CN221293532U - Climbing device of inspection robot - Google Patents

Climbing device of inspection robot Download PDF

Info

Publication number
CN221293532U
CN221293532U CN202323342973.7U CN202323342973U CN221293532U CN 221293532 U CN221293532 U CN 221293532U CN 202323342973 U CN202323342973 U CN 202323342973U CN 221293532 U CN221293532 U CN 221293532U
Authority
CN
China
Prior art keywords
track
inspection robot
braking
assembly
brake
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202323342973.7U
Other languages
Chinese (zh)
Inventor
徐树
韩佳安
李国浦
袁野
魏琨雨
陈录
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guoneng Inner Mongolia Hulunbeier Power Generation Co ltd
Huaxia Tianxin Beijing Robot Co ltd
National Energy Group Inner Mongolia Electric Power Co ltd
Original Assignee
Guoneng Inner Mongolia Hulunbeier Power Generation Co ltd
Huaxia Tianxin Beijing Robot Co ltd
National Energy Group Inner Mongolia Electric Power Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guoneng Inner Mongolia Hulunbeier Power Generation Co ltd, Huaxia Tianxin Beijing Robot Co ltd, National Energy Group Inner Mongolia Electric Power Co ltd filed Critical Guoneng Inner Mongolia Hulunbeier Power Generation Co ltd
Priority to CN202323342973.7U priority Critical patent/CN221293532U/en
Application granted granted Critical
Publication of CN221293532U publication Critical patent/CN221293532U/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Landscapes

  • Braking Arrangements (AREA)

Abstract

The invention relates to a climbing device of a patrol robot, which comprises a track mechanism, a driving mechanism and a braking mechanism, wherein the track mechanism comprises a horizontal track and an inclined track which are connected with each other; the driving mechanism comprises a mounting frame for mounting the inspection robot and a travelling wheel assembly rotatably mounted on the mounting frame and capable of moving along a horizontal track and an inclined track of the track mechanism; the braking mechanism comprises a triggering component and a braking component which are connected with the travelling wheel component, wherein the braking component is provided with a braking position capable of being abutted against the track mechanism and a non-braking position far away from the track mechanism; the trigger assembly is configured to control the brake assembly to be switched from a non-braking position to a braking position when the rotating speed of the travelling wheel assembly exceeds a preset value so as to brake the driving mechanism, and the climbing device of the inspection robot can brake the inspection robot to be capable of stably parking when the inspection robot slides on the track.

Description

Climbing device of inspection robot
Technical Field
The disclosure relates to the technical field of inspection robots, in particular to a climbing device of an inspection robot.
Background
In the related art, a mining rail-hanging inspection robot generally walks underground in a coal mine along rails such as I-steel or H-shaped steel rails in a hanging manner, in the walking process of the inspection robot, coal slime dust and water vapor in the underground coal mine are easy to adhere to the surface of the rails, so that friction factors on the surface of the rails are easy to reduce, the inspection robot can generate potential safety hazards such as slipping or sliding in the moving process of the surface of the rails, if a braking effect is poor, the underground coal mine inspection robot possibly damages underground personnel, and therefore, the inspection robot is ensured to stably park under the condition of sliding.
Disclosure of utility model
The purpose of this disclosure is to provide a climbing device of inspection robot, and this climbing device of inspection robot can be when the condition of rolling down takes place for inspection robot on the track, brake in order to be able steadily park to inspection robot to at least partially solve above-mentioned technical problem.
To achieve the above object, the present disclosure provides a climbing device of a patrol robot, including: the track mechanism comprises a horizontal track and an inclined track which are connected with each other; the driving mechanism comprises a mounting frame for mounting the inspection robot and a travelling wheel assembly rotatably mounted on the mounting frame and capable of moving along a horizontal track and an inclined track of the track mechanism; and a brake mechanism comprising a trigger assembly and a brake assembly connected to the travelling wheel assembly, the brake assembly having a braking position capable of abutting the track mechanism and a non-braking position remote from the track mechanism; the trigger assembly is configured to control the brake assembly to switch from the non-braking position to the braking position to brake the drive mechanism when the rotational speed of the travelling wheel assembly exceeds a preset value.
Optionally, the trigger assembly includes: the rotating disc is coaxially connected with the travelling wheel assembly; the first braking piece is connected to the rotating disc, and is provided with a storage position and an extension position, the first braking piece is located in the rotating disc in the storage position, and one end of the first braking piece extends out of the rotating disc and can drive the braking assembly to be switched from the non-braking position to the braking position in the extension position.
Optionally, the first braking member includes: the mounting groove is positioned in the rotating disc; the piston is movably connected with the mounting groove and can extend out or be stored in the rotating disc under the limit of the mounting groove; and the elastic locking piece is positioned in the mounting groove and is used for locking the piston when the piston is positioned in the rotating disc.
Optionally, the elastic locking piece comprises a spring with one end connected to the inner wall of the mounting groove, and a wedge block connected to the spring, wherein the wedge block is used for being operably abutted against the side wall of the piston.
Optionally, the brake assembly includes: the number of the supporting frames is two, the supporting frames are respectively arranged on two opposite sides of the track mechanism through the hinge mechanism, one end, away from the hinge mechanism, of each supporting frame is provided with a brake pad which is in operable butt joint with the track mechanism, the two supporting frames are respectively provided with a sliding groove, and at least one supporting frame is provided with a through hole at one end of each sliding groove; the two ends of the supporting rod are respectively abutted to the sliding groove and can move along the extending direction of the sliding groove, and the supporting rod can pass through the through hole after moving to the position of the through hole; and the two ends of the elastic piece are respectively connected to the surfaces of the two supporting frames and are used for providing force for the brake pads on the supporting frames towards the track mechanism after the supporting rods pass through the through holes.
Optionally, the travelling wheel assembly includes being located the action wheel and the follow driving wheel of track mechanism same side, the mounting bracket is connected with and is located the pinch roller of track mechanism opposite side, when travelling wheel assembly moves along track mechanism, action wheel, follow the follow driving wheel and the pinch roller compress tightly in track mechanism jointly.
Optionally, the trigger assembly is connected to either the driving wheel or the driven wheel.
Optionally, the track mechanism further comprises a cushion layer, wherein the cushion layer is attached to the inclined track, and the cushion layer is located between the pressing wheel and the inclined track.
Optionally, the track mechanism further includes a transition layer, wherein the transition layer is attached to the horizontal track and is located between the horizontal track and the pinch roller, and the thickness of the transition layer gradually increases along a direction approaching to the inclined track.
Optionally, the transition layer is connected with the cushion layer, and the maximum thickness of the transition layer is equal to that of the cushion layer.
Through above-mentioned technical scheme, the climbing device of inspection robot that this disclosure provided promptly, when walking wheel subassembly upwards climbs the slope along the slope track, if the power is not enough and have the condition of swift current to take place, walking wheel subassembly can slide from high to low rapidly from the slope track, walking wheel subassembly's self rotational speed can accelerate this moment, and after walking wheel subassembly's self rotational speed accelerates, connect in walking wheel subassembly trigger assembly can switch the braking subassembly to the braking position by non-braking position, and then can brake the walking wheel subassembly in the actuating mechanism, and then can reach the effect of braking, can prevent to patrol inspection robot and further produce the danger of swift current, can carry out steady parking to inspection robot.
Additional features and advantages of the present disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification, illustrate the disclosure and together with the description serve to explain, but do not limit the disclosure. In the drawings:
Fig. 1 is a schematic structural view of a climbing device of a inspection robot provided in an exemplary embodiment of the present disclosure;
fig. 2 is a schematic view of a structure (without a robot body) of the inspection robot provided in an exemplary embodiment of the present disclosure during normal movement of a climbing device of the inspection robot;
Fig. 3 is a schematic structural view of a braking state of a climbing device of the inspection robot (without waiting for a robot body) provided in an exemplary embodiment of the present disclosure;
Fig. 4 is a schematic view of a side part structure of a climbing device of the inspection robot provided in an exemplary embodiment of the present disclosure;
FIG. 5 is a schematic view of the internal structure of the brake mechanism provided in an exemplary embodiment of the present disclosure in a non-braking position;
FIG. 6 is a schematic view of the internal structure of the brake mechanism provided in an exemplary embodiment of the present disclosure when switching from a non-braking position to a braking position;
fig. 7 is a schematic view of an internal structure of a brake mechanism provided in an exemplary embodiment of the present disclosure in a braking position.
Description of the reference numerals
1-A track mechanism; 110-horizontal track; 120-tilting the track; 130-a cushion layer; 140-a transition layer; 2-a driving mechanism; 210-mounting rack; 220-a travelling wheel assembly; 221-a driving wheel; 222-driven wheel; 223-a pinch roller; 3-a braking mechanism; 310-triggering a component; 311-rotating a disc; 312-a first brake; 3121-mounting slots; 3122-pistons; 3123-resilient latches; 3123A-springs; 3123B-wedge; 320-a brake assembly; 321-supporting frames; 321A-brake pad; 321B-a chute; 321C-a via; 322-supporting rods; 323-an elastic member; 4-hinge mechanism.
Detailed Description
Specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the disclosure, are not intended to limit the disclosure.
In the present disclosure, unless otherwise stated, terms such as "up, down, left, right" and "orientation" are generally used to refer to up, down, left, right in fig. 1 to 7, the directions of the drawing plane with reference to the designated drawing figures, "inside, outside" refer to inside, outside with respect to the outline of the component or the structure itself, "first, second", etc. are used to distinguish one element from another without order or importance, and moreover, the same reference numerals in different reference figures denote the same elements.
In the related art, a mining rail-hanging inspection robot generally walks underground in a coal mine along rails such as I-steel or H-shaped steel rails in a hanging manner, in the walking process of the inspection robot, coal slime dust and water vapor in the underground coal mine are easy to adhere to the surface of the rails, so that friction factors on the surface of the rails are easy to reduce, the inspection robot can generate potential safety hazards such as slipping or sliding in the moving process of the surface of the rails, if a braking effect is poor, the underground coal mine inspection robot possibly damages underground personnel, and therefore, the inspection robot is ensured to stably park under the condition of sliding.
Based on the above technical problems, the present disclosure provides a climbing device of a patrol robot, as shown in fig. 1 to 7, the climbing device of the patrol robot includes a track mechanism 1, a driving mechanism 2, and a braking mechanism 3, the track mechanism 1 includes a horizontal track 110 and an inclined track 120 that are connected to each other; the driving mechanism 2 includes a mounting frame 210 for mounting the inspection robot and a traveling wheel assembly 220 rotatably mounted on the mounting frame 210 and capable of moving along the horizontal rail 110 and the inclined rail 120 of the rail mechanism 1; the brake mechanism 3 comprises a trigger assembly 310 and a brake assembly 320 connected to the travelling wheel assembly 220, the brake assembly 320 having a braking position capable of abutting against the track mechanism 1 and a non-braking position remote from the track mechanism 1; the trigger assembly 310 is configured to control the brake assembly 320 to switch from the non-braking position to the braking position to brake the drive mechanism 2 when the rotational speed of the road wheel assembly 220 exceeds a preset value.
Through the above technical scheme, namely, the climbing device of inspection robot that this disclosure provided, when walking wheel subassembly 220 climbs upward along inclined track 120, if the power is not enough and have the condition of swift current to take place, walking wheel subassembly 220 can slide from high to low rapidly from inclined track 120, walking wheel subassembly 220's self rotational speed can accelerate this moment, and after walking wheel subassembly 220's self rotational speed accelerates, trigger subassembly 310 that is connected in walking wheel subassembly 220 can switch brake subassembly 320 to the braking position by non-braking position, and then can brake walking wheel subassembly 220 in actuating mechanism 2, and then can reach the effect of brake, can prevent that the inspection robot from further producing the danger of swift current, can carry out steady parking to inspection robot.
In some embodiments, referring to fig. 1-7, trigger assembly 310 includes a rotating disc 311 and a first actuator 312, rotating disc 311 being coaxially coupled to travelling wheel assembly 220; the first braking member 312 is connected to the rotating disc 311, and the first braking member 312 has a storage position in which the first braking member 312 is located in the rotating disc 311, and an extended position in which one end of the first braking member 312 extends out of the rotating disc 311 and is capable of driving the braking assembly 320 to switch from the non-braking position to the braking position. In this way, the rotating disc 311 is coaxially connected with the travelling wheel assembly 220, that is, when the travelling wheel assembly 220 rotates, the angular velocity of the rotating disc 311 is the same as that of the travelling wheel assembly 220, when the travelling wheel assembly 220 exceeds a preset rotating speed, the angular velocity of the rotating disc 311 is increased, at this time, the angular velocity of the rotating disc 311 is also increased, at this time, the first braking member 312 can extend from the storage position in the rotating disc 311, after being switched to the extending position, the first braking member 312 extends from the rotating disc 311, at this time, the first braking member 312 can drive the braking assembly 320 to be switched from the non-braking position to the braking position along with the rotation of the rotating disc 311, and thus, the inspection robot can be braked.
In some embodiments, referring to fig. 5-7, first actuation member 312 includes a mounting groove 3121, a piston 3122, and a resilient locking member 3123, mounting groove 3121 being located within rotating disk 311; the piston 3122 is movably connected to the mounting groove 3121 and can extend out or be stored in the rotating disc 311 under the limit of the mounting groove 3121; a resilient locking member 3123 is positioned within mounting groove 3121, resilient locking member 3123 being used to lock piston 3122 when piston 3122 is within rotating disk 311. In this way, when the first actuating member 312 is at the storage position, the piston 3122 is integrally located inside the mounting groove 3121, and at this time, the elastic locking member 3123 also locks the piston 3122 in the mounting groove 3121, so that the stability of the piston 3122 in the mounting groove 3121 can be further improved, and thus, even when the rotating disc 311 rotates at a low speed, the piston 3122 is not thrown out from the inside of the mounting groove 3121 under the centrifugal effect of the rotating disc 311, so as to ensure that the inspection robot can walk normally along the track.
In some embodiments, referring to fig. 5-7, resilient locking member 3123 includes a spring 3123A having one end connected to the inner wall of mounting groove 3121, and a wedge 3123B connected to spring 3123A, wedge 3123B for operable abutment against the side wall of piston 3122. In this way, the spring 3123A may provide a force towards the sidewall of the piston 3122 for the wedge 3123B, so that the wedge 3123B may be more stably abutted against the piston 3122, that is, referring to fig. 5, when in the storage position, the piston 3122 is located inside the mounting groove 3121, the spring 3123A may provide an elastic force for the wedge 3123B, one end of the wedge 3123B may abut against the sidewall of the piston 3122, so as to limit the piston 3122, and when the rotation speed of the rotating disc 311 increases, the piston 3122 may gradually be thrown outwards under the centrifugal effect, at this time, the spring 3123A and the wedge 3123B may not be capable of limiting and locking the piston 3122, and the piston 3122 may be thrown out from the inside of the mounting groove 3121 to be switched to the extended position, so as to prepare for the next braking.
In some embodiments, referring to fig. 1 to 7, the brake assembly 320 includes two support frames 321, support rods 322 and elastic members 323, the number of the support frames 321 is two and the support frames are respectively arranged on two opposite sides of the track mechanism 1 through the hinge mechanism 4, one end of the support frame 321 away from the hinge mechanism 4 is provided with a brake block 321A which is operably abutted to the track mechanism 1, both support frames 321 are provided with a sliding groove 321B, and at least one support frame 321 is provided with a through hole 321C at one end of the sliding groove 321B; both ends of the supporting rod 322 are respectively abutted against the sliding groove 321B and can move along the extending direction of the sliding groove 321B, and the supporting rod 322 can pass through the through hole 321C after moving to the position of the through hole 321C; the two ends of the elastic member 323 are respectively connected to the surfaces of the two supporting frames 321, and are used for providing a force to the brake pad 321A on the supporting frame 321 towards the track mechanism 1 after the supporting rod 322 passes through the through hole 321C. In this way, when the brake assembly 320 is at the non-braking position, two ends of the support rod 322 can be respectively abutted in the sliding grooves 321B on the surfaces of the two support frames 321 (i.e. the effect shown in fig. 2), when the rotation speed of the rotating disc 311 is increased and the piston 3122 slides out from the inside of the mounting groove 3121 (i.e. the effect shown in fig. 6), the piston 3122 can rotate along with the rotating disc 311, a side wall surface of the piston 3122 can also tap or push the surface of the support rod 322, and then can drive the support rod 322 to move along the extending direction of the sliding grooves 321B, when the support rod 322 moves to the position of the through hole 321C (i.e. the effect shown in fig. 7), the two support frames 321 can be mutually close under the action of the elastic element 323, at this time, one end of the support rod 322 can pass through the through hole 321C, and the brake blocks 321A on the two support frames 321 can be mutually close to be abutted on the surface of the track mechanism 1 (i.e. the effect shown in fig. 3), at this time, the brake blocks 321A can mutually rub with the track mechanism 1 to play the friction braking effect.
It should be noted that, in the above embodiment, the through hole 321C is formed in one of the supporting frames 321, but the disclosure is not limited to this embodiment, the through holes 321C may be formed in the sliding grooves 321B of both supporting frames 321, so that after the supporting rod 322 moves to the position of the through hole 321C, both ends of the supporting rod 322 may respectively pass through the through holes 321C, which may also achieve the same effect as in the above embodiment, and may allow the two brake pads 321A to approach each other more quickly, so that the braking effect may be better.
For example, in other embodiments, the trigger assembly may further include a sensor capable of monitoring the rotational speed of the travelling wheel assembly 220 and a controller electrically connected to the sensor, the brake assembly 320 may further include a clasping clamp electrically connected to the controller, when the rotational speed of the travelling wheel assembly 220 increases due to the rolling, the sensor may monitor the current rotational speed of the travelling wheel assembly 220 and may transmit a signal of increasing rotational speed to the controller, and after receiving the signal of increasing rotational speed, the controller may make a corresponding instruction, and at this time, the controller may control the clasping clamp to clasp the track mechanism 1, and through friction between the clasping clamp and the track mechanism 1, the braking effect may also be achieved.
In some embodiments, referring to fig. 4, the traveling wheel assembly 220 includes a driving wheel 221 and a driven wheel 222 on the same side of the track mechanism 1, the mounting frame 210 is connected to a pressing wheel 223 on the other side of the track mechanism 1, and the driving wheel 221, the driven wheel 222, and the pressing wheel 223 are pressed against the track mechanism 1 together when the traveling wheel assembly 220 moves along the track mechanism 1. In this way, when the travelling wheel assembly 220 moves along the track mechanism 1, the track mechanism 1 is compressed by the driving wheel 221, the driven wheel 222 and the compression wheel 223 at the same time, so that the stability of the climbing device of the inspection robot in the process of moving along the track can be improved, in addition, the triggering assembly 310 can be connected to any one of the driving wheel 221 and the driven wheel 222, and when the rotation speed of the driving wheel 221 or the driven wheel 222 exceeds a preset value, the triggering assembly 310 can control the braking assembly 320 to switch from the non-braking position to the braking position, and further can brake the driving mechanism 2.
In some embodiments, referring to fig. 4, track mechanism 1 further includes a shim 130, shim 130 being attached to inclined track 120, shim 130 being positioned between pinch wheel 223 and inclined track 120. In this way, when the climbing device of the inspection robot climbs on the inclined rail 120, the driving wheel 221 and the driven wheel 222 can be lapped on the upper surface of the inclined rail 120, and the compression wheel 223 can be abutted against the surface of the cushion layer 130, so that when the climbing device of the inspection robot climbs along the inclined rail 120, larger friction force can be provided between each wheel and the inclined rail 120, and thus, the phenomenon of sliding can be further prevented.
In some embodiments, referring to fig. 4, the track mechanism 1 further includes a transition layer 140, where the transition layer 140 is attached to the horizontal track 110 and is located between the horizontal track 110 and the pinch roller 223, and the thickness of the transition layer 140 gradually increases in a direction approaching the inclined track 120. In this way, the transition layer 140 can enable the climbing device of the inspection robot to more smoothly transition in the process of moving from the horizontal track 110 to the inclined track 120, so that the climbing device of the inspection robot is prevented from generating jolt vibration, and further, the transition layer 140 and the cushion layer 130 can be mutually connected, and the maximum thickness of the transition layer 140 can be equal to the thickness of the cushion layer 130, so that the stability of the inspection robot when moving from the horizontal track 110 to the inclined track 120 can be further improved.
The present disclosure exemplarily describes a working process of a climbing device of the inspection robot, and may include the following steps:
When the climbing device of the inspection robot moves along the horizontal rail 110, the driving wheel 221 and the driven wheel 222 move along the extending direction of the horizontal rail 110, when the climbing device of the inspection robot moves from the horizontal rail 110 to the inclined rail 120, the pressing wheel 223 is tightly attached to the lower surface of the cushion layer 130, and can further climb along the inclined rail 120, when the climbing device of the inspection robot is insufficient to generate a sliding condition, the rotating disc 311 is coaxially connected with the driving wheel 221 or the driven wheel 222 in the travelling wheel assembly 220, when the rotating speed of the driving wheel 221 and the driven wheel 222 increases, the rotating speed of the rotating disc 311 correspondingly increases, at the moment, the first actuating member 312 extends from the storage position under the centrifugal action of the rotating disc 311, and after the first actuating member is switched to the extending position, the first actuating element 312 extends out of the rotating disc 311, at this time, the piston 3122 is thrown out from the mounting groove 3121, along with the rotation of the rotating disc 311, a side wall surface of the piston 3122 also can strike or push the surface of the supporting rod 322, and then can drive the supporting rod 322 to move along the extending direction of the sliding groove 321B, when the supporting rod 322 moves to the position of the through hole 321C (i.e. the effect shown in fig. 7), the two supporting frames 321 are close to each other under the action of the elastic element 323, at this time, one end of the supporting rod 322 can pass through the through hole 321C, the brake pads 321A on the two supporting frames 321 are also close to each other, and then are abutted against the surface of the track mechanism 1 (i.e. the effect shown in fig. 3), at this time, the brake pads 321A can rub against the track mechanism 1 to play the role of friction braking. Finally, the inspection robot generating the sliding condition can be braked.
The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details of the embodiments described above, and various simple modifications may be made to the technical solutions of the present disclosure within the scope of the technical concept of the present disclosure, and all the simple modifications belong to the protection scope of the present disclosure.
In addition, the specific features described in the foregoing embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, the present disclosure does not further describe various possible combinations.
Moreover, any combination between the various embodiments of the present disclosure is possible as long as it does not depart from the spirit of the present disclosure, which should also be construed as the disclosure of the present disclosure.

Claims (10)

1. Climbing device of inspection robot, its characterized in that includes:
The track mechanism comprises a horizontal track and an inclined track which are connected with each other;
The driving mechanism comprises a mounting frame for mounting the inspection robot and a travelling wheel assembly rotatably mounted on the mounting frame and capable of moving along a horizontal track and an inclined track of the track mechanism; and
A brake mechanism comprising a trigger assembly and a brake assembly connected to the travelling wheel assembly, the brake assembly having a braking position capable of abutting the track mechanism and a non-braking position remote from the track mechanism;
The trigger assembly is configured to control the brake assembly to switch from the non-braking position to the braking position to brake the drive mechanism when the rotational speed of the travelling wheel assembly exceeds a preset value.
2. The climbing device of the inspection robot according to claim 1, wherein the trigger assembly comprises:
the rotating disc is coaxially connected with the travelling wheel assembly;
The first braking piece is connected to the rotating disc, and is provided with a storage position and an extension position, the first braking piece is located in the rotating disc in the storage position, and one end of the first braking piece extends out of the rotating disc and can drive the braking assembly to be switched from the non-braking position to the braking position in the extension position.
3. The climbing device of the inspection robot according to claim 2, wherein the first brake member includes:
The mounting groove is positioned in the rotating disc;
the piston is movably connected with the mounting groove and can extend out or be stored in the rotating disc under the limit of the mounting groove; and
The elastic locking piece is positioned in the mounting groove and is used for locking the piston when the piston is positioned in the rotating disc.
4. A climbing device according to claim 3, wherein the resilient locking member comprises a spring having one end connected to an inner wall of the mounting groove, and a wedge connected to the spring, the wedge being adapted to operatively abut against a side wall of the piston.
5. The climbing device of the inspection robot according to claim 4, wherein the brake assembly includes:
The number of the supporting frames is two, the supporting frames are respectively arranged on two opposite sides of the track mechanism through the hinge mechanism, one end, away from the hinge mechanism, of each supporting frame is provided with a brake pad which is in operable butt joint with the track mechanism, the two supporting frames are respectively provided with a sliding groove, and at least one supporting frame is provided with a through hole at one end of each sliding groove;
The two ends of the supporting rod are respectively abutted to the sliding groove and can move along the extending direction of the sliding groove, and the supporting rod can pass through the through hole after moving to the position of the through hole; and
And the two ends of the elastic piece are respectively connected to the surfaces of the two supporting frames and are used for providing force towards the track mechanism for the brake pads on the supporting frames after the supporting rods pass through the through holes.
6. The climbing device of the inspection robot according to claim 1, wherein the traveling wheel assembly comprises a driving wheel and a driven wheel which are positioned on the same side of the track mechanism, the mounting frame is connected with a compression wheel positioned on the other side of the track mechanism, and the driving wheel, the driven wheel and the compression wheel are jointly compressed on the track mechanism when the traveling wheel assembly moves along the track mechanism.
7. The climbing device of the inspection robot according to claim 6, wherein the trigger assembly is connected to either the driving wheel or the driven wheel.
8. The climbing device of the inspection robot according to claim 7, wherein the rail mechanism further comprises a cushion layer attached to the inclined rail, the cushion layer being located between the pinch roller and the inclined rail.
9. The climbing device of the inspection robot according to claim 8, wherein the track mechanism further comprises a transition layer attached to the horizontal track and located between the horizontal track and the pinch roller, and the thickness of the transition layer gradually increases in a direction approaching the inclined track.
10. The climbing device of the inspection robot according to claim 9, wherein the transition layer is connected to the cushion layer, and a maximum thickness of the transition layer is equal to the cushion layer.
CN202323342973.7U 2023-12-07 2023-12-07 Climbing device of inspection robot Active CN221293532U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202323342973.7U CN221293532U (en) 2023-12-07 2023-12-07 Climbing device of inspection robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202323342973.7U CN221293532U (en) 2023-12-07 2023-12-07 Climbing device of inspection robot

Publications (1)

Publication Number Publication Date
CN221293532U true CN221293532U (en) 2024-07-09

Family

ID=91748992

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202323342973.7U Active CN221293532U (en) 2023-12-07 2023-12-07 Climbing device of inspection robot

Country Status (1)

Country Link
CN (1) CN221293532U (en)

Similar Documents

Publication Publication Date Title
CN111216743B (en) Climbing auxiliary device of track type inspection robot for mine
CN111252083B (en) Mining track type inspection climbing robot
JPH08508956A (en) Rail gripping vehicle
US5992575A (en) Personal rapid transit braking systems
CN221293532U (en) Climbing device of inspection robot
US5381737A (en) Rail truck suspended car transit vehicles
CN111891142B (en) Magnetic traction walking device
CN211000909U (en) Robot hub motor driving device with band-type brake and shock-absorbing structure
CN115214592B (en) Rail vehicle brake detection device
CN219237036U (en) Monorail crane driving device used in coal mine tunnel
CN210526547U (en) Railway vehicle emergency braking device and railway vehicle
CN216734304U (en) Skid device of magnetic suspension vehicle
CN110816582A (en) Emergency positioning and stopping device for subway shield transport electric locomotive
GB1584951A (en) Rail vehicle bogie and rail vehicle
CN110316219A (en) A kind of obstruction conveying vehicle device on drive rail
CN106274965B (en) A kind of one-way safety clamps automatic brake formula mine car
CN114212705A (en) Walking type hoisting equipment for railway rescue
CN113400949B (en) Emergency sliding shoe device and electric magnetic suspension frame with same
JP2546702B2 (en) Emergency landing shoe
CN111762223B (en) Automatic release pull rod mechanism
CN110758451A (en) Braking method for rail vehicle
CN110217062A (en) Rail-road car body
JP5844616B2 (en) Railroad car
CN215890882U (en) Emergency braking device for railway vehicle
CN104260768A (en) Dynamic double-wheel device and stair climbing method thereof

Legal Events

Date Code Title Description
GR01 Patent grant