A wiper device for a rail robot

Abstract

The utility model discloses a kind of water scraping devices for track robot, including mounting seat, hang rack and water scraping mechanism, hang rack is connected with mounting seat, and it is used to be slidably connected with track;Mounting seat is connected with driving mechanism or for connecting track robot, to make hang rack move along track length direction;Water scraping mechanism is connected with hang rack, and have at least one water scraping strip, water scraping strip is set with track bottom, and move along track length direction with hang rack;Wherein, water scraping strip length covers track bottom width.The utility model can be driven by itself or directly set on the driving mechanism of track robot and move along track, for cleaning track bottom, avoid the problem of friction failure of the friction wheel of track robot and track bottom due to foreign matter existing in track bottom.

Description

Technical Field

[0001] This utility model relates to the field of auxiliary tools for track robots, and in particular to a wiping device for track robots. Background Technology

[0002] A track robot (also known as a suspended track robot or a rail-mounted robot) is a robot that can be suspended on a track and move along the track. It is used to replace manual labor in inspection work in harsh environments such as high temperature, high humidity, toxicity and danger. It is widely used in places such as power room, large warehouse, factory workshop, power distribution station, substation and other places.

[0003] Depending on the application scenario, track-mounted robots can be used indoors or outdoors. Therefore, the presence of foreign objects on the exterior of the track used for robot movement may vary depending on the scenario. For example, for tracks installed inside underwater tunnels, the bottom of the track often accumulates a significant amount of dust and water droplets (or water splatters). When the track-mounted robot moves along the track, its friction wheels need to come into contact with the bottom of the track to generate friction and drive the robot to move (the principle can be described in patent application number CN202311830833.6). If there is a significant amount of dust and water droplets on the bottom of the track, it will reduce the friction between the friction wheels and the bottom of the track, and in severe cases, may cause the robot to malfunction.

[0004] Therefore, it is necessary to provide a wiping device suitable for track robots that are driven by friction with the bottom of the track. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this utility model provides a scraping device for a track robot. It can move along the track by its own drive or by being directly mounted on the drive mechanism of the track robot, and is used to clean the bottom of the track, avoiding the problem of friction failure between the friction wheel of the track robot and the bottom of the track caused by foreign objects on the bottom of the track.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a squeegee device for a track robot, comprising a mounting base, a hanging bracket, and a squeegee mechanism. The mounting bracket is connected to the mounting base and is used for sliding connection with the track; The mounting base is connected to a drive mechanism or is used to connect a track robot so that the mounting bracket can move along the length of the track. The wiping mechanism is connected to the mounting bracket and has at least one wiping strip. The wiping strip is set in contact with the bottom of the track and moves along the length of the track with the mounting bracket. The length of the wiper blade covers the width of the bottom of the track.

[0007] Compared with the prior art, the present invention has the following beneficial effects: The mounting bracket is mainly used to fix the entire wiper device on the track, ensuring that the wiper blade can move along the bottom of the track. The mounting bracket is set based on the structure of the track. For example, when the track is an I-beam track, the mounting bracket can be a wheel group structure composed of multiple sliding wheels as in existing technologies (CN202210586067.2, CN202323602990.X, etc.), which can realize the mounting bracket and the track's mounting and sliding connection. When the track is a rectangular track, the structure of the mounting bracket can be set with reference to existing technologies (CN202111222360.2), which can also realize the sliding connection between the mounting bracket and the track.

[0008] A drive mechanism can be installed on the mounting base. This drive mechanism can be a drive mechanism in the prior art (such as the one with patent application number CN202323602990.X) to enable the mounting base to move along the track. Alternatively, the mounting base can be connected to a track robot via a hinge, and the track robot can drive the mounting base to move along the track, thereby enabling the wiper blade to move along the bottom of the track.

[0009] The wiper blades can be made of silicone, rubber, TPR, etc., so that they can remove dust and water droplets adhering to the bottom of the track, ensuring that the friction wheels of the track robot have sufficient friction with the bottom of the track, so that the track robot can move smoothly on the track as required.

[0010] Of course, to ensure that the wiper blades can be used on the friction wheels and bottom of the track after processing, the length of the wiper blades covers the width of the track, so as to achieve complete cleaning of the bottom of the track and meet the usage requirements.

[0011] When in use, since the track robot has two directions of movement on the track, a squeegee can be installed at each end of the direction of movement of the track robot to ensure that the bottom of the track has been treated by the squeegee before the friction wheel of the track robot comes into contact with the track.

[0012] Furthermore, the length direction of the wiper blade is set at an acute angle to the width direction of the bottom of the track.

[0013] Furthermore, the wiper mechanism also includes a mounting assembly for connecting the wiper blade and the mounting bracket. The mounting components include a mounting base, a rotating shaft, and elastic elements. The wiper blade is connected to the mounting base, and the mounting base is connected to the rotating shaft. The rotating shaft is rotatably connected to the mounting bracket, and the elastic element is located between the rotating shaft and the mounting bracket so that the wiper blade contacts the bottom of the track.

[0014] Furthermore, the mounting base is provided with a slot for engaging the wiper blade. The slot has a through-slot structure, and each of the two open ends of the slot is provided with a matching baffle. The baffle is detachably connected to the mounting base.

[0015] Furthermore, the fixed base and the rotating shaft are fixed by a connector, and the connector can be detachably connected to both the fixed base and the rotating shaft.

[0016] Furthermore, the mounting frame includes a frame body and two sets of sliding wheels mounted on the frame body. The frame body is rotatably connected to the mounting base. Two sets of sliding wheels are spaced apart on the frame body and are used to connect to the track on both sides along the width of the track. Attached Figure Description

[0017] Figure 1 This is a diagram showing the connection between the four wiper devices and the track of this utility model; Figure 2 for Figure 1 A schematic diagram of the structure excluding the two tracks; Figure 3 This is a schematic diagram of the structure of the wiping device of this utility model; Figure 4 This is an exploded structural diagram of the wiper device of this utility model.

[0018] In the diagram: main mounting plate 101, track 500, mounting base 100, hanging bracket 200, frame body 210, base 212, clamping plate 211, fixing component 2111, sliding wheel group 220, first sliding wheel 222, second sliding wheel 223, third sliding wheel 221, wiping mechanism 300, wiping strip 310, mounting assembly 320, rotating shaft 321, fixing base 322, elastic component 323, torsion spring 3231, clamp 3211, connecting component 330, clamp seat 332, connecting rod 331, slot 3221, baffle 3222, drive motor 410, friction wheel 420, reducer 430. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0020] like Figure 1 , 2As shown in Figures 3 and 4, a wiping device for a track robot includes a mounting base 100, a mounting bracket 200, and a wiping mechanism 300. The mounting bracket 200 is connected to the mounting base 100 and is used for sliding connection with a track 500. The mounting base 100 is connected to a drive mechanism or is used to connect to the track robot so that the mounting bracket 200 can move along the length of the track 500. The wiping mechanism 300 is connected to the mounting bracket 200 and has at least one wiping strip 310. The wiping strip 310 is disposed in contact with the bottom of the track 500 and moves along the length of the track 500 with the mounting bracket 200. The length of the wiping strip 310 covers the width of the bottom of the track 500.

[0021] Understandably, the mounting bracket 200 is mainly used to lay the entire wiper device on the track 500, ensuring that the wiper blade 310 can move along the bottom of the track 500. The mounting bracket 200 is set based on the structure of the track 500. For example, when the track 500 is an I-beam track 500, the mounting bracket 200 can be a wheel set structure composed of multiple sliding wheel sets 220 as in the prior art (CN202210586067.2, CN202323602990.X, etc.), which can realize the mounting and sliding connection between the mounting bracket 200 and the track 500. When the track 500 is a rectangular track 500, the structure of the mounting bracket 200 can be set with reference to the prior art (CN202111222360.2), which can also realize the sliding connection between the mounting bracket 200 and the track 500.

[0022] A drive mechanism can be provided on the mounting base 100. This drive mechanism can be a drive mechanism in the prior art (such as the one with patent application number CN202323602990.X) to enable the mounting base 100 to move along the track 500. Of course, the mounting base 100 can also be connected to the track robot via a hinge, and the track robot can drive the mounting base 100 to move along the track 500, thereby realizing the movement of the wiper blade 310 along the bottom of the track 500.

[0023] The wiper strip 310 can be made of silicone, rubber, TPR, etc., so that the wiper strip 310 can handle the dust and water droplets adhering to the bottom of the track 500, and ensure that the friction wheel 420 of the track robot can have sufficient friction with the bottom of the track 500 so that the track robot can move smoothly on the track 500 as required.

[0024] Of course, to ensure that the wiper blade 310 can be used on the friction wheel 420 of the track robot and the bottom of the track 500 after processing the track 500, the length of the wiper blade 310 covers the width of the track 500, so as to achieve complete cleaning of the bottom of the track 500 and meet the usage requirements.

[0025] When in use, since the track robot has two directions of movement on the track 500, a squeegee can be installed at each end of the direction of movement of the track robot to ensure that when the friction wheel 420 of the track robot comes into contact with the track 500, the bottom of the track 500 has been treated by the squeegee.

[0026] like Figure 1 , 2 As shown, in this application, the wiping device is mainly used for a track robot moving along dual tracks 500. Therefore, the number of wiping devices needs to match the dual tracks 500. Based on the robot's bidirectional movement characteristics, this application provides four wiping devices, with mounting bases 100 for each device fixed to a main mounting plate 101. Each of the four wiping devices is equipped with a drive mechanism, which is installed in conjunction with the main mounting plate 101. The drive mechanism has a drive motor 410, the output of which is connected to a dual-axis output reducer 430, converting one output shaft of the drive motor 410 into two transmission shafts. Each transmission shaft has a friction wheel 420 structure. Under the action of the drive motor 410, the friction wheels 420 roll against the bottom of the track 500, thereby enabling the wiping device to move along the track 500. Of course, this drive mechanism can also be the drive mechanism for the track robot itself, simply by connecting the main mounting plate 101 to the main body of the track robot via a hinge.

[0027] The structure of the friction wheel 420 can be set with reference to the applicant's prior patent application (CN202323602990.X), and its structure is not further shown in this application.

[0028] Normally, it is sufficient to ensure that the wiper blade 310 covers the bottom of the track 500. However, if the length direction of the wiper blade 310 is parallel to the width direction of the track 500, this arrangement is not conducive to the movement of the wiper blade 310. Therefore, if... Figure 1 , 2 As shown in Figures 3 and 4, this application sets the length direction of the wiper strip 310 and the width direction of the bottom of the track 500 to an acute angle, and the two are staggered to make the movement of the wiper strip 310 smoother.

[0029] Because the dimensions along the length of the track 500 are not completely consistent during the manufacturing process, and the track 500 also has bent sections, if the relative positions of the wiper blade 310 and the bottom of the track 500 are fixed, the wiper blade 310 will not move smoothly along the track 500. Therefore, this application requires that the wiper blade 310 be elastically positioned at the bottom of the track 500 to ensure that the wiper blade 310 can adapt to the structure of the track 500 while wiping water. Specifically, the wiper mechanism 300 also includes a mounting assembly 320 for connecting the wiper blade 310 and the mounting bracket 200. The mounting assembly 320 includes a fixed base 322, a rotating shaft 321, and an elastic element 323. The wiper blade 310 is connected to the fixed base 322, the fixed base 322 is connected to the rotating shaft 321, the rotating shaft 321 is rotatably connected to the mounting bracket 200, and the elastic element 323 is located between the rotating shaft 321 and the mounting bracket 200 to ensure that the wiper blade 310 abuts against the bottom of the track 500.

[0030] like Figure 3 , 4 As shown, the rotating shaft 321 is arranged along the width direction of the track 500 and is rotatably connected to the hanging frame 200. The elastic element 323 consists of two torsion springs 3231. The two torsion springs 3231 are respectively arranged near the two ends of the rotating shaft 321. One end of the torsion spring 3231 abuts against the hanging frame 200, and the other end of the torsion spring 3231 abuts against the clamp 3211 fixed on the rotating shaft 321. Based on the elastic force of the two torsion springs 3231, the rotating shaft 321 can be squeezed towards the bottom of the track 500. The fixing seat 322 fixed to the rotating shaft 321 and the wiper blade 310 fixed on the fixing seat 322 also have corresponding pressure, so that the wiper blade 310 abuts against the bottom of the track 500. When the thickness of the track 500 changes (mainly the thickness of the bottom of the I-beam track 500) and / or the track 500 bends, the presence of two torsion springs 3231 ensures that the wiper blade 310 always abuts against the bottom of the track 500 and can move smoothly along the length of the track 500.

[0031] The mounting base 322 is mainly used for installing the wiper blade 310. The wiper blade 310 is prone to aging and damage during long-term use. Therefore, the wiper blade 310 can be replaced periodically to ensure the cleaning effect of the wiping device on the bottom of the track 500. Based on this, this application designs the structure of the mounting base 322 to facilitate the detachable connection between the wiper blade 310 and the mounting base 322. Specifically, the mounting base 322 has a slot 3221 for engaging the wiper blade 310. The slot 3221 has a through-slot structure, and each of the two open ends of the slot 3221 has a matching baffle 3222, which is detachably connected to the mounting base 322.

[0032] like Figure 4As shown, the slot 3221 has a bottom larger than its opening, allowing the wiper blade 310 to be easily installed. Baffles 3222 are located at both ends of the slot 3221, and these baffles 3222 are detachably connected to the mounting base 322 via bolts or similar means. To replace the wiper blade 310, simply separate one baffle 3222 from the mounting base 322, drag the wiper blade 310 to separate it from the slot 3221, thus separating the wiper blade 310 from the mounting base 322. The newly replaced wiper blade 310 slides along the length of the slot 3221, connecting it to the mounting base 322. Finally, connecting the baffle 3222 and the mounting base 322 completes the installation of the new wiper blade 310 and mounting base 322.

[0033] In theory, as long as the fixed base 322 and the rotating shaft 321 are fixedly connected, the wiper blade 310 can elastically resist the bottom of the track 500 under the action of the two torsion springs 3231. However, considering the different shapes and usage requirements of the track 500, this application fixes the fixed base 322 and the rotating shaft 321 through a connector 330. The connector 330 is detachably connected to both the fixed base 322 and the rotating shaft 321. Figure 3 , 4 As shown, the connector 330 includes a clamp seat 332 and a connecting rod 331 that are fixed to each other. The clamp seat 332 is fixedly connected to the rotating shaft 321, and the connecting rod 331 is fixed to the fixed seat 322. By replacing the connector 330 with different structures, the contact angle between the wiper strip 310 on the fixed seat 322 and the bottom of the track 500 can be adjusted, thus expanding its applicability.

[0034] To facilitate the connection between the entire wiper device and the track 500, a mounting bracket 200 is required. In practice, during the design process, the mounting bracket 200 can be considered equivalent to the suspension bracket of a robot drive mechanism (as shown in patent application number CN202323602990.X). Its main purpose is to ensure that the wiper blade 310 can contact the bottom of the track 500 to be treated. The mounting bracket 200 of this application is equivalent to the suspension bracket in the prior art. Specifically, the mounting bracket 200 includes a frame body 210 and two sets of sliding wheels 220 mounted on the frame body 210. The frame body 210 is rotatably connected to the mounting base 100. The two sets of sliding wheels 220 are spaced apart on the frame body 210 and are used for hanging and connecting to the track 500 on both sides along the width direction of the track 500.

[0035] like Figure 3 , 4As shown, the frame body 210 is similar to a snap-fit ​​frame structure, having clamping plates 211 for connecting the sliding wheel assembly 220 and a base 212 for connecting the mounting base 100. The two clamping plates 211 are used to clamp the track 500 from both sides along its length. The bottom of the frame body 210 is the base 212, which is used to rotatably connect with the mounting base 100 via bearings, etc., so as to allow the track 500 to turn in the bending area. The rotating shaft 321 is mounted between the two clamping plates 211 and is rotatably connected to the fixing members 2111 provided on the two clamping plates 211. Two sliding wheel assemblies 220 are fixed on the frame body 210, and the two sliding wheel assemblies 220 are connected to the track 500 from both sides along the length of the track 500. Each sliding wheel assembly 220 is installed in conjunction with the corresponding clamping plate 211. Each sliding wheel assembly 220 includes four sliding wheels, which are arranged in a cross shape, namely the first sliding wheel 222 and the second sliding wheel 223 located in the middle, and the two third sliding wheels 221 located on both sides. The first sliding wheel 222 and the second sliding wheel 223 are spaced vertically along the bottom of the track 500, clamping the track 500 and sliding in contact with its inner and outer bottom surfaces, respectively. The axes of the first sliding wheel 222 and the second sliding wheel 223 are arranged along the width of the track 500. Two third sliding wheels 221 are spaced along the length of the track 500, located on either side of the first sliding wheel 222 and the second sliding wheel 223. The axes of both third sliding wheels 221 are arranged along the I-beam height of the track 500, and both third sliding wheels 221 slide in contact with the middle side plate of the track 500. The entire wiper device can be slidably connected to the track 500 using the mounting bracket 200, which is adaptable to the bending structure of the track 500.

[0036] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0037] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0038] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A squeegee device for a track robot, characterized in that: It includes a mounting base (100), a hanging bracket (200), and a squeegee mechanism (300). The mounting bracket (200) is connected to the mounting base (100) and is used for sliding connection with the rail (500); The mounting base (100) is connected to a drive mechanism or is used to connect a track robot so that the hanger (200) can move along the length of the track (500); The wiping mechanism (300) is connected to the mounting bracket (200) and has at least one wiping strip (310). The wiping strip (310) is disposed in contact with the bottom of the track (500) and moves along the length of the track (500) with the mounting bracket (200). The length of the wiper blade (310) covers the bottom width of the track (500).

2. The wiper device for a track robot according to claim 1, characterized in that: The length direction of the wiper strip (310) is set at an acute angle to the width direction of the bottom of the track (500).

3. The wiper device for a track robot according to claim 1 or 2, characterized in that: The wiper mechanism (300) also includes a mounting assembly (320) for connecting the wiper blade (310) and the hanger (200). The mounting assembly (320) includes a fixed base (322), a rotating shaft (321), and an elastic element (323). The wiper blade (310) is connected to the mounting base (322), and the mounting base (322) is connected to the rotating shaft (321). The rotating shaft (321) is rotatably connected to the hanging bracket (200), and the elastic element (323) is located between the rotating shaft (321) and the hanging bracket (200) so that the wiper strip (310) abuts against the bottom of the track (500).

4. The wiper device for a track robot according to claim 3, characterized in that: The mounting base (322) is provided with a slot (3221) for engaging the wiper blade (310). The slot (3221) has a through-slot structure. The two open ends of the slot (3221) are respectively provided with baffles (3222) for use. The baffles (3222) are detachably connected to the mounting base (322).

5. The wiper device for a track robot according to claim 3, characterized in that: The fixed base (322) and the rotating shaft (321) are fixed by the connector (330), and the connector (330) can be detachably connected to both the fixed base (322) and the rotating shaft (321).

6. The wiper device for a track robot according to claim 4, characterized in that: The fixed base (322) and the rotating shaft (321) are fixed by the connector (330), and the connector (330) can be detachably connected to the fixed base (322) and the rotating shaft (321).

7. The squeegee device for a track robot according to claim 1, 2, 4, 5 or 6, characterized in that: The mounting frame (200) includes a frame body (210) and two sets of sliding wheels (220) installed on the frame body (210). The frame body (210) is rotatably connected to the mounting base (100). Two sets of sliding wheels (220) are spaced apart on the frame body (210) and are used to be hung and connected to the track (500) on both sides along the width direction of the track (500).

8. The wiper device for a track robot according to claim 3, characterized in that: The mounting frame (200) includes a frame body (210) and two sets of sliding wheels (220) installed on the frame body (210). The frame body (210) is rotatably connected to the mounting base (100). Two sets of sliding wheels (220) are spaced apart on the frame body (210) and are used to be hung and connected to the track (500) on both sides along the width direction of the track (500).

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