elastic sleeve 4431, the guide wheel 441 always abuts against the side wall of the double circular rails. In a practical implementation, the elastic sleeve 4431 can preferably be a spring for easy material availability.

[0062] During the movement, when the vehicle trolley 400 passes through irregular obstacles, the elastic sleeve 4431 can significantly improve the ability of the guide wheel 441 to actively overcome obstacles and adapt to changes in diameter, effectively solving the risk of jamming and derailment caused by the difficulty in actively adapting to and crossing irregular obstacles on the track surface.

[0063] By using the aforementioned carrier trolley 400, the carrier trolley 400 can actively adjust the clamping force between the guide wheel 441 and the double circular rail according to the change of the circular rail diameter, so that the clamping force remains constant. Compared with the rigid wheel set, the guide wheel 441 has less wear, which greatly reduces maintenance costs and time costs.

[0064] As a further preferred embodiment, in practice, a rotating assembly 450 may be provided on the top of the chassis assembly 410. Related inspection equipment can be mounted via the rotating assembly 450, thereby increasing the inspection coverage area of ​​the inspection equipment 500.

[0065] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model, and they should all be covered within the scope of the claims and specification of this utility model.

Claims

1. A flexible active obstacle-crossing vehicle based on variable-diameter dual-circular-rail, characterized in that, include: Chassis components; The wheel assembly includes four wheels arranged in a matrix; A walking wheel power system assembly, connected to the four walking wheels, is used to drive the four walking wheels to move on a double circular track; and A flexible clamping system assembly includes guide wheels arranged opposite each other and a guide drive system connected to the guide wheels. The guide wheels can roll along the inner wall on the same side of the double circular rails. The guide drive system can adjust the guide wheels to automatically maintain constant pressure contact with the inner wall of the double circular rails according to the size between the inner walls of the double circular rails.

2. The flexible active obstacle-crossing vehicle based on variable-diameter dual-circular-rail as described in claim 1, characterized in that, The walking wheel power system component includes a first rotary power source, a drive wheel axle, a pulley transmission structure, and a driven wheel axle. The drive wheel axle and the driven wheel axle are rotatably and parallel to each other on the chassis component. The drive wheel axle drives the driven wheel axle to rotate through the pulley transmission structure. The first rotary power source is used to drive the drive wheel axle to rotate. The four walking wheels are respectively mounted on the drive wheel axle and the driven wheel axle.

3. The flexible active obstacle-crossing vehicle based on variable-diameter dual-circular-rail as described in claim 2, characterized in that, There are two pulley drive structures, which are arranged symmetrically.

4. The flexible active obstacle-crossing vehicle based on variable-diameter dual-circular-rail as described in claim 1, characterized in that, The guiding drive system includes a telescopic power source and symmetrically arranged clamping mounting frames. The telescopic power source is connected to the two clamping mounting frames and can automatically adjust the two clamping mounting frames to move closer or further apart according to the distance between the two circular rails. Each clamping mounting frame is provided with a guide wheel at both its front and rear ends.

5. The flexible active obstacle-crossing vehicle based on variable-diameter dual-circular-rail as described in claim 4, characterized in that, The telescopic power source includes a second servo motor, a lead screw, and a slider. The second servo motor is mounted on the chassis assembly and is connected to the lead screw. The second servo motor can be driven to rotate clockwise or counterclockwise by the axial force fed back by the lead screw. The two ends of the lead screw are provided with threads of opposite directions. Two clamping mounting brackets are respectively threaded to the two ends of the lead screw, and each clamping mounting bracket is connected to the chassis assembly through a slider. The slider can slide parallel to the lead screw on the chassis.

6. The flexible active obstacle-crossing vehicle based on variable-diameter dual-circular-rail as described in claim 4 or 5, characterized in that, The guide wheel is connected to the clamping mounting bracket via an elastic fine-tuning component, and the guide wheel is pressed against the double circular rail by the elastic force of the elastic fine-tuning component.

7. The flexible active obstacle-crossing vehicle based on variable-diameter dual-circular-rail as described in claim 6, characterized in that, The elastic fine-tuning component includes an elastic sleeve and a sliding shaft. The clamping mounting bracket has an insertion hole perpendicular to the double circular rail. The sliding shaft is disposed on the guide wheel and slidably inserted into the insertion hole. The elastic sleeve is sleeved on the sliding shaft, and the two ends of the elastic sleeve abut against the clamping mounting bracket and the guide wheel, respectively. Under the action of the elastic sleeve, the guide wheel always abuts against the side wall of the double circular rail.

8. The flexible active obstacle-crossing vehicle based on variable-diameter dual-circular-rail as described in claim 7, characterized in that, The elastic sleeve is a spring.

9. The flexible active obstacle-crossing vehicle based on variable-diameter dual-circular-rail as described in claim 1, characterized in that, There are four guide wheels, which are arranged in a matrix.

10. The flexible active obstacle-crossing vehicle based on variable-diameter dual-circular-rail as described in claim 1, characterized in that, It also includes a rotating component, which is disposed on the top of the chassis assembly.

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