CN108639149B - Full steering mechanism of pipe rack inspection trolley - Google Patents
Full steering mechanism of pipe rack inspection trolley Download PDFInfo
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- CN108639149B CN108639149B CN201810364815.6A CN201810364815A CN108639149B CN 108639149 B CN108639149 B CN 108639149B CN 201810364815 A CN201810364815 A CN 201810364815A CN 108639149 B CN108639149 B CN 108639149B
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- screw rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/16—Arrangement of linkage connections
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention provides a full steering mechanism of a pipe gallery inspection trolley, which comprises four electric wheels, wherein a connecting rod pin seat hinged with one end of a connecting rod is arranged on the upper surface of a nut sliding block meshed with a screw rod I and a screw rod II; the method is characterized in that: the frame is of a quadrilateral frame structure, a cross beam is arranged in the middle of the frame, a first screw rod arranged in parallel with the longitudinal beam is arranged above one side of the longitudinal beam, one end of the first screw rod is provided with a bearing and is fixed with the longitudinal beam through a first bearing seat arranged on the longitudinal beam, the other end of the first screw rod is connected with a shaft of a first driven bevel gear through a coupler, and a shaft of the first driven bevel gear meshed with the driving bevel gear is fixed with the longitudinal beam through the bearing and the first bearing; one end of a shaft of the driving bevel gear is fixed with the beam through a bearing and a bearing seat arranged on the beam, and the other end of the shaft is connected with an output shaft of a first motor fixed on the beam through a coupler; the first motor is fixed with the cross beam through the first motor support.
Description
Technical Field
The invention belongs to the technical field of inspection vehicle design and manufacture.
Background
With the continuous acceleration of urbanization process, utility tunnel receives more and more attention. According to BHI statistics, the comprehensive pipe gallery is planned to exceed 2700 kilometers of construction projects and total investment is about 3000 million yuan by 4 months in 2017, wherein the construction scale of 11 provinces and cities exceeds one hundred kilometers. Generally, an underground comprehensive pipe gallery can integrate an informationized centralized monitoring management system, and various pipelines and equipment inside the pipe gallery are monitored in real time on line by matching with fixed monitoring equipment. However, fixed supervisory equipment can't satisfy the actual fortune dimension demand of utility tunnel in the wisdom city because mobility is poor, intelligent degree is low, the input is big, the later maintenance expense is high and the process is complicated scheduling problem. Therefore, the key areas of part of the pipe gallery still adopt the mode of manual underground inspection, and for the long-distance comprehensive pipe gallery, the long-distance comprehensive pipe gallery is in an underground closed environment, and toxic and harmful gases are gathered due to factors such as no circulation of air, poor lighting and space depression, so that many hazards are brought to the life safety and physical and mental health of workers. The conventional inspection robot for the underground comprehensive pipe gallery comprises a rail-mounted inspection robot, a crawler-type mobile inspection robot and a wheel-type mobile inspection robot; these inspection robots are all deficient in mobility. Therefore, it is necessary to provide and research a structure and a method of an inspection vehicle capable of realizing full steering.
According to the search, four-wheel independent drive full steering mechanisms are available at present. For example, chinese patent application No. 200810000129.7 discloses a steering control method and device for lateral movement and pivot rotation of an electric vehicle, wherein the omnidirectional control mechanism can realize the pivot rotation and lateral movement of the vehicle, but the steering speed is slow due to the small transmission ratio of the worm gear transmission mechanism; in addition, the structure setting of worm gear drive makes the dolly highly greatly increase, is not suitable for the underground pipe gallery and patrols and examines. As disclosed in chinese patent application No. 201721550613.8, "a full steering chassis mechanism", and "a full steering mechanism of an electric vehicle" disclosed in chinese patent application No. 201620009637.1, the full steering mechanism employs a large number of link mechanisms, so that the force is not uniform, and the counter torque caused to the motor is also large; and dead points are easy to appear on the connecting rod mechanism, so that the mechanism cannot normally run.
In view of the above, there is a need to develop a novel full steering mechanism suitable for the inspection task of the underground pipe gallery, which has a simple structure, stable transmission and accurate control.
Disclosure of Invention
The invention aims to provide a full steering mechanism of a pipe gallery inspection trolley, which can effectively solve the problems of straight running, in-situ rotation, transverse running and traditional steering of the underground pipe gallery inspection trolley.
The technical scheme adopted by the invention is as follows: a full steering mechanism of a pipe gallery inspection trolley comprises a frame and four electric wheels, wherein a connecting rod pin seat hinged with one end of a connecting rod is arranged on the upper surface of a nut sliding block meshed with a screw rod I and a screw rod II, the other end of the connecting rod is hinged with one end of a rocker, the middle part of the rocker is hinged with the frame, and the other end of the rocker is fixed with a shaft of the electric wheel; the method is characterized in that: the frame is of a quadrilateral frame structure, a cross beam is arranged in the middle of the frame, a first screw rod arranged in parallel with the longitudinal beam is arranged above one side of the longitudinal beam, a bearing is arranged at one end of the first screw rod, the first screw rod is fixed with the longitudinal beam through a first bearing seat arranged on the longitudinal beam, and a first straight gear meshed with a second straight gear is arranged at the other end of the first screw rod; a shaft of a driven bevel gear I meshed with the driving bevel gear is fixed with the longitudinal beam through a bearing and a bearing seat I; one end of a shaft of the driving bevel gear is fixed with the beam through a bearing and a bearing seat arranged on the beam, and the other end of the shaft is connected with an output shaft of a first motor fixed on the beam through a coupler; the first motor is fixed with the cross beam through the first motor bracket; a second screw rod parallel to the longitudinal beam is arranged above the other side of the longitudinal beam, one end of the second screw rod is fixed with the longitudinal beam through a first bearing seat, and the other end of the second screw rod is meshed with a second driven bevel gear through a coupler; one side of the switching gear shaft is provided with a straight gear IV meshed with the straight gear III, the other side of the switching gear shaft is provided with a straight gear II meshed with the straight gear I, two ends of the switching gear shaft are matched with a bearing seat II fixed on an auxiliary beam on the inner side of the longitudinal beam of the frame through sliding bearings, and a shaft of a driven bevel gear II is fixed with the longitudinal beam through a bearing and the bearing seat I on the longitudinal beam; two ends of the switching rod are respectively fixed with one end of a switching gear shaft positioned on two sides, a screw rod nut meshed with a screw rod III is arranged in the middle of the switching rod III, one end of the screw rod III is connected with an output shaft of a motor II fixed on the cross beam through a coupler, and the motor II is fixed with the cross beam through a motor bracket II.
The number of the first motors is two, and the first motors are arranged back to back.
The number of the driving bevel gears is two, and the driving bevel gears are meshed with the driven bevel gears I and the driven bevel gears II which are arranged oppositely.
The first screw rod and the second screw rod are both two, and the rotating directions are the same.
And the second straight gear and the third straight gear are both fixed with the switching gear shaft.
The working process and the working principle of the invention are as follows: when the nut sliding block is at the initial position on the first screw rod and the second screw rod, the omnidirectional vehicle realizes straight line running; pivot steering, transverse driving and traditional steering are realized by the transmission mechanism of the omnidirectional vehicle. At the moment, the first straight gear and the second straight gear as well as the third straight gear and the fourth straight gear are respectively meshed, the first motor drives the driving bevel gear, power is transmitted to the first screw rod and the second screw rod through the gear set, and the first screw rod and the second screw rod rotate to drive the nut sliding blocks, so that the nut sliding blocks are close to or far away from each other. When the omnidirectional vehicle needs to realize in-situ steering, the nut sliding blocks on the two sides are close to each other, and when the omnidirectional vehicle reaches a certain position, the four electric wheels rotate by a certain angle, so that the four electric wheels are tangent to the rectangular circumscribed circle at the same time; and at the moment, the pivot steering of the omnidirectional vehicle can be realized by controlling the steering of the four electric wheels. When the nut sliding blocks on the two sides continue to approach to each other and reach the other position, the four electric wheels rotate 90 degrees relative to the original position, and therefore the omnidirectional vehicle can run transversely. Under the straight-line running state of the omnidirectional vehicle, the second motor drives the third screw rod, the third screw rod rotates to drive the switching rod, the switching rod moves to drive the switching gear shafts at two ends to move, and then the first straight gear is separated from the second straight gear; at the moment, the second bevel gear rotates to no longer drive the second screw rod, and the rear wheel of the omnidirectional vehicle keeps a straight-going state; the traditional steering can be realized by respectively controlling the two front wheels to steer through the first motor.
Compared with the prior art, the invention has the beneficial effects that:
the transmission mechanism of the omnidirectional vehicle comprises a bevel gear transmission mechanism, a straight gear transmission mechanism, a screw-nut transmission mechanism and a sliding block rocker mechanism. The bevel gear transmission, the straight gear transmission and the screw nut transmission are matched to realize a larger transmission ratio, so that the electric wheels can be quickly steered, and the omnidirectional vehicle can quickly realize straight running, pivot steering, transverse running steering and traditional steering operation.
The transmission drive of the invention only uses three motors, compared with four-wheel independent steering omnidirectional vehicles, the number of the motors is reduced, and the economic benefit is increased.
The core of the invention is that the bevel gear transmission, the straight gear transmission and the screw nut transmission are integrated, the transmission is stable and reliable, and the arrangement of the invention ensures that the whole vehicle has simple structure and small occupied space.
Drawings
FIG. 1 is a three-dimensional view of the present invention in a rotated state
FIG. 2 is a top view of the straight running state of the present invention
FIG. 3 is a top plan view of the lateral travel mode of the present invention
FIG. 4 is a top view of a conventional steering state of the present invention
FIG. 5 is a top view of the drive mechanism of the present invention
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
A full steering mechanism of a pipe gallery inspection trolley comprises a frame 9 and four electric wheels 8, wherein a connecting rod pin seat hinged with one end of a connecting rod 6 is arranged on the upper surface of a nut slider 5 meshed with a first screw rod 4 and a second screw rod 15, the other end of the connecting rod 6 is hinged with one end of a rocker 7, the middle part of the rocker 7 is hinged with the frame 9, and the other end of the rocker is fixed with a shaft of the electric wheel 8; the frame 9 is of a quadrilateral frame structure, a cross beam is arranged in the middle of the frame, a first screw rod 4 arranged in parallel with the longitudinal beam is arranged above one side of the longitudinal beam, one end of the first screw rod 4 is provided with a bearing and is fixed with the longitudinal beam through a first bearing seat 14 arranged on the longitudinal beam, the other end of the first screw rod 4 is connected with a shaft of a first driven bevel gear 2 through a coupling 10, and a shaft of the first driven bevel gear 2 meshed with the driving bevel gear 1 is fixed with the longitudinal beam through the bearing and the first; one end of a shaft of the driving bevel gear 1 is fixed with the beam through a bearing and a bearing seat 13 arranged on the beam, and the other end of the shaft is connected with an output shaft of a motor I11 fixed on the beam through a coupler 10; the motor I11 is fixed with the cross beam through a motor bracket I12; a screw rod II 15 arranged in parallel with the longitudinal beam is arranged above the other side of the longitudinal beam, one end of the screw rod II 15 is fixed with the longitudinal beam through a bearing seat I14, a straight gear IV 19 meshed with a straight gear III 18 is arranged at the other end of the screw rod II 15, the straight gear III 18 is fixed with one side of a switching gear shaft 20, a straight gear II 17 meshed with a straight gear I16 is arranged on the other side of the switching gear shaft 20, two ends of the switching gear shaft 20 are matched with a bearing seat II 25 fixed on a secondary beam on the inner side of the longitudinal beam of the frame through sliding bearings, a driven bevel gear II 3 meshed with a driving bevel gear 1 is arranged at the other end of the shaft of the straight gear I16, and the; two ends of the switching rod 24 are respectively fixed with one end of the switching gear shaft 20 positioned at two sides, a screw rod nut meshed with the screw rod III 23 is arranged in the middle, one end of the screw rod III 23 is connected with an output shaft of a motor II 21 fixed on the cross beam through a coupler 10, and the motor II 21 is fixed with the cross beam through a motor bracket II 22.
The number of the first motors 11 is two, and the first motors are arranged back to back.
The number of the driving bevel gears 1 is two, and the driving bevel gears 1 are meshed with the driven bevel gears I2 and II 3 which are oppositely arranged.
The first screw rod 4 and the second screw rod 15 are both two in the same rotating direction.
The second straight gear 17 and the third straight gear 18 are both fixed with a switching gear shaft 20.
The working process and the working principle of the invention are as follows: when the nut sliding block is at the initial position on the first screw rod 4 and the second screw rod 15, the omnidirectional vehicle realizes straight line running; pivot steering, transverse driving and traditional steering are realized by the transmission mechanism of the omnidirectional vehicle. At the moment, a first straight gear 16 and a second straight gear 17 are respectively meshed with a third straight gear 18 and a fourth straight gear 19, a first motor 11 drives a driving bevel gear 1, power is transmitted to a first screw rod 4 and a second screw rod 15 through a gear set, the first screw rod 4 and the second screw rod 15 rotate to drive a nut sliding block 5, and therefore the nut sliding blocks 5 are close to or far away from each other. When the omnidirectional vehicle needs to realize in-situ steering, the nut sliders 5 on the two sides are close to each other, and when the omnidirectional vehicle reaches a certain position, the four electric wheels 8 rotate by a certain angle, so that the four electric wheels 8 are tangent to the rectangular circumscribed circle at the same time; and at the moment, the pivot steering of the omnidirectional vehicle can be realized by controlling the steering of the four electric wheels 8. When the nut sliding blocks 5 on the two sides are continuously close to each other and reach another position, the four electric wheels 8 rotate 90 degrees compared with the original positions, and therefore the omnidirectional vehicle can transversely run. Under the straight-line running state of the omnidirectional vehicle, the second motor 21 drives the third screw rod 23, the third screw rod 23 rotates to drive the switching rod 24, the switching rod 24 moves to drive the switching gear shafts 20 at two ends to move, and then the first straight gear 16 is separated from the second straight gear 17; at the moment, the bevel gear II 3 rotates and does not drive the screw rod II 15 any more, and the rear wheel of the omnidirectional vehicle keeps a straight-going state; the traditional steering can be realized by respectively controlling the steering of the two front wheels through the first motor 11.
Claims (5)
1. A full steering mechanism of a pipe gallery inspection trolley comprises a frame (9) and four electric wheels (8), wherein a connecting rod pin seat hinged with one end of a connecting rod (6) is arranged on the upper surface of a nut sliding block (5) meshed with a first screw rod (4) and a second screw rod (15), the other end of the connecting rod (6) is hinged with one end of a rocker (7), the middle of the rocker (7) is hinged with the frame (9), and the other end of the rocker is fixed with a shaft of the electric wheels (8); the method is characterized in that: the frame (9) is of a quadrilateral frame structure, a cross beam is arranged in the middle of the frame, a first screw rod (4) arranged in parallel with the longitudinal beam is arranged above one side of the longitudinal beam, a bearing is arranged at one end of the first screw rod (4), the first screw rod is fixed with the longitudinal beam through a first bearing seat (14) arranged on the longitudinal beam, and a first straight gear (16) meshed with a second straight gear (17) is arranged at the other end of the first screw rod; the shaft of a driven bevel gear I (2) meshed with the driving bevel gear (1) is fixed with the longitudinal beam through a bearing and a bearing seat I (14); one end of a shaft of the driving bevel gear (1) is fixed with the beam through a bearing and a bearing seat (13) arranged on the beam, and the other end of the shaft is connected with an output shaft of a motor I (11) fixed on the beam through a coupler (10); the motor I (11) is fixed with the cross beam through a motor bracket I (12); a second screw rod (15) arranged in parallel with the longitudinal beam is arranged above the other side of the longitudinal beam, one end of the second screw rod (15) is fixed with the longitudinal beam through a first bearing seat (14), and the other end of the second screw rod is meshed with a second driven bevel gear (3) provided with a driving bevel gear (1) through a coupler; one side of the switching gear shaft (20) is provided with a spur gear four (19) meshed with a spur gear three (18), the other side of the switching gear shaft is provided with a spur gear two (17) meshed with a spur gear one (16), two ends of the switching gear shaft (20) are matched with a bearing seat two (25) fixed on a secondary beam on the inner side of a longitudinal beam of the frame through sliding bearings, and a shaft of the driven bevel gear two (3) is fixed with the longitudinal beam through a bearing and a bearing seat one (14) on the longitudinal beam; two ends of the switching rod (24) are respectively fixed with one end of a switching gear shaft (20) positioned on two sides, a screw rod nut meshed with a screw rod III (23) is arranged in the middle of the switching rod III, one end of the screw rod III (23) is connected with an output shaft of a motor II (21) fixed on the cross beam through a coupler (10), and the motor II (21) is fixed with the cross beam through a motor bracket II (22).
2. The full steering mechanism of dolly is patrolled and examined to pipe gallery according to claim 1, characterized in that: the number of the first motors (11) is two, and the first motors are arranged back to back.
3. The full steering mechanism of dolly is patrolled and examined to pipe gallery according to claim 1, characterized in that: the number of the driving bevel gears (1) is two, and the driving bevel gears (1) are meshed with the driven bevel gears I (2) and II (3) which are oppositely arranged.
4. The full steering mechanism of dolly is patrolled and examined to pipe gallery according to claim 1, characterized in that: the first screw rod (4) and the second screw rod (15) are both two, and the rotating directions are the same.
5. The full steering mechanism of dolly is patrolled and examined to pipe gallery according to claim 1, characterized in that: the second straight gear (17) and the third straight gear (18) are both fixed with a switching gear shaft (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810364815.6A CN108639149B (en) | 2018-04-23 | 2018-04-23 | Full steering mechanism of pipe rack inspection trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810364815.6A CN108639149B (en) | 2018-04-23 | 2018-04-23 | Full steering mechanism of pipe rack inspection trolley |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108639149A CN108639149A (en) | 2018-10-12 |
| CN108639149B true CN108639149B (en) | 2020-06-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810364815.6A Active CN108639149B (en) | 2018-04-23 | 2018-04-23 | Full steering mechanism of pipe rack inspection trolley |
Country Status (1)
| Country | Link |
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| CN (1) | CN108639149B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112793657B (en) * | 2021-02-02 | 2022-06-14 | 广东博智林机器人有限公司 | Steering mechanism and mobile device |
| CN113696996B (en) * | 2021-08-30 | 2022-07-05 | 杭州电子科技大学 | Storage detection robot |
| CN114104103B (en) * | 2021-12-27 | 2023-05-16 | 熊鹰 | Vehicle steering mechanism and field operation vehicle |
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| JPS574471A (en) * | 1980-06-11 | 1982-01-11 | Hitachi Ltd | Transportation vehicle |
| JPS6261879A (en) * | 1985-09-10 | 1987-03-18 | Yoshida Sharyo Kiki Kk | Universal carrying vehicle |
| CN101117131A (en) * | 2007-09-04 | 2008-02-06 | 浙江理工大学 | Variable motion mode all-directional self-determined mobile robot running gear |
| CN201165226Y (en) * | 2008-02-26 | 2008-12-17 | 田杰 | Vehicle horizontal movement apparatus |
| CN105270169A (en) * | 2015-09-01 | 2016-01-27 | 张涛 | Automobile capable of steering in situ and running in transverse direction |
| CN105667587A (en) * | 2016-01-07 | 2016-06-15 | 西南交通大学 | Travelling steering mechanism for electric vehicle |
| CN206144230U (en) * | 2016-11-02 | 2017-05-03 | 董延群 | Can be used to carry that sweep is horizontal, longitudinal movement's mechanical device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5157305B2 (en) * | 2006-09-22 | 2013-03-06 | 日産自動車株式会社 | Wheel position variable vehicle |
-
2018
- 2018-04-23 CN CN201810364815.6A patent/CN108639149B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS574471A (en) * | 1980-06-11 | 1982-01-11 | Hitachi Ltd | Transportation vehicle |
| JPS6261879A (en) * | 1985-09-10 | 1987-03-18 | Yoshida Sharyo Kiki Kk | Universal carrying vehicle |
| CN101117131A (en) * | 2007-09-04 | 2008-02-06 | 浙江理工大学 | Variable motion mode all-directional self-determined mobile robot running gear |
| CN201165226Y (en) * | 2008-02-26 | 2008-12-17 | 田杰 | Vehicle horizontal movement apparatus |
| CN105270169A (en) * | 2015-09-01 | 2016-01-27 | 张涛 | Automobile capable of steering in situ and running in transverse direction |
| CN105667587A (en) * | 2016-01-07 | 2016-06-15 | 西南交通大学 | Travelling steering mechanism for electric vehicle |
| CN206144230U (en) * | 2016-11-02 | 2017-05-03 | 董延群 | Can be used to carry that sweep is horizontal, longitudinal movement's mechanical device |
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| CN108639149A (en) | 2018-10-12 |
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Effective date of registration: 20201210 Address after: 215134 south side of the 3rd floor, R & D building, China auto parts industrial base, No. 19, aighao Road, Weitang Town, Xiangcheng District, Suzhou City, Jiangsu Province Patentee after: Suzhou Zhenwei Town Construction Development Co., Ltd Address before: 610031 No. two, section 111, ring road, Chengdu, Sichuan, China Patentee before: SOUTHWEST JIAOTONG University |
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