CN109435972A - Monorail robot walking device - Google Patents
Monorail robot walking device Download PDFInfo
- Publication number
- CN109435972A CN109435972A CN201811478693.XA CN201811478693A CN109435972A CN 109435972 A CN109435972 A CN 109435972A CN 201811478693 A CN201811478693 A CN 201811478693A CN 109435972 A CN109435972 A CN 109435972A
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- wheel
- driving wheel
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- motor
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- 230000003447 ipsilateral effect Effects 0.000 claims abstract description 4
- 238000009434 installation Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000004134 energy conservation Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel 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
- 239000004020 conductor Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012850 fabricated material Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B13/00—Other railway systems
- B61B13/04—Monorail systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C13/00—Locomotives or motor railcars characterised by their application to special systems or purposes
- B61C13/04—Locomotives or motor railcars characterised by their application to special systems or purposes for elevated railways with rigid rails
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of monorail robot walking devices, including bottom plate, motor and horizontal stage electric machine, the gyroscope, horizontal stage electric machine and motor are fixedly connected below the bottom plate, the upper surface of described bottom plate, motor surface horizontally disposed have driving wheel, the ipsilateral horizontally disposed driven wheel of the driving wheel, the opposite side of the driving wheel are horizontally disposed with auxiliary wheel, and the two sides that the driving wheel and auxiliary wheel are located at track clamp the track；The end-of-arm tooling installation version for installing end-of-arm tooling is provided with below the horizontal stage electric machine.The present invention have many advantages, such as it is compact-sized, small in size, light-weight, run smoothly；All transversely arranged arrangements of wheel effectively reduce the volume volume and weight of robot, save space, reduce driving motor power；Using mechanical system with electronically combining, effectively limits robot operation front and back, upper and lower, left and right vibration, shakes, it is ensured that robot even running on monorail.
Description
Technical field
The present invention relates to a kind of robot walking device more particularly to a kind of monorail robot walking devices.
Background technique
With the development of robot technology, track machine people also comes into being.In electric power computer room, railway tunnel and underground
The Intelligent robot inspection systems such as cable tunnel are more and more applied.Existing track machine National People's Congress multi-pass, which is crossed, to be operated in
The stability of robot operation is realized on more tracks or complicated track；In order to guarantee the steady of track machine people operation,
The volume and quality of existing track machine people is all larger.How to realize track machine people miniaturization, lightweight, track it is succinct
Change, and how to realize that the stability of track machine people is to need most to solve the problems, such as in track machine people research.It studies a
Can on monorail stable operation robot walking device, to track machine man-based development and it is universal have important value and
Meaning.
Summary of the invention
The technical problem to be solved by the present invention is to, overcome defect described above, provide it is a kind of it is compact-sized, small in size,
It is light-weight, can on monorail even running monorail robot walking device.
In order to solve the problems, such as techniques described above, monorail robot walking device of the present invention, including bottom plate, motor
And horizontal stage electric machine, the horizontal stage electric machine and motor are fixedly connected below the bottom plate, the upper surface of described bottom plate, motor are just
Upper horizontal is provided with driving wheel, and the ipsilateral horizontally disposed driven wheel of the driving wheel, the opposite side of the driving wheel are horizontally disposed
The two sides that auxiliary wheel, the driving wheel and auxiliary wheel are located at track clamp the track；The horizontal stage electric machine
The end-of-arm tooling installation version for installing end-of-arm tooling is provided below.
Further, it is provided with torsional spring, the torsional spring and connector beside auxiliary wheel of the present invention and passes through revolute
Mode connects and passes through the axis connection of connector Yu the auxiliary wheel, to reach auxiliary wheel tension effects.
Further, the outside of running gear of the present invention is provided with shell.
Further, the outside of end-of-arm tooling of the present invention is provided with shield.
Further, end-of-arm tooling of the present invention is camera or clamper.
Further, track of the present invention is round tube.
Further, motor and cable conductor of the present invention are slidably connected as running gear confession in a manner of pantograph
Electricity.
Further, the arrangement position of driving wheel of the present invention, driven wheel and auxiliary wheel three is isosceles triangle, described
Auxiliary wheel is equal to the distance between the distance between driving wheel auxiliary wheel to driven wheel, and can according to tensioning dynamics by
Torsional spring influences real-time synchronization and changes the distance between its.
Driving wheel, driven wheel, auxiliary wheel, motor and horizontal stage electric machine of the present invention are all mounted on bottom plate, and motor drives
Dynamic driving wheel orbits by robot.Camera is mounted in end-of-arm tooling installation version as end-of-arm tooling, and robot can
To be powered by trolley and cable.The present invention keeps robot whole by the way that the guarantee of both mechanically and electrically two ways is stable
Body structure remained stable, mechanical system, which refers to, is securely fixed in robot on track by auxiliary wheel and driven wheel, prevents machine
Front and back vibration when device people runs；On the one hand auxiliary wheel with torsional spring passes through driving wheel and the automatic adjustment of driven wheel can guarantee
Driven wheel and driving wheel allow robot to run smoothly the clamping force of track in robot operational process, as you pass the bend, also
It can guarantee certain turning radius, robot made still to keep smooth in steering procedure；Electronically refer to that robot is being run
In the process if there is dancing, then gyroscope can pass through the offset of detection robot end-of-arm tooling (such as camera), hair
Instruction makes horizontal stage electric machine rotary machine user tripod head offset round about out, so that robot remains horizontality.Machine
Tool part limits robot traffic direction front and back and upper and lower vibration, electronic section limit robot traffic direction or so
It shakes.
All wheels of the present invention (driving wheel, driven wheel, auxiliary wheel) are all horizontally arranged arrangements (transversely arranged arrangement), i.e.,
All wheels are in track two sides, rather than upper and lower two sides, can reduce the length of robot mechanism in the vertical direction in this way, and
And since laterally there is certain length in robot itself, so lateral length will not be increased, it can integrally reduce the body of robot
Product；The structure can also make each wheel uniform force, extend wheel service life, keep robot architecture compact and run steady
It is fixed；The camera (camera) that end of the present invention is carried changes other end-of-arm toolings (such as clamper) into, also can guarantee end-of-arm tooling
Stabilization operation.
Beneficial effects of the present invention: the present invention have many advantages, such as it is compact-sized, small in size, light-weight, run smoothly；It is all
The transversely arranged arrangement of wheel effectively reduces the volume volume and weight of robot, reduces cost, saves space, keeps structure simple,
It is convenient for disassembly and assembly, reduce driving motor power, energy saving, energy conservation and environmental protection；The present invention uses mechanical system and electronically mutually ties
Conjunction effectively limits robot operation front and back, upper and lower, left and right vibration, shakes, it is ensured that and robot architecture is compact and stable,
Realize the purpose of the even running on monorail.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of running gear of the present invention；
Fig. 2 is the structural schematic diagram of the torsional spring and auxiliary wheel；
Fig. 3 is that the running gear is fixed on the external structure schematic diagram on track.
In figure, 1- track hanger；2- trolley and cable；3- track；4- shell；5- shield；6- driven wheel；7- auxiliary
Wheel；8- bottom plate；9- gyroscope and horizontal stage electric machine；10- end-of-arm tooling installs version；11- camera；12- motor；13- driving wheel；14-
Torsional spring；15- connector；16- axis.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
Monorail robot walking device of the present invention, including bottom plate 8, motor 12 and horizontal stage electric machine 9, the holder electricity
Machine 9 and motor 12 are fixedly connected below the bottom plate 8, the upper surface of described bottom plate 8, motor 12 surface horizontally disposed have
Driving wheel 13, the ipsilateral horizontally disposed driven wheel 6 of the driving wheel 13, the opposite side of the driving wheel 13 are horizontally disposed with auxiliary wheel 7,
The two sides that the driving wheel 13 and auxiliary wheel 7 are located at track 3 clamp the track 3；Under the horizontal stage electric machine 9
Face is provided with the installation version 10 of the end-of-arm tooling for installing end-of-arm tooling 11.
Further, the side of auxiliary wheel 7 of the present invention is provided with torsional spring 14, and the torsional spring 14 passes through rotation with connector 15
The mode for turning secondary connects and passes through connector 15 to be connect with the axis 16 of the auxiliary wheel 7, to reach auxiliary wheel tension effects.
Further, the outside of running gear of the present invention is provided with shell 4.
Further, the outside of end-of-arm tooling 11 of the present invention is provided with shield 5.
Further, end-of-arm tooling 11 of the present invention is camera or clamper.
Further, track 3 of the present invention is round tube.
Further, motor 12 of the present invention is slidably connected in a manner of pantograph with 2 conducting wire of cable as the running gear
Power supply.
Further, the arrangement position of 7 three of driving wheel 13 of the present invention, driven wheel 6 and auxiliary wheel is isosceles triangle,
The auxiliary wheel 7 is equal to the distance between driven wheel 6 with auxiliary wheel 7 to the distance between driving wheel 13, and can basis
Tensioning dynamics is influenced real-time synchronization by torsional spring 14 and changes the distance between its.
Embodiment: referring generally to attached drawing 1-3, by the shell 4 of robot, after shield 5 removes, internal structure is as shown in Figure 2.
Use round tube to select ready-made material as the track 3 of robot ambulation, is not required to individually customize and process again, can exempt from
Track processing trouble is gone, cost is reduced, curved in tracks part can be completed using bending machine, be installed also very convenient.
In on bottom plate 8, driving wheel 13 and driven wheel 6 are located at track 3 for driving wheel 13, driven wheel 6 and 7 lateral arrangement of auxiliary wheel
Side, auxiliary wheel 7 be located at 3 other side of track and track 3 clamped, having broken wheel in conventional thought is all straight down
Habit；The arrangement position of 7 three of driving wheel 13, driven wheel 6 and auxiliary wheel forms lumbar triangle shape, auxiliary wheel 7 to driving wheel 13
The distance between it is equal to the distance between driven wheel 6 with auxiliary wheel 7, can be influenced according to tensioning dynamics by torsional spring 14 same in real time
Step changes the distance between its；Torsional spring 14, the side that the torsional spring 14 passes through revolute with connector 15 is arranged in the side of auxiliary wheel 7
Formula connects and passes through connector 15 and connect to reach auxiliary wheel tension effects with the axis 16 of the auxiliary wheel 7, is made by torsional spring
With keeping the secured clamping of auxiliary wheel 7 in orbit, the clamping of torsional spring will not shake when robot being made to orbit.
Track 3 is suspended in midair by track hanger 1, company of sliding in a manner of pantograph by trolley and 2 conducting wire of cable, robot
It is connected in the running gear power supply.Motor 12 drives driving wheel 13, and robot is allowed to run on the track 3.Robot is run steady
It is fixed to be completed by both mechanically and electrically two ways.Mechanical system refers to by auxiliary wheel 7 and driven wheel 6 that running gear is solid securely
It is fixed in orbit, front and back vibration when preventing robot from running；7 one side of auxiliary wheel with torsional spring 14 by driving wheel 13 with
The automatic adjustment of driven wheel 6 can guarantee that driven wheel and driving wheel allow machine to the clamping force of track in the process of running for robot
People is run smoothly, as you pass the bend, moreover it is possible to guarantee certain turning radius, it is made still to keep smooth in steering procedure.
Electronically refer to robot in the process of running if there is dancing, the gyroscope (gyro being installed on machine user tripod head
Instrument is robot routine arrangement components) detection robot end-of-arm tooling (be camera in this example) amount of offsetting when, issue instruct make
Horizontal stage electric machine rotary machine user tripod head offset in the opposite direction, can thus make robot remain horizontality.Machine
Tool part limits robot traffic direction front and back and upper and lower vibration, and electronic section limits the rolling of robot traffic direction or so
It is dynamic, make that the robot moment is allowed to be in stable state, guarantees the stationarity of robot manipulating task.
Double track in the prior art is become single track by running gear of the present invention, reduces a large amount of driving wheels and driven
Mechanism is taken turns, while reducing the motor and driver for driving robot, robot weight can be mitigated, reduces machine human body
Product realizes robot miniaturization；Reduce driving motor power, energy saving, energy conservation and environmental protection.
Track of the present invention is not limited to round tube, and when using rectangular steel tube, robot is also able to achieve expectation function；It is described
Shell can use arbitrary shape, not influence robot allomeric function；Power supply unit can also be changed to battery power supply etc. and take electricity
Mode does not influence the operation of robot；The above is only some embodiments of the invention, there is no detailed descriptionthes for preferred embodiment
All details, it is clear that according to the content of this specification, can make many modifications and variations, the embodiment is in order to more preferable
The principle of the present invention and practical application are explained in ground, so that skilled artisan be enable to better understand and utilize this hair
It is bright, as long as having used scheme described above, protection scope of the present invention should all be fallen into.
Claims (8)
1. a kind of monorail robot walking device, including bottom plate (8), motor (12) horizontal stage electric machine (9), which is characterized in that institute
It states horizontal stage electric machine (9) and motor (12) is fixedly connected below the bottom plate (8), the upper surface of described bottom plate (8), motor (12)
Surface it is horizontally disposed have driving wheel (13), the ipsilateral horizontally disposed driven wheel (6) of the driving wheel (13), the driving wheel
(13) opposite side is horizontally disposed with auxiliary wheel (7), and the driving wheel (13) and auxiliary wheel (7) are located at the two sides pair of track (3)
The track (3) is clamped；The end-of-arm tooling for installing end-of-arm tooling (11) is provided with below the horizontal stage electric machine (9)
It installs version (10).
2. monorail robot walking device according to claim 1, which is characterized in that set beside the auxiliary wheel (7)
It is equipped with torsional spring (14), the torsional spring (14) is connect by way of revolute with connector (15) and by connector (15) and institute
State axis (16) connection of auxiliary wheel (7).
3. monorail robot walking device according to claim 1 or claim 2, which is characterized in that the outside of the running gear
It is provided with shell (4).
4. monorail robot walking device according to claim 1 or claim 2, which is characterized in that the end-of-arm tooling (11)
Outside is provided with shield (5).
5. monorail robot walking device according to claim 1 or claim 2, which is characterized in that the end-of-arm tooling (11) is
Camera or clamper.
6. monorail robot walking device according to claim 1 or claim 2, which is characterized in that the track (3) is round tube.
7. monorail robot walking device according to claim 1 or claim 2, which is characterized in that the motor (12) and cable
(2) conducting wire is slidably connected as running gear power supply in a manner of pantograph.
8. monorail robot walking device according to claim 1 or claim 2, which is characterized in that the driving wheel (13), from
Driving wheel (6) and the arrangement position of auxiliary wheel (7) three are isosceles triangle, and the auxiliary wheel (7) is between driving wheel (13)
Distance is equal to the distance between driven wheel (6) with auxiliary wheel (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811478693.XA CN109435972A (en) | 2018-12-05 | 2018-12-05 | Monorail robot walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811478693.XA CN109435972A (en) | 2018-12-05 | 2018-12-05 | Monorail robot walking device |
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| Publication Number | Publication Date |
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| CN109435972A true CN109435972A (en) | 2019-03-08 |
Family
ID=65556914
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811478693.XA Pending CN109435972A (en) | 2018-12-05 | 2018-12-05 | Monorail robot walking device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112975898A (en) * | 2021-02-24 | 2021-06-18 | 山东金惠新达智能制造科技有限公司 | Circular track type inspection robot walking device and robot |
| CN114537291A (en) * | 2022-03-16 | 2022-05-27 | 广州小鹏汽车科技有限公司 | Vehicle-mounted robot and vehicle |
| CN114683294A (en) * | 2020-12-28 | 2022-07-01 | 广东博智林机器人有限公司 | Walking mechanism of inspection robot, inspection robot and inspection system |
| CN114770465A (en) * | 2022-05-26 | 2022-07-22 | 南京天创电子技术有限公司 | Hang rail robot walking drive structure |
| CN117001635A (en) * | 2023-08-14 | 2023-11-07 | 南方电网数字电网集团(海南)有限公司 | Intelligent inspection robot for track type transformer substation |
| WO2024033412A1 (en) * | 2022-08-09 | 2024-02-15 | Beckhoff Automation Gmbh | Transport system, transport device and running rail |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114683294A (en) * | 2020-12-28 | 2022-07-01 | 广东博智林机器人有限公司 | Walking mechanism of inspection robot, inspection robot and inspection system |
| CN112975898A (en) * | 2021-02-24 | 2021-06-18 | 山东金惠新达智能制造科技有限公司 | Circular track type inspection robot walking device and robot |
| CN114537291A (en) * | 2022-03-16 | 2022-05-27 | 广州小鹏汽车科技有限公司 | Vehicle-mounted robot and vehicle |
| CN114770465A (en) * | 2022-05-26 | 2022-07-22 | 南京天创电子技术有限公司 | Hang rail robot walking drive structure |
| WO2024033412A1 (en) * | 2022-08-09 | 2024-02-15 | Beckhoff Automation Gmbh | Transport system, transport device and running rail |
| CN117001635A (en) * | 2023-08-14 | 2023-11-07 | 南方电网数字电网集团(海南)有限公司 | Intelligent inspection robot for track type transformer substation |
| CN117001635B (en) * | 2023-08-14 | 2024-06-11 | 南方电网数字电网集团(海南)有限公司 | Intelligent inspection robot for track type transformer substation |
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