Hanging rail robot slope climbing device capable of realizing small-radius turning

Abstract

The invention discloses a hanging rail robot slope climbing device capable of realizing small-radius turning. The hanging rail robot slope climbing device comprises a rolling wheel, a guide wheel, a slope climbing damping spring, a turning damping spring, an external framework and a guide wheel fixing support frame, wherein the rolling wheel is connected with a transmission shaft; the guide wheelis used for fixing the position of the whole device on a guide rail; the slope climbing damping spring is connected with the guide wheel fixing support frame and the external framework so as to maintain the vertical relative position of the fixed support frame and the guide rail; the turning damping spring is connected with the guide wheel fixing support frame and the external framework so as to maintain the horizontal relative position of the fixed support frame and the guide rail; the hanging rail robot slope climbing device also comprises a gear; the gear is arranged at the transmission shaft of the rolling wheel; the transmission shaft passes through the external framework. A spring turning clamping mechanism is used, so that the stability can be maintained during the turning and the linear walking of the mechanism.

Description

technical field [0001] The invention belongs to the field of construction machinery, and in particular relates to a climbing device for a robot that can turn with a small radius and hang a rail. Background technique [0002] At present, the common track running mechanism is a single motor-driven rolling wheel, so that the rolling wheel can walk along the track. However, this simple mechanism is suitable for walking in a straight line. If the space is relatively narrow and there is a slope, it will slip or get stuck, and it is difficult to meet the requirements of the lower operating mechanism and the operation of the inspection robot. [0003] In the existing public literature, CN201110042584.5 discloses a bogie for railway engineering vehicles, which discloses "a metal coil spring group (17) and a series of rubber suspensions (3) on the other end of which are installed Pad (18), the primary suspension device (3) is mainly composed of a metal coil spring group (17) with a p...

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Problems solved by technology

However, this simple mechanism is suitable for walking in a straight line. If the space is relatively narrow and there is a slope, it will slip or get stuck, and it is difficult to meet the requirements of the lower operating mechanism and the operation of the inspection robot.

[0003] In the existing public literature, CN201110042584.5 discloses a bogie for railway engineering vehicles, which discloses "the other end of which is equipped with the metal coil spring group (17) of the primary suspension device (3) and a series of rubber Pad (18), the primary suspension device (3) is mainly composed of a metal coil spring group (17) with a primary rubber pad (18), a vertical oil pressure shock absorber (21) and a rotary arm positioning "Rubber joint composition", which claims to be able to achieve steering in a small radius, but its implementation process is complicated, and it is not dedicated to climbing

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