CN103332195A - Hoisting type single-track moving mechanism - Google Patents

Hoisting type single-track moving mechanism Download PDF

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Publication number
CN103332195A
CN103332195A CN2013102768143A CN201310276814A CN103332195A CN 103332195 A CN103332195 A CN 103332195A CN 2013102768143 A CN2013102768143 A CN 2013102768143A CN 201310276814 A CN201310276814 A CN 201310276814A CN 103332195 A CN103332195 A CN 103332195A
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Prior art keywords
lift
track
type single
travel mechanism
plate
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CN2013102768143A
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CN103332195B (en
Inventor
杨志强
安羽
黄勇
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YADO MONITORING TECHNOLOGY Co Ltd
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YADO MONITORING TECHNOLOGY Co Ltd
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Abstract

The invention discloses a hoisting type single-track moving mechanism. The hoisting type single-track moving mechanism comprises a track (21), a slide contact wire (22), a current collector (23), a current collecting balancing device (24), a driving mechanism (1), a balancing mechanism (2), a side plate (26) and a shell (25). The slide wire contact (22) is installed on one side face (212) of a vertical plate of the track in the length direction of the track (21), a sliding contact piece of the current collector (23) makes reliable contact with the slide contact wire (22) under the effect of the current collecting balancing device (24) which is arranged on the other side face of the vertical plate of the track (21) to supply power to the moving mechanism, and the current collecting balancing device (24), the driving mechanism (1) and the balancing mechanism (2) are installed in the shell (25) after being fixed by the side plate (26). The hoisting type single-track moving mechanism is compact in structure and capable of being used in narrow space and conveniently installed on site.

Description

Lift-on/lift-off type single track travel mechanism
Technical field
The present invention relates to the traveling gear of specialized robot, specifically relate to a kind of lift-on/lift-off type single track travel mechanism.
Background technology
The device (city rail, train etc.) that moves on the driving that tradition is common or the track adopts two parallel rail more, and such advantage is that mobile vehicle operates steadily, and load-carrying ability is big; But shortcoming is the support fixed structure complexity, and floor area is big, and turn radius is also bigger, and it is cumbersome to construct.
Existing monorail, mainly adopting is to use suspension type, use is also arranged at the monorail of recreation ground; The train of this suspension type monorail railway is suspended under the track, the tall and big complexity of support frame structure not only, and the cost height, and difficulty of construction is high and dangerous high.
Summary of the invention
Problem to be solved by this invention is the defective that overcomes above-mentioned prior art, and a kind of compact conformation, volume is little, the installation difficulty is low lift-on/lift-off type single track travel mechanism are provided.
Technical scheme of the present invention is: the present invention includes track, trolley, current colector, current collection balancing device, driver train, equalizing gear, side plate, shell, described trolley is installed on the side of its vertical plate along described track length direction, the wiping sheet of described current colector reliably contacts to provide power supply to travel mechanism with described trolley under the effect of the described current collection balancing device that places described track vertical plate another side, described current collection balancing device, described driver train, described equalizing gear are installed in the described shell after fixing by described side plate.
Described driver train comprises motor, the motor locating plate, locating plate, synchronous wheels, axle drive shaft, drive wheel, driven location group, driven shaft, flower wheel, drive connecting panel, described motor and described axle drive shaft fixing with described motor locating plate on, described motor drives described axle drive shaft by described synchronous wheels, one end of described axle drive shaft is installed drive wheel, the other end connects described locating plate, described driving connecting panel connects described motor locating plate respectively, described locating plate and described driven location group, described drive wheel and described flower wheel along with the rotation of described axle drive shaft respectively on the lower panel of described track both sides the plane roll.
The shaft centre line of described axle drive shaft and the shaft centre line of described driven shaft all with the lower panel of described track both sides on plane parallel.
Described driver train has two groups, is arranged at the both sides, front and back of described current colector respectively, and the motor of two groups of driver trains all is arranged at the same side of described track.
Described equalizing gear comprises a pair of balance wheel, a pair of locating rack, a pair of linear bearing, a pair of fixed support, a pair of department cartridge module, a pair of stage clip, a pair of end cap, connecting panel, described balance wheel is positioned at the two sides of described track vertical plate by described locating rack and can rolls thereon, described connecting panel two ends connect described fixed support respectively, described linear bearing is fixed in the described fixed support, described department cartridge module passes described linear bearing captives joint with described locating rack, and described stage clip one end is pressed on the described department cartridge module, the other end is located by described end cap.
Described equalizing gear has two groups, is arranged at respectively between described driver train and the described current colector, and the shaft centre line of four of described equalizing gear department's cartridge modules is in same horizontal surface and parallel with the face on the described track.
Many group stroke locating pieces are installed in described track bottom, and device has travel switch in the travel mechanism.
Described shell two ends are equipped with dedusting plate, and the face of described dedusting plate and described track has an angle, and its underpart contacts with face.
Described track is formed curved rail or straight rail by more piece, joint with save between be connected by track connecting plate.
Described outer casing bottom also is equipped with support.
The invention has the beneficial effects as follows: travel mechanism of the present invention is supported by monorail lifting, and simple in structure, compact, volume is little, and occupation space is also little, can be used for narrow space and uses, and greatly reduces the difficulty of constructing when track installed simultaneously; Adopt the bilateral lifting mode of single track and equalizing gear, can be used for different track sizes, different curved rail radiuses, it operates steadily, not the dangerous situation that can occur overstepping the limit; This travel mechanism can act on traveling gear, is used for the chemical plant, cable gallery, and the extraordinary mobile robot platform under danger such as substation, the narrow and small environment is measured work such as monitoring.
Description of drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is structure birds-eye view of the present invention;
Fig. 3 is the structural front view of driver train of the present invention;
Fig. 4 is the structural front view of equalizing gear of the present invention;
Fig. 5 is the structure birds-eye view of monorail of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are done concrete detailed description the in detail.
As Fig. 1, Fig. 2, Fig. 3, Fig. 4, shown in Figure 5, the present invention includes driver train 1, equalizing gear 2, track 21, trolley 22, current colector 23, current collection balancing device 24, shell 25, side plate 26, dedusting plate 27, track connecting plate 28, stroke locating piece 29, travel switch 30, support 31.
Trolley 22 is installed on the side 212 of its vertical plate along track 21 length directions, the wiping sheet of described current colector 23 reliably contacts with trolley 22 under the effect of the current collection balancing device 24 that places track 21 vertical plate another sides, to provide power supply to travel mechanism.
Driver train 1 is made up of motor 3, motor locating plate 4, locating plate 5, synchronous wheels 6, axle drive shaft 7, drive wheel 8, driven location group 9, driven shaft 10, flower wheel 11, driving connecting panel 12.Motor 3 and axle drive shaft 7 are fixed on the motor locating plate 4, in order to make axle drive shaft 7 held stationaries for a long time, increase locating plate 5 and locate an end of axle drive shaft 7, the other end is installed drive wheel 8, all install with the bearing mode junction, and drive wheel 8 is along with rotation plane 211 motions on track 21 lower panel of axle drive shaft 7; The power of axle drive shaft 7 comes from the driving that connects motor 3 by synchronous wheels 6, and wheels 6 have the effect that reduces transmission speed ratio simultaneously synchronously; Be connected with screw rod between motor locating plate 4 and the locating plate 5; Driven location group 9, driven shaft 10, flower wheel 11 move at face 211 planes of symmetry of track 21, are connected on motor locating plate 4 and the locating plate 5 by driving connecting panel 12, and wherein axle drive shaft 7 shaft centre lines are parallel with face 211 with the shaft centre line of driven shaft 10.
In this travel mechanism, be provided with two groups of identical driver trains 1 altogether, be arranged at the both sides, front and back of current colector 23 respectively; Wherein motor 3 all is installed on track 21 the same sides, and the shaft centre line of two groups of axle drive shafts 7 is on same horizontal surface, and is and parallel with the inner plane 211 of track 21.Synchronizing wheel is adopted in transmission, and drive wheel adopts the polyurethane rubber tire, does not therefore have noise to send basically at operational process.
Equalizing gear 2 is made up of a pair of balance wheel 13, a pair of locating rack 14, a pair of linear bearing 15, a pair of fixed support 16, a pair of department cartridge module 17, a pair of stage clip 18, a pair of end cap 19, connecting panel 20.Balance wheel 13 is installed on the axle of locating rack 14, and mobile in the side 212 of track 21 vertical plate; Locating rack 14 is fixedly connected on department's cartridge module 17, and linear bearing 15 is fixed in the fixed support 16, and department's cartridge module 17 is done straight-line motion in linear bearing 15; Stage clip 18 1 ends are by end cap 19 location, and the other end is by department's cartridge module 17 location.End cap 19 Adjustable Ranges are controlled the pressure size of stage clip 18, stage clip 18 is by department's cartridge module 17, transmit the balance wheel 13 that certain pressure given is positioned at locating rack 14, but make balance wheel 13 be subjected to certain elastic force and spacing in the horizontal direction of track 21, the present invention be can be used on the monorail of various inwall different-thickness.
The mechanism of equalizing gear 2 the right and lefts is identical, and by connecting panel 20 fixing and connections, respectively at the two sides of track 21 vertical plate 212 symmetrical installation and operations.In this lift-on/lift-off type single track travel mechanism, be provided with identical two groups of equalizing gears 2 altogether, be arranged at respectively between driver train 1 and the current colector 23; Will make the shaft centre line of 4 groups of department's cartridge modules 17 during installation in same horizontal surface, and this plane is parallel with the face 211 of track 21.
Driver train 1, equalizing gear 2, current collection balancing device 24 are installed in the shell 25 after being fixed by side plate 26 respectively.Equalizing gear 2 act as and keeps driver train 1 steadily mobile along 21 211 on track; The two ends of shell 25 are equipped with dedusting plate 27, and totally 4 groups, 21 one-tenth certain included angle of the installation of dedusting plate 27 and track, dedusting plate 27 bottoms contact with the face 211 of track 21, are used at the foreign material of removing under the big environment of dust on 21 211 on the track such as dust.
Install in this mechanism with travel switch 30, track 21 bottoms are equipped with many group stroke locating pieces 29, be used for control mechanism movement, stop;
Track 21 can be done embayment rail or straight rail, joint with save between be connected by track connecting plate 28.
Shell 25 bottoms are equipped with support 31, and support 31 can be used for installing monitoring device, can monitor its site environment, equipment etc.

Claims (10)

1. lift-on/lift-off type single track travel mechanism, comprise track (21), it is characterized in that: it also comprises trolley (22), current colector (23), current collection balancing device (24), driver train (1), equalizing gear (2), side plate (26), shell (25), described trolley (22) is installed on the side (212) of its vertical plate along described track (21) length direction, the wiping sheet of described current colector (23) reliably contacts to provide power supply to travel mechanism, described current collection balancing device (24) with described trolley (22) under the effect of the described current collection balancing device (24) that places described track (21) vertical plate another side, described driver train (1), be installed in the described shell (25) after described equalizing gear (2) is fixing by described side plate (26).
2. lift-on/lift-off type single track according to claim 1 travel mechanism, it is characterized in that: described driver train (1) comprises motor (3), motor locating plate (4), locating plate (5), synchronous wheels (6), axle drive shaft (7), drive wheel (8), driven location group (9), driven shaft (10), flower wheel (11), drive connecting panel (12), described motor (3) and described axle drive shaft (7) fixing with described motor locating plate (4) on, described motor (3) drives described axle drive shaft (7) by described synchronous wheels (6), one end of described axle drive shaft (7) is installed drive wheel (8), the other end connects described locating plate (5), described driving connecting panel (12) connects described motor locating plate (4) respectively, described locating plate (5) and described driven location group (9), described drive wheel (8) and described flower wheel (11) are along with rotation plane (211) rolling on the lower panel of described track (21) both sides respectively of described axle drive shaft (7).
3. lift-on/lift-off type single track according to claim 2 travel mechanism is characterized in that: the shaft centre line of the shaft centre line of described axle drive shaft (7) and described driven shaft (11) is all parallel with plane (211) on the lower panel of described track (21) both sides.
4. lift-on/lift-off type single track according to claim 3 travel mechanism, it is characterized in that: described driver train (1) has two groups, be arranged at the both sides, front and back of described current colector (23) respectively, the motor (3) of two groups of driver trains (1) all is arranged at the same side of described track (21).
5. lift-on/lift-off type single track according to claim 1 travel mechanism, it is characterized in that: described equalizing gear (2) comprises a pair of balance wheel (13), a pair of locating rack (14), a pair of linear bearing (15), a pair of fixed support (16), a pair of department cartridge module (17), a pair of stage clip (18), a pair of end cap (19), connecting panel (20), described balance wheel (13) is positioned at the two sides (212) of described track (21) vertical plate by described locating rack (14) and can rolls thereon, described connecting panel (20) two ends connect described fixed support (16) respectively, described linear bearing (15) is fixed in the described fixed support (16), described department cartridge module (17) passes described linear bearing (15) captives joint with described locating rack (14), and described stage clip (18) one ends are pressed on the described department cartridge module (17), the other end is located by described end cap (19).
6. lift-on/lift-off type single track according to claim 5 travel mechanism, it is characterized in that: described equalizing gear (2) has two groups, be arranged at respectively between described driver train (1) and the described current colector (23), the shaft centre line of four of described equalizing gear (2) department's cartridge modules (17) is in same horizontal surface and parallel with the face (211) on the described track (21).
7. lift-on/lift-off type single track according to claim 1 travel mechanism, it is characterized in that: many group stroke locating pieces (29) are installed in described track (29) bottom, and device has travel switch (30) in the travel mechanism.
8. according to described any one lift-on/lift-off type single track travel mechanism of claim 1 to 7, it is characterized in that: described shell (25) two ends are equipped with dedusting plate (27), described dedusting plate (21) has an angle with the face (212) of described track (21), and its underpart contacts with face (211).
9. lift-on/lift-off type single track according to claim 8 travel mechanism, it is characterized in that: described track (21) is formed curved rail or straight rail by more piece, joint with save between be connected by track connecting plate (28).
10. lift-on/lift-off type single track according to claim 9 travel mechanism, it is characterized in that: described shell (25) bottom also is equipped with support (31).
CN201310276814.3A 2013-07-03 2013-07-03 Lift-on/lift-off type single track travel mechanism Active CN103332195B (en)

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104716711A (en) * 2015-03-16 2015-06-17 杨志强 Fireproof suspended type automatic charging mechanism and work process thereof
CN105083888A (en) * 2014-10-11 2015-11-25 合肥井松自动化科技有限公司 Sorting motor train unit
CN105817450A (en) * 2016-01-08 2016-08-03 浙江吉利汽车有限公司 Sliding contact wire terminal automatic sweeper
CN106515748A (en) * 2016-09-21 2017-03-22 比亚迪股份有限公司 Bogie and railroad car and rail transit system with bogie
CN106560369A (en) * 2016-09-21 2017-04-12 比亚迪股份有限公司 Bogie, railway vehicle having the same, and railway transport system
CN107777271A (en) * 2016-08-31 2018-03-09 佛山市飞碟智能科技有限公司 A kind of walking structure and ambulation control method based on dining room overhead track
CN107963089A (en) * 2017-11-27 2018-04-27 江苏高科物流科技股份有限公司 One kind guidance vehicle driving system and automatic stereowarehouse
CN110159894A (en) * 2019-05-05 2019-08-23 东南大学 A kind of rail polling robot
CN110641940A (en) * 2019-10-25 2020-01-03 广东科凯达智能机器人有限公司 Rail traveling device and rail traveling system
CN114191738A (en) * 2021-12-07 2022-03-18 北京京东乾石科技有限公司 Fire-fighting inspection robot and fire-fighting system

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Publication number Priority date Publication date Assignee Title
JPH07257369A (en) * 1994-03-18 1995-10-09 Nakanishi Kinzoku Kogyo Kk Self-traveling trolley
JPH0853062A (en) * 1994-08-12 1996-02-27 Kazuyoshi Ueichi Traveling part structure of track type transfer device, and track type transfer device
JP2001310893A (en) * 2000-04-27 2001-11-06 Ohbayashi Corp Emergency stopping device for suspended carrier device
CN201457377U (en) * 2009-06-26 2010-05-12 太原矿机电气发展有限公司 Monorail crane load bearing trolley
CN202243457U (en) * 2011-06-24 2012-05-30 安徽理工大学 Mining monorail crane emulsion motor drive system
CN202481087U (en) * 2012-03-19 2012-10-10 北京凯润机电设备制造有限责任公司 Monorail crane driving device
CN203358583U (en) * 2013-07-03 2013-12-25 珠海一多监测科技有限公司 Hoisting type single-track moving mechanism

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07257369A (en) * 1994-03-18 1995-10-09 Nakanishi Kinzoku Kogyo Kk Self-traveling trolley
JPH0853062A (en) * 1994-08-12 1996-02-27 Kazuyoshi Ueichi Traveling part structure of track type transfer device, and track type transfer device
JP2001310893A (en) * 2000-04-27 2001-11-06 Ohbayashi Corp Emergency stopping device for suspended carrier device
CN201457377U (en) * 2009-06-26 2010-05-12 太原矿机电气发展有限公司 Monorail crane load bearing trolley
CN202243457U (en) * 2011-06-24 2012-05-30 安徽理工大学 Mining monorail crane emulsion motor drive system
CN202481087U (en) * 2012-03-19 2012-10-10 北京凯润机电设备制造有限责任公司 Monorail crane driving device
CN203358583U (en) * 2013-07-03 2013-12-25 珠海一多监测科技有限公司 Hoisting type single-track moving mechanism

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105083888A (en) * 2014-10-11 2015-11-25 合肥井松自动化科技有限公司 Sorting motor train unit
CN104716711A (en) * 2015-03-16 2015-06-17 杨志强 Fireproof suspended type automatic charging mechanism and work process thereof
CN104716711B (en) * 2015-03-16 2016-11-23 杨志强 A kind of water proof type lift-on/lift-off type automatic charging mechanism and work process thereof
CN105817450A (en) * 2016-01-08 2016-08-03 浙江吉利汽车有限公司 Sliding contact wire terminal automatic sweeper
CN105817450B (en) * 2016-01-08 2018-05-29 浙江吉利汽车有限公司 A kind of wiping wire terminal automatic sweeping machine
CN107777271A (en) * 2016-08-31 2018-03-09 佛山市飞碟智能科技有限公司 A kind of walking structure and ambulation control method based on dining room overhead track
CN106560369A (en) * 2016-09-21 2017-04-12 比亚迪股份有限公司 Bogie, railway vehicle having the same, and railway transport system
CN106515748A (en) * 2016-09-21 2017-03-22 比亚迪股份有限公司 Bogie and railroad car and rail transit system with bogie
CN107963089A (en) * 2017-11-27 2018-04-27 江苏高科物流科技股份有限公司 One kind guidance vehicle driving system and automatic stereowarehouse
CN110159894A (en) * 2019-05-05 2019-08-23 东南大学 A kind of rail polling robot
CN110159894B (en) * 2019-05-05 2020-11-24 东南大学 Track inspection robot
CN110641940A (en) * 2019-10-25 2020-01-03 广东科凯达智能机器人有限公司 Rail traveling device and rail traveling system
CN114191738A (en) * 2021-12-07 2022-03-18 北京京东乾石科技有限公司 Fire-fighting inspection robot and fire-fighting system

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