CN102774444B - 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
CN102774444B
CN102774444B CN201210265580.8A CN201210265580A CN102774444B CN 102774444 B CN102774444 B CN 102774444B CN 201210265580 A CN201210265580 A CN 201210265580A CN 102774444 B CN102774444 B CN 102774444B
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China
Prior art keywords
wheel
track
arm
armed
tunnel cable
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Expired - Fee Related
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CN201210265580.8A
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Chinese (zh)
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CN102774444A (en
Inventor
杨国田
王硕
柳长安
吴华
刘春阳
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North China Electric Power University
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North China Electric Power University
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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 rail operating unit, general employing Double-wheel structure, although this scheme makes the running and comparing of dolly stable, institute takes up space large and turns not too flexible, be not suitable for special operation condition narrow and small in tunnel and many bends uphill/downhill, thereby can not meet on-the-spot requirement.
Secondly, tread and wheel rim are generally one-piece construction.And in the occasion of this long distance applications in tunnel, to reduce the maintenance for track as far as possible, while rolling on wheel rail, the end face of tread and track contacts, due to the Mismachining tolerance of track and environmental factor etc., wheel can produce and jolt in the process of moving, particularly when bend, effect due to centnifugal force, wheel can produce strong cutting to track, make 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, in existing technology, the general method adopting is as follows:
One, radial steering technology
The feature of this scheme is that physical construction formula axis is aimed to center of turn (being generally the center of radius of curve), though it can reduce wheel rim effectively with respect to the angle of attack of track, still can not effectively solve the relative sliding 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 and on wheel rim or track, reduce both frictions, 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 in this long distance applications in tunnel is also difficult for realizing.
Finally, for the sports equipment powerup issue being operated under this distant and long-term unmanned operating mode, adopt the method for power taking on the spot: both as trackless trolley car, supposed that special electric wire provided electric energy.But due to humid environment in tunnel, may cause exposed wire short-circuiting and cause danger.
Summary of the invention
For the problems referred to above that exist in industry spot, the invention provides a kind of one-armed wheeled kinematic mechanism that can overcome existing defect and tunnel cable crusing robot simple to operate, friction between wheel rim and track is dropped to minimum, convenient unmanned electric inspection process robot is used simultaneously.
The technical solution used in the present invention is:
This kinematic mechanism is divided into one-armed wheeled crusing robot and track two parts:
Described track is divided into and gets on the right track and lower railway two parts, gets on the right track and each face middle part of lower railway arranges respectively V-shaped groove, and its cross-sectional plane is " X " shape;
The structure of described one-armed wheeled crusing robot is: the wheel shaft of wheel is connected with motor by plunging joint, at plunging joint, trapezoidal fender bracket is set outward; The lower end of trapezoidal fender bracket is connected with grooved connecting arm, and the lower end of grooved connecting arm is connected with crusing robot; At grooved connecting arm, near a side of wheel, charger is set.The both sides of described wheel arrange respectively the interior rubber wheel being connected by screw, and in the outer ring of interior rubber wheel, outer rubber wheel are set.
The peripheral edge portion of described wheel is round and smooth arc.
The upper surface of described charger arranges two conductive contacts.
Described motor is coaxial with wheel.
A plurality of well-distributeds are set by bolted demountable panel on described getting on the right track.
Described grooved connecting arm is 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 track of metal construction as the method for tread, use the track of two of left and right rubber wheel and metal construction to contact as tread, make like this static friction force between the two greatly increase, because quality of rubber materials has certain elasticity, played again the effect of damping simultaneously; And the metal of wheel outer rim partly plays guiding, it is being carried out after grinding process, at bend and track friction face, be approximately a line, make the friction of track reach the minimum further track of protection, also increased stationarity;
(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 grooved connecting arm, thereby the transmission of power simultaneously at the inner placement of trapezoidal link span plunging joint, motor being produced is to wheel, finally, the position of adjusting three screws on trapezoidal link span is to guarantee the coaxial of motor and wheel.
(3) trench structure that grooved connecting arm of the present invention adopts, 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 body.
(4) track is divided into upper and lower two parts, lower railway mainly plays a supportive role, get on the right track and mainly play stabilization, by the wheel outer rim being deep into respectively in upper/lower guide groove, prevented the swing of left and right in motion process, robot can not dropped because road conditions are not good.
(4) of the present invention getting on the right track arranges demountable panel, can from track, take robot easily, also can not have influence on the normal walking of wheel simultaneously when installing.
Accompanying drawing explanation
Fig. 1 is kinematic mechanism and the track schematic diagram that comprises tunnel cable crusing robot;
Fig. 2 (a) and Fig. 2 (b) are respectively 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;
Number in the figure:
1-gets on the right track; 2-lower railway; 3-rubber wheel; 4-rubber wheel; 5-wheel; 6-screw; The trapezoidal fender bracket of 7-; 8-grooved connecting arm; 9-plunging joint; 10-motor; 11-charger; 12-conductive contact; 13-demountable panel; 14-bolt.
The specific embodiment
The one-armed wheeled kinematic mechanism that the invention provides a kind of tunnel cable crusing robot, below in conjunction with the drawings and specific embodiments, the present invention will be further described.
Fig. 1 is kinematic mechanism and the track schematic diagram that comprises tunnel cable crusing robot, wherein one-armed wheeled mechanism and motor have partly formed the head section of robot, wheel be clipped in get on the right track 1 and 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 front elevation and the section drawing of track: because the weight of robot is limited, therefore adopt the aluminium section of lighter weight as the material of guide rail, alleviated again like this burden of installing and transporting under the prerequisite that has guaranteed mechanical strength.Consider the smooth running of robot, wheel 5 is to be absorbed in the gap staying after the groove of track very little, so be difficult under normal circumstances taking out robot, therefore every getting on the right track of a segment length, 1 be all provided with a fritter demountable panel 13, in the time will taking off the robot hanging in orbit, only need be dismantled, can take off robot, and this demountable panel can not affected the operation of robot.
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 by plunging joint 9, trapezoidal fender bracket 7 is set plunging joint 9 is outer; 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; At grooved connecting arm 8, near a side of wheel, charger 11 is set; The both sides of wheel 5 arrange respectively the interior rubber wheel 3 connecting by screw 6, and in the outer ring of interior rubber wheel 3, outer rubber wheel 4 are set.Outer rubber wheel 4 contacts with lower railway 2 and forms tread, has increased like this friction coefficient between the two, makes robot be not easy to skid when travelling particularly uphill/downhill, and the effect of damping is also provided for equipment package simultaneously.Consider that the expanded by heating coefficient ratio aluminum material of rubber wants large, therefore get on the right track 1 and outer rubber wheel 4 between to reserve the surplus of 1 ~ 2CM.The metal peripheral edge portion of wheel 5 has also been carried out to grinding process, that it forms in the V-type groove of the upper lower railway of the convenient embedding of chamfering, so when bend, wheel leads by metal outer rim, makes contact surface between the two be approximately a line, the less wearing and tearing for track.
Motor 10 is connected by plunging joint 9 with wheel 5, because motor 10 is to be fixed on trapezoidal fender bracket 7, therefore will by regulate on trapezoidal fender bracket 3 borings make motor 10 and wheel 5 coaxial, occur because of the injury of both disalignments to main shaft avoiding.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 are connected by the battery of wire and internal body respectively, when process has the track of charging pile, by two copper caps, it can be just battery automatic charging, after program judgement charging is complete, robot starts voluntarily.It like this, has just completed the complete autokinetic movement of robot, for can the normal work in long distance tunnel provide guarantee.
Grooved connecting arm 8 is fluted body structure, has so both increased its rigidity, again can be in groove wire between cloth motor and body, in case wire is exposed, in complicated work condition environment, equipment is caused to unpredictable impact.

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,
Described 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) arranges respectively V-shaped groove, and its cross-sectional plane is " X " shape;
The structure of described one-armed wheeled crusing robot is: the wheel shaft of wheel (5) is connected with motor (10) by 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 the base portion of robot; A side at the close wheel of grooved connecting arm (8) arranges charger (11);
The both sides of wheel (5) arrange respectively the interior rubber wheel (3) connecting by screw (6), and in the outer ring of interior rubber wheel (3), outer rubber 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 described wheel (5) is round and smooth 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 described charger (11) arranges two conductive contacts (12).
4. the one-armed wheeled kinematic mechanism of tunnel cable crusing robot according to claim 1, is characterized in that, described 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, described in get on the right track the demountable panel (13) that a plurality of well-distributeds are connected by bolt (14) be set on (1).
6. the one-armed wheeled kinematic mechanism of tunnel cable crusing robot according to claim 1, is characterized in that, described grooved connecting arm (8) is 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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CN102774444B true CN102774444B (en) 2014-08-20

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Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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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Publication number Priority date Publication date Assignee Title
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

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JPS59199378A (en) * 1983-04-26 1984-11-12 Mitsubishi Heavy Ind Ltd Robot movable along vertical plane

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Publication number Priority date Publication date Assignee Title
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

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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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