CN104742111A - Traveling mechanism of cable tunnel inspection robot - Google Patents
Traveling mechanism of cable tunnel inspection robot Download PDFInfo
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- CN104742111A CN104742111A CN201510159496.1A CN201510159496A CN104742111A CN 104742111 A CN104742111 A CN 104742111A CN 201510159496 A CN201510159496 A CN 201510159496A CN 104742111 A CN104742111 A CN 104742111A
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Abstract
The invention discloses a traveling mechanism of a cable tunnel inspection robot, belonging to the technical field of a robot. The traveling mechanism comprises a guide rail and a drive-guide mechanism; the guide rail is provided with a hollow chamber; the drive-guide mechanism comprises a frame installed in the hollow chamber of the guide rail; a horizontal guide pulley group is arranged on the vehicular frame and plays a horizontal guiding role in the hollow chamber of the guide rail; the robot is suspended below the frame; a load-bearing wheel group is arranged on the frame; load-bearing tracks for supporting the load-bearing wheel group are arranged in the hollow chamber of the guide rail; and a drive wheel group is arranged below the frame; the drive wheel group below the guide rail matches with the lower surface of the guide rail. The traveling mechanism of the cable tunnel inspection robot has stronger loading capacity, is simple in structure, light in weight and easy in transportation, installation and debugging.
Description
Technical field
The invention belongs to robotics, be specifically related to a kind of cable tunnel inspection robot walking mechanism.
Background technology
Cable tunnel inspection robot is widely used in power industry, and it can be patrolled and examined the power cable in cable tunnel and various electric power facility, thus ensures the reliability and stability of electric power system.
Generally speaking, cable tunnel inspection robot, in the design of walking mechanism, mainly adopts rail mounted walking manner.A kind of tunnel cable inspection robot guide track system method for designing is given in Chinese patent document CN102841604A " rail system and method for testing towards tunnel cable inspection robot ", its track adopts and hangs on tunnel top, and track itself comprises suspension rod, T-shaped grooved rail, charging circuit and communication line, wireless senser etc.Bear load-bearing and guide function owing to only adopting a pair T-shaped grooved rail simultaneously, when robot heavy duty, guiding friction increases, need the moment driven to increase, this kind of device, method is not too practical for the battery powered cable tunnel inspection robot of the larger employing of heavy burden.Meanwhile, the workload of the installation and maintenance of charging circuit and communication line increase is provided with in guide rail.
Chinese patent document CN103802086A " crusing robot " also discloses a kind of driving walking mechanism, driving guiding mechanism is arranged at track outer wall both sides by its technical scheme, guiding mechanism is exposed in tunnel environment by this method for designing, and the cleaning of longtime running mechanism is a problem.Meanwhile, drive guiding mechanism to be only provided with horizontally-guided wheels, the friction of vertical direction is not taken into full account.
Chinese patent document 203186345U " a kind of electric power tunnel wireless mobile video crusing robot structure " also discloses a kind of cable tunnel inspection robot walking mechanism, its rail portion primary structure is made up of the aluminum alloy guide rail of hollow, front frame and Rear frame are hidden in wherein, front wheel driving wheels and rear drive wheels are arranged on front frame and Rear frame, and the supporting surface of aluminum alloy guide rail travels.Being equipped with a pair before and after front frame and Rear frame respectively can the left and right front jockey wheel group of floating and rear guiding wheels in horizontal direction.The subject matter of this technical scheme is that front wheel driving wheels and rear drive wheels travel on the supporting surface of aluminum alloy guide rail, should play driving effect, also will play load-bearing effect, thus increase the weight of the pressure of driving mechanism, reduce whole walking mechanism load capacity.Meanwhile, this alloy guide rail is the rectangular configuration of hollow, firm not structure.
Summary of the invention
The present invention seeks to: in order to overcome the variety of problems that above-mentioned cable tunnel inspection robot walking mechanism exists, propose a kind of new cable tunnel inspection robot walking mechanism, this mechanism has stronger load capacity, and structure is simple, lighter in weight, is easy to transport, installs, debugs.
Specifically, the present invention realizes by the following technical solutions, comprise guide rail and drive guiding mechanism, described guide rail has the chamber of hollow, described driving guiding mechanism comprises the vehicle frame be arranged in the hollow chamber of guide rail, vehicle frame is provided with horizontally-guided wheels, horizontally-guided wheels play horizontally-guided effect in the hollow chamber of guide rail, robot is suspended on below vehicle frame, vehicle frame is provided with load-bearing wheels, Load-bearing rail is provided with for supporting load-bearing wheels in the hollow chamber of guide rail, driving wheels are provided with below vehicle frame, drive wheels to roll with the lower surface of guide rail in the below of guide rail to coordinate.
Owing to being provided with load-bearing wheels on vehicle frame, make load-bearing wheels and driving wheels and being separated, drive wheels to roll with the lower surface of guide rail in the below of guide rail coordinate thus do not needed load-bearing effect, such structure both can the weight of effectively loading carriage and robot, alleviate again the pressure of driving mechanism, improve whole walking mechanism load capacity.
The arc-shaped edges reverse trapezoid shape that guide rail of the present invention can become for aluminum alloy, the hollow chamber both sides of guide rail are provided with lightening hole.Make the structure of guide rail both elegant in appearance like this, firmly light again, be easy to transport, install, debug.
Furthermore, lightening hole has 4, and every side of the hollow chamber of guide rail has 2.Better weight loss effect can be played like this.
Furthermore, load-bearing wheels comprise front BOGEY WHEEL to consequence roller pair, front BOGEY WHEEL to consequence roller to the front and rear laying respectively at vehicle frame.
Furthermore, described driving wheels comprise main drive wheel and from driving wheel, main drive wheel is connected with motor, rotate to drive vehicle frame to walk under the driving of motor, balanced action from driving wheel.
Furthermore, described horizontally-guided wheels comprise horizontally disposed front end directive wheel, anterior directive wheel, middle part directive wheel and rear portion directive wheel, front end directive wheel is positioned at vehicle frame front end, and anterior directive wheel, middle part directive wheel and rear portion directive wheel lay respectively at the front portion of vehicle frame, middle part and rear portion.
Furthermore, described anterior directive wheel comprises upper forepart directive wheel and lower anterior directive wheel, described rear portion directive wheel comprises rear portion directive wheel and lower rear portion directive wheel, upper forepart directive wheel be positioned at front BOGEY WHEEL to directly over, lower anterior directive wheel be positioned at front BOGEY WHEEL to immediately below, upper rear portion directive wheel is positioned at consequence roller and aligns top, lower rear portion directive wheel is positioned at consequence roller and aligns below, upper forepart directive wheel, middle part directive wheel and upper rear portion directive wheel are positioned at same level axis, the hollow chamber of described guide rail is divided into upper level guiding cavity from top to bottom accordingly, load-bearing cavity and lower horizontal guiding cavity, upper level guiding cavity is for holding upper forepart directive wheel, middle part directive wheel and upper rear portion directive wheel, its chamber wall and upper forepart directive wheel, middle part directive wheel and upper rear portion directive wheel contact, lower horizontal guiding cavity is for holding lower anterior directive wheel and lower rear portion directive wheel, its chamber wall contacts with lower anterior directive wheel and lower rear portion directive wheel, load-bearing cavity for hold front BOGEY WHEEL to consequence roller pair, Load-bearing rail is positioned at the both sides of load-bearing cavity bottom, upper level guiding cavity two bottom sides is provided with front end guide rail, front end directive wheel matches with front end guide rail.Can stablize guiding when such guiding and load-carrying members can make robot move to be unlikely to vibrations and to rock, and moving resistance is little.
Furthermore, lead chamber wall that cavity and lower anterior directive wheel contact with lower rear portion directive wheel and Load-bearing rail of upper level guiding cavity contacts with upper rear portion directive wheel with upper forepart directive wheel, middle part directive wheel chamber wall, lower horizontal is equipped with lines with front BOGEY WHEEL to docking tactile position with consequence roller.
In order to make crusing robot accurately arrive each measurement point, be provided with multiple magnet steel anchor point at the top of guide rail, vehicle frame is provided with the field signal of magnetic sensor for perception magnet steel anchor point, is connected with encoder from driving wheel.Encoder is used for robot ambulation distance feedback, can ensure like this demarcate the position of robot and revise issuable range error, ensures that robot accurately locates.
Furthermore, described magnetic sensor is arranged on directive wheel top, front end.
Beneficial effect of the present invention is as follows: the present invention owing to being provided with load-bearing wheels on vehicle frame, make load-bearing wheels and driving wheels and being separated, drive wheels to roll with the lower surface of guide rail in the below of guide rail coordinate thus do not needed load-bearing effect, such structure both can the weight of effectively loading carriage and robot, alleviate again the pressure of driving mechanism, improve whole walking mechanism load capacity.The arc-shaped edges reverse trapezoid shape that guide rail can become for aluminum alloy, and be provided with lightening hole, make the structure of guide rail both elegant in appearance like this, firmly light again, be easy to transport, install, debug.Guiding and load-carrying members can be stablized guiding when robot can be made to move and be unlikely to vibrations and rock, and moving resistance is little.Adopt magnet steel anchor point and magnetic sensor to coordinate location, according to encoder, robot ambulation distance is fed back, ensure that robot accurately locates.Magnet steel anchor point, in installation site timing signal easily mobile change position, adds convenience and the degree of accuracy of installment and debugging.
Accompanying drawing explanation
Fig. 1 is guide rail sectional view.
Fig. 2 is for driving guiding mechanism schematic diagram.
Fig. 3 is guide rail and drives guiding mechanism to install sectional view.
Fig. 4 is walking schematic diagram.
In above accompanying drawing, 101 is guide rail; 110 is guide rail housing; 111 is horizontally-guided cavity; 112 is horizontally-guided lines; 113 is upper lightening hole; 114 is lower lightening hole; 115 is Load-bearing rail; 116 is base arm; 117 is load-bearing cavity; 118 is end gap; 119 is front end guide rail; 102 for driving guiding mechanism; 120 is magnetic sensor; 121 is front end directive wheel; 122 is upper forepart directive wheel; 126 is lower anterior directive wheel; 123 is middle part directive wheel; 124 is upper rear portion directive wheel; 125 is lower rear portion directive wheel; BOGEY WHEEL pair before 130 and 131 compositions; 132 and 133 composition consequence rollers pair; 130 is main drive wheel; 131 is from driving wheel; 140 is encoder; 141 is magnet steel anchor point; 150 is robot hitch point.
Detailed description of the invention
With reference to the accompanying drawings and in conjunction with example, the present invention is described in further detail.
As shown in Figure 1, consider that described in aesthetic property and fastness, guide rail 101 adopts aluminum alloy materials and is designed to arc-shaped edges inverted trapezoidal, there is lightening hole 113 on a pair, a pair time lightening hole 114, a pair horizontally-guided cavity 111, a pair front end guide rail, 119, load-bearing cavity 117, a pair Load-bearing rail 115, a pair base arm 116 and end gap 118.
Specifically, upper lightening hole 113 is positioned at above guide rail housing 110 both sides, and its shape is the inverted trapezoidal of band circular arc, for alleviating the weight of guide rail 101, can also be used for the installation of guide rail 101 simultaneously.Lower lightening hole 114 is positioned at the below of lightening hole 113, and its shape is also the inverted trapezoidal of band circular arc, for alleviating the weight of guide rail 101.
In the middle part of guide rail 101, upper and lower two ends arrange the horizontally-guided cavity 111 of the rectangle of a pair band arc chord angle, and upper end is upper level guiding cavity, and lower end is lower horizontal guiding cavity.Chamber, horizontally-guided cavity 111 both sides wall is provided with horizontally-guided lines 112, for producing effectively friction with the multiple directive wheels on driving guiding mechanism.The bottom of upper level directive wheel cavity arranges a pair front end guide rail 119.The bottom of lower horizontal guiding cavity has end gap 118, and end gap 118 both sides are base arm 116.
Is load-bearing cavity 117, three cavity UNICOMs between two horizontal guide sheave cavitys 111.The bottom of load-bearing cavity 117 is provided with a pair Load-bearing rail 115, and this is also provided with lines on track.Drive the front and back BOGEY WHEEL of guiding mechanism 102 front and back end to rolling along Load-bearing rail 115.
As shown in Figure 2, drive guiding mechanism 102 to be a body frame structure for automotive, its upper front end has magnetic sensor 120, is arranged on the magnet steel anchor point 141 of rail crown for perception in walking process.A horizontally disposed front end directive wheel 121 is installed in magnetic sensor 120 bottom.Magnetic sensor 120 horizontal axis position is horizontally disposed with three directive wheels, i.e. upper forepart directive wheel 122, middle part directive wheel 123 and upper rear portion directive wheel 124.Upper forepart directive wheel 122 and upper rear portion directive wheel respectively arrange a pair BOGEY WHEEL pair 124 times, BOGEY WHEEL pair before being namely made up of front BOGEY WHEEL 130 and 131, and the consequence roller pair be made up of consequence roller 132 and 133.Lower anterior directive wheel 126 and lower rear portion directive wheel 125 has been horizontally disposed with immediately below front and back BOGEY WHEEL is right.Lower anterior directive wheel 126 and lower rear portion directive wheel 125 branch form anterior-posterior horizontal by bearing and upper forepart directive wheel 122 and upper rear portion directive wheel 124 and to lead wheels.
Main drive wheel 130 and being installed on respectively below vehicle frame from driving wheel 131, is positioned under anterior-posterior horizontal guiding wheels.Main drive wheel 130 and be robot hitch point 150 between driving wheel 131, for hanging robot.Encoder 140 be connected to a horizontal line from driving wheel 131 by bearing.
As shown in Figure 3, front end directive wheel 121 has two wheel rims, is arranged on front-end track, forms the structure matched.Front BOGEY WHEEL to consequence roller to being installed in load-bearing cavity 117, and to contact with Load-bearing rail 115.During robot motion, front end directive wheel 121, front BOGEY WHEEL roll to consequence roller, play the effect of load-bearing and guiding.It is inner that anterior-posterior horizontal guiding wheels and middle part directive wheel 123 are arranged on horizontally-guided cavity 111, and produce effective CONTACT WITH FRICTION by horizontally-guided lines 112 and chamber wall, play the effect reducing the resistance driven between guiding mechanism 102 and guide rail 101 when robot motion, realize good guide effect.
As shown in Figure 4, main drive wheel 130 rotates and produces frictional force with base arm 116 under the driving of motor, thus driven machine people walking.Play balanced action from driving wheel 131, and the measuring mechanism driving encoder (131) inner rotates.Encoder 140 is for robot ambulation distance feedback.Multiple magnet steel anchor point 141 is arranged on guide rail 101 top.When robot runs to magnet steel anchor point, drive the magnetic sensor 120 on guiding mechanism 102 just can perceive field signal, thus the position of robot is demarcated and revises issuable range error.
Although the present invention with preferred embodiment openly as above, embodiment is not of the present invention for limiting.Without departing from the spirit and scope of the invention, any equivalence change done or retouching, belong to the protection domain of the present invention equally.Therefore the content that protection scope of the present invention should define with the claim of the application is standard.
Claims (10)
1. a cable tunnel inspection robot walking mechanism, comprise guide rail and drive guiding mechanism, described guide rail has the chamber of hollow, described driving guiding mechanism comprises the vehicle frame be arranged in the hollow chamber of guide rail, vehicle frame is provided with horizontally-guided wheels, horizontally-guided wheels play horizontally-guided effect in the hollow chamber of guide rail, robot is suspended on below vehicle frame, it is characterized in that, vehicle frame is provided with load-bearing wheels, Load-bearing rail is provided with for supporting load-bearing wheels in the hollow chamber of guide rail, driving wheels are provided with below vehicle frame, drive wheels to roll with the lower surface of guide rail in the below of guide rail to coordinate.
2. cable tunnel inspection robot walking mechanism according to claim 1, is characterized in that, described guide rail is the arc-shaped edges reverse trapezoid shape that aluminium alloy is made, and the hollow chamber both sides of guide rail are provided with lightening hole.
3. cable tunnel inspection robot walking mechanism according to claim 2, is characterized in that, described lightening hole has 4, and every side of the hollow chamber of guide rail has 2.
4. cable tunnel inspection robot walking mechanism according to claim 3, is characterized in that, described load-bearing wheels comprise front BOGEY WHEEL to consequence roller pair, front BOGEY WHEEL to consequence roller to the front and rear laying respectively at vehicle frame.
5. cable tunnel inspection robot walking mechanism according to claim 4, it is characterized in that, described driving wheels comprise main drive wheel and from driving wheel, main drive wheel is connected with motor, rotate to drive vehicle frame to walk under the driving of motor, balanced action from driving wheel.
6. cable tunnel inspection robot walking mechanism according to claim 5, it is characterized in that, described horizontally-guided wheels comprise horizontally disposed front end directive wheel, anterior directive wheel, middle part directive wheel and rear portion directive wheel, front end directive wheel is positioned at vehicle frame front end, and anterior directive wheel, middle part directive wheel and rear portion directive wheel lay respectively at the front portion of vehicle frame, middle part and rear portion.
7. cable tunnel inspection robot walking mechanism according to claim 6, it is characterized in that, described anterior directive wheel comprises upper forepart directive wheel and lower anterior directive wheel, described rear portion directive wheel comprises rear portion directive wheel and lower rear portion directive wheel, upper forepart directive wheel be positioned at front BOGEY WHEEL to directly over, lower anterior directive wheel be positioned at front BOGEY WHEEL to immediately below, upper rear portion directive wheel is positioned at consequence roller and aligns top, lower rear portion directive wheel is positioned at consequence roller and aligns below, upper forepart directive wheel, middle part directive wheel and upper rear portion directive wheel are positioned at same level axis, the hollow chamber of described guide rail is divided into upper level guiding cavity from top to bottom accordingly, load-bearing cavity and lower horizontal guiding cavity, upper level guiding cavity is for holding upper forepart directive wheel, middle part directive wheel and upper rear portion directive wheel, its chamber wall and upper forepart directive wheel, middle part directive wheel and upper rear portion directive wheel contact, lower horizontal guiding cavity is for holding lower anterior directive wheel and lower rear portion directive wheel, its chamber wall contacts with lower anterior directive wheel and lower rear portion directive wheel, load-bearing cavity for hold front BOGEY WHEEL to consequence roller pair, Load-bearing rail is positioned at the both sides of load-bearing cavity bottom, upper level guiding cavity two bottom sides is provided with front end guide rail, front end directive wheel matches with front end guide rail.
8. cable tunnel inspection robot walking mechanism according to claim 7, it is characterized in that, lead chamber wall that cavity and lower anterior directive wheel contact with lower rear portion directive wheel and Load-bearing rail of chamber wall, lower horizontal that upper level guiding cavity contacts with upper rear portion directive wheel with upper forepart directive wheel, middle part directive wheel is equipped with lines with front BOGEY WHEEL to docking tactile position with consequence roller.
9. the cable tunnel inspection robot walking mechanism described arbitrarily according to claim 6 ~ 8, it is characterized in that, the top of described guide rail is provided with multiple magnet steel anchor point, and vehicle frame is provided with the field signal of magnetic sensor for perception magnet steel anchor point, is connected with encoder from driving wheel.
10. cable tunnel inspection robot walking mechanism according to claim 9, is characterized in that, described magnetic sensor is arranged on directive wheel top, front end.
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| CN201510159496.1A CN104742111A (en) | 2015-04-02 | 2015-04-02 | Traveling mechanism of cable tunnel inspection robot |
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| CN201510159496.1A CN104742111A (en) | 2015-04-02 | 2015-04-02 | Traveling mechanism of cable tunnel inspection robot |
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| CN106740899A (en) * | 2016-12-29 | 2017-05-31 | 山东康威通信技术股份有限公司 | Electric tunnel inspection robot walking structure, robot and its method |
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