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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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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track
inspection robot
wheel
armed
tunnel cable
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CN102774444B (en
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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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Abstract

本发明属于轨道轮式结构领域,尤其涉及一种隧道电缆巡检机器人的独臂轮式运动机构。该运动机构分为独臂轮式巡检机器人及轨道两部分:轨道分为上轨道和下轨道,轨道的各面中部分别设置V形槽,其横截面均为“X”形;独臂轮式巡检机器人的结构为:轮子的轮轴通过联轴节与电机连接,在联轴节外设置梯形保护架;梯形保护架的下端与槽型连接臂连接,槽型连接臂的下端与巡检机器人连接;在槽型连接臂靠近轮子的一侧设置充电器。所述轮子的两侧分别设置通过螺钉连接的内橡胶套轮,并在内橡胶套轮的外圈设置外橡胶套轮。本发明结构简单,节省空间,除了隧道电缆巡检机器人以外,还能应用于所有在轨道的上行驶的独轮动车、设备。

Figure 201210265580

The invention belongs to the field of rail wheel structures, and in particular relates to a single-arm wheel motion mechanism of a tunnel cable inspection robot. The motion mechanism is divided into two parts: a one-armed wheeled inspection robot and a track: the track is divided into an upper track and a lower track, and V-shaped grooves are arranged in the middle of each surface of the track, and its cross-section is "X"-shaped; the one-armed wheeled robot The structure of the inspection robot is as follows: the axle of the wheel is connected to the motor through a coupling, and a trapezoidal protective frame is arranged outside the coupling; the lower end of the trapezoidal protective frame is connected to the trough-shaped connecting arm, and the lower end of the trough-shaped connecting arm is connected to the inspection robot. Connection; set the charger on the side of the grooved connection arm close to the wheel. Both sides of the wheel are respectively provided with inner rubber sheaths connected by screws, and an outer rubber sheath is arranged on the outer ring of the inner rubber sheaths. The invention has simple structure and saves space, and can be applied to all unicycles and equipment running on rails besides tunnel cable inspection robots.

Figure 201210265580

Description

隧道电缆巡检机器人的独臂轮式运动机构One-armed wheeled motion mechanism of tunnel cable inspection robot

技术领域 technical field

本发明属于轨道轮式结构领域,尤其涉及一种隧道电缆巡检机器人的独臂轮式运动机构。The invention belongs to the field of rail wheel structures, and in particular relates to a single-arm wheel motion mechanism of a tunnel cable inspection robot.

背景技术 Background technique

在现有轮式轨道运行机构中,一般采用双轮结构,此方案虽然使小车的运行比较稳定,但是所占空间较大且转弯不太灵活,不适合隧道中狭小且多弯道上下坡的特殊工况,因而不能满足现场的要求。In the existing wheel-type track running mechanism, the double-wheel structure is generally adopted. Although this solution makes the running of the trolley relatively stable, it takes up a large space and the turning is not very flexible. Special working conditions, so it cannot meet the requirements of the site.

其次,踏面和轮缘一般为整体式结构。而在隧道这种长距离应用的场合,要尽量减少对于轨道的维护,可是车轮轨道上滚动时,踏面和轨道的顶面相接触,由于轨道的加工误差和环境因素等等,车轮在行驶过程中会产生颠簸,特别是在弯道时,由于离心力的作用,轮子会对轨道产生强烈的切削,使轨道磨损严重,并且这种运行不稳定会对隧道电缆巡检机器人这种搭载有精密仪器的设备产生不良影响。Secondly, the tread and the rim are generally of monolithic construction. In the case of long-distance applications such as tunnels, the maintenance of the track should be reduced as much as possible. However, when the wheel rolls on the track, the tread surface is in contact with the top surface of the track. There will be bumps, especially when turning, due to the centrifugal force, the wheels will have a strong cutting on the track, which will cause serious wear and tear on the track, and this unstable operation will affect the tunnel cable inspection robot equipped with precision instruments. The device has adverse effects.

为了解决轮缘的磨损问题,在现有的技术中一般采用的方法如下:In order to solve the wear problem of the wheel rim, the method generally adopted in the prior art is as follows:

一、径向转向架技术1. Radial bogie technology

该方案的特点是把机械结构式轴线对准转动中心(一般为曲线的半径中心),它虽能有效地减少轮缘相对于轨道的冲角,但是却不能有效解决轮缘与轨道的相对滑动。并且这种复杂装置在长距离的轨道上没有作用。The feature of this solution is to align the axis of the mechanical structure with the center of rotation (generally the radius center of the curve). Although it can effectively reduce the angle of attack of the wheel rim relative to the track, it cannot effectively solve the relative slip between the wheel rim and the track. And this complex device has no effect on long-distance orbits.

二、缘润滑剂Second, edge lubricant

该方案的原理是将油脂或其它润滑材料涂在轮缘或轨道上来减小两者的摩擦,可是它不但污染环境,削减机车动能,并且使踏面与轨道因摩擦系数下降而产生打滑空转。另外,在隧道这种长距离应用的环境也不易实现。The principle of this scheme is to apply grease or other lubricating materials on the rim or track to reduce the friction between the two, but it not only pollutes the environment, reduces the kinetic energy of the locomotive, but also causes the tread and track to slip due to the decrease in friction coefficient. In addition, it is not easy to realize in the environment of long-distance application such as tunnel.

最后,对于工作在这种距离较远且长期无人值守工况下的运动设备供电问题,采用就地取电的方法:既像无轨电车一样假设专门的电线提供电能。但是由于隧道中环境潮湿,可能导致裸露的电线短路而发生危险。Finally, for the power supply of sports equipment working in such long-distance and long-term unattended conditions, the method of taking power locally is adopted: it is assumed that special wires provide power like a trolleybus. However, due to the damp environment in the tunnel, it may cause the exposed wires to short-circuit and cause danger.

发明内容 Contents of the invention

针对工业现场中存在着的上述问题,本发明提供了一种能够克服现有缺陷并且操作简单的隧道电缆巡检机器人的独臂轮式运动机构,将轮缘与轨道之间的摩擦降到最低,同时方便无人的电力巡检机器人使用。Aiming at the above-mentioned problems in the industrial field, the present invention provides a one-armed wheeled motion mechanism of a tunnel cable inspection robot that can overcome the existing defects and is easy to operate, which minimizes the friction between the wheel rim and the track , At the same time, it is convenient for unmanned power inspection robots to use.

本发明采用的技术方案为:The technical scheme adopted in the present invention is:

该运动机构分为独臂轮式巡检机器人及轨道两部分:The motion mechanism is divided into two parts: a one-armed wheeled inspection robot and a track:

所述轨道分为上轨道和下轨道两部分,上轨道和下轨道的各面中部分别设置V形槽,其横截面均为“X”形;The track is divided into two parts, the upper track and the lower track. V-shaped grooves are respectively arranged in the middle of each surface of the upper track and the lower track, and the cross-sections are "X" shaped;

所述独臂轮式巡检机器人的结构为:轮子的轮轴通过联轴节与电机连接,在联轴节外设置梯形保护架;梯形保护架的下端与槽型连接臂连接,槽型连接臂的下端与巡检机器人连接;在槽型连接臂靠近轮子的一侧设置充电器。所述轮子的两侧分别设置通过螺钉连接的内橡胶套轮,并在内橡胶套轮的外圈设置外橡胶套轮。The structure of the one-armed wheeled inspection robot is as follows: the wheel shaft of the wheel is connected to the motor through a coupling, and a trapezoidal protective frame is arranged outside the coupling; the lower end of the trapezoidal protective frame is connected to the grooved connecting arm, and the grooved connecting arm The lower end of the robot is connected with the inspection robot; a charger is arranged on the side of the grooved connecting arm close to the wheels. Both sides of the wheel are respectively provided with inner rubber sheaths connected by screws, and an outer rubber sheath is arranged on the outer ring of the inner rubber sheaths.

所述轮子的外缘部分为圆滑弧形。The outer edge of the wheel is in a smooth arc shape.

所述充电器的上表面设置两个导电触点。Two conductive contacts are arranged on the upper surface of the charger.

所述电机与轮子同轴。The motor is coaxial with the wheel.

所述上轨道上设置多个均匀分布的由螺栓连接的可拆卸板。A plurality of evenly distributed detachable plates connected by bolts are arranged on the upper rail.

所述槽型连接臂为凹槽式结构。The grooved connecting arm is a grooved structure.

本发明的有益效果为:The beneficial effects of the present invention are:

(1)本发明抛弃了传统的由钢结构的轮子和同样为金属结构的轨道做为踏面的方法,使用左右两个橡胶套轮和金属结构的轨道接触作为踏面,这样做使得两者之间的静摩擦力大为增加,同时由于橡胶材质具有一定的弹性,又起到了减震的作用;而轮子外缘的金属部分起导向的作用,在对其进行打磨处理后,在弯道和轨道摩擦面就近似为一条线,使得对轨道的摩擦达到最小进一步保护的轨道,也增加了平稳性;(1) The present invention abandons the traditional method of using steel-structured wheels and metal-structured rails as treads, and uses two left and right rubber sheath wheels in contact with the metal-structured rails as treads. The static friction of the wheel is greatly increased, and because the rubber material has a certain degree of elasticity, it also acts as a shock absorber; while the metal part on the outer edge of the wheel acts as a guide. The surface is approximated as a line, so that the friction on the track is minimized to further protect the track and increase the stability;

(2)作为能够在轨道上自主运行的机器人,其动力来源于24V的直流电机,本发明在槽型连接臂上安装了梯形连接架来固定电机,同时在梯形连接架内部放置联轴节从而把电机产生的动力传递给轮子,最后,调整梯形连接架上三个螺孔的位置以保证电机和轮子的同轴。(2) As a robot that can run autonomously on the track, its power comes from a 24V DC motor. In the present invention, a trapezoidal connecting frame is installed on the grooved connecting arm to fix the motor, and a coupling is placed inside the trapezoidal connecting frame so that Transmit the power generated by the motor to the wheels. Finally, adjust the positions of the three screw holes on the ladder-shaped connecting frame to ensure the coaxiality of the motor and the wheels.

(3)本发明的槽型连接臂采用的槽型结构,作为联系机器人的本体和车轮部分的关键装置,这种结构不仅提高了其刚度,同时中间的凹槽部分更是为电机的走线提供了便利,避免了电线露在机体之外产生的各种意外。(3) The trough-shaped structure adopted by the trough-shaped connecting arm of the present invention is used as a key device connecting the robot body and the wheel part. This structure not only improves its rigidity, but also the groove part in the middle is used for the wiring of the motor. It provides convenience and avoids various accidents caused by wires being exposed outside the body.

(4)轨道分为上下两部分,下轨道主要起支撑作用,上轨道主要起稳定作用,通过分别深入到上下导轨槽内的轮子外缘防止了运动过程中左右的摆动,使得机器人不会因为路况不佳而掉落。(4) The track is divided into upper and lower parts. The lower track mainly plays a supporting role, and the upper track mainly plays a stabilizing role. The outer edges of the wheels that penetrate into the grooves of the upper and lower guide rails respectively prevent the left and right swings during the movement, so that the robot will not be affected by road conditions. Bad and dropped.

(4)本发明的上轨道设置可拆卸板,可以方便地从轨道上摘下机器人,同时在安装上时也不会影响到轮子的正常行走。(4) The upper track of the present invention is equipped with a detachable plate, which can easily remove the robot from the track, and at the same time, it will not affect the normal walking of the wheels when it is installed.

附图说明 Description of drawings

图1为包括隧道电缆巡检机器人在内的运动机构和轨道示意图;Figure 1 is a schematic diagram of the motion mechanism and track including the tunnel cable inspection robot;

图2(a)和图2(b)分别为轨道的正视图和截面图;Figure 2(a) and Figure 2(b) are the front view and cross-sectional view of the track respectively;

图3为轮子和轨道的结合的正视图;Fig. 3 is the front view of the combination of wheel and track;

图4为轮子和轨道的结合的俯视图;Fig. 4 is the top view of the combination of wheel and track;

图中标号:Labels in the figure:

1-上轨道;2-下轨道;3-橡胶套轮;4-橡胶套轮;5-轮子;6-螺钉;7-梯形保护架;8-槽型连接臂;9-联轴节;10-电机;11-充电器;12-导电触点;13-可拆卸板;14-螺栓。1-upper rail; 2-lower rail; 3-rubber sleeve; 4-rubber sleeve; 5-wheel; 6-screw; 7-trapezoidal protective frame; 8-groove connecting arm; 9-coupling; 10- Motor; 11-charger; 12-conductive contact; 13-detachable plate; 14-bolt.

具体实施方式 Detailed ways

本发明提供了一种隧道电缆巡检机器人的独臂轮式运动机构,下面结合附图和具体实施方式对本发明做进一步说明。The present invention provides a one-armed wheeled motion mechanism of a tunnel cable inspection robot. The present invention will be further described below in conjunction with the accompanying drawings and specific implementation methods.

图1为包括隧道电缆巡检机器人在内的运动机构和轨道示意图,其中独臂轮式机构和电机部分构成了机器人的机头部分,车轮夹在上轨道1和下轨道2中间进行运动,机头和机器人的主体部分靠槽型连接臂8连接。Figure 1 is a schematic diagram of the motion mechanism and track including the tunnel cable inspection robot, in which the one-armed wheel mechanism and the motor part constitute the nose part of the robot, and the wheels move between the upper track 1 and the lower track 2. It is connected with the main body part of the robot by the slotted connecting arm 8.

图2为轨道的正视图和截面图:由于机器人的重量有限,因此采用质量较轻的铝制型材作为导轨的材料,这样在保证了机械强度的前提下又减轻了安装和运输的负担。考虑到机器人的平稳运行,轮子5在陷入轨道的凹槽以后留下的缝隙很小,这样一来在正常情况下不易取出机器人,因此每隔一段长度的上轨道1都设置了一小块可拆卸板13,当要取下吊在轨道上的机器人时,只需将其拆卸,即可取下机器人,且该可拆卸板不会影响机器人的运行。Figure 2 is the front view and cross-sectional view of the track: due to the limited weight of the robot, light aluminum profiles are used as the material of the guide rail, which reduces the burden of installation and transportation while ensuring the mechanical strength. Considering the smooth operation of the robot, the gap left by the wheel 5 after sinking into the groove of the track is very small, so that it is not easy to take out the robot under normal circumstances, so a small piece of detachable wheel is set on every length of the upper track 1 Plate 13, when the robot hanging on the track is to be taken off, it only needs to be disassembled to take off the robot, and the detachable plate will not affect the operation of the robot.

图3为轮子和轨道的结合的正视图,图4为轮子和轨道的结合的俯视图:轮子5的轮轴通过联轴节9与电机10连接,在联轴节9外设置梯形保护架7;梯形保护架7的下端与槽型连接臂8连接,槽型连接臂8的下端与巡检机器人连接;在槽型连接臂8靠近轮子的一侧设置充电器11;轮子5的两侧分别设置通过螺钉6连接的内橡胶套轮3,并在内橡胶套轮3的外圈设置外橡胶套轮4。外橡胶套轮4与下轨道2接触形成踏面,这样增加了两者之间的摩擦系数,使机器人在行驶特别是上下坡时不容易打滑,同时也为整套设备提供了减震的作用。考虑到橡胶的受热膨胀系数比铝制材料要大,因此在上轨道1和外橡胶套轮4之间要留出1~2CM的余量。对轮子5的金属外缘部分也进行了打磨处理,是其形成倒角方便嵌入上下轨道的V型槽中,这样一来在弯道时轮子靠金属外缘来导向,使得两者之间的接触面近似为一条线,更较小了对于轨道的磨损。Fig. 3 is the front view of the combination of the wheel and the track, and Fig. 4 is the top view of the combination of the wheel and the track: the wheel shaft of the wheel 5 is connected with the motor 10 through the coupling 9, and the trapezoidal protective frame 7 is set outside the coupling 9; The lower end of the protective frame 7 is connected to the grooved connecting arm 8, and the lower end of the grooved connecting arm 8 is connected to the inspection robot; a charger 11 is arranged on the side of the grooved connecting arm 8 close to the wheel; The inner rubber sheath 3 connected by screw 6, and the outer ring of the inner rubber sheath 3 is provided with an outer rubber sheath 4. The outer rubber sheath wheel 4 contacts with the lower track 2 to form a tread surface, which increases the coefficient of friction between the two, making the robot difficult to slip when driving, especially when going up and down slopes, and also provides shock absorption for the whole set of equipment. Considering that the coefficient of thermal expansion of rubber is larger than that of aluminum materials, a margin of 1-2 cm should be reserved between the upper rail 1 and the outer rubber sheath 4. The metal outer edge of the wheel 5 is also polished to form chamfers to facilitate insertion into the V-shaped grooves of the upper and lower rails. In this way, the wheels are guided by the metal outer edge when turning, so that the distance between the two The contact surface is approximately a line, which reduces the wear on the track.

电机10和轮子5通过联轴节9连接,由于电机10是固定在梯形保护架7上,因此要通过调节梯形保护架上3个钻孔来使电机10和轮子5同轴,以避免发生因两者不同轴而对主轴的伤害。同时梯形连接架还起到对联轴节9的保护作用。Motor 10 and wheel 5 are connected by shaft coupling 9, because motor 10 is fixed on the trapezoidal protection frame 7, therefore will make motor 10 and wheel 5 coaxial by adjusting 3 drilling holes on the trapezoidal protection frame, to avoid accident The damage to the main shaft due to the difference between the two. Simultaneously, the trapezoidal connecting frame also plays a protective role to the shaft coupling 9 .

挂载在槽型连接臂8上的充电器11,它上面的两个导电触点12分别通过导线和机体内部的电池相连,在经过有充电桩的轨道时,通过两个铜帽就可以为电池自动充电,在程序判断充电完毕之后,机器人自行启动。这样,就完成了机器人的完全自主运动,为它能在长距离隧道中的正常工作提供了保障。The charger 11 mounted on the slot-type connecting arm 8, the two conductive contacts 12 on it are respectively connected to the battery inside the body through wires, and when passing through the track with charging piles, two copper caps can be used for charging. The battery is charged automatically, and the robot starts automatically after the program judges that the charging is complete. In this way, the fully autonomous movement of the robot is completed, which provides a guarantee for its normal work in long-distance tunnels.

槽型连接臂8为凹槽型结构,这样既增加了它的刚度,又可以在凹槽中布电机和机体之间的导线,以防导线裸露在复杂的工况环境中对设备造成不可预知的影响。The trough-shaped connecting arm 8 is a groove-shaped structure, which not only increases its rigidity, but also can arrange the wires between the motor and the body in the groove, so as to prevent the wires from being exposed in complex working conditions and causing unpredictable equipment. Impact.

Claims (6)

1.隧道电缆巡检机器人的独臂轮式运动机构,分为独臂轮式巡检机器人及轨道两部分,其特征在于,1. The one-armed wheeled motion mechanism of the tunnel cable inspection robot is divided into two parts: the one-armed wheeled inspection robot and the track. It is characterized in that, 所述轨道分为上轨道(1)和下轨道(2)两部分,上轨道(1)和下轨道(2)的各面中部分别设置V形槽,其横截面均为“X”形;The track is divided into two parts, the upper track (1) and the lower track (2). The upper track (1) and the lower track (2) are respectively provided with V-shaped grooves in the middle of each surface, and their cross-sections are all "X" shaped; 所述独臂轮式巡检机器人的结构为:轮子(5)的轮轴通过联轴节(9)与电机(10)连接,在联轴节(9)外设置梯形保护架(7);梯形保护架(7)的下端与槽型连接臂(8)连接,槽型连接臂(8)的下端与巡检机器人连接;在槽型连接臂(8)靠近轮子的一侧设置充电器(11);The structure of the one-armed wheeled inspection robot is as follows: the axle of the wheel (5) is connected to the motor (10) through a coupling (9), and a trapezoidal protective frame (7) is arranged outside the coupling (9); The lower end of the protective frame (7) is connected with the grooved connecting arm (8), and the lower end of the grooved connecting arm (8) is connected with the inspection robot; a charger (11 ); 轮子(5)的两侧分别设置通过螺钉(6)连接的内橡胶套轮(3),并在内橡胶套轮(3)的外圈设置外橡胶套轮(4)。Both sides of the wheel (5) are respectively provided with inner rubber sheaves (3) connected by screws (6), and an outer rubber sheath (4) is arranged on the outer ring of the inner rubber sheaths (3). 2.根据权利要求1所述的隧道电缆巡检机器人的独臂轮式运动机构,其特征在于,所述轮子(5)的外缘部分为圆滑弧形。2. The one-armed wheeled motion mechanism of the tunnel cable inspection robot according to claim 1, characterized in that the outer edge of the wheel (5) is in a smooth arc shape. 3.根据权利要求1所述的隧道电缆巡检机器人的独臂轮式运动机构,其特征在于,所述充电器(11)的上表面设置两个导电触点(12)。3. The one-armed wheeled motion mechanism of the tunnel cable inspection robot according to claim 1, characterized in that two conductive contacts (12) are arranged on the upper surface of the charger (11). 4.根据权利要求1所述的隧道电缆巡检机器人的独臂轮式运动机构,其特征在于,所述电机(10)与轮子(5)同轴。4. The one-armed wheeled motion mechanism of the tunnel cable inspection robot according to claim 1, characterized in that the motor (10) is coaxial with the wheel (5). 5.根据权利要求1所述的隧道电缆巡检机器人的独臂轮式运动机构,其特征在于,所述上轨道(1)上设置多个均匀分布的由螺栓(14)连接的可拆卸板(13)。5. The one-armed wheeled motion mechanism of the tunnel cable inspection robot according to claim 1, characterized in that a plurality of evenly distributed detachable plates ( 13). 6.根据权利要求1所述的隧道电缆巡检机器人的独臂轮式运动机构,其特征在于,所述槽型连接臂(8)为凹槽式结构。6. The one-armed wheeled motion mechanism of the tunnel cable inspection robot according to claim 1, characterized in that the grooved connecting arm (8) is a grooved 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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CN114310931A (en) * 2021-12-16 2022-04-12 杭州申昊科技股份有限公司 Anti-falling device for hanger rail type inspection robot
CN114310931B (en) * 2021-12-16 2024-02-06 杭州申昊科技股份有限公司 Anti-falling device for hanging rail type inspection robot
CN114227112A (en) * 2022-01-03 2022-03-25 宁夏鑫中奥智能装备有限公司 Intelligent multi-axis modular multifunctional numerical control equipment

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