Track walking device based on track inspection robot

Abstract

The utility model discloses a track walking device based on track type inspection robot relates to track inspection technical field, including walking track and walking mechanism that moves along walking track outer wall, and walking mechanism includes assembly frame, driving walking piece and driven walking piece, and driving walking piece fixedly arranged in the one side end portion of assembly frame close to walking track provides power and support for assembly frame along walking track outer wall movement, and driven walking piece is located driving walking piece one side position and fixes with assembly frame outer wall, and provides support and orientation for assembly frame along walking track outer wall movement. The utility model discloses simple structure, and the steering is nimble on the track, and provides stable clamping force to the track simultaneously, reduces the influence to the driving effect, realizes smaller turning radius, makes the device along track walking can be more stable nimble, thereby improves the quality and durability of track walking device, is more in line with the drive demand of track robot along track movement.

Description

Technical Field

[0001] This utility model relates to the field of track inspection technology, and in particular to a track walking device based on a track-type inspection robot. Background Technology

[0002] In the field of track-based intelligent inspection, the walking and drive system has always been a core component. Most of them use load-bearing wheel drive to drive the robot, while some use side clamping as the power component. However, the load-bearing wheel drive is prone to slippage during walking; while the side clamping drive uses linear guide rails for connection, which is complex in structure, high in cost, and requires a large turning radius during walking, making it difficult to arrange flexibly, resulting in great limitations in use and making it difficult to adapt to the current deployment requirements of inspection robots. Therefore, a track walking device based on track-based inspection robots is proposed. Utility Model Content

[0003] The purpose of this invention is to provide a track-walking device based on a track-type inspection robot to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a track-walking device based on a track-type inspection robot, comprising a walking track and a walking mechanism that moves along the outer wall of the walking track, wherein the walking mechanism includes:

[0005] Assembly frame;

[0006] An active walking component is fixedly installed at one end of the assembly frame near the walking track, providing power and support for the assembly frame to move along the outer wall of the walking track;

[0007] The driven walking component is located on one side of the active walking component and is fixed to the outer wall of the assembly frame, providing support and guidance for the assembly frame to move along the outer wall of the walking track.

[0008] Preferably, the active walking component includes:

[0009] The first swing arm and the second swing arm are both rotatably connected to a walking wheel on the side of the first swing arm and the second swing arm facing the walking track;

[0010] A servo motor is fixedly connected to the side of the first swing arm away from the traveling wheel, and the servo motor is used to drive the traveling wheel on the first swing arm to rotate.

[0011] Preferably, the active walking component further includes:

[0012] Connecting arms, there are two connecting arms and they are respectively fixedly connected to the side of the first swing arm and the second swing arm near the assembly frame. Each connecting arm is movably connected to the assembly frame with a pin, so that the first swing arm and the second swing arm can rotate around the pin at the corresponding position.

[0013] A tension spring, the two ends of which are fixed to the ends of the first and second swing arms away from the connecting arm, respectively, provides elastic tension for the two traveling wheels to clamp the outer walls on both sides of the traveling track.

[0014] Preferably, there are two driven traveling members, arranged in parallel and spaced apart on one side of the assembly frame facing the traveling track, and the driven traveling members include:

[0015] The driven bracket is U-shaped;

[0016] Two load-bearing wheels are rotatably connected to the inner walls on both sides of the driven bracket.

[0017] Preferably, the driven traveling member further includes side wheel brackets disposed on both sides of the load-bearing wheel, the end of the side wheel bracket being fixedly connected to the outer wall of the driven bracket, the other end of the side wheel bracket being rotatably connected to a side wheel, and a lower guide wheel being rotatably connected to the inner side of the driven bracket and located on one side of the load-bearing wheel.

[0018] Preferably, the driven bracket is rotatably connected to a rotary bearing on the side near the assembly frame, and the outer wall of the rotary bearing is fixed to the outer wall of the assembly frame.

[0019] Compared with the prior art, the technical effects of this utility model are as follows:

[0020] This utility model's track-walking device has a simple structure, is flexible in turning on the track, and provides a stable clamping force to the track, reducing the impact on the driving effect and achieving a smaller turning radius. This makes the device more stable and flexible when walking along the track, thereby improving the quality and durability of the track-walking device and better meeting the driving requirements of track robots moving along the track. Attached Figure Description

[0021] Figure 1 This is one of the schematic diagrams of the overall structure of this utility model.

[0022] Figure 2 This is the second schematic diagram of the overall structure of this utility model.

[0023] Figure 3 This is a three-dimensional structural diagram of the walking mechanism of this utility model.

[0024] Figure 4 This is a three-dimensional structural diagram of the active walking component of this utility model.

[0025] Figure 5 This is a three-dimensional structural diagram of the driven walking component of this utility model.

[0026] In the diagram: 100, traveling track; 200, traveling mechanism; 201, assembly frame; 202, driven traveling component; 221, driven bracket; 222, rotary bearing; 223, side wheel bracket; 224, side wheel; 225, load-bearing wheel; 226, lower guide wheel; 203, active traveling component; 231, first swing arm frame; 232, second swing arm frame; 233, connecting arm; 234, pin; 235, traveling wheel; 236, tension spring; 237, servo motor. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] This utility model provides, for example Figures 1-5 The illustrated track-based inspection robot's track-walking device includes a track 100 and a walking mechanism 200 that moves along the outer wall of the track 100. The walking mechanism 200 includes an assembly frame 201, an active walking component 203, and a driven walking component 202. The assembly frame 201 serves as a support for the driven walking component 202 and the active walking component 203, and also accommodates the assembly of the inspection robot. All three components are integrated onto the assembly frame 201. Thus, the driven walking component 202 and the active walking component 203 work together to move the assembly frame 201 and the inspection robot on it along the outer wall of the track 100. The active walking component 203 is fixedly mounted on the assembly frame 201 near... One end of the travel track 100 provides power and support for the assembly frame 201 to move along the outer wall of the travel track 100. The driven travel member 202 is located on one side of the active travel member 203 and is fixed to the outer wall of the assembly frame 201, providing support and guidance for the assembly frame 201 to move along the outer wall of the travel track 100. The driven travel member 202 can connect the assembly frame 201 and the travel track 100, making the assembly frame 201 more stable when moving along the outer wall of the travel track 100 and less prone to swaying. The active travel member 203 provides auxiliary support and driving force, thereby driving the travel track 100 to move automatically along the outer wall of the travel track 100.

[0029] The active walking component 203 includes a first swing arm 231 and a second swing arm 232. Both the first swing arm 231 and the second swing arm 232 are rotatably connected to a walking wheel 235 on the side facing the walking track 100. A servo motor 237 is fixedly connected to the side of the first swing arm 231 away from the walking wheel 235. The servo motor 237 drives the walking wheel 235 on the first swing arm 231 to rotate. The walking wheels 235 on the first swing arm 231 and the second swing arm 232 clamp the outer wall of the walking track 100 towards each other, and then cooperate with the servo motor... The servo motor 237 provides rotational driving force to one of the traveling wheels 235, causing the traveling wheel 235 to roll along the outer wall of the traveling track 100 while simultaneously moving the assembly frame 201. Meanwhile, the active traveling component 203 also includes connecting arms 233 and tension springs 236. Two connecting arms 233 are fixedly connected to the first swing arm 231 and the second swing arm 232 on the side near the assembly frame 201, respectively. Each connecting arm 233 is movably connected to the assembly frame 201 by a pin 234, allowing the first swing arm 231 and the second swing arm 232 to move. Arm 232 can rotate around the corresponding pin 234. The two ends of the tension spring 236 are fixed to the ends of the first swing arm 231 and the second swing arm 232 away from the connecting arm 233, respectively. The tension spring 236 provides elastic tension for the two traveling wheels 235 to clamp the outer walls of the traveling track 100. The first swing arm 231 and the second swing arm 232, through the cooperation of the connecting arm 233 and the pin 234, can achieve a single-point rotational connection with the assembly frame 201. Furthermore, the tension spring 236, in conjunction with the first swing arm 231 and the second swing arm 232... The opposing pulling force provided at the other end of arm 232 enables the two traveling wheels 235 to be flexibly clamped to the outer wall of the traveling track 100. This allows the active traveling component 203 to turn more flexibly during its movement on the outer wall of the traveling track 100, achieving a smaller turning radius. Furthermore, by ensuring that the traveling wheels 235 are in close contact with the outer wall of the traveling track 100, the influence of dust on the frictional resistance between the traveling track 100 and the traveling wheels 235 is reduced, making the active traveling component 203 move and turn more flexibly and stably on the traveling track 100.

[0030] Furthermore, there are two driven traveling members 202, which are arranged in parallel and spaced apart on the side of the assembly frame 201 facing the traveling track 100. Each driven traveling member 202 includes a driven bracket 221, which is U-shaped. Two load-bearing wheels 225 are rotatably connected to the inner walls of both sides of the driven bracket 221. A rotary bearing 222 is rotatably connected to the side of the driven bracket 221 closest to the assembly frame 201. The outer wall of the rotary bearing 222 is fixed to the outer wall of the assembly frame 201. The load-bearing wheels 225 are rotatably connected to... The inner walls of the upper and lower sides of the driven bracket 221 can be inserted into the recessed positions of the side wall of the travel track 100, thereby providing stable support for the driven bracket 221 and the assembly frame 201 on the outer wall of the travel track 100. The setting of the rotary bearing 222 allows the driven bracket 221 and the assembly frame 201 to form a rotatable connection, so that the driven bracket 221 and the assembly frame 201 can rotate to adapt to the needs of the driven bracket 221 when turning on the outer wall of the travel track 100.

[0031] In addition, the driven traveling member 202 also includes side wheel brackets 223 disposed on both sides of the load-bearing wheel 225. One end of the side wheel bracket 223 is fixedly connected to the outer wall of the driven bracket 221, and the other end of the side wheel bracket 223 is rotatably connected to a side wheel 224. A lower guide wheel 226 is rotatably connected to the inner side of the driven bracket 221, located on one side of the load-bearing wheel 225. The cooperation between the side wheel bracket 223 and the side wheel 224 reduces the frictional resistance between the driven bracket 221 and the traveling track 100. When the driven bracket 221 moves, it can rotate by contacting the inner side wall of the travel track 100 via the side wheel 224, thus playing a guiding role. Similarly, the lower guide wheel 226 is perpendicular to the driven travel member 202 and can contact the bottom outer wall of the travel track 100. This keeps the driven bracket 221 and the travel track 100 connected and stable, while reducing the frictional resistance between them, thereby improving the stability during the movement on the outer wall of the travel track 100.

[0032] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A track-walking device based on a track-type inspection robot, comprising a track (100) and a walking mechanism (200) that moves along the outer wall of the track (100), characterized in that, The walking mechanism (200) includes: Assembly frame (201); Active walking component (203) is fixedly installed on one end of the assembly frame (201) near the walking track (100) to provide power and support for the assembly frame (201) to move along the outer wall of the walking track (100); The driven walking component (202) is located on one side of the active walking component (203) and fixed to the outer wall of the assembly frame (201), providing support and guidance for the assembly frame (201) to move along the outer wall of the walking track (100).

2. The track-walking device based on a track-type inspection robot according to claim 1, characterized in that, The active walking component (203) includes: The first swing arm (231) and the second swing arm (232) are rotatably connected to the side of the first swing arm (231) and the second swing arm (232) facing the walking track (100). A servo motor (237) is fixedly connected to the side of the first swing arm (231) away from the walking wheel (235). The servo motor (237) is used to drive the walking wheel (235) on the first swing arm (231) to rotate.

3. The track-walking device based on a track-type inspection robot according to claim 2, characterized in that, The active walking component (203) also includes: Connecting arms (233), there are two connecting arms (233) and they are respectively fixedly connected to the side of the first swing arm (231) and the second swing arm (232) near the assembly frame (201). The connecting arms (233) and the assembly frame (201) are movably connected by pins (234), so that the first swing arm (231) and the second swing arm (232) can rotate around the pins (234) at the corresponding positions. The tension spring (236) has its two ends fixed to the ends of the first swing arm (231) and the second swing arm (232) away from the connecting arm (233), respectively. The tension spring (236) provides elastic tension for the two walking wheels (235) to clamp the outer walls on both sides of the walking track (100).

4. The track-walking device based on a track-type inspection robot according to claim 1, characterized in that, The driven traveling members (202) are two in number and are arranged in parallel and spaced apart on one side of the assembly frame (201) facing the traveling track (100). The driven traveling members (202) include: Driven bracket (221), the driven bracket (221) is U-shaped; Two load-bearing wheels (225) are rotatably connected to the inner walls on both sides of the driven bracket (221).

5. A track-walking device based on a track-type inspection robot according to claim 4, characterized in that, The driven walking component (202) also includes side wheel brackets (223) disposed on both sides of the load-bearing wheel (225). The end of the side wheel bracket (223) is fixedly connected to the outer wall of the driven bracket (221). The other end of the side wheel bracket (223) is rotatably connected to a side wheel (224). The lower guide wheel (226) is rotatably connected to the inner side of the driven bracket (221) and located on one side of the load-bearing wheel (225).

6. The track-walking device based on a track-type inspection robot according to claim 4, characterized in that, The driven bracket (221) is rotatably connected to a rotary bearing (222) on the side near the assembly frame (201), and the outer wall of the rotary bearing (222) is fixed to the outer wall of the assembly frame (201).

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