Due to the travel on the high-altitude steel crane rail, the structure should be simplified as much as possible to reduce the weight and ensure smooth operation. There is dual insurance for photoelectric and mechanical anti-collision switches. Once the obstacle detection robot encounters obstacles during operation, it can stop in time. Install the anti-rollover mechanism. If the steel crane rail detection robot is tilted, the anti-rollover mechanism holds the steel crane rail to ensure that it will not fall from the high-altitude track, causing serious damage to ground workers and items, and protecting the safety of the equipment itself. There are slow speed measurement (0.1-0.2m/s for infinitely variable speed) and fast return (0.3m/s) for 2-speed shifting and forward and reverse direction operation. The steel crane rail detection robot is divided into functional components, including the marking component, the frame component, the anti-collision device, the side wheel and the side turning device, the prism, the remote control device and the outer casing component. Its external dimensions are approximately 500mm x 150mm x 200mm.
The frame mainly includes a chassis, a bracket, front and rear wheels and a drive motor. The front and rear wheels can keep the robot in contact with the steel crane rail at 3 points, and the operation is stable. The span of the front wheel cannot exceed the minimum width of the track surface to be tested by 70 mm. The chassis is a 3.0mm thick steel plate for mounting and positioning other components. In order for the center of the steel crane rail detection robot not to be offset from the orbital surface, the height of the center of gravity should be reduced as much as possible, that is, the distance from the chassis to the orbital surface should be as small as possible. According to the 3D modeling software, the model of the steel crane rail detection robot is established and the materials of each part are defined. The height of the center of gravity of the robot is calculated to be 32.9mm, and the lateral deviation from the center line is 2.8mm, so the center of gravity does not deviate from the orbital surface. The bracket maintains the track detecting robot body without deformation, and is the skeleton structure of the robot. According to the power that needs to overcome the friction between the wheel and the track during operation, the weight of the robot is about 10KGS. The friction between the driving wheel and the track is used as the main power of the steel crane rail detecting robot, and the friction between the driving wheel and the track is according to the calculation of the sliding friction force, the robot requires smooth operation and more dust on the rail to meet the requirements of 2nd shift and forward and reverse.
The steel crane rail detection robot should stop automatically when it encounters obstacles, so it is equipped with a two-way anti-collision device, and there are mechanical anti-collision devices and photoelectric switch 2 layers of anti-collision measures. The photoelectric switch can detect obstacles within 100mm-500mm on the front track, disconnect the motor power supply, and the track detection robot automatically stops running. Once the photoelectric switch fails, the mechanical anti-collision device hits the obstacle and then disconnects the power supply to ensure the track detection and the safety of the robot.