CN107398888A - Rail polling robot running gear - Google Patents
Rail polling robot running gear Download PDFInfo
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- CN107398888A CN107398888A CN201610338813.0A CN201610338813A CN107398888A CN 107398888 A CN107398888 A CN 107398888A CN 201610338813 A CN201610338813 A CN 201610338813A CN 107398888 A CN107398888 A CN 107398888A
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- driven
- fixed mount
- guide rail
- driving
- running gear
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- 238000012423 maintenance Methods 0.000 abstract description 4
- 230000001771 impaired effect Effects 0.000 abstract description 3
- 230000001681 protective effect Effects 0.000 abstract description 2
- 238000005096 rolling process Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 5
- 210000002683 foot Anatomy 0.000 description 4
- 230000005489 elastic deformation Effects 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
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- 239000000463 material Substances 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
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- 229910000881 Cu alloy Inorganic materials 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to the technical field of crusing robot equipment, rail polling robot running gear is provided, including the guide rail with hollow cavity, driving mechanism and follower are provided with inner chamber, driving mechanism includes active fixed mount, driving shaft, driving wheel and drive component, and follower includes driven fixed mount, driven shaft and driven pulley.Because driving mechanism and follower are located in inner chamber, its driving wheel, driving shaft, drive component, driven pulley and driven shaft by the protective effect of guide rail, reduce the impaired possibility of each part.During use, start drive component, crusing robot will advance in the presence of driving wheel along guide rail, simultaneously, driven pulley is driven to be rolled along guide rail, compared to more existing drive mechanism for by the way of two driving wheel homonymies drive, two driving wheel is driven by same driving shaft, two driving wheels are synchronously easy, therefore the situation of skidding is less prone to, avoids the uneven situation of left and right wheel wear, reduces maintenance cost.
Description
Technical field
The invention belongs to the technical field of crusing robot equipment, more particularly to rail polling robot ambulation machine
Structure.
Background technology
At present, with the fast development in city, all kinds of public places, material property close quarters (such as house)
Or high-risk is unfavorable for the occasion (such as cable tunnel) of artificial detection, can all be equipped with crusing robot pair
It carries out video monitoring etc. and checked.
Generally, crusing robot can set walking mechanism, in order to orbit.With rail mounted inspection
Exemplified by robot, in Application No. 201510290507.X Chinese patent open source literature, such as its accompanying drawing 3
It is shown, the drive mechanism of rail mounted crusing robot include two 7, two, motor driving wheels 12, two from
Driving wheel 13 and bottom plate 6, it drives driving wheel 12, extension of the driving wheel 12 along guide rail 1 by motor 7
Direction rolls, so as to drive driven pulley 13 also to be rolled along guide rail 1, to realize robot in the row on guide rail 1
Walk.
However, it still has the problem of such：Two driving wheels 12 are located at the same side of guide rail 1, and by
Two motors 7 drive respectively, and two driven pulleys 13 are located at the opposite side of guide rail 1, so, two driving wheels
12 is synchronous difficult, and situation about skidding, wheel wear is uneven, the maintenance cost of the drive mechanism easily occurs
Also it is high.
The content of the invention
It is an object of the invention to provide rail polling robot running gear, it is intended to solves existing walking mechanism
Synchronous difficult, the easy skidding of existing wheel, wear the problem of uneven and maintenance cost is high.
In order to solve the above technical problems, the invention provides rail polling robot running gear, including with
The guide rail of hollow cavity, is provided with driving mechanism and follower in the inner chamber, the driving mechanism include with
Crusing robot connection active fixed mount, be supported on the active fixed mount driving shaft, located at described
Both ends of main drive shaft and the driving wheel coordinated is rolled with the medial surface of the inner chamber and is driven with the driving shaft connect
The drive component connect, the follower include be connected with crusing robot driven fixed mount, be supported in institute
State the driven shaft on driven fixed mount and rolled located at the driven shaft both ends and with the medial surface of the inner chamber
The driven pulley of cooperation.
Further, length of the axis of the axis of the driving shaft and the driven shaft with the guide rail is prolonged
It is vertical to stretch direction, the driven fixed mount is provided with fixing axle, and the driven shaft is pivotally connected with the fixing axle,
The axis of the driven shaft is vertical with the axis of the fixing axle.
Further, the driven fixed mount is provided with fixture, and the fixture is provided with both ends open and edge
The open slot of the axis direction extension of the driven shaft, the fixed both ends of the shaft are respectively supported at the open slot
Inwall on, the driven shaft be located at the open slot in.
Further, the driven fixed mount is located between two driven pulleys, is set on the driven fixed mount
There is the spacing hole for wearing and being used for for the driven shaft and limit the slewing area of the driven shaft.
Further, it is provided with and is used for being patrolled in the side wall of the inner chamber formed with mounting groove, in the mounting groove
The trolley of robot power supply is examined, the mounting groove and the trolley prolong along the length direction of the guide rail
Stretch.
Further, the trolley includes support, and the support includes the vertical plate being vertically arranged, described
At least two transverse plates are interval with vertical plate, power taking space is formed between adjacent two transverse plate, it is described
The conducting strip for being used for being electrically connected with crusing robot is provided with power taking space.
Further, the bottom of the inner chamber offers the notch along the length direction extension of the guide rail, institute
The both sides for stating notch form supporting table respectively, and two driving wheels are respectively supported in two supporting tables, and two
The driven pulley is respectively supported in two supporting tables, and the supporting table has the active fixed mount and institute
Driven fixed mount is stated to offset so that the spigot surface of crusing robot operation smooth-going.
Further, the active fixed mount and/or the driven fixed mount are provided with current-collector, the current collection
Device includes current collection support and on the current collection support and the brush that is abutted with the conducting strip, the brush
It is electrically connected with crusing robot.
Further, the active fixed mount and/or the driven fixed mount are provided with guiding mechanism, described to lead
Including fixed block to mechanism, the fixed block is provided with stopper slot, pivoted frame is rotatably connected in the stopper slot,
The roller for being offseted with the medial surface of the inner chamber is rotatably connected on the pivoted frame, is set on the fixed block
There is torsion spring, the torsion spring has top, and the top offsets with the pivoted frame.
Further, the pivoted frame is respectively supported at the horizontal stroke on two poles including two poles and both ends
Beam, described pole one end are rotationally connected with the stopper slot, and the other end is rotatablely connected with the roller, institute
Top is stated to offset with the crossbeam.
The beneficial effect of rail polling robot running gear provided by the invention：
In above-mentioned rail polling robot running gear, because driving mechanism and follower are located at guide rail
In inner chamber, its driving wheel, driving shaft, drive component, driven pulley and driven shaft are made by the protection of guide rail
With, reduce each part due to extraneous factor influences and impaired possibility.It is in use, start driving group
Part, drive length direction of the driving wheel along guide rail to roll and advance, crusing robot will in the presence of driving wheel,
Advance along guide rail, meanwhile, drive driven pulley to be rolled along guide rail, compared to more existing drive mechanism using two drives
For the mode of driving wheel homonymy driving, two driving wheel is driven by same driving shaft, and two driving wheels synchronously hold
Easily, therefore the situation of skidding is less prone to, avoids the uneven situation of left and right wheel wear, so as to reduce dimension
Protect cost.
Brief description of the drawings
Fig. 1 is the structural representation of rail polling robot running gear provided in an embodiment of the present invention；
Fig. 2 is that the structure of the driving mechanism of rail polling robot running gear provided in an embodiment of the present invention is shown
It is intended to；
Fig. 3 is the side view of the driving mechanism of rail polling robot running gear provided in an embodiment of the present invention
Figure；
Fig. 4 is that the structure of the follower of rail polling robot running gear provided in an embodiment of the present invention is shown
It is intended to；
Fig. 5 is the section view of the follower of rail polling robot running gear provided in an embodiment of the present invention
Figure；
Fig. 6 is another knot of the driving mechanism of rail polling robot running gear provided in an embodiment of the present invention
Structure schematic diagram；
Fig. 7 is the structural representation of the guide rail of rail polling robot running gear provided in an embodiment of the present invention
Figure；
Fig. 8 is that another structure of the guide rail of rail polling robot running gear provided in an embodiment of the present invention is shown
It is intended to；
Fig. 9 is the structural representation of the current-collector of rail polling robot running gear provided in an embodiment of the present invention
Figure；
Figure 10 is the structure of the guiding mechanism of rail polling robot running gear provided in an embodiment of the present invention
Schematic diagram；
Figure 11 is the fixation of the guiding mechanism of rail polling robot running gear provided in an embodiment of the present invention
The structural representation of block；
Figure 12 is the torsion spring of the guiding mechanism of rail polling robot running gear provided in an embodiment of the present invention
Structural representation；
Figure 13 is the top view of the guiding mechanism for the rail polling robot running gear that Figure 10 is provided；
Figure 14 is the side view of the torsion spring of the guiding mechanism for the rail polling robot running gear that Figure 12 is provided；
Figure 15 is the guide rail, driving mechanism, driven machine of rail polling robot running gear provided by the invention
The structural representation of structure and guiding mechanism.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with accompanying drawing and reality
Example is applied, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
Only to explain the present invention, it is not intended to limit the present invention.
It is preferred embodiment provided by the invention as shown in Fig. 1~15.
It should be noted that when element is referred to as " being fixed on " or " being arranged at " another element, it can
Directly on another element or to be connected on another element.When an element is known as " even
It is connected to " another element, it can be directly to another element or be indirectly connected to another yuan
On part.
Only it is phase each other it should also be noted that, the orientation term such as left and right, upper and lower in the present embodiment
To concept or using the normal operating condition of product as reference, and should not be regarded as restrictive.
As shown in Figure 1, Figure 2, shown in Fig. 4, Fig. 6 and Figure 15, the rail polling robot of the present embodiment offer
Walking mechanism 1, including the guide rail 2 with hollow cavity 21, driving mechanism 3 and driven is provided with inner chamber 21
Mechanism 4, driving mechanism 3 include be connected with crusing robot 20 active fixed mount 31, be supported in actively consolidate
Determine the driving shaft 32 on frame 31, roll what is coordinated located at the both ends of driving shaft 32 and with the medial surface of inner chamber 21
Driving wheel 33 and the drive component 34 with the drive connection of driving shaft 32, follower 4 includes and survey monitor
Driven fixed mount 41 that device people 20 connects, the driven shaft 42 that is supported on driven fixed mount 41 and it is located at
The both ends of driven shaft 42 and roll the driven pulley 43 coordinated with the medial surface of inner chamber 21.
As shown in Figure 1, Figure 2, shown in Fig. 4, Fig. 6 and Figure 15, above-mentioned rail polling robot running gear 1
In, because driving mechanism 3 and follower 4 are located in the inner chamber 21 of guide rail 2, its driving wheel 33,
Driving shaft 32, drive component 34, driven pulley 43 and driven shaft 42 are by the protective effect of guide rail 2, drop
Low each part due to extraneous factor influences and impaired possibility.Itself in use, start drive component 34,
Drive length direction of the driving wheel 33 along guide rail 2 to roll to advance, crusing robot 20 will be in driving wheel 33
In the presence of, advance along guide rail 2, meanwhile, drive driven pulley 43 to be rolled along guide rail 2, compared to more existing drive
Motivation structure is for by the way of two motor homonymies drive, and two driving wheel 33 is by same driving shaft 32
Driving, two driving wheel 33 is synchronous easily, therefore is less prone to the situation of skidding, avoids two driving wheels 33
Uneven situation is worn, so as to reduce maintenance cost.
As shown in Figure 1, Figure 2, shown in Fig. 4 to Fig. 6, in order that obtaining crusing robot 20 preferably along guide rail 2
Length direction operation, the axis of driving shaft 32 and the axis of driven shaft 42 extend with the length of guide rail 2
Direction is vertical, and in order that crusing robot 20 is more steady, moves smoothly through bend or rough
Guide rail 2, driven fixed mount 41 are provided with fixing axle 44, and driven shaft 42 is pivotally connected with fixing axle 44, driven shaft
42 axis is vertical with the axis of fixing axle 44.So, when guide rail 2 is turned or track is uneven,
Rolling two driven pulleys 43 coordinating with guide rail 2 will not at grade, and it is hanging a certain wheel occur
Situation, now, rotated by axis of the driven shaft 42 around fixing axle 44 so that the two of the both ends of driven shaft 42
Individual driven pulley 43 adapts to turn or rough situation so that driven pulley 43 is still reliably along guide rail 2
Roll, cause the uneven situation of wheel wear so as to avoid because a certain wheel is hanging, reduce and safeguard
Cost.
As shown in Figures 4 to 6, for the ease of adjusting the plan-position residing for two driven pulleys 43, to adapt to
Turn or rough track condition, driven fixed mount 41 are provided with fixture 45, fixture 45 is provided with
Both ends open and along driven shaft 42 axis direction extend open slot 46, the both ends of fixing axle 44 support respectively
In on the inwall of open slot 46, driven shaft 42 is located in open slot 46.
It should be noted that fixing axle 44 is turret head hinged bolts.
Refinement ground, as shown in Figures 4 to 6, driven fixed mount 41 is located between two driven pulleys 43, due to
Driven shaft 42 around fixing axle 44 rotate when, excessive rotational angle can cause driven pulley 43 to collide driven fixation
Frame 41, therefore, the occurrence of in order to avoid this, driven fixed mount 41 is provided with and worn for driven shaft 42
And the spacing hole 47 of the slewing area for limiting driven shaft 42.It should be noted that the hole of spacing hole 47
Footpath is bigger than the diameter of axle of driven shaft 42, and the difference of aperture and the diameter of axle defines the rail that driven pulley 43 can adapt to
The rough scope in road.
As shown in Figures 2 to 6, for the ease of the rotation connection of driven pulley 43 and driven shaft 42, driven pulley
43 are rotatablely connected by driven bearing and driven shaft 42.In addition, in order to which driving wheel 33 and master is better achieved
The connection of moving axis 32, driving wheel 33 are connected by retainingf key with driving shaft 32.
For the ease of driving wheel 33 in the installation on active fixed mount 31, active fixed mount 31 is located at two actives
Between wheel 33, active fixed mount 31 is provided with active bearings 35, and driving shaft 32 rotates with active bearings 35
Coordinate.
Consolidated in order that obtaining support of the active fixed mount 31 to driving shaft 32, the quantity of active bearings 35 is set to
Two, two active bearings 35 are respectively supported at the both ends of driving shaft 32, in the opposite sides of active fixed mount 31
Bearing fixed seat 36 is respectively equipped with, two active bearings 35 are respectively arranged in bearing fixed seat 36.So, two
Individual active bearings 35 will form 2 points of supports to driving shaft 32 so that the power of driving shaft 32 transmits more steady
It is fixed reliable.
Refinement ground, as shown in Figures 4 to 6, drive component 34 include the electricity being connected with crusing robot 20
Machine 341, pass through with the driving wheel 342 of the output shaft drive connection of motor 341 and with driving wheel 342 it is synchronous
The synchronizing wheel 343 of band connection, synchronizing wheel 343 are connected with driving shaft 32.So, start motor 341, drive
Driving wheel 342 rotates, and is rotated by timing belt to move synchronizing wheel 343, due to synchronizing wheel 343 and driving shaft
32 connections, driving shaft 32 will be in the case where synchronizing wheel 343 drives, synchronous axial system, so as to realize driving driving wheel
33。
For the ease of the stress balance of system, synchronizing wheel 343 is located between two active bearings 35.So, together
Step band will pass to active fixed mount 31 to the torsion force of synchronizing wheel 343 by active bearings 35.
As shown in Fig. 1, Fig. 7, Fig. 8 and Figure 15, powered in real time for crusing robot 20, inner chamber 21
The trolley for being used for powering to crusing robot 20 is provided with formed with mounting groove 22 in side wall, in mounting groove 22
23, mounting groove 22 and trolley 23 extend along the length direction of guide rail 2.
So, by crusing robot 20 when being run on above-mentioned guide rail 2, its driving mechanism 3 and follower
4 will run advance in inner chamber 21, due in the side wall of inner chamber 21 formed with mounting groove 22, mounting groove 22
In be provided with trolley 23, trolley 23 can power to crusing robot 20, moreover, the He of mounting groove 22
Trolley 23 extends along the length direction of guide rail 2, and so, no matter crusing robot 20 is run to where,
It can be powered from trolley 23, and therefore, above-mentioned guide rail 2 realizes real to crusing robot 20
When the function powered, ensure that all the period of time operation of crusing robot 20.
It is real to crusing robot 20 for the ease of trolley 23 as shown in Fig. 1, Fig. 7, Fig. 8 and Figure 15
When power, trolley 23 includes support 231, and support 231 includes the vertical plate 232 being vertically arranged, vertically
At least two transverse plates 233 are interval with plate 232, power taking space is formed between adjacent two transverse plate 233,
The conducting strip 234 for being used for being electrically connected with crusing robot 20 is provided with power taking space.So, in survey monitor
In the direction of advance of device people 20, support 231 and conducting strip 234 are arranged with so that crusing robot 20
No matter the where on the guide rail 2, can be powered from conducting strip 234.
For the ease of the fixation of conducting strip 234, conducting strip 234 is attached in vertical plate 232, transverse plate 233
The bending for fixed-conductive film 234 is bent to form towards conducting strip 234.So, conducting strip 234 will have three
Individual side is wrapped, and has one side to open wide, and crusing robot 20 can pass through the unlimited side and conducting strip
234 are electrically connected with.
As shown in fig. 7, in order that support 231 is preferably fixedly mounted in groove 22, the both sides of mounting groove 22
The card convex 221 for fixing vertical plate 232 is formed on wall respectively.
As shown in Fig. 1, Fig. 7, Fig. 8 and Figure 15, in order that obtaining driving mechanism 3 and follower 4 more just
In the internal operation in guide rail 2, the bottom of inner chamber 21 offers the notch along the length direction extension of guide rail 2
24, the both sides of notch 24 form supporting table 25 respectively, and two driving wheels 33 are respectively supported at two supporting tables 25
On, two driven pulleys 43 are respectively supported in two supporting tables 25, and supporting table 25 has the He of active fixed mount 31
Driven fixed mount 41 offsets so that the spigot surface 251 of the operation smooth-going of crusing robot 20.Due to supporting table 25
Preferable support is formed to driving wheel 33 and driven pulley 43 so that crusing robot 20 is stable, and by
Preferable counter-active effect is formed to active fixed mount 31 and driven fixed mount 41 in spigot surface 251 so that patrol
Inspection robot 20 smoothly turns on guide rail 2.So, in driving mechanism 3, follower 4, supporting table
25 and spigot surface 251 cooperation under so that crusing robot 20 can better adapt to above-mentioned guide rail 2, put down
Surely, accurately, safely run.
Further, since when driving mechanism 3 and follower 4 are run in the inner chamber 21 of guide rail 2, its active
Wheel 33 and driven pulley 43 are supported the supporting role of platform 25, and active fixed mount 31 and driven fixed mount
41 by spigot surface 251 counter-active effect, moreover, the upside of driving wheel 33 and the upside of driven pulley 43 are also
By the top of inner chamber 21 effect is compressed, this way it is possible to avoid crusing robot 20 is in the process of running
Significantly rock.
As shown in Fig. 1, Fig. 7, Fig. 8 and Figure 15, because crusing robot 20 will generally check larger model
Enclose, therefore, guide rail 2 typically has larger length, and mutual generally by multistage guide rail 2 compared with long guideway 2
It is spliced, for the ease of the splicing of multistage guide rail 2, supporting table 25 offers both ends open and along guide rail 2
Length direction extension splicing groove 26, splicing groove 26 bottom offer splicing jaws, splice jaws
Both sides are formed for the splicing buckle 261 with being connected groove bar snapping.So, by the way that the both ends of groove bar will be connected
It is buckled in the splicing groove 26 of adjacent both ends guide rail 2, splices both ends guide rail 2 respectively to realize, therefore,
The above-mentioned splicing of guide rail 2 is convenient.
As shown in Fig. 1, Fig. 7, Fig. 8 and Figure 15, for the ease of the transport, splicing and peace of multistage guide rail 2
Dress, the top of inner chamber 21 offer both ends open and the lifting groove 27 of the length direction extension along guide rail 2,
The two side of lifting groove 27 is formed for the lifting buckle 271 with lifting part snapping respectively.So, can lead to
Lifting part and the lifting snapping of groove 27 are crossed, realizes transport, splicing and the installation to guide rail 2.
As shown in Fig. 1, Fig. 7, Fig. 8 and Figure 15, detected to detect crusing robot 20 exactly
Position, the outside of guide rail 2 are provided with locating rack 28, and locating rack 28, which is provided with, to be used for and crusing robot 20
Wireless telecommunications are to calibrate the positioning chip 281 of the present position of crusing robot 20.Refinement ground, positioning chip 281
For RFID card, i.e. radio frequency identification card, locating rack 28 includes fixed support 282 and located at fixed support
Plastic plate 283 on 282, in order to avoid metal influences sensing of the crusing robot 20 to positioning chip 281,
Positioning chip 281 is on plastic plate 283.Certainly, in other embodiment, positioning chip 281 can be with
, can as long as meeting for the specifically used of positioning chip 281 for Bluetooth chip or wireless WIFI chips
Realize the function of wireless telecommunications.
It is interior in order to prevent crusing robot 20 from departing from guide rail 2 as shown in Fig. 1, Fig. 7, Fig. 8 and Figure 15
The side wall relative with mounting groove 22 of chamber 21 is provided with position-limited rack 29, meanwhile, in order to avoid crusing robot
20 collide and are damaged with position-limited rack 29, and position-limited rack 29 is provided with bumper 291.Specifically, anticollision
Pad 291 is made up of quality of rubber materials.
As shown in fig. 7, for the ease of being powered to trolley 23, groove position 211, groove position are offered on guide rail 2
211 are provided with the terminal box being electrically connected with conducting strip 234.Certainly, groove position 211 can be arranged to multiple,
So, it is easy to that various annexes, such as terminal box are installed on guide rail 2, so as to take full advantage of the peace of guide rail 2
Fill space so that the overall structure of above-mentioned guide rail 2 is more compact.
Refinement ground, as shown in Figure 1, Figure 2, shown in Fig. 4 and Fig. 9, active fixed mount 31 and/or driven fixed mount
41 are provided with current-collector 5, current-collector 5 include current collection support 51 and on current collection support 51 and with conduction
The brush 52 that piece 234 abuts, brush 52 are electrically connected with crusing robot 20.
As shown in figure 9, current collection support 51 includes the first steering base 531, the second steering base 532, first is adjusted
Whole pull bar 541 and second adjusts pull bar 542,531 turns of first adjustment one end of pull bar 541 and the first steering base
Dynamic connection, the other end are rotatablely connected with the second steering base 532, and second adjusts the one end of pull bar 542 and first turn
Be rotatablely connected to seat 531, the other end is rotatablely connected with the second steering base 532, first adjustment pull bar 541 with
Second adjustment pull bar 542 is parallel relative, and the first steering base 531 and the second steering base 532 are parallel relative, electricity
Brush 52 is rotationally connected with the second steering base 532.So, the first steering base 531, the second steering base 532,
First adjustment pull bar 541 and second, which adjusts pull bar 542, will form parallel-crank mechanism, can be adjusted by first
Whole pull bar 541 and second adjusts the rotation of pull bar 542, to change the shape of the parallel-crank mechanism.
Specifically, as shown in figure 9, first adjustment pull bar 541 by straight pin 55 respectively with the first steering base
531 and second steering base 532 be rotatablely connected, the second adjustment pull bar 542 is by straight pin 55 respectively with first
The steering base 532 of steering base 531 and second is rotatablely connected, therefore, straight pin 55, the first steering base 531,
Second steering base 532, first adjustment pull bar 541 and second, which adjusts pull bar 542, will form rotary freedom,
Brush 52 is set, to adapt to the interval error of trolley 23 and turning, to make along direction of advance left rotation and right rotation
Obtain brush 52 and be preferably bonded trolley 23.
Specifically, brush 52 uses the preferable copper alloy of wear-resistant conductive, and it has big chamfering structure,
In order to cross larger obstacle, even if the face joint of trolley 23 has certain out-of-flatness, it can still get over
Cross, and keep the good contact with trolley 23.
You need to add is that as shown in figure 9, between the first adjustment adjustment pull bar 542 of pull bar 541 and second
Provided with extension spring 56, the one end of extension spring 56 is connected with the first adjustment pull bar 541, the other end and the first adjustment pull bar
542 connections.
Refinement ground, as shown in Fig. 1, Figure 10 to Figure 15, active fixed mount 31 and/or driven fixed mount 41
Guiding mechanism 6 is provided with, guiding mechanism 6 includes fixed block 61, and fixed block 61 is provided with stopper slot 611, limit
Pivoted frame 62 is rotatably connected in the groove 611 of position, is rotatably connected on pivoted frame 62 for the medial surface with inner chamber 21
The roller 63 to offset, fixed block 61 are provided with torsion spring 64, and torsion spring 64 has top 641, top 641
Offseted with pivoted frame 62.
When driving mechanism 3 and follower 4 are run to bend, roller 63 by by the pitching of track, partially
The active force such as pendulum and rolling, and the active force is conducted to pivoted frame 62 so that pivoted frame 62 is in stopper slot 611
Middle rotation, because the top 641 of pivoted frame 62 and torsion spring 64 offsets, torsion spring 64 produces elastic deformation
Raw torsion and the force balance, during this, torsion spring 64 will pass through appropriate elastic deformation, i.e. pivoted frame
62 turn over appropriate angle in stopper slot 611, to adapt to different degrees of pitching, beat and rolling, because
This, when driving mechanism 3 and follower 4 are run in bend, its caused shock and vibration, makes an uproar
Sound is smaller, suitable for high-speed cruising.So, because above-mentioned crusing robot 20 employs guiding mechanism 6, and
Coordinated by the transmission of fixed block 61, roller 63, pivoted frame 62, stopper slot 611 and torsion spring 64, to cause
Crusing robot 20 overcomes pitching, beat and rolling of bend etc. to rock, and steadily, be smoothly through bend.
It should be noted that in order to reduce the noise between roller 63 and guide rail 2, roller 63 is by polyurethane
It is made.
Refinement ground, as shown in Figure 10, pivoted frame 62 includes two poles 621 and both ends are respectively supported at two
Crossbeam 622 on pole 621, the one end of pole 621 are rotationally connected with stopper slot 611, the other end and rolling
The rotation connection of wheel 63, top 641 offsets with crossbeam 622.So, when roller 63 is by guide rail 2
During the active forces such as pitching, beat and rolling, pole 621 will rotate in stopper slot 611, and torsion spring 64
Elastic deformation is produced into torsion, and acted on by the transmission of top 641 and crossbeam 622, torsion and effect
Dynamic balance, to cause crusing robot 20 to adapt to different degrees of pitching, beat and rolling, with steady, suitable
Pass through bend sharply.
It is horizontal for the power transmission of be more convenient for torsion spring 64 and pivoted frame 62 as shown in Fig. 1, Figure 10 and Figure 15
Beam 622 is provided with through hole 623, and top 641 is located in through hole 623.So, top 641 is passed through
Stable with through hole 623 coordinates so that the torsion of torsion spring 64 and the balance of active force are more stable so that patrol
Inspection robot 20 is more steady, is smoothly through bend.
As shown in Fig. 1, Figure 10 and Figure 15, it can pass through most to better control over crusing robot 20
The big maximum speed for turning and controlling more enough operations when turning of crusing robot 20, stopper slot 611 are cut
Face shape takes the shape of the letter U shape, and pole 621 and the bearing surface of stopper slot 611 are cambered surface.So, stopper slot 611
The width of notch 24 will determine maximum rotation scope of the pole 621 in stopper slot 611, therefore, can lead to
The calculating of overbalance, draw maximum turning and maximum speed.
As shown in Fig. 1, Figure 10 and Figure 15, in order to which torsion spring 64 of being more convenient for, pivoted frame 62 are on fixed block 61
Installation connection, fixed block 61 is provided with groove 612, and torsion spring 64 is fixed in groove 612, groove 612
Two lateral walls on be respectively equipped with stopper slot 611.
In order to which pivoted frame 62 of being more convenient in the rotation on fixed block 61, the side wall of groove 612 in being inserted with first
Rotating shaft 651, torsion spring 64 are placed in first rotating shaft 651, and two poles 621 are rotationally connected with first rotating shaft respectively
651 opposite end.
As shown in Fig. 1, Figure 10 and Figure 15, in order that obtaining rotation of the pole 621 in first rotating shaft 651
More stable, the both ends of first rotating shaft 651 are exposed to outside pole 621 respectively, the both ends point of first rotating shaft 651
Be not arranged with the first packing ring 661 for pole 621 being limited in first rotating shaft 651.
In order to which the rotation connection of roller 63 and pole 621 is better achieved, second turn is equipped with roller 63
Axle 652, the both ends of the second rotating shaft 652 are rotatablely connected with two poles 621 respectively.
As shown in Fig. 1, Figure 10 and Figure 15, in order that obtaining rotation of the roller 63 in the second rotating shaft 652 more
Add stabilization, the both ends of the second rotating shaft 652 are exposed to outside pole 621 respectively, the both ends difference of the second rotating shaft 652
Be arranged with the second packing ring 662 for roller 63 being limited in second rotating shaft 652.
Refinement ground, on the preferred embodiment of the concrete structure of torsion spring 64, the both ends of torsion spring 64 are formed respectively
There is support feet 642, support feet 642 is inserted on fixed block 61, and top 641 is formed at two support feets 642
Between.
As shown in Fig. 1, Figure 10 and Figure 15, turn in order that obtaining torsion caused by torsion spring 64 and preferably acting on
Formed on frame 62, between top 641 and support feet 642 and reverse angle β, pivoted frame 62 presss from both sides located at torsion
In angle beta.So, due to the effect of roller 63 and torsion spring 64, pivoted frame 62 will be easier to be in poised state,
Situation is rocked to better adapt to pitching, beat and rolling etc..
Especially, as shown in Fig. 1, Figure 10 and Figure 15, in the inner chamber 21 of guide rail 2, driving mechanism 3
With the front and rear setting of follower 4, the left side of driving mechanism 3 is provided with left front guiding mechanism 101, driving mechanism 3
Right side be provided with it is right before guiding mechanism 102, the upside of driving mechanism 3 is provided with guiding mechanism 103 of going forward；It is driven
The left side of mechanism 4 is provided with left back guiding mechanism 401, and the right side of follower 4 is provided with guiding mechanism 402 behind the right side,
The upside of follower 4 is provided with upper rear guiding mechanism 403.
It should be noted that left front guiding mechanism 101, it is right before guiding mechanism 102, guiding mechanism 103 of going forward,
The structure of guiding mechanism 402 and upper rear guiding mechanism 403 is patrolled with above-mentioned behind left back guiding mechanism 401, the right side
It is identical to examine the guiding mechanism 6 of robot 20.
As shown in Fig. 1, Figure 10 and Figure 15, when driving mechanism 3 and follower 4 are in straight line on guide rail 2
During walking, it is oriented to before left front guiding mechanism 101, the right side behind guiding mechanism 102, left back guiding mechanism 401 and the right side
Torsion spring 64 in mechanism 402 is in certain compressive state；And work as driving mechanism 3 and follower 4
When being turned on guide rail 2, such as turn left, the roller 63 of guiding mechanism 402 will be by guide rail 2 behind its right side
The increasing pressure, torsion spring 64 is further compressed, until pivoted frame 62 rotates extremely in stopper slot 611
Extreme position, the deformation of torsion spring 64 is maximum, and torsion spring 64 is changed into rigid power transmission so that driving mechanism 3 and driven
Mechanism 4 has enough power by bend, to realize that crusing robot 20 smoothly turns to.
As shown in Fig. 1, Figure 10 and Figure 15, when driving mechanism 3 and follower 4 are run on guide rail 2
And when pitching situation occurs, when luffing angle is smaller, go forward guiding mechanism 103 and upper rear guiding mechanism 403
Roller 63 effect will be compressed to it by the upper side of guide rail 2 so that its torsion spring 64 compresses, turn
Frame 62 rotates certain angle in stopper slot 611；And when luffing angle becomes larger, greatly to its pivoted frame
62 rotate extremely extreme position in stopper slot 611, and the deformation of torsion spring 64 is maximum, and torsion spring 64 is changed into rigid biography
Power so that there is enough active forces to limit the generation of pitching for driving mechanism 3 and follower 4.
As shown in Fig. 1, Figure 10 and Figure 15, when driving mechanism 3 and follower 4 are run on guide rail 2
And when eccentricities occur, when beat degree is smaller, left front guiding mechanism 101, it is right before guiding mechanism 102,
Guiding mechanism 402 will be compressed effect, each torsion spring by the lateral of guide rail 2 after left back guiding mechanism 401 and the right side
64 compress, and each pivoted frame 62 in each stopper slot 611 respectively at rotating certain angle, to adapt to this kind
The eccentricities of degree；And when beat degree becomes larger, greatly to its each pivoted frame 62 in each stopper slot 611
Middle rotation extremely extreme position, the deformation of each torsion spring 64 is maximum, and each torsion spring 64 is changed into rigid power transmission so that main
There is enough active forces to limit the generation of beat for motivation structure 3 and follower 4.
As shown in Fig. 1, Figure 10 and Figure 15, because driving mechanism 3 and follower 4 are along before guide rail 2
Enter front and rear setting on direction, so, left front guiding mechanism 101, it is right before guiding mechanism 102 and go forward to be oriented to
Mechanism 103 will form first three strong point to driving mechanism 3, and left back guiding mechanism 401, it is right after Guiding machine
Three strong points after structure 402 and upper rear guiding mechanism 403 will be formed to follower 4, first three strong point is with after
Three strong points are separated by a certain distance in a forward direction, and it can limit the generation of rolling.
Presently preferred embodiments of the present invention is these are only, is not intended to limit the invention, it is all the present invention's
All any modification, equivalent and improvement made within spirit and principle etc., it should be included in the guarantor of the present invention
Within the scope of shield.
Claims (10)
1. rail polling robot running gear, it is characterised in that including the guide rail with hollow cavity, institute
State and driving mechanism and follower are provided with inner chamber, the driving mechanism includes the master being connected with crusing robot
Dynamic fixed mount, the driving shaft being supported on the active fixed mount, located at the both ends of main drive shaft and with it is described
The medial surface of inner chamber rolls the driving wheel coordinated and the drive component with the driving shaft drive connection, described
Follower include be connected with crusing robot driven fixed mount, be supported on the driven fixed mount from
Moving axis and roll the driven pulley coordinated located at the driven shaft both ends and with the medial surface of the inner chamber.
2. rail polling robot running gear as claimed in claim 1, it is characterised in that the active
The axis of the axis of axle and the driven shaft is vertical with the length bearing of trend of the guide rail, described driven solid
Determine frame and be provided with fixing axle, the driven shaft is pivotally connected with the fixing axle, the axis of the driven shaft with it is described
The axis of fixing axle is vertical.
3. rail polling robot running gear as claimed in claim 2, it is characterised in that described driven
Fixed mount is provided with fixture, and the fixture is provided with both ends open and prolonged along the axis direction of the driven shaft
The open slot stretched, the fixed both ends of the shaft are respectively supported on the inwall of the open slot, and the driven shaft is set
In the open slot.
4. rail polling robot running gear as claimed in claim 3, it is characterised in that described driven
Fixed mount be located at two driven pulleys between, the driven fixed mount be provided with worn for the driven shaft and
In the spacing hole for the slewing area for limiting the driven shaft.
5. the rail polling robot running gear as described in any one of Claims 1 to 4, it is characterised in that
It is provided with and is used for crusing robot power supply formed with mounting groove in the side wall of the inner chamber, in the mounting groove
Trolley, the mounting groove and the trolley extend along the length direction of the guide rail.
6. rail polling robot running gear as claimed in claim 5, it is characterised in that the wiping
Line includes support, and the support includes the vertical plate being vertically arranged, at least two are interval with the vertical plate
Transverse plate, power taking space is formed between adjacent two transverse plate, is provided with and is used for patrolling in the power taking space
Examine the conducting strip that robot is electrically connected with.
7. rail polling robot running gear as claimed in claim 5, it is characterised in that the inner chamber
Bottom offer along the guide rail length direction extension notch, the both sides of the notch form branch respectively
Platform is supportted, two driving wheels are respectively supported in two supporting tables, and two driven pulleys are respectively supported at two
In the supporting table, there is the supporting table active fixed mount and the driven fixed mount to offset so as to patrol
Examine the spigot surface of robot operation smooth-going.
8. rail polling robot running gear as claimed in claim 6, it is characterised in that the active
Fixed mount and/or the driven fixed mount are provided with current-collector, and the current-collector includes current collection support and located at institute
The brush stated on current collection support and abutted with the conducting strip, the brush are electrically connected with crusing robot.
9. the rail polling robot running gear as described in any one of Claims 1 to 4, it is characterised in that
The active fixed mount and/or the driven fixed mount are provided with guiding mechanism, and the guiding mechanism includes fixing
Block, the fixed block are provided with stopper slot, pivoted frame are rotatably connected in the stopper slot, is rotated on the pivoted frame
The roller for being offseted with the medial surface of the inner chamber is connected with, the fixed block is provided with torsion spring, the torsion
Spring has top, and the top offsets with the pivoted frame.
10. rail polling robot running gear as claimed in claim 9, it is characterised in that described turn
Frame is respectively supported at the crossbeam on two poles including two poles and both ends, and described pole one end rotates
It is connected in the stopper slot, the other end is rotatablely connected with the roller, the top and the crossbeam phase
Support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610338813.0A CN107398888A (en) | 2016-05-20 | 2016-05-20 | Rail polling robot running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610338813.0A CN107398888A (en) | 2016-05-20 | 2016-05-20 | Rail polling robot running gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107398888A true CN107398888A (en) | 2017-11-28 |
Family
ID=60389557
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610338813.0A Pending CN107398888A (en) | 2016-05-20 | 2016-05-20 | Rail polling robot running gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107398888A (en) |
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| CN108838989A (en) * | 2018-08-15 | 2018-11-20 | 科大智能电气技术有限公司 | A kind of rail mounted be accurately positioned in real time can fast and stable walking light and handy chassis |
| CN109305176A (en) * | 2018-10-11 | 2019-02-05 | 国家电网公司 | A kind of auxiliary climbing mechanism of rail mounted crusing robot |
| CN110091307A (en) * | 2019-04-29 | 2019-08-06 | 合肥瑞堡科技发展有限公司 | A kind of robot including moving horizontally portion |
| CN111230904A (en) * | 2020-04-01 | 2020-06-05 | 安徽影动文化科技有限公司 | Prevent falling intelligent security protection inspection robot |
| CN111310504A (en) * | 2020-02-06 | 2020-06-19 | 北京海益同展信息科技有限公司 | Position calibration system and method, computer-readable storage medium |
| CN111482946A (en) * | 2020-05-15 | 2020-08-04 | 深圳供电局有限公司 | Inspection robot and system |
| CN111576100A (en) * | 2020-04-20 | 2020-08-25 | 安徽华希电力科技有限公司 | Inspection device for cable tunnel |
| EP3750675A3 (en) * | 2019-05-20 | 2021-03-17 | Gerhard Schubert GmbH | Robot arm |
| CN113633222A (en) * | 2021-07-14 | 2021-11-12 | 湖南格兰博智能科技有限责任公司 | Obstacle crossing algorithm suitable for sweeper |
| CN114029920A (en) * | 2021-11-17 | 2022-02-11 | 北京华能新锐控制技术有限公司 | Rail robot with sliding track |
| CN114310929A (en) * | 2021-11-30 | 2022-04-12 | 杭州申昊科技股份有限公司 | Running gear of robot is patrolled and examined to track |
| CN114770542A (en) * | 2022-04-29 | 2022-07-22 | 西安华创马科智能控制系统有限公司 | Track for inspection robot and inspection system |
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| CN109305176A (en) * | 2018-10-11 | 2019-02-05 | 国家电网公司 | A kind of auxiliary climbing mechanism of rail mounted crusing robot |
| CN109305176B (en) * | 2018-10-11 | 2020-01-14 | 国家电网公司 | Auxiliary climbing mechanism of rail type inspection robot |
| CN110091307A (en) * | 2019-04-29 | 2019-08-06 | 合肥瑞堡科技发展有限公司 | A kind of robot including moving horizontally portion |
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| CN111230904A (en) * | 2020-04-01 | 2020-06-05 | 安徽影动文化科技有限公司 | Prevent falling intelligent security protection inspection robot |
| CN111576100A (en) * | 2020-04-20 | 2020-08-25 | 安徽华希电力科技有限公司 | Inspection device for cable tunnel |
| CN111576100B (en) * | 2020-04-20 | 2021-10-29 | 安徽华希电力科技有限公司 | Inspection device for cable tunnel |
| CN111482946A (en) * | 2020-05-15 | 2020-08-04 | 深圳供电局有限公司 | Inspection robot and system |
| CN113633222A (en) * | 2021-07-14 | 2021-11-12 | 湖南格兰博智能科技有限责任公司 | Obstacle crossing algorithm suitable for sweeper |
| CN114029920A (en) * | 2021-11-17 | 2022-02-11 | 北京华能新锐控制技术有限公司 | Rail robot with sliding track |
| CN114310929A (en) * | 2021-11-30 | 2022-04-12 | 杭州申昊科技股份有限公司 | Running gear of robot is patrolled and examined to track |
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| CN114770542A (en) * | 2022-04-29 | 2022-07-22 | 西安华创马科智能控制系统有限公司 | Track for inspection robot and inspection system |
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Application publication date: 20171128 |