CN118046360A - External chain drive climbing hanging rail type robot for small-radius turning - Google Patents
External chain drive climbing hanging rail type robot for small-radius turning Download PDFInfo
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- CN118046360A CN118046360A CN202211439561.2A CN202211439561A CN118046360A CN 118046360 A CN118046360 A CN 118046360A CN 202211439561 A CN202211439561 A CN 202211439561A CN 118046360 A CN118046360 A CN 118046360A
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- guide rail
- turning
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- 230000009194 climbing Effects 0.000 title claims abstract description 41
- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 238000013016 damping Methods 0.000 claims abstract description 25
- 230000009471 action Effects 0.000 claims abstract description 13
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 10
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 7
- 239000010959 steel Substances 0.000 claims abstract description 7
- 230000001174 ascending effect Effects 0.000 claims abstract description 6
- 238000007667 floating Methods 0.000 claims description 13
- 238000010073 coating (rubber) Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 238000007689 inspection Methods 0.000 abstract description 8
- 230000008859 change Effects 0.000 abstract description 6
- 238000006073 displacement reaction Methods 0.000 abstract description 5
- 238000005452 bending Methods 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 239000011324 bead Substances 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000005056 compaction Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B12/00—Component parts, details or accessories not provided for in groups B61B7/00 - B61B11/00
- B61B12/02—Suspension of the load; Guiding means, e.g. wheels; Attaching traction cables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B12/00—Component parts, details or accessories not provided for in groups B61B7/00 - B61B11/00
- B61B12/10—Cable traction drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
- B61F5/02—Arrangements permitting limited transverse relative movements between vehicle underframe or bolster and bogie; Connections between underframes and bogies
- B61F5/04—Bolster supports or mountings
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention provides an external chain-driven climbing hanging rail type robot for small-radius turning. The steering device comprises a profile steel guide rail, a chain with a shifting block, a supporting chain wheel module, a first driving module, a U-shaped base, a second driving module, a pre-pressing mechanism and a steering auxiliary mechanism. The invention can realize smooth bending, ascending and descending of the track inspection device by utilizing two different driving modes of the friction wheel and the external driving chain. When the vehicle runs in parallel, only the rubber-coated power friction wheel motor reducer works, and the driving mechanism can be firmly fixed on the guide rail by the pre-pressing mechanism under the action of the torsion spring and cannot deviate or incline. When encountering up and down slopes, the climbing damping spring can adjust the longitudinal displacement change of the friction wheel, and the clamping is avoided. When turning, the auxiliary wheel frame swings along with the guide rail, and the steering auxiliary wheel of the steering auxiliary mechanism can be kept in contact with the web plate of the profile guide rail under the action of the turning damping spring, so that dislocation is prevented.
Description
Technical Field
The invention relates to the technical fields of mining equipment, engineering machinery, robots and the like, in particular to an external chain-driven climbing hanging rail type robot capable of turning in a small radius.
Background
In the application fields of mining equipment and engineering machinery, the manual inspection is difficult due to the characteristics of narrow operation space, complex cooperation actions among equipment, bad operation environment and the like, and the safety of inspection personnel cannot be ensured. Therefore, the use of the inspection robot to replace manual real-time monitoring of the specific working condition of the working face is indispensable.
At present, the common rail travelling mechanism is a single motor for driving the rolling wheel so as to enable the rolling wheel to travel along the rail. However, the simple mechanism is suitable for straight walking, and if the situation that the space is relatively narrow and the slope exists, the phenomenon of slipping or jamming occurs, so that the running requirement of the inspection robot is difficult to meet. In order to overcome the problem of friction drive, some inspection robots employ rack and pinion drive, but are not easily bendable because the racks are rigid. The part adopts the robot that sprocket chain climbs the slope, owing to sprocket drive sets up on the robot, has increased the volume of robot, is not fit for constrictive tunnel.
Therefore, the external chain-driven climbing hanging rail type robot for turning with a small radius is required to be invented, so that the installation is simple, and the economical efficiency is good. Meanwhile, the robot can adapt to various working conditions such as curves, slopes and the like, reduces the volume of the robot, and is high in adaptability. This will play an important role in the development of suspended track inspection robots for use in harsh environments.
Disclosure of Invention
The invention aims at overcoming the technical defects of the prior art, and provides an external chain-driven climbing hanging rail type robot with small radius turning so as to solve the technical problems pointed out in the background art.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
the utility model provides an external chain drive climbing hanging rail formula robot that small-radius turned, cooperation shaped steel guide rail, the chain that has the shifting block, support sprocket module and first drive module use, the device includes U type base, second drive module, pre-compaction mechanism, turns to auxiliary mechanism, and its structure is:
The first driving module and the chain with the shifting block and the supporting chain wheel module are only arranged on the upper and lower slope sections of the profile guide rail and the positions of the linear parts of the front guide rail and the rear guide rail extending for a certain length.
The chain with the shifting block passes through the wing plate part of the profile guide rail, and the wing plate is provided with a hole which can accommodate the chain and the shifting block to pass through.
The first driving module comprises a first motor speed reducer and a power sprocket arranged on the motor speed reducer.
The supporting chain wheel module is arranged on the profile guide rail at the up-down slope position and used for supporting a chain with a shifting block to form a closed loop transmission system.
The second power devices are respectively arranged on the vertical walls on two sides of the U-shaped base and comprise a second motor speed reducer and rubber-coated power friction wheels, and the rubber-coated power friction wheels are arranged on the second motor speed reducer. The rubber-coated power friction wheel is contacted with the upper surface of the lower wing plate of the profile guide rail.
The pre-pressing mechanism is arranged on the horizontal inner bottom surface of the U-shaped base and comprises a pressing wheel, a torsion spring pressing piece and an adjusting inclined block. And the surface of the pressing wheel of the pre-pressing mechanism is abutted with the lower surface of the lower wing plate of the profile guide rail.
The steering auxiliary mechanism comprises a floating frame, an auxiliary wheel frame, steering auxiliary wheels, rubber-covered passive friction wheels, a pressing strip, a guide rod, a turning damping spring and a climbing damping spring. The floating frame is provided with a groove, the auxiliary wheel frame is of a U-shaped structure, the auxiliary wheel frame is hinged with the floating frame, and a turning damping spring is arranged between the auxiliary wheel frame and the floating frame;
Further, grooves are formed in the two tail ends of the U-shaped auxiliary wheel frame, steering auxiliary wheels are arranged in the grooves, the steering auxiliary wheels are horizontally arranged, are perpendicular to the rubber-coated power friction wheels, and are abutted against webs of the profile guide rails;
Further, the rubber coating passive friction wheel is also installed in the inner side of the auxiliary wheel frame U-shaped structure and connected through a rotating shaft, and the rubber coating passive friction wheel and the rubber coating power friction wheel are arranged in parallel and are also contacted with the upper surface of the lower wing plate of the profile guide rail.
The steering auxiliary mechanism is fixed in U-shaped grooves of left and right vertical walls of the U-shaped base through a pressing strip and a guide rod penetrating through a climbing damping spring, and two groups of steering auxiliary mechanism are respectively arranged at the left and right sides of the rubber-covered power friction wheel. The climbing damping spring penetrating the guide rod can adjust the vertical installation position of the steering auxiliary mechanism, and meanwhile, the climbing damping spring can also adjust the longitudinal offset generated during climbing;
The power friction wheel and the driven friction wheel are arranged on the upper surface of the lower wing plate of the profile steel guide rail and mainly bear the weight of the hanger rail robot and provide power output, and the surface of the hanger rail robot is coated with nonmetallic wear-resistant materials, so that the friction force between the friction wheel and the guide rail is increased, and slipping is avoided.
Further, in order to better realize the invention, one end of the U-shaped base is provided with a hanging table, when the hanging rail robot runs to an ascending section or a descending section, the running chain belt drives a shifting block to do annular rotation, the hanging table can be matched with the shifting block of the chain to act, and the hanging table is clamped by the shifting block to prevent the hanging rail robot from sliding down the slope when the hanging table drags the hanging rail robot to climb or descend the slope. After the uphill and downhill sections are completed, the shifting block is unhooked from the hanging table, the first driving module stops running, and the hanging rail robot continues to run under the action of the rubber coating power friction wheel.
The running speed of the first driving module chain is consistent with the running line speed of the second driving module power friction wheel.
The beneficial effects of the invention are as follows:
The invention can realize smooth bending, ascending and descending of the track inspection device by utilizing two different driving modes of the friction wheel and the external driving chain. When the vehicle runs in parallel, only the rubber-coated power friction wheel motor reducer works, and the driving mechanism can be firmly fixed on the guide rail by the pre-pressing mechanism under the action of the torsion spring and cannot deviate or incline.
When encountering up and down slopes, the climbing damping spring can adjust the longitudinal displacement change of the friction wheel, and the clamping is avoided. When turning, the auxiliary wheel frame swings along with the guide rail, and the steering auxiliary wheel of the steering auxiliary mechanism can be kept in contact with the web plate of the profile guide rail under the action of the turning damping spring, so that dislocation is prevented.
By adopting the design of the climbing damping spring and the turning damping spring, the longitudinal and transverse position offset deflection between the friction wheels can be counteracted, the rigid deflection change of the connecting piece is reduced, the flexibility of the whole transmission mechanism is increased, and the use stability of the whole device is improved.
When the lifting rail robot reaches a designated position of climbing or descending, the first driving module plays a role by triggering the signal switch to drive the chain to run, and a shifting block on the chain is lapped with a hanging table on the U-shaped base to assist the robot to ascend and descend. When climbing, the shifting block is overlapped with the first vertical wall of the hanging table, power for climbing is provided, and the robot is dragged to climb the slope; when downhill, the shifting block is overlapped with the second vertical wall of the hanging table, so that resistance of downhill is provided, and the robot is prevented from rapidly sliding down the slope. After the uphill and downhill sections are completed, the shifting block is unhooked from the hanging table, the first driving module stops running, and the hanging rail robot continues to run under the action of the rubber coating power friction wheel. On the premise of meeting the use requirement, the size of the suspended rail robot is reduced, and the purposes of reducing energy consumption and improving efficiency are achieved.
Drawings
FIG. 1 is an isometric view of an external chain driven climbing suspended track robot for small radius turns of the present invention;
FIG. 2 is a side view of the suspended rail robot of the present invention;
FIG. 3 is a side cross-sectional view of the suspended track robot of the present invention;
FIG. 4 is a schematic view of a section bar guide rail and a first driving module for up and down slope sections according to the present invention;
FIG. 5 is a cross-sectional view of the present invention in a simulated turning operation;
FIG. 6 is an isometric view of a steering assist mechanism;
In the figure:
1. The device comprises a U-shaped base, 2, a second driving module, 3, a steering auxiliary mechanism, 4, a pre-pressing mechanism, 5, a first driving module, 6, a chain, 7, a supporting sprocket module, 8, a profile guide rail, 101, a hanging table, 1011, a hanging table first vertical wall, 1012, a hanging table second vertical wall, 201, an encapsulated power friction wheel, 301, a climbing damping spring, 302, a layering, 303, a floating frame, 304, a turning damping spring, 305, an auxiliary wheel frame, 306, a steering auxiliary wheel, 307, an encapsulated passive friction wheel, 308, a guide rod, 401, a pressing wheel, 402, a torsion spring pressing piece, 403, a torsion spring, 404, an adjusting oblique block, 601 and a shifting block.
Detailed Description
Hereinafter, embodiments of the present invention will be described in detail. In order to avoid unnecessary detail, well-known structures or functions will not be described in detail in the following embodiments. Approximating language, as used in the following examples, may be applied to create a quantitative representation that could permissibly vary without resulting in a change in the basic function. Unless defined otherwise, technical and scientific terms used in the following examples have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
Fig. 1-6 are specific embodiments of the present invention, which are an external chain-driven climbing hanging rail type robot with small radius turning, as shown in fig. 1,3 and 4, the hanging rail type robot comprises a U-shaped base 1, a U-shaped base 2, a second driving module 3, a steering auxiliary mechanism 4, a pre-pressing mechanism 5, a first driving module 6, a chain 7, a supporting sprocket module 8 and a profile guide rail.
As shown in fig. 2, the encapsulated power friction wheel 201 and the encapsulated passive friction wheel 301 are installed on the upper surface of the lower wing plate of the profile steel guide rail 8, and mainly bear the weight of the suspended rail robot and provide power output, and the surface of the suspended rail robot is coated with a nonmetallic wear-resistant material, so that the friction force between the friction wheel and the guide rail is increased, and slipping is avoided. The pre-pressing mechanism 4 is arranged on the horizontal inner bottom surface of the U-shaped base, and the surface of a pressing wheel 401 of the pre-pressing mechanism is abutted with the lower surface of the lower wing plate of the profile guide rail under the action of a torsion spring 403 and applies certain pre-pressing force.
As shown in fig. 3, the pressing wheel 401 of the pre-pressing mechanism 4 is below the rubber-coated power friction wheel 201, which is more beneficial to pre-pressing the lower wing plate of the profile guide rail 8 with the rubber-coated power friction wheel 201, so that the running friction force is increased, and the slipping in the running process is avoided.
As shown in fig. 4, the first driving module 5, the chain 6 with the shifting block 601 and the supporting sprocket module 7 are only installed at the position where the straight portions of the front and rear guide rails extend for a certain length on the upper and lower slope sections of the profile guide rail 8. The wing plate of the profile guide rail 8 is provided with holes for allowing the chains and the shifting blocks to pass through, and the supporting sprocket wheel module 7 is arranged on the profile guide rail 8 at the up-down slope position and used for supporting the chains with the shifting blocks to form a closed loop transmission system.
As shown in fig. 6, the steering assist mechanism 3 includes a climbing damper spring 301, a bead 302, a floating frame 303, a turning damper spring 304, an assist wheel frame 305, a steering assist wheel 306, an encapsulated passive friction wheel 307, and a guide rod 308. The floating frame 303 is provided with a groove, the auxiliary wheel frame 305 is of a U-shaped structure, the auxiliary wheel frame 305 is hinged with the floating frame 303, a turning damping spring 304 is arranged between the auxiliary wheel frame 305 and the floating frame, a turning auxiliary wheel 306 is arranged in the grooves at the two tail ends of the auxiliary wheel frame 305, the direction of the turning auxiliary wheel 306 is horizontally arranged, and the turning auxiliary wheel 306 is vertical to the rubber-covered power friction wheel 201. When the suspended rail robot turns, the auxiliary wheel frame 305 deflects, so that the steering auxiliary wheel 306 is ensured to be kept in contact with the web plate of the profile guide rail 8, and the robot is prevented from shaking; when the lifting rail robot climbs a slope, the steering auxiliary mechanism 3 can adjust the longitudinal compression displacement generated by the rubber coating power friction wheel 307 under the action of the climbing damping spring 301. Under the action of the damping spring, the position change of the friction wheel and the steering wheel relative to the profile guide rail is regulated so as to meet the friction characteristic between the profile guide rail and the friction wheel during climbing, and the running stability of the suspended rail robot is ensured
The specific implementation method of the embodiment is as follows: when the external chain driving climbing hanging rail type robot turning with a small radius runs on the horizontal guide rail, the second driving module drives the rubber coating power friction wheel to generate forward power, and the pressing wheel of the pre-pressing mechanism increases the friction force between the rubber coating power friction wheel and the profile guide rail under the pre-pressing of the torsion spring. The prepressing mechanism has the function of enabling the driving mechanism to be firmly fixed on the guide rail and not to deviate or incline.
When turning, the profile guide rail is transversely bent and changed, the auxiliary wheel frame can deflect along with the guide rail, and the steering auxiliary wheel of the steering auxiliary mechanism can be kept in contact with the web plate of the profile guide rail under the action of the turning damping spring, so that the phenomenon of blocking or dislocation is prevented, and smooth over-bending is ensured.
When ascending and descending, the profile guide rail is longitudinally bent and changed, the rubber-coated passive friction wheels on two sides can generate longitudinal displacement offset, and the climbing damping spring can adjust the displacement and change to avoid clamping. When the suspended track robot reaches a specified position of climbing or descending, the first driving module plays a role by triggering the signal switch to drive the chain to run. The shifting block on the chain is lapped on the hanging table on the robot to assist the robot to go up and down the slope. When climbing, the shifting block is overlapped with the first vertical wall of the hanging table, power for climbing is provided, and the robot is dragged to climb the slope; when downhill, the shifting block is overlapped with the second vertical wall of the hanging table, so that resistance of downhill is provided, and the robot is prevented from rapidly sliding down the slope. In operation, the running speed of the chain is consistent with the linear speed of the encapsulated power friction wheel. After the working section of ascending and descending the slope is completed, the hanging table is separated from the chain shifting block, the hanging rail robot continues to run on a flat road under the action of the first driving module, and the second driving module stops running.
Under the effect of above mechanism, ensure that the uphill does not skid, the downhill does not swift current car, turn does not block, under the prerequisite that satisfies the user demand, reduce the energy consumption, reduce the robot volume, improve the purpose of efficiency.
The foregoing describes the embodiments of the present invention in detail, but the description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the scope of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The external chain driving climbing hanging rail type robot for turning with a small radius comprises a profile steel guide rail, a chain with a shifting block, a supporting chain wheel module, a first driving module, a U-shaped base, a second driving module, a pre-pressing mechanism and a steering auxiliary mechanism, and is characterized in that the first driving module, the chain with the shifting block and the supporting chain wheel module are only arranged at the positions of the upper and lower slope sections of the profile steel guide rail and the straight line parts of the front and rear guide rails extending for a certain length; the chain with the shifting block passes through the wing plate part of the profile guide rail, and a hole capable of allowing the chain and the shifting block to pass through is formed in the wing plate; the first driving module comprises a first motor speed reducer and a power sprocket arranged on the motor speed reducer; the supporting chain wheel module is arranged on a profile guide rail at the up-down slope position and used for supporting a chain with a shifting block to form a closed loop transmission system; the second driving modules are respectively arranged on the vertical walls at two sides of the U-shaped base and comprise a second motor speed reducer and an encapsulated power friction wheel, the encapsulated power friction wheel is arranged on the second motor speed reducer, and the encapsulated power friction wheel is contacted with the upper surface of the lower wing plate of the profile guide rail; the pre-pressing mechanism is arranged on the horizontal inner bottom surface of the U-shaped base and comprises a pressing wheel, a torsion spring pressing piece and an adjusting inclined block, and the surface of the pressing wheel of the pre-pressing mechanism is abutted with the lower surface of the lower wing plate of the profile guide rail; the steering auxiliary mechanism comprises a floating frame, an auxiliary wheel frame, steering auxiliary wheels, rubber-coated passive friction wheels, a pressing strip, a guide rod, a turning damping spring and a climbing damping spring, wherein the floating frame is provided with a groove, the auxiliary wheel frame is of a U-shaped structure, the auxiliary wheel frame is hinged with the floating frame, and the turning damping spring is arranged between the auxiliary wheel frame and the floating frame.
2. The external chain-driven climbing suspended rail type robot turning with the small radius according to claim 1, wherein grooves are formed in two tail ends of a U-shaped auxiliary wheel frame, steering auxiliary wheels are installed in the grooves, the steering auxiliary wheels are horizontally arranged, are perpendicular to the rubber-covered power friction wheels and are abutted against webs of the profile guide rails.
3. The external chain-driven climbing suspended rail type robot with small radius turning as claimed in claim 1, wherein the rubber-covered passive friction wheel is also arranged on the inner side of the U-shaped structure of the auxiliary wheel frame and is connected with the auxiliary wheel frame through a rotating shaft, and the rubber-covered passive friction wheel is arranged in parallel with the rubber-covered power friction wheel and is also contacted with the upper surface of the lower wing plate of the profile guide rail.
4. The external chain-driven climbing suspended-rail type robot turning with a small radius according to claim 1, wherein the steering auxiliary mechanism is fixed in U-shaped grooves on the left and right vertical walls of the U-shaped base through a pressing bar and a guide rod penetrating through a climbing damping spring, and two groups of steering auxiliary mechanism are respectively arranged on the left and right sides of the U-shaped groove and are arranged on two sides of the rubber-coated power friction wheel; the climbing damping spring penetrating the guide rod is used for adjusting the vertical installation position of the steering auxiliary mechanism, and meanwhile, the climbing damping spring is also used for adjusting longitudinal deflection generated during climbing.
5. The externally arranged chain-driven climbing suspended rail type robot with small radius turning as claimed in claim 1, wherein the power friction wheel and the passive friction wheel are arranged on the upper surface of the lower wing plate of the profile steel guide rail, bear the weight of the suspended rail type robot and provide power output, and the surface of the suspended rail type robot is coated with nonmetallic wear-resistant materials.
6. The external chain-driven climbing suspended rail type robot capable of turning in a small radius according to claim 1, wherein a hanging table is arranged at one end of the U-shaped base, when the suspended rail type robot runs to an ascending section or a descending section, a running chain belt drives a shifting block to do annular rotation, the hanging table cooperates with the shifting block of a chain, and the shifting block blocks the hanging table to prevent the suspended rail type robot from sliding down the slope when the hanging table drags the suspended rail type robot to climb or descend the slope; after the uphill and downhill sections are completed, the shifting block is unhooked from the hanging table, the first driving module stops running, and the hanging rail robot continues to run under the action of the rubber coating power friction wheel.
7. The externally mounted chain driven climbing suspended track robot with small radius turning of claim 1 wherein the running speed of the first drive module chain is consistent with the running line speed of the second drive module power friction wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211439561.2A CN118046360A (en) | 2022-11-17 | 2022-11-17 | External chain drive climbing hanging rail type robot for small-radius turning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211439561.2A CN118046360A (en) | 2022-11-17 | 2022-11-17 | External chain drive climbing hanging rail type robot for small-radius turning |
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| Publication Number | Publication Date |
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| CN118046360A true CN118046360A (en) | 2024-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211439561.2A Pending CN118046360A (en) | 2022-11-17 | 2022-11-17 | External chain drive climbing hanging rail type robot for small-radius turning |
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| CN (1) | CN118046360A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118438416A (en) * | 2024-07-08 | 2024-08-06 | 中煤科工机器人科技有限公司 | Intrinsic safety type mining track inspection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118438416A (en) * | 2024-07-08 | 2024-08-06 | 中煤科工机器人科技有限公司 | Intrinsic safety type mining track inspection robot |
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