CN102774444A - Independent arm wheel type movement mechanism of tunnel cable inspection robot - Google Patents

Independent arm wheel type movement mechanism of tunnel cable inspection robot Download PDF

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Publication number
CN102774444A
CN102774444A CN2012102655808A CN201210265580A CN102774444A CN 102774444 A CN102774444 A CN 102774444A CN 2012102655808 A CN2012102655808 A CN 2012102655808A CN 201210265580 A CN201210265580 A CN 201210265580A CN 102774444 A CN102774444 A CN 102774444A
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China
Prior art keywords
wheel
track
arm
armed
crusing robot
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Granted
Application number
CN2012102655808A
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Chinese (zh)
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CN102774444B (en
Inventor
杨国田
柳长安
吴华
刘春阳
王硕
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North China Electric Power University
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North China Electric Power University
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Priority to CN201210265580.8A priority Critical patent/CN102774444B/en
Publication of CN102774444A publication Critical patent/CN102774444A/en
Application granted granted Critical
Publication of CN102774444B publication Critical patent/CN102774444B/en
Expired - Fee Related legal-status Critical Current
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Abstract

The invention belongs to the field of a rail wheel type structure and particularly relates to an independent arm wheel type movement mechanism of a tunnel cable inspection robot. The movement mechanism is divided into two parts including an independent arm wheel type inspection robot and a rail, the rail is divided into an upper rail and a lower rail, the middle of each surface of the rail is respectively provided with a V-shaped groove, and the cross section of the V-shaped groove is respectively in an X shape. The independent arm wheel type inspection robot is structurally characterized in that a wheel shaft of a wheel are connected with a motor through a shaft coupling, a ladder-shaped protecting frame is arranged outside the shaft coupling, the lower end of the ladder-shaped protecting frame is connected with a groove-shaped connecting arm , the lower end of the groove-shaped connecting arm is connected with the inspection robot, and one side of the groove-shaped connecting arm near the wheel is provided with a charger. Two sides of the wheel are respectively provided with inner rubber sleeve wheels connected through screws, and outer rings of the inner rubber sleeve wheels are provided with outer rubber sleeve wheels. The independent arm wheel type movement mechanism has the advantages that the structure is simple, the space is saved, and the independent arm wheel type movement mechanism can be used for the tunnel cable inspection robot and can also be applied to all single wheel motor vehicles and equipment running on the rail.

Description

The one-armed wheeled kinematic mechanism of tunnel cable crusing robot
Technical field
The invention belongs to track wheeled construction field, relate in particular to a kind of one-armed wheeled kinematic mechanism of tunnel cable crusing robot.
Background technology
In existing wheeled orbital motion mechanism; The general two-wheel structure that adopts, though this scheme makes the operation of dolly more stable, institute takes up space big and turns not too flexible; Be not suitable for the special operation condition of narrow and small and many bends uphill/downhill in the tunnel, thereby can not satisfy on-the-spot requirement.
Secondly, tread and wheel rim are generally one-piece construction.And in the tunnel occasion of this long distance applications, reduce maintenance for track as far as possible, but when rolling on the wheel rail; The end face of tread and track contacts; Because the Mismachining tolerance of track and environmental factor or the like, wheel can produce in the process of moving and jolt, particularly when bend; Because action of centrifugal force; Wheel can produce strong cutting to track, makes the track serious wear, and this fluctuation of service can produce harmful effect to this equipment that is equipped with precision instrument of tunnel cable crusing robot.
In order to solve the wear problem of wheel rim, the general method that adopts is following in existing technology:
One, radial steering technology
The characteristics of this scheme are physical construction formula axis alignment center of turn (being generally the center of radius of curve), though it can reduce the angle of attack of wheel rim with respect to track effectively, still can not effectively solve the slide relative of wheel rim and track.And this complex appts is not effect on the track of long distance.
Two, edge lubricant
The principle of this scheme is that grease or other lubricant are coated in the friction that reduces both on wheel rim or the track, but its contaminated environment is not only cut down locomotive kinetic energy, and makes tread and track produce skid because of friction coefficient decline.In addition, the environment of this long distance applications also is difficult for realizing in the tunnel.
At last, for the sports equipment powerup issue that is operated under this distance unmanned operating mode far away and long-term, adopt the method for power taking on the spot: both supposed as trackless trolley car that special electric wire provided electric energy.But because humid environment in the tunnel possibly cause the wire short-circuiting that exposes and causes danger.
Summary of the invention
To the problems referred to above that exist in the industry spot; The invention provides a kind of one-armed wheeled kinematic mechanism that can overcome existing defective and tunnel cable crusing robot simple to operate; Friction between wheel rim and the track is dropped to minimum, convenient unmanned simultaneously electric inspection process robot uses.
The technical scheme that the present invention adopts is:
This kinematic mechanism is divided into one-armed wheeled crusing robot and track two parts:
Said track is divided into and gets on the right track and lower railway two parts, and each face middle part of getting on the right track with lower railway is provided with V-shaped groove respectively, and its cross-sectional plane is " X " shape;
The structure of said one-armed wheeled crusing robot is: the wheel shaft of wheel is connected with motor through plunging joint, and trapezoidal fender bracket is set outside plunging joint; The lower end of trapezoidal fender bracket is connected with the grooved connecting arm, and the lower end of grooved connecting arm is connected with crusing robot; Near a side of wheel charger is set at the grooved connecting arm.The both sides of said wheel are provided with respectively through rubber coating wheel in the screw bonded assembly, and in the outer ring of interior rubber coating wheel outer rubber cover wheel are set.
The peripheral edge portion of said wheel is slick and sly arc.
The upper surface of said charger is provided with two conductive contacts.
Said motor is coaxial with wheel.
A plurality of well-distributeds are set by bolted demountable panel on said the getting on the right track.
Said grooved connecting arm is the groove type structure.
Beneficial effect of the present invention is:
(1) the present invention has abandoned traditional wheel by steel structure and has been similarly the method for the track of metal construction as tread; Two rubber coating wheels contact as tread with the track of metal construction about use; Doing the static friction force that makes between the two like this greatly increases; Because the rubber material has certain elasticity, played the effect of damping again simultaneously; And the metal section and part of wheel outer rim plays guiding, after processing that it is polished, is approximately a line at bend and track friction face, and making has also increased stationarity by the track that the friction of track is reached minimum further protection;
(2) as the robot of autonomous operation in orbit; Its power resources are in the DC machine of 24V; The present invention has installed trapezoidal link span and has fixed motor on the grooved connecting arm; Thereby give wheel the transmission of power that motor produces at the inner plunging joint of placing of trapezoidal link span simultaneously, last, the position of adjusting three screws on the trapezoidal link span is to guarantee the coaxial of motor and wheel.
(3) trench structure of grooved connecting arm employing of the present invention; As the body of contact robot and the key device of wheel part; This structure has not only improved its rigidity; Groove part is simultaneously provided convenience for the cabling of motor especially, the various accidents of having avoided electric wire to be exposed at producing outside the body.
(4) track is divided into two parts up and down; Lower railway mainly plays a supportive role; The main stabilization that rises that gets on the right track, the swing through about being deep into wheel outer rim in the guide-track groove up and down respectively and having prevented in the motion process makes robot can not drop because road conditions are not good.
(4) of the present invention getting on the right track is provided with demountable panel, can take robot from track easily, when installing, also can not have influence on the normal walking of wheel simultaneously.
Description of drawings
Fig. 1 is kinematic mechanism and the track scheme drawing that comprises the tunnel cable crusing robot;
Fig. 2 (a) and Fig. 2 (b) are respectively the front elevation and the section drawing of track;
Fig. 3 is the front elevation of the combination of wheel and track;
Fig. 4 is the birds-eye view of the combination of wheel and track;
Label among the figure:
1-gets on the right track; The 2-lower railway; 3-rubber coating wheel; 4-rubber coating wheel; The 5-wheel; The 6-screw; The trapezoidal fender bracket of 7-; 8-grooved connecting arm; The 9-plunging joint; The 10-motor; The 11-charger; The 12-conductive contact; The 13-demountable panel; The 14-bolt.
The specific embodiment
The invention provides a kind of one-armed wheeled kinematic mechanism of tunnel cable crusing robot, the present invention is further specified below in conjunction with the accompanying drawing and the specific embodiment.
Fig. 1 is kinematic mechanism and the track scheme drawing that comprises the tunnel cable crusing robot; Wherein one-armed wheeled mechanism and motor have partly constituted the head section of robot; Wheel be clipped in get on the right track 1 with lower railway 2 in the middle of move, the base portion of head and robot is connected by grooved connecting arm 8.
Fig. 2 is the front elevation and the section drawing of track: because the weight of robot is limited, therefore adopt the material of the aluminium section of lighter weight as guide rail, under the prerequisite that has guaranteed mechanical strength, alleviated the burden of installing and transporting so again.Consider the smooth running of robot; Wheel 5 is very little in the slit that the groove that is absorbed in track stays later on, so under normal circumstances be difficult for to take out robot, therefore whenever 1 all is provided with a fritter demountable panel 13 at a distance from getting on the right track of a segment length; In the time will taking off the robot that is hung on the track; Only needing can take off robot, and this demountable panel can not influence the operation of robot with its dismounting.
Fig. 3 is the front elevation of the combination of wheel and track, and Fig. 4 is the birds-eye view of the combination of wheel and track: the wheel shaft of wheel 5 is connected with motor 10 through plunging joint 9, and trapezoidal fender bracket 7 is set outside plunging joint 9; The lower end of trapezoidal fender bracket 7 is connected with grooved connecting arm 8, and the lower end of grooved connecting arm 8 is connected with crusing robot; Near a side of wheel charger 11 is set at grooved connecting arm 8; The both sides of wheel 5 are provided with respectively through rubber coating wheel 3 in screw 6 bonded assemblys, and in the outer ring of interior rubber coating wheel 3 outer rubber cover wheel 4 are set.Outer rubber cover wheel 4 contact the formation tread with lower railway 2, has increased friction coefficient between the two like this, makes robot when going particularly uphill/downhill, be not easy to skid, and the while also provides the effect of damping for equipment package.Consider that the expanded by heating coefficient ratio aluminum material of rubber wants big, therefore get on the right track 1 and outer rubber cover wheel 4 between to reserve the surplus of 1 ~ 2CM.Metal peripheral edge portion to wheel 5 has also carried out the polishing processing; Being that its formation chamfering is convenient embeds in the V-slot of going up lower railway; So wheel leans on the metal outer rim to lead when bend, makes contact surface between the two be approximately a line, more less wearing and tearing for track.
Motor 10 is connected through plunging joint 9 with wheel 5, because motor 10 is to be fixed on the trapezoidal fender bracket 7, therefore will 3 borings make motor 10 and wheel 5 coaxial on the trapezoidal fender bracket through regulating, and take place because of of the injury of both disalignments avoiding main shaft.Trapezoidal link span also plays the protective effect to plunging joint 9 simultaneously.
The charger 11 of carry on grooved connecting arm 8; Two conductive contacts 12 above it link to each other through the battery of lead and internal body respectively; When process has the track of charging pile; Just can be through two copper caps for battery charge automatically, after program judged that charging finishes, robot started voluntarily.Like this, just accomplished the complete autokinetic movement of robot, for it can provide guarantee apart from the normal operation in the tunnel long.
Grooved connecting arm 8 is the fluted body structure, has so both increased its rigidity, again can be in groove lead between cloth motor and the body, in case lead exposes in the work condition environment of complicacy equipment is caused unpredictable influence.

Claims (6)

1. the one-armed wheeled kinematic mechanism of tunnel cable crusing robot is divided into one-armed wheeled crusing robot and track two parts, it is characterized in that,
Said track is divided into and gets on the right track (1) and lower railway (2) two parts, and each face middle part of get on the right track (1) and lower railway (2) is provided with V-shaped groove respectively, and its cross-sectional plane is " X " shape;
The structure of said one-armed wheeled crusing robot is: the wheel shaft of wheel (5) is connected with motor (10) through plunging joint (9), and trapezoidal fender bracket (7) is set outside plunging joint (9); The lower end of trapezoidal fender bracket (7) is connected with grooved connecting arm (8), and the lower end of grooved connecting arm (8) is connected with crusing robot; Near a side of wheel charger (11) is set at grooved connecting arm (8);
The both sides of wheel (5) are provided with respectively through rubber coating wheel (3) in screw (6) bonded assembly, and in the outer ring of interior rubber coating wheel (3) outer rubber cover wheel (4) are set.
2. the one-armed wheeled kinematic mechanism of tunnel cable crusing robot according to claim 1 is characterized in that, the peripheral edge portion of said wheel (5) is slick and sly arc.
3. the one-armed wheeled kinematic mechanism of tunnel cable crusing robot according to claim 1 is characterized in that, the upper surface of said charger (11) is provided with two conductive contacts (12).
4. the one-armed wheeled kinematic mechanism of tunnel cable crusing robot according to claim 1 is characterized in that, said motor (10) is coaxial with wheel (5).
5. the one-armed wheeled kinematic mechanism of tunnel cable crusing robot according to claim 1 is characterized in that, a plurality of well-distributeds is set by bolt (14) bonded assembly demountable panel (13) on said the getting on the right track (1).
6. the one-armed wheeled kinematic mechanism of tunnel cable crusing robot according to claim 1 is characterized in that, said grooved connecting arm (8) is the groove type structure.
CN201210265580.8A 2012-07-27 2012-07-27 Independent arm wheel type movement mechanism of tunnel cable inspection robot Expired - Fee Related CN102774444B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104765365A (en) * 2015-03-27 2015-07-08 上海交通大学 Gravity center balancing mechanism and method of power line inspection robot
CN107756375A (en) * 2016-08-15 2018-03-06 深圳市朗驰欣创科技股份有限公司 A kind of tunnel cruising inspection system and its robot

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59199378A (en) * 1983-04-26 1984-11-12 Mitsubishi Heavy Ind Ltd Robot movable along vertical plane
CN101665128A (en) * 2009-09-04 2010-03-10 重庆市电力公司超高压局 Robot used for detecting high voltage transmission lines
EP2043906B1 (en) * 2006-07-18 2011-03-16 GFL Mining Services Ltd. Vehicle
CN102005705A (en) * 2010-10-29 2011-04-06 西安交通大学 Suspended line walking robot
CN102562154A (en) * 2010-12-29 2012-07-11 沈阳新松机器人自动化股份有限公司 Cable tunnel routing inspection robot

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59199378A (en) * 1983-04-26 1984-11-12 Mitsubishi Heavy Ind Ltd Robot movable along vertical plane
EP2043906B1 (en) * 2006-07-18 2011-03-16 GFL Mining Services Ltd. Vehicle
CN101665128A (en) * 2009-09-04 2010-03-10 重庆市电力公司超高压局 Robot used for detecting high voltage transmission lines
CN102005705A (en) * 2010-10-29 2011-04-06 西安交通大学 Suspended line walking robot
CN102562154A (en) * 2010-12-29 2012-07-11 沈阳新松机器人自动化股份有限公司 Cable tunnel routing inspection robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104765365A (en) * 2015-03-27 2015-07-08 上海交通大学 Gravity center balancing mechanism and method of power line inspection robot
CN104765365B (en) * 2015-03-27 2018-11-16 上海交通大学 A kind of the gravity balance mechanism and its balance method of electric power line inspection robot
CN107756375A (en) * 2016-08-15 2018-03-06 深圳市朗驰欣创科技股份有限公司 A kind of tunnel cruising inspection system and its robot

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Inventor after: Yang Guotian

Inventor after: Wang Shuo

Inventor after: Liu Changan

Inventor after: Wu Hua

Inventor after: Liu Chunyang

Inventor before: Yang Guotian

Inventor before: Liu Changan

Inventor before: Wu Hua

Inventor before: Liu Chunyang

Inventor before: Wang Shuo

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Free format text: CORRECT: INVENTOR; FROM: YANG GUOTIAN LIU CHANGAN WU HUA LIU CHUNYANG WANG SHUO TO: YANG GUOTIAN WANG SHUO LIU CHANGAN WU HUA LIU CHUNYANG

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Granted publication date: 20140820

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