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

Abstract

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.

Description

One-armed wheeled motion mechanism of tunnel cable inspection robot

technical field

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.

Background technique

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.

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.

In order to solve the wear problem of the wheel rim, the method generally adopted in the prior art is as follows:

1. Radial bogie technology

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.

Second, edge lubricant

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.

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.

Contents of the invention

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.

The technical scheme adopted in the present invention is:

The motion mechanism is divided into two parts: a one-armed wheeled inspection robot and a track:

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;

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.

The outer edge of the wheel is in a smooth arc shape.

Two conductive contacts are arranged on the upper surface of the charger.

The motor is coaxial with the wheel.

A plurality of evenly distributed detachable plates connected by bolts are arranged on the upper rail.

The grooved connecting arm is a grooved structure.

The beneficial effects of the present invention are:

(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) 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) 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) 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) 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.

Description of drawings

Figure 1 is a schematic diagram of the motion mechanism and track including the tunnel cable inspection robot;

Figure 2(a) and Figure 2(b) are the front view and cross-sectional view of the track respectively;

Fig. 3 is the front view of the combination of wheel and track;

Fig. 4 is the top view of the combination of wheel and track;

Labels in the figure:

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.

Detailed ways

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.

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.

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.

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.

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 .

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.

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. 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, 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; 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 ); 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. 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. 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. 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. 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. 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.

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