CN215037431U - Rail robot suitable for cooling tower - Google Patents

Abstract

The utility model provides a track robot suitable for cooling tower. This track robot suitable for cooling tower includes a plurality of track subassemblies and track robot, and a plurality of track subassemblies set gradually on X type heel post, and a plurality of track subassemblies's track part links to each other and is adjacent for track and cooling triangle, and the movably installation of track robot is on the track. The track assembly comprises a column fixing frame, a pitching angle adjusting support and a track part. The track robot comprises a main body, a guide wheel mechanism and a driving wheel mechanism, wherein the guide wheel mechanism is installed on the main body and used for hanging the main body on a track in a sliding mode, and the driving wheel mechanism is installed at the top of the main body and used for being abutted against the bottom surface of the track to be matched with the main body to drive the main body to move on the track. Adopt the technical scheme of the utility model, just can effectual reduction track robot orbital construction cost, improve the motion precision that track robot removed, and then improve the effect of patrolling and examining of track robot.

Description

Rail robot suitable for cooling tower

Technical Field

The utility model relates to a robotechnology field particularly, relates to a track robot suitable for cooling tower.

Background

Along with the more and more extensive application occasions of robot, in the occasion that has certain requirement to the security, the reliability that equipment removed is improved to the robot that more and more will adopt along the track walking. At present, most of rail robots adopt a mounting mode to mount a main body structure on a rail, and move by matching pulleys of the rail robots with the rail.

To patrolling and examining of cooling tower, because the restriction in place, cause the track robot to be difficult to install and use. The current cooling tower inspection still depends on manual work or ground robots, and the actual inspection effect is poor.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a main aim at provides a track robot suitable for cooling tower to solve among the prior art cooling tower patrol and examine the poor technical problem of effect.

In order to achieve the above object, the utility model provides a track robot suitable for cooling tower, include: a plurality of track assemblies, the track assemblies comprising: the column body fixing frame is used for fixing the X-shaped bearing column; the first end of the pitching frame is hinged to the column fixing frame, and the pitching frame can rotate around the first end of the pitching frame to change the pitching angle of the pitching frame; the first end of the pitching angle adjusting support is hinged to the column body fixing frame, the pitching angle adjusting support can movably penetrate through the pitching frame, and the pitching angle of the pitching frame is adjusted by adjusting the connecting length of the pitching angle adjusting support relative to the pitching frame; a rail member mounted on the pitching frame; the plurality of track assemblies are sequentially arranged on the X-shaped bearing column, and track parts of the plurality of track assemblies are connected to form a track adjacent to the cooling triangle; a track robot movably mounted on the track, the track robot comprising: a main body; the guide wheel mechanism is arranged on the main body and used for slidably mounting the main body on the track; and the driving wheel mechanism is arranged at the top of the main body and is used for being abutted against the bottom surface of the track to be matched with the main body to drive the main body to move on the track.

In one embodiment, the guide wheel mechanism comprises: the bearing guide wheel mechanism is arranged on the top of the main body, and a rotating shaft of the bearing guide wheel mechanism is arranged along the horizontal direction and is used for being matched with a bearing surface of the track to mount the main body on the track; and the limiting guide wheel mechanism is arranged on the main body and positioned on the lower side of the bearing guide wheel mechanism, and a rotating shaft of the limiting guide wheel mechanism is arranged along the vertical direction and is used for being matched with the side surface of the track to limit the horizontal movement of the main body relative to the track.

In one embodiment, the orbital robot further comprises: the first end of the driving installation part is hinged with the main body, and the driving wheel mechanism is installed on the driving installation part; pressure regulating mechanism, including flexible moving part, the first end of flexible moving part is articulated to be installed in the main part, and the second end of flexible moving part is articulated with the second end of drive installed part, and flexible moving part is through the extension or shorten and adjust drive installed part and drive driving wheel mechanism and track and compress tightly or relax.

In one embodiment, the pressure regulating mechanism further comprises a base, the base is fixedly mounted on the main body, a first end of the telescopic moving part is hinged to the base, the telescopic moving part comprises a telescopic rod and a compression spring, the first end of the telescopic rod is hinged to the base, a second end of the telescopic rod is hinged to a second end of the driving mounting part, and the compression spring is mounted on the telescopic rod and drives the telescopic rod to extend out.

In one embodiment, the telescopic moving member further comprises a compression adjusting member, and the compression adjusting member is mounted on the telescopic rod and used for adjusting the acting force of the compression spring on the telescopic rod.

In one embodiment, the orbital robot adapted for use with the cooling tower further comprises a roll angle adjustment frame rotatably mounted on the pitch frame and the orbital component is mounted on the roll angle adjustment frame.

In one embodiment, the roll angle adjustment frame includes a frame body and a roll axis by which the frame body is angularly adjustably mounted on the pitch frame.

In one embodiment, the pitch frame is provided with a bushing in which the roll shaft is rotatably mounted.

In one embodiment, the roll shaft may be extended or retracted relative to the casing.

In one embodiment, the column fixing frame comprises a first frame body, a second frame body and a connecting frame body, the first frame body and the second frame body are respectively positioned on two opposite sides of the X-shaped bearing column, the connecting frame body connects the first frame body and the second frame body to be fixed on the X-shaped bearing column, and the pitching frame is installed on the first frame body.

Use the technical scheme of the utility model, fix the cylinder fixed frame at X type heel post earlier when using, then adjust pitch angle and adjust the connection length of support for the pitch frame to adjust pitch angle of pitch angle and adjust the pitch angle of support, generally let pitch angle adjust the support and adjust the level. Finally, the rail member can be mounted on the pitch frame. The technical scheme of the utility model among, can borrow the X type heel post of on-the-spot relative slope and arrange the track, use the X type heel post on a plurality of scenes just can build the track of accomplishing track robot as the fulcrum. Moreover, whether the inclination angle of the X-shaped bearing column is fixed or changed, the pitching frame can be adjusted to a proper pitching angle through the track assembly, so that the butt joint of the multiple sections of tracks is facilitated. Therefore, adopt the technical scheme of the utility model, just can effectual reduction orbital construction cost of track robot. Afterwards, carry main part slidable ground on the track through guide wheel mechanism, mainly undertake the weight of track robot through guide wheel mechanism, the rethread sets up direct and orbital bottom surface butt cooperation drive main part of drive wheel mechanism and moves on the track, the gravity load of track robot need not be born to drive wheel mechanism, consequently can reduce the influence of other factors to drive wheel mechanism, improve the motion precision that track robot removed, and then improve the effect of patrolling and examining of track robot.

In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be described in further detail with reference to the drawings.

Drawings

The accompanying drawings, which form a part of the specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without unduly limiting the scope of the invention. In the drawings:

fig. 1 shows a schematic overall structural view of an embodiment of a rail robot suitable for a cooling tower according to the present invention;

FIG. 2 shows a partial side view schematic of the orbital robot of FIG. 1 adapted for use in a cooling tower;

FIG. 3 shows a partial top view schematic of the orbital robot of FIG. 1 adapted for use in a cooling tower;

FIG. 4 shows a partial schematic of the orbital robot of FIG. 2 adapted for use in a cooling tower;

FIG. 5 shows a perspective view of the orbital robot of FIG. 2 adapted for use in the orbital robot of a cooling tower;

FIG. 6 shows a front view schematic of the orbital robot of FIG. 5;

FIG. 7 shows a side view schematic of the rail robot of FIG. 5;

FIG. 8 is a schematic view showing an installation structure of a guide wheel mechanism of the rail robot of FIG. 5;

fig. 9 is a schematic view showing an installation structure of a driving wheel mechanism of the rail robot of fig. 5.

Detailed Description

It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

In order to make the technical solution of the present invention better understood, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances for describing embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

Fig. 1, fig. 2 and fig. 3 show the schematic diagram of the cooling tower department of power plant, and cooling triangle c sets up in X type heel post B department, and X type heel post B inclines for ground, and the utility model discloses a track robot suitable for cooling tower installs on X type heel post B, can let track t and track robot be located between cooling triangle c and the X type heel post B to it patrols and examines to cool off triangle c to be convenient for the track robot.

Fig. 1, fig. 2 and fig. 3 show the embodiment of the track robot suitable for cooling tower of the utility model, this track robot suitable for cooling tower includes a plurality of track subassemblies and track robot, and a plurality of track subassemblies set gradually on X type heel post B, and a plurality of track subassemblies's track part 100 links up for track t is adjacent with cooling triangle c, and the movably installation of track robot is on track t. As shown in fig. 4, the rail assembly includes a column fixing frame 70, a pitch frame 80, a pitch angle adjusting bracket 90, and a rail member 100, the column fixing frame 70 is configured to be fixed to the X-shaped load-bearing column B, a first end of the pitch frame 80 is hinged to the column fixing frame 70, and the pitch frame 80 is rotatable about the first end of the pitch frame 80 to change a pitch angle of the pitch frame 80. The first end of the pitch angle adjusting bracket 90 is hinged to the column fixing frame 70, the pitch angle adjusting bracket 90 is movably inserted into the pitch frame 80, the pitch angle of the pitch frame 80 is adjusted by adjusting the connection length of the pitch angle adjusting bracket 90 with respect to the pitch frame 80, and the rail member 100 is installed on the pitch frame 80. As shown in fig. 5 and 9, the rail robot includes a main body 10, a guide wheel mechanism mounted on the main body 10 for slidably mounting the main body 10 on a rail t, and a driving wheel mechanism 40 mounted on the top of the main body 10 for driving the main body 10 to move on the rail t in abutment with the bottom surface of the rail t.

When the adjusting device is used, the column fixing frame 70 is fixed on the X-shaped load-bearing column B, and then the connection length of the pitch angle adjusting bracket 90 relative to the pitch frame 80 is adjusted, so as to adjust the pitch angle of the pitch angle adjusting bracket 90, and generally, the pitch angle adjusting bracket 90 is adjusted to be horizontal. Finally, the rail member 100 may be mounted on the pitch frame 80. The technical scheme of the utility model among, can borrow the X type heel post B of on-the-spot relative slope and arrange track t, use the X type heel post B on a plurality of scenes as the fulcrum just can build the track of accomplishing track robot. Moreover, whether the inclination angle of the X-shaped bearing column B is fixed or changed, the pitch frame 80 can be adjusted to a proper pitch angle by the track assembly, so that the multi-section track butt joint is facilitated. Therefore, adopt the technical scheme of the utility model, just can effectual reduction orbital construction cost of track robot. Afterwards, carry main part 10 slidable on track t through the guide wheel mechanism, mainly undertake the weight of track robot through the guide wheel mechanism, the rethread sets up the direct bottom surface butt cooperation drive main part 10 with track t of drive wheel mechanism 40 and moves on track t, drive wheel mechanism 40 need not bear the gravity load of track robot, consequently can reduce the influence of other factors to drive wheel mechanism 40, improve the motion accuracy that track robot removed, and then improve the effect of patrolling and examining of track robot.

As a preferred embodiment, as shown in fig. 8, in the present embodiment, the guide wheel mechanism includes a load bearing guide wheel mechanism 20 and a position restricting guide wheel mechanism 30. Wherein the loadbearing guide wheel mechanism 20 is installed on the top of the main body 10, and the limit guide wheel mechanism 30 is installed on the main body 10 and located at the lower side of the loadbearing guide wheel mechanism 20. The rotation shaft of the bearing guide wheel mechanism 20 is arranged along the horizontal direction and is used for being matched with the bearing surface of the track to mount the main body 10 on the track, and the rotation shaft of the limiting guide wheel mechanism 30 is arranged along the vertical direction and is used for being matched with the side surface of the track to limit the horizontal movement of the main body 10 relative to the track. In this way, the weight of the track robot is mainly borne by the load-bearing guide wheel mechanism 20, and the limit guide wheel mechanism 30 can perform a limit guide function for the movement of the track robot.

As a preferred embodiment, as shown in fig. 3 and 5, the limit guide wheel mechanisms 30 are provided in four groups, respectively, at four corners of the main body 10, and each group of the limit guide wheel mechanisms 30 includes two limit guide wheel mechanisms 30. The limiting guide wheel mechanism 30 can be effectively matched with the left side surface and the right side surface of the track, and plays a high-precision limiting guide role in moving the track robot. As another alternative embodiment, in order to achieve a certain limit guiding function, there are at least two limit guide wheel mechanisms 30, two limit guide wheel mechanisms 30 are disposed on the main body 10 at intervals, and the two limit guide wheel mechanisms 30 are respectively matched with the left and right side surfaces of the track.

As shown in fig. 5, four weight-bearing guide wheel mechanisms 20 are provided at four corners of the main body 10, respectively, as a preferred embodiment. The whole weight that bears the track robot that above-mentioned setting bearing guide wheel mechanism 20 can be more stable lets the removal of track robot more stable. As another alternative embodiment, in order to achieve a certain load-bearing effect, there are at least two load-bearing guide wheel mechanisms 20, two load-bearing guide wheel mechanisms 20 are arranged on the main body 10 at intervals, and the two load-bearing guide wheel mechanisms 20 are respectively matched with the left and right parts of the top of the track.

In the technical solution of the present embodiment, the main body 10 is provided with a roller mounting structure. As an alternative embodiment, as shown in fig. 8, the load-bearing guide wheel mechanism 20 includes a load-bearing wheel rotating shaft 21 and a load-bearing wheel 22, the load-bearing wheel rotating shaft 21 is rotatably installed on the roller installation structure along the horizontal direction, and the load-bearing wheel 22 is installed on the load-bearing wheel rotating shaft 21. Optionally, the limiting guide wheel mechanism 30 includes a limiting wheel guide post 31, an elastic element 32, a limiting wheel rotating shaft 33 and a limiting wheel 34, the limiting wheel guide post 31 is movably installed on the roller installation structure along the horizontal direction, the elastic element 32 is installed between the limiting wheel guide post 31 and the roller installation structure, the limiting wheel rotating shaft 33 is rotatably installed on the limiting wheel guide post 31 along the vertical direction, and the limiting wheel 34 is installed on the limiting wheel rotating shaft 33. When the spacing guide post is used, the elastic element 32 drives the spacing wheel guide post 31 to move towards the side face of the track, so that the spacing wheel 34 is attached to the side face of the track, and an effective spacing guide effect is achieved on the movement of the track robot. Preferably, the spacing guide wheel mechanism 30 further comprises a spacing bolt 35, and the spacing bolt 35 is mounted at the end of the spacing wheel guide post 31 to prevent the spacing wheel guide post 31 from falling off the roller mounting structure. Preferably, the elastic element 32 is a compression spring.

As shown in fig. 9, as a more preferred embodiment, the rail robot further includes a driving mount 50 and a pressure-adjusting mechanism 60, the driving wheel mechanism 40 is mounted on the driving mount 50, and a first end of the driving mount 50 is hinged to the main body 10. The pressure regulating mechanism 60 includes a telescoping member having a first end hingedly mounted to the body 10 and a second end hingedly mounted to the second end of the drive mounting member 50. When in use, the guide wheel mechanism 20 is used for slidably mounting the main body 10 on the track t, the driving wheel mechanism 40 is used for abutting against the track t to drive the main body 10 to move on the track t, and the telescopic movable piece drives the driving wheel mechanism 40 to compress or release the track t through extending or shortening the adjusting driving installation piece 50. The pretightening force generated by the adjusting driving installation piece 50 on the driving wheel mechanism 40 is extended or shortened through the telescopic moving piece of the driving wheel mechanism 40, so that the driving wheel mechanism 40 is effectively pressed against the track t, and the driving wheel mechanism 40 is matched with the track t to realize effective and high-precision movement. And when subsequent maintenance or overhaul is carried out, the telescopic movable part can be adjusted to be shortened, so that the driving wheel mechanism 40 and the track t are loosened.

As an alternative embodiment, as shown in fig. 9, the pressure regulating mechanism 60 further includes a base 61, the base 61 is fixedly installed on the main body 10, and the first end of the telescopic moving member is hinged on the base 61, so that the base 61 can provide a hinge point for the first end of the telescopic moving member more stably. In the technical solution of this embodiment, the telescopic moving member includes a telescopic rod 62 and a compression spring 63, a first end of the telescopic rod 62 is hinged to the base 61, a second end of the telescopic rod 62 is hinged to a second end of the driving mounting member 50, and the compression spring 63 is mounted on the telescopic rod 62 to drive the telescopic rod 62 to extend. In use, the compression spring 63 drives the telescopic rod 62 to extend, so that the driving mounting member 50 continuously generates pressing force on the driving wheel mechanism 40 to press the driving wheel mechanism 40 against the track t, thereby enabling the driving wheel mechanism 40 to cooperate with the track t to achieve effective and high-precision movement. More preferably, in the technical solution of the present embodiment, the telescopic movable member further includes a pressing adjustment member 64, and the pressing adjustment member 64 is installed on the telescopic rod 62. The operator can adjust the acting force of the compression spring 63 on the telescopic rod 62 by just doing the pressing adjusting piece 64, so that the acting force between the driving wheel mechanism 40 and the track t is within a reasonable range.

As other alternative embodiments, the telescopic movable part may also be an electric push rod, an electric cylinder or another movable cylinder to perform the adjusting function for the drive mounting part 50.

More preferably, in the technical solution of this embodiment, a first end of the telescopic rod 62 is hinged to the base 61 through a first rotating shaft bearing 65, a second end of the telescopic rod 62 is hinged to a second end of the driving installation component 50 through a second rotating shaft bearing 66, and the telescopic rod 62 can rotate more stably and smoothly through the first rotating shaft bearing 65 and the second rotating shaft bearing 66. Preferably, still be provided with joint bearing 67 between the second end of telescopic link 62 and the second pivot bearing 66, can provide higher rotation flexibility to telescopic link 62's second end through joint bearing 67, avoid telescopic link 62 to appear the card dead scheduling problem. Preferably, the first end of the driving mounting member 50 is hinged to the main body 10 through a third shaft bearing 51, so that the driving mounting member 50 can rotate more smoothly.

In the technical solution of this embodiment, the driving wheel mechanism 40 includes a motor 41, a transmission mechanism and a driving wheel 42, the motor 41 is in driving connection with the driving wheel 42 through the transmission mechanism, the driving wheel 42 abuts against the track t, and the main body 10 is driven to move on the track t through rotation. As an alternative embodiment, as shown in fig. 5, in the solution of the present embodiment, the transmission mechanism includes a speed reducer 43 and a pulley assembly 44, the speed reducer 43 is installed at the output end of the motor 41, and the pulley assembly 44 is installed between the speed reducer 43 and the driving wheel 42. Specifically, the pulley assembly 44 includes a first timing pulley 441, a second timing pulley 443, and a timing belt 352 connected between the first timing pulley 441 and the second timing pulley 443. In operation, the motor 41 outputs a suitable torque and rotation speed to the first synchronous pulley 441 through the speed reducer 43, the first synchronous pulley 441 drives the second synchronous pulley 443 to rotate through the synchronous belt 442, and the second synchronous pulley 443 drives the driving wheel 42 to run through concentric rotation. As other alternative embodiments, the transmission mechanism may also be implemented by a gear set or other transmission components.

As shown in fig. 9, in the present embodiment, a drive case is provided in the main body 10, and the drive wheel mechanism 40, the drive mount 50, and the pressure regulating mechanism 60 are mounted in the drive case.

The technical scheme of the utility model among, the track robot that is applicable to the cooling tower still includes a plurality of RFID labels and track robot, and a plurality of RFID labels set up respectively in the bottom of track t. As shown in fig. 5, the top of the body 10 of the rail robot is also provided with a tag reader 11. In the process of the track robot running on the track t, the tag reader 11 reads the physical address number of the track fixed-point installation by reading the RFID tag arranged at the bottom of the track, and then the track robot can judge the position of the track where the robot is located. The RFID tag is arranged at the bottom of the track t, so that the influence of environmental factors on the service life of the RFID tag can be avoided. Correspondingly, the track robot is suspended at the bottom of the track t by adopting a fully suspended structure, so that the tag reader 11 directly corresponds to the RFID tag at the bottom of the track t, and the reading effect of the RFID tag is improved.

Optionally, in the technical solution of this embodiment, the track robot further includes a pan-tilt camera 12, the pan-tilt camera 12 is rotatably installed at the bottom of the main body 10, and the monitoring of the application place can be realized through the pan-tilt camera 12. Preferably, in the technical solution of the present embodiment, the pan/tilt camera 12 is a binocular pan/tilt camera 12, the binocular pan/tilt camera 12 carries an infrared detection lens and a visible light detection lens, the infrared detection lens can detect the temperature, and the visible light detection lens can detect the conventional image. Preferably, as shown in fig. 1, in the technical solution of the present embodiment, the track robot further includes an illumination lamp 13 and a laser obstacle avoidance navigator 14, and the illumination lamp 13 and the laser obstacle avoidance navigator 14 are installed at the front end of the main body 10. The laser obstacle avoidance navigator 14 can detect whether the front end of the robot route has obstacles or not, so that the robot is prevented from colliding with the obstacles, and the illuminating lamp 13 can improve the environment brightness and meet some brightness requirements in the advancing process of the robot.

As shown in fig. 6 and 7, in the present embodiment, the track robot further includes a temperature and humidity sensor 15 and an audible and visual alarm 16, and the temperature and humidity sensor 15 and the audible and visual alarm 16 are mounted on the main body 10. When using, can detect environmental condition through temperature and humidity sensor 15, can be to site environment real-time supervision on the one hand, on the other hand also can avoid the track robot to be in too abominable environment. If the robot finds abnormal conditions, the sound-light alarm 16 can give out sound-light alarm to remind workers to pay attention. Preferably, in the embodiment, the track robot further includes an automatic charging port 171 and a manual charging port 172, and the automatic charging port 171 and the manual charging port 172 are respectively provided on the main body 10. Thus, the worker can select the automatic charging port 171 or the manual charging port 172 to charge the power supply in the main body 10 as needed.

Optionally, as shown in fig. 7, in the technical solution of this embodiment, the track robot further includes a debugging network port 18, an emergency stop switch 191 and a start switch 192, and the debugging network port 18, the emergency stop switch 191 and the start switch 192 are respectively disposed on the main body 10. The emergency stop switch 191 is an emergency stop robot operation button, and the start switch 192 normally starts and stops the robot switch.

The utility model discloses a track robot suitable for cooling tower is when using, through 40 servo drives of driving wheel mechanism, carry out accurate control to track robot position, track robot walks to the cooling triangle c position department that corresponds required detection, track robot stops to go forward, two mesh cloud platform cameras 12 wind Z axle rotating lens, carry out horizontal rotation and detect cooling triangle c's cooling tube bank, two mesh cloud platform cameras 12 wind X axle rotating lens, carry out the rotatory cooling tube bank that detects cooling triangle c of every single move, the detection of two directions has increased and has detected the coverage. Meanwhile, the infrared detection lens and the visible light detection lens carried by the binocular head camera 12 can simultaneously detect the real-time temperature of the cooling tube bundle of the cooling triangle c and detect whether the cooling tube bundle of the cooling triangle c has leaked cooling water caused by low-temperature frost cracking of the cooling tube.

As a more preferred embodiment, as shown in fig. 2 and 4, the rail assembly further includes a roll angle adjusting frame 110, the roll angle adjusting frame 110 being rotatably mounted on the pitch frame 80, and the rail member 100 being mounted on the roll angle adjusting frame 110. In use, the track member 100 may adjust the roll angle of the track member 100 via the roll angle adjustment frame 110, increasing flexibility for adjustment of the track member 100. Optionally, in the technical solution of the present embodiment, the roll angle adjusting frame 110 includes a frame body 111 and a roll shaft 112, and the frame body 111 is mounted on the pitch frame 80 through the roll shaft 112 in an angle adjustable manner.

As shown in fig. 4, in the solution of the present embodiment, optionally, a sleeve 81 is disposed on the pitch frame 80, and the roll shaft 112 is rotatably mounted in the sleeve 81. When the fixing is needed, the rolling shaft 112 can be fixed on the sleeve 81 through a fastener or a detachable clamping structure, and the sliding in the subsequent use process is avoided. More preferably, the rolling shaft 112 is extendable or retractable with respect to the sleeve 81, so that the distance of the rail member 100 with respect to the column fixing frame 70 can be adjusted, further increasing flexibility with respect to the positional and attitude change of the rail member 100.

As an alternative embodiment, a bearing feature may be provided on the pitch frame 80 with the roll shaft 112 rotatably mounted within the bearing feature. Further, it is also possible to eliminate the function of extending or retracting the roll shaft 112.

As shown in fig. 4, in the technical solution of this embodiment, the pitch frame 80 is provided with a movable slot 83, the second end of the pitch angle adjusting bracket 90 passes through the movable slot 83, the pitch angle adjusting bracket 90 is movable in the movable slot 83, and the pitch angle adjusting bracket 90 is fixed on the movable slot 83 by a fastener. Preferably, in the technical solution of this embodiment, the fastening member includes a first nut and a second nut, the first nut and the second nut are disposed on the pitch angle adjusting bracket 90 in a penetrating manner, and the first nut and the second nut are respectively located at upper and lower sides of the movable groove 83. In use, after the pitch angle of the pitch angle adjusting bracket 90 is changed, the pitch angle adjusting bracket 90 is fixed to the movable groove 83 by the first nut and the second nut.

As another alternative, a fisheye bearing may be used instead of the movable slot 83, and the second end of the pitch angle adjusting bracket 90 may pass through the fisheye bearing.

Alternatively, as shown in fig. 4, the first end of the pitch frame 80 is hinged to the column fixing frame 70 through the pitch shaft 82. As an alternative embodiment, it is also possible to use a plurality of concentric hinge points instead of the pitch axis 82.

As shown in fig. 4, in the technical solution of this embodiment, the column fixing frame 70 includes a first frame body 71, a second frame body 72 and a connecting frame body 73, the first frame body 71 and the second frame body 72 are respectively located at two opposite sides of the X-shaped load-bearing column B, the connecting frame body 73 connects and fixes the first frame body 71 and the second frame body 72 to the X-shaped load-bearing column B, and the pitch frame 80 is installed on the first frame body 71. More preferably, the first frame body 71 and/or the second frame body 72 may be fixed to the X-shaped load-bearing column B by screws 74 in order to prevent the column fixing frame 70 from slipping on the X-shaped load-bearing column B.

As other alternative embodiments, the column fixing frame 70 may also be fixed to the X-shaped load-bearing column B by using other hoop structures.

It is required to explain, adopt the technical scheme of the utility model, each section of track mounting's flexibility has greatly been improved for each section orbital gesture can more nimble adjustment, thereby is convenient for whole track butt joint relevance. And adopt the technical scheme of the utility model, can require lowerly to X type heel post B's on-the-spot shape or gesture, as long as X type heel post B can be installed to cylinder fixed frame 70, just can carry out nimble position transform to the gesture of track section through track subassembly's self structure, very big reduction the orbital construction cost of track robot.

Unless specifically stated otherwise, the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the orientation words such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, and in the case of not making a contrary explanation, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be interpreted as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. An orbital robot suitable for use in a cooling tower, comprising:

a plurality of track assemblies, the track assemblies comprising:

the column body fixing frame (70) is used for fixing on the X-shaped bearing column (B);

a pitch frame (80), a first end of the pitch frame (80) being hinged to the column fixing frame (70), the pitch frame (80) being rotatable about the first end of the pitch frame (80) to change a pitch angle of the pitch frame (80);

a pitch angle adjusting bracket (90), wherein a first end of the pitch angle adjusting bracket (90) is hinged on the column fixing frame (70), the pitch angle adjusting bracket (90) is movably arranged on the pitch frame (80) in a penetrating way, and the pitch angle of the pitch frame (80) is adjusted by adjusting the connecting length of the pitch angle adjusting bracket (90) relative to the pitch frame (80);

a rail member (100) mounted on the pitch frame (80);

the plurality of track assemblies are sequentially arranged on the X-shaped bearing column (B), and track parts (100) of the plurality of track assemblies are connected to form a track (t) adjacent to a cooling triangle (c);

a track robot movably mounted on a track (t), the track robot comprising:

a main body (10);

a guide wheel mechanism mounted on the main body (10) for slidably mounting the main body (10) on a rail (t);

and the driving wheel mechanism (40) is arranged at the top of the main body (10) and is used for being abutted and matched with the bottom surface of the track (t) to drive the main body (10) to move on the track (t).

2. The orbital robot suitable for a cooling tower of claim 1, wherein the guide wheel mechanism comprises:

the bearing guide wheel mechanism (20) is installed on the top of the main body (10), and a rotating shaft of the bearing guide wheel mechanism (20) is arranged along the horizontal direction and is used for being matched with a bearing surface of the track (t) to mount the main body (10) on the track (t);

and the limiting guide wheel mechanism (30) is installed on the main body (10) and is positioned on the lower side of the bearing guide wheel mechanism (20), and a rotating shaft of the limiting guide wheel mechanism (30) is arranged along the vertical direction and is used for being matched with the side surface of the track (t) so as to limit the horizontal movement of the main body (10) relative to the track (t).

3. The orbital robot suitable for use in a cooling tower of claim 1, further comprising:

a drive mount (50), a first end of the drive mount (50) being hinged to the main body (10), the drive wheel mechanism (40) being mounted on the drive mount (50);

pressure regulating mechanism (60), including flexible moving part, the first end of flexible moving part is articulated to be installed on main part (10), the second end of flexible moving part with the second end of drive installed part (50) is articulated, flexible moving part is through extension or shorten the regulation drive installed part (50) drive wheel mechanism (40) with track (t) compresses tightly or relaxs.

4. The orbital robot suitable for the cooling tower of claim 3, wherein the pressure regulating mechanism (60) further comprises a base (61), the base (61) is fixedly mounted on the main body (10), a first end of the telescopic moving member is hingedly mounted on the base (61), the telescopic moving member comprises a telescopic rod (62) and a compression spring (63), a first end of the telescopic rod (62) is hinged to the base (61), a second end of the telescopic rod (62) is hinged to a second end of the driving mounting member (50), and the compression spring (63) is mounted on the telescopic rod (62) to drive the telescopic rod (62) to extend.

5. The orbital robot suitable for a cooling tower of claim 4, characterized in that the telescopic movable member further comprises a pressing adjustment member (64), the pressing adjustment member (64) being mounted on the telescopic rod (62) for adjusting the force of the compression spring (63) against the telescopic rod (62).

6. The orbital robot for a cooling tower of claim 1, further comprising a roll angle adjustment frame (110), wherein the roll angle adjustment frame (110) is rotatably mounted on the pitch frame (80), and wherein the orbital component (100) is mounted on the roll angle adjustment frame (110).

7. The orbital robot adapted for use in a cooling tower of claim 6, wherein the roll angle adjustment frame (110) includes a frame body (111) and a roll axis (112), the frame body (111) being angularly adjustably mounted on the pitch frame (80) by the roll axis (112).

8. The orbital robot for a cooling tower of claim 7, wherein the pitch frame (80) is provided with a sleeve (81), and the roll shaft (112) is rotatably mounted in the sleeve (81).

9. The orbital robot adapted to a cooling tower of claim 8, wherein the roll axis (112) is extendable or retractable with respect to the sleeve (81).

10. The orbital robot suitable for the cooling tower of claim 1, wherein the column fixing frame (70) comprises a first frame body (71), a second frame body (72) and a connecting frame body (73), the first frame body (71) and the second frame body (72) are respectively positioned on two opposite sides of the X-shaped bearing column (B), the connecting frame body (73) connects and fixes the first frame body (71) and the second frame body (72) on the X-shaped bearing column (B), and the pitching frame (80) is installed on the first frame body (71).

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