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CN-121973827-A - Travelling mechanism of tunnel track detection robot

CN121973827ACN 121973827 ACN121973827 ACN 121973827ACN-121973827-A

Abstract

The invention relates to the technical field of robots, in particular to a travelling mechanism of a tunnel track detection robot, which comprises a travelling rail, a travelling bearing table capable of travelling along the upper end face of the travelling rail and an auxiliary wheel arranged below the travelling bearing table, and a triggering assembly, wherein the driving assembly comprises a driving piece and a folding piece, the driving piece comprises a front plate arranged outside the travelling bearing table and a driving shaft arranged outside the front plate, the folding piece comprises a rotating plate, a turnover plate arranged outside the rotating plate, a first connecting shaft arranged inside the rotating plate and a first spring arranged outside the first connecting shaft.

Inventors

  • LIU YANFENG
  • Ren Meixin
  • ZHAO YONGHONG

Assignees

  • 北京蓝心时代科技有限公司

Dates

Publication Date
20260505
Application Date
20260402

Claims (10)

  1. 1. The travelling mechanism of the tunnel track detection robot is characterized by comprising, A walking rail (1), a walking bearing table (2) capable of walking along the upper end surface of the walking rail (1), an auxiliary wheel (5) arranged below the walking bearing table (2), and The triggering component (3) comprises a driving piece (31) and a folding piece (32), The driving member (31) comprises a front plate (311) arranged outside the walking bearing table (2) and a driving shaft (313) arranged outside the front plate (311), and The folding member (32) comprises a rotating plate (323), a turnover plate (324) arranged outside the rotating plate (323), a first connecting shaft (325) arranged inside the rotating plate (323) and a first spring (326) arranged outside the first connecting shaft (325), and The position switching assembly (4) comprises a first supporting block (44) arranged on the inner side of the walking bearing table (2) and a second supporting block (46) arranged below the first supporting block (44), When concave pits appear on the surface of the walking rail (1), the contact between the front plate (311) and a ballast bed in the walking rail (1) drives the driving shaft (313) to rotate, power is provided for folding the folding piece (32), and the power generated by the contact between the front plate (311) and the walking rail (1) is utilized to drive the movement of the second supporting block (46) to avoid the inclination of the walking bearing table (2), so that the continuous walking of the bearing table (2) is assisted by the auxiliary wheel (5).
  2. 2. The traveling mechanism of the tunnel track inspection robot according to claim 1, wherein the driving member (31) further comprises a mounting block (312) integrally formed on the outer wall of the front plate (311) and a third guide groove (317) formed on the outer wall of the mounting block (312), and the outer wall of the driving shaft (313) is formed with a second guide groove (315).
  3. 3. The traveling mechanism of the tunnel track inspection robot according to claim 2, wherein a first guide groove (314) is formed in a side, close to the outer wall of the front plate (311), of the driving shaft (313), the first guide groove (314) is communicated with the second guide groove (315), a guide rod (316) is arranged on the outer wall of the second support block (46), and the guide rod (316) can slide along the first guide groove (314) and the second guide groove (315).
  4. 4. The traveling mechanism of the tunnel track inspection robot according to claim 3, wherein the folding member (32) further comprises a first mounting seat (321) fixedly connected to an inner wall of the second supporting block (46) and a second mounting seat (322) arranged on the outer side of the first mounting seat (321), the rotating plate (323) and the turnover plate (324) are respectively arranged on the inner sides of the first mounting seat (321) and the second mounting seat (322), and the auxiliary wheel (5) is fixedly connected to the lower end face of the second mounting seat (322).
  5. 5. The traveling mechanism of the tunnel track inspection robot according to claim 4, wherein a second connecting plate (328) is arranged on the lower end face of the rotating plate (323), a first connecting plate (327) is arranged on the outer wall of the second connecting plate (328), second connecting shafts (329) are arranged on the adjacent sides of the outer walls of the two groups of first connecting plates (327) and the inner side of the overturning plate (324), and the end face of the guide rod (316) is arranged on the outer wall of the second connecting plate (328).
  6. 6. The traveling mechanism of the tunnel rail inspection robot according to claim 5, wherein the first connection plate (327) is connected to the second connection plate (328) while the tip end thereof is rotatably connected to the outer wall of the rotation plate (323), and both ends of the first connection shaft (325) are provided to the outer wall of the second connection shaft (329).
  7. 7. The traveling mechanism of the tunnel track inspection robot according to claim 6, wherein two sets of second connecting shafts (329) respectively take on the task of connecting the rotating plate (323) with the first connecting plate (327) and connecting the rotating plate (323) with the turning plate (324), and corresponding spaces are required to be formed in the second supporting blocks (46) for folding or unfolding the folding member (32).
  8. 8. The traveling mechanism of the tunnel track inspection robot according to claim 7, wherein the position switching assembly (4) further comprises a fixed seat (42) fixedly connected to the outer wall of the traveling bearing table (2) and a positioning block (41) arranged on the outer wall of the fixed seat (42), the front plate (311) is slidably connected to the inner side of the positioning block (41), and a sliding groove (43) is formed in the outer wall of the front plate (311).
  9. 9. The traveling mechanism of the tunnel track inspection robot according to claim 8, wherein the upper end face and the lower end face of the first supporting block (44) are respectively provided with a shrinkage rod (410) and a second spring (45), the upper end face of the shrinkage rod (410) is arranged on the inner wall of the traveling bearing table (2), the tail end of the second spring (45) is fixedly connected to the upper end face of the second supporting block (46), and the outer wall of the traveling bearing table (2) is provided with a limiting plate (47).
  10. 10. The traveling mechanism of the tunnel track inspection robot according to claim 9, wherein a limiting block (48) is arranged on the inner side of the limiting plate (47), a third connecting shaft (49) is arranged on the end face of the limiting block (48), a first moving groove (411), a second moving groove (412) and a third moving groove (413) which can be used for the third connecting shaft (49) to pass through are formed in the outer wall of the front plate (311), and the first moving groove (411), the second moving groove (412) and the third moving groove (413) are communicated.

Description

Travelling mechanism of tunnel track detection robot Technical Field The invention relates to the technical field of robots, in particular to a traveling mechanism of a tunnel track detection robot. Background The tunnel track system is a key infrastructure in a modern track traffic network, and is generally formed by rails, sleepers, fasteners, track beds and tunnel structure bodies, tracks are paved inside tunnels, track lines are often accompanied by curves, slopes and various transition sections, and in a long-term operation process, the track lines are influenced by factors such as dynamic load of trains, geological settlement, temperature stress and tunnel leakage water, the track system is easy to suffer from rail abrasion, track gauge deviation, tunnel lining deformation and the like, and the hidden dangers directly threaten the safety and riding comfort of train operation. At present, tunnel track detection mainly relies on two modes of manual inspection and a large-scale special track detection vehicle, and the manual inspection has the defects of high labor intensity, low detection efficiency, strong subjectivity and the like, while the large-scale track detection vehicle has higher detection precision, but has high equipment cost and complex dispatching, and is difficult to meet the detection requirement of daily high frequency. In recent years, with the development of robotics, a part of track detection robots are beginning to be applied to tunnel environments. However, due to the fact that the track system is easily damaged due to the influence of environmental factors, when concave pits appear on the surface of the running track, the movable base of the detection robot is inclined, normal running of the detection equipment is affected, and potential safety hazards exist. Disclosure of Invention The present invention has been made in view of the above-mentioned or existing problems occurring in the prior art. It is therefore an object of the present invention to provide a travel mechanism for a tunnel track inspection robot. In order to solve the technical problems, the invention provides the following technical scheme: The traveling mechanism of the tunnel track detection robot comprises a traveling rail, a traveling bearing table capable of traveling along the upper end surface of the traveling rail and auxiliary wheels arranged below the traveling bearing table; The trigger assembly comprises a driving piece and a folding piece; Wherein the driving piece comprises a front plate arranged on the outer side of the walking bearing table and a driving shaft arranged on the outer side of the front plate; the folding piece comprises a rotating plate, a turnover plate arranged outside the rotating plate, a first connecting shaft arranged inside the rotating plate and a first spring arranged outside the first connecting shaft; the position switching assembly comprises a first supporting block arranged on the inner side of the walking bearing table and a second supporting block arranged below the first supporting block; When concave pits appear on the surface of the running rail, the contact of the front plate and the track bed in the running rail drives the driving shaft to rotate, power is provided for folding the folding piece, and the power generated by the contact of the front plate and the running rail is utilized to drive the movement of the second supporting block, so that the running bearing table is prevented from tilting, and the auxiliary wheels are used for assisting the continuous running of the bearing table. As a preferable scheme of the traveling mechanism of the tunnel track detection robot, the driving piece further comprises a mounting block integrally formed on the outer wall of the front plate and a third guide groove formed on the outer wall of the mounting block, and the outer wall of the driving shaft is provided with a second guide groove. As a preferable scheme of the travelling mechanism of the tunnel track detection robot, a first guide groove is formed in one side, close to the outer wall of the front plate, of the driving shaft, the first guide groove is communicated with the second guide groove, a guide rod is arranged on the outer wall of the second support block, and the guide rod can slide along the first guide groove and the second guide groove. As a preferable scheme of the travelling mechanism of the tunnel track detection robot, the folding piece further comprises a first mounting seat fixedly connected to the inner wall of the second supporting block and a second mounting seat arranged on the outer side of the first mounting seat, the rotating plate and the turnover plate are respectively arranged on the inner sides of the first mounting seat and the second mounting seat, and the auxiliary wheel is fixedly connected to the lower end face of the second mounting seat. The lower end face of the rotating plate is provided with a second connecting plate, the outer w