CN109483514A - A kind of track machine people - Google Patents
A kind of track machine people Download PDFInfo
- Publication number
- CN109483514A CN109483514A CN201910009659.6A CN201910009659A CN109483514A CN 109483514 A CN109483514 A CN 109483514A CN 201910009659 A CN201910009659 A CN 201910009659A CN 109483514 A CN109483514 A CN 109483514A
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- Prior art keywords
- track
- wheels
- robot
- control unit
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- 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
Technical solution of the present invention discloses a kind of track machine people, and robot includes: the driving section for Robot track travel to be connect and realized with track, and track is holohedral symmetry track；It is installed on the control unit below driving section and for carrying driving section, and；It is installed on the vision portion for being used to capture data below control unit, wherein, driving section includes at least one set of active wheels being in rolling contact with track, at least two groups driven wheel group for being located at active wheels two sides, by being in rolling contact between active wheels, driven wheel group and track realize robot relative orbit it is upward, downward, to the left, to the right in movement on any direction.To sum up, the present invention in robot by being arranged active wheels, driven wheel group, and increase gear in active wheels simultaneously, increase rack gear in track, so that robot can carry out any movement without hindrance on the four direction of upper and lower, left and right in the track of octagon with relative cross-section shape, machine task efficiency is improved.
Description
Technical field
The present invention relates to robotic technology fields, more particularly, to a kind of track machine people, especially a kind of intelligent patrol detection
Track machine people.
Background technique
The various line facilities such as municipal administration, electric power, communication, combustion gas, plumbing are embedded in underground piping together, and underground
Pipeline needs the monitoring that is timed, the problem of timely to find drop-in.Currently, the pipe safety in most of fields
Monitoring is completed by manual inspection.
However, being had the disadvantage that by the way of manual inspection: one, underground piping bad environments are dangerous, and worker is needed to have
There is powerful psychological quality, therefore is difficult to recruit；Two, manual inspection detection quality is dependent on worker's experience and sense of responsibility, thin
Heart degree；Three, people is difficult to detect and judge situations such as example hazardous gas is exceeded in pipeline, equipment hot-spot etc. in pipeline
Security risk；Four, once accident occurs, people is difficult to reach scene at the first time, even if reaching the scene of the accident at the first time, also can
Emit huge life danger.So using manual inspection artificial detection, there is unstable result, high labor cost and works
The problem of people's personal safety cannot ensure.
Therefore, the prior art starts that intelligent inspection robot is tentatively used to replace manual inspection, with intelligent inspection machine
Gradually mature, the following intelligent inspection robot needs without hindrance movement in orbit for doing any direction of people's technology, the skill
Track structure in art is special, and then it is in-orbit to adapt to robot to need to adjust to the fit structure between robot and track
Any direction on road can move.
Summary of the invention
Present invention solves the technical problem that being that the structure of existing intelligent inspection robot can not be effectively realized in track
The upper movement for carrying out any direction.
In order to solve the above technical problems, technical solution of the present invention provides a kind of track machine people, wherein the robot
Include:
For the driving section of track travel described in the Robot to be connect and realized with track, the track is holohedral symmetry rail
Road；
It is installed on the control unit below the driving section and for carrying the driving section, and；
It is installed on the vision portion for being used to capture data below the control unit, wherein
The driving section includes at least one set of active wheels being in rolling contact with the track, is located at the active wheels two
At least two groups driven wheel group of side, by being in rolling contact reality between the active wheels, the driven wheel group and the track
The existing robot relative to the track it is upward, downward, to the left, to the right in movement on any direction.
Optionally, the control unit includes shell, the peace for being used to install the driving section set on the top of the shell
Dress panel, the driving motor for driving active wheels work being disposed in the housing, for controlling the driving wheel
The follower that group is finely adjusted.
Optionally, the active wheels include the active wheel carrier that is installed on by the follower on the control unit and
The multiple driving wheels being rotatably arranged in the active wheel carrier, multiple driving wheels surround the track in radial directions
And the active wheel carrier is connect with the track.
Optionally, the driving motor connect with any one in multiple driving wheels and the driving wheel is driven to revolve
Turn.
Optionally, the driven wheel group includes the driven wheel carrier being installed on the control unit by swivel mount and can be rotated
Ground is set to multiple driven wheels in the driven wheel carrier, and multiple driven wheels surround the track in radial directions, multiple
The driven wheel carrier is connect by the driven wheel with the track.
Optionally, the driven wheel carrier can do rotation before and after level relative to the swivel mount.
Optionally, multiple driving wheels and multiple driven wheels with the position of the rail contact in the axial direction
Upper correspondence is consistent.
Optionally, the vision portion can the relatively described control unit be installed on the bottom of the control unit with rotating horizontally,
It include at least one camera for obtaining data information in the vision portion.
Optionally, be additionally provided with gear in the active wheels, be equipped with rack gear in the track, the driving motor with it is described
Gear connects and the gear is driven to rotate, and the gear, which engages with rack gear rolling in rotary course and provides power, to be made
The robot is obtained to be moved relative to the track.
The beneficial effect of technical solution of the present invention is:
The present invention makes robot carry out the movement of any direction on holohedral symmetry track by active wheels and driven wheel group, mentions
The operational efficiency of Gao Liao robot, and then effectively increase the whole work efficiency of intelligent inspection robot.
Detailed description of the invention
Fig. 1 is the assembling schematic diagram of middle orbit of embodiment of the present invention robot and track；
Fig. 2 is the side view of middle orbit of embodiment of the present invention robot；
Fig. 3 is the side view that driving section is connect with track in the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of driving section in the embodiment of the present invention；
Fig. 5 is the schematic diagram of internal structure of middle orbit of embodiment of the present invention robot and track.
Specific embodiment:
The present invention will be further explained below with reference to the attached drawings and specific examples, but not as the limitation of the invention.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, two members can also be can be indirectly connected through an intermediary
Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in this hair as the case may be
Concrete meaning in bright.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower"
It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it
Between other characterisation contact.Moreover, fisrt feature includes the first spy above the second feature " above ", " above " and " above "
Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include fisrt feature right above second feature and oblique upper, or be merely representative of
First feature horizontal height is less than second feature.
Referring to Figure 1 and shown in Fig. 4, a kind of track machine people of embodiment is shown, wherein robot includes:
For connecting and realizing the driving section 2 of Robot track travel with track 1, track 1 be holohedral symmetry track (such as Fig. 1 and
Shown in Fig. 3), the cross sectional shape of track 1 is preferably octagon, and octagon is the complete right of axial symmetry and centrosymmetric structure
Claim structure, the plane extension line where two pairs of diagonal planes 12 of track 1 forms square, therefore the active contacted with diagonal plane 12
Wheel 212, freedom degree of the driven wheel 222 on the direction up and down of track 1 as shown in Figure 3 are all limited, to realize machine
The secured connection of device people and track 1.
Control unit 3 with continued reference to the lower section of driving section 2 shown in Fig. 1, is installed on and for carrying driving section 2, in control unit 3
It is mountable to have the equipment connecting with background communication and the mechanism for controlling driving section.It is installed on being used for for 3 lower section of control unit
The vision portion 4 for capturing data captures pipeline, route, equipment etc. by vision portion 4 when robot moves in underground situations in pipes
Image data information and be transmitted to backstage be analyzed and processed, the module with background communication can be mounted directly in vision portion 4, or
The information that person's vision portion 4 can will be captured, which is sent in control unit 3, is being delivered to backstage.
As shown in figure 4, driving section 2 includes at least one set of active wheels 21 being in rolling contact with track 1, is located at actively
At least two groups driven wheel group 22 of 21 two sides of wheel group, passes through being in rolling contact between active wheels 21, driven wheel group 22 and track 1
Realize robot relative orbit 1 it is upward, downward, to the left, to the right in movement on any direction.As shown in figure 3, due to track
1 cross sectional shape is octagon, so that being in rolling contact the driving wheel 212 being mounted in its diagonal plane 12, driven wheel 222 can be with
It realizes on length direction with the in-orbit road 1 of mobile robot, turn right, move up or move down.
In the present embodiment, as shown in Figure 1, Figure 4 and Figure 5, control unit 3 includes shell 31, the use set on the top of shell 31
Such as in the installation panel 32 of installation driving section 2, the driving motor 7(for driving active wheels 21 to work in shell 31
Shown in Fig. 5), it is as shown in Figure 4 for controlling the follower 5(that active wheels 21 are finely adjusted), follower 5 makes driving wheel
Group 21 a small range swivel mount 6 rotation and adjust the positions of active wheels 21.
In the present embodiment, active wheels 21 include 211 He of active wheel carrier being installed on control unit 3 by follower 5
The multiple driving wheels 212 being rotatably arranged in active wheel carrier 211, multiple driving wheels 212 surround track 1 simultaneously in radial directions
Active wheel carrier 211 is connect with track 1.
In the present embodiment, driving motor 7 connect with any one in multiple driving wheels 212 and driving wheel 212 is driven to revolve
Turn, driving motor 7 and driving wheel 212 can by knuckle-tooth wheel construction, umbrella tooth wheel construction, worm structure or other can be realized motor
The connection structure to work between idler wheel is connect, with no restrictions.
In the present embodiment, driven wheel group 22 includes the driven wheel carrier 221 being installed on control unit 3 by swivel mount 6 and can
The multiple driven wheels 222 being rotatably arranged in driven wheel carrier 221, multiple driven wheels 222 surround track 1 in radial directions, more
Driven wheel carrier 221 is connect by a driven wheel 222 with track 1.
In the present embodiment, driven wheel carrier 221 can do rotation before and after level relative to swivel mount 6, as shown in figure 4, working as machine
When people is run on track 1 to the process risen or fallen, driven wheel carrier 221 can the rotation of relative rotation frame 6 to adapt to move, together
When increase the flexibility of robot.
In the present embodiment, the position that multiple driving wheels 212 and multiple driven wheels 222 are contacted with track 1 is in the axial direction
Upper correspondence is consistent (as shown in Figure 2 and Figure 3).
In the present embodiment, as shown in Figure 1, vision portion 4 can relation control portion 3 be installed on control unit 3 with rotating horizontally
Bottom includes at least one camera 41 for obtaining data information in vision portion 4.
In the present embodiment, as shown in figure 5, only installing driving wheel 212 in general active wheel carrier 21 can be by driving motor 7
Drive and it is mobile with mobile robot.However when robot encounter the moving situation to climb and climb be short of power when, driving wheel
212 are easy to skid between track 1, i.e., frictional force not enough causes robot that can not continue to rise.It is only needed at this time actively
It is equipped with gear 8 in wheel group 21, rack gear 11 is equipped in track 1, driving motor 7 connect with gear 8 and gear 8 is driven to rotate, gear 8
Engaging with the rolling of rack gear 11 in rotary course and provide power moves robot relative orbit 1.Pass through 8 He of gear
The cooperation of rack gear 11, driving motor 7 drive gear 8 to rotate, and relative motion generates enough dynamic in turn between gear 8 and rack gear 11
Power continues that band mobile robot climb movement and relative orbit 1 moves up.
In conclusion the present invention is in robot by being arranged active wheels, driven wheel group, and simultaneously in active wheels
Increase gear, increase rack gear in track so that robot can with relative cross-section shape in the track of octagon carry out it is upper and lower,
Without hindrance any movement on left and right four direction improves machine task efficiency.
The above is only preferred embodiments of the present invention, are not intended to limit the implementation manners and the protection scope of the present invention, right
For those skilled in the art, it should can appreciate that and all replace with being equal made by description of the invention and diagramatic content
It changes and obviously changes obtained scheme, should all be included within the scope of the present invention.
Claims (9)
1. a kind of track machine people, which is characterized in that the robot includes:
For the driving section of track travel described in the Robot to be connect and realized with track, the track is holohedral symmetry rail
Road；
It is installed on the control unit below the driving section and for carrying the driving section, and；
It is installed on the vision portion for being used to capture data below the control unit, wherein
The driving section includes at least one set of active wheels being in rolling contact with the track, is located at the active wheels two
At least two groups driven wheel group of side, by being in rolling contact reality between the active wheels, the driven wheel group and the track
The existing robot relative to the track it is upward, downward, to the left, to the right in movement on any direction.
2. track machine people according to claim 1, which is characterized in that the control unit includes shell, is set to the shell
The top of body for install the driving section installation panel, be disposed in the housing be used for drive the active wheels work
The driving motor of work, the follower being finely adjusted for controlling the active wheels.
3. track machine people according to claim 2, which is characterized in that the active wheels include passing through the follower
The active wheel carrier that structure is installed on the control unit and the multiple driving wheels being rotatably arranged in the active wheel carrier, Duo Gesuo
Driving wheel is stated to surround the track in radial directions and connect the active wheel carrier with the track.
4. track machine people according to claim 3, which is characterized in that in the driving motor and multiple driving wheels
Any one connect and the driving wheel driven to rotate.
5. track machine people according to claim 3, which is characterized in that the driven wheel group includes being installed by swivel mount
It is multiple described driven in the driven wheel carrier on the control unit and the multiple driven wheels being rotatably arranged in the driven wheel carrier
Wheel surrounds the track in radial directions, and the driven wheel carrier is connect by multiple driven wheels with the track.
6. track machine people according to claim 5, which is characterized in that the driven wheel carrier can be relative to the swivel mount
Do the rotation of level front and back.
7. track machine people according to claim 5, which is characterized in that multiple driving wheels and multiple driven wheels
It is corresponding consistent in the axial direction with the position of the rail contact.
8. track machine people according to claim 1, which is characterized in that the vision portion can the relatively described control unit do water
The bottom for being rotatably mounted to the control unit is put down, includes at least one camera shooting for obtaining data information in the vision portion
Head.
9. any track machine people in -8 according to claim 1, which is characterized in that be additionally provided with tooth in the active wheels
It takes turns, rack gear is equipped in the track, the driving motor connect with the gear and the gear is driven to rotate, and the gear exists
Rolling to engage and provide power with the rack gear in rotary course moves the robot relative to the track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910009659.6A CN109483514A (en) | 2019-01-05 | 2019-01-05 | A kind of track machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910009659.6A CN109483514A (en) | 2019-01-05 | 2019-01-05 | A kind of track machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109483514A true CN109483514A (en) | 2019-03-19 |
Family
ID=65714035
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910009659.6A Pending CN109483514A (en) | 2019-01-05 | 2019-01-05 | A kind of track machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109483514A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100855521B1 (en) * | 2007-02-27 | 2008-09-01 | 주식회사 두배시스템 | Robot for internal inspection of pipe |
| CN102518930A (en) * | 2011-12-19 | 2012-06-27 | 安徽巨一自动化装备有限公司 | Aluminum profile |
| US20140156067A1 (en) * | 2012-11-30 | 2014-06-05 | Research & Business Foundation Sungkyunkwan University | Robot for inspecting pipelines |
| CN104317296A (en) * | 2014-10-21 | 2015-01-28 | 山东鲁能智能技术有限公司 | Indoor multi-dimensional track intelligent inspection robot |
| CN105598944A (en) * | 2016-03-29 | 2016-05-25 | 亿嘉和科技股份有限公司 | Robot walking mechanism |
| CN106540390A (en) * | 2016-10-27 | 2017-03-29 | 中国矿业大学 | Hanger rail type fire protection patrol robot system |
| CN207953881U (en) * | 2018-03-26 | 2018-10-12 | 常州市盈能电气有限公司 | The double-deck big drop crusing robot track-type facilities |
| EP3388204A1 (en) * | 2017-04-13 | 2018-10-17 | Petróleo Brasileiro S.A. Petrobras | Robotic inspection device and system |
| CN208325451U (en) * | 2018-06-21 | 2019-01-04 | 江苏迪伦智能科技有限公司 | A kind of walking of guide rails of robots and climbing mechanism |
-
2019
- 2019-01-05 CN CN201910009659.6A patent/CN109483514A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100855521B1 (en) * | 2007-02-27 | 2008-09-01 | 주식회사 두배시스템 | Robot for internal inspection of pipe |
| CN102518930A (en) * | 2011-12-19 | 2012-06-27 | 安徽巨一自动化装备有限公司 | Aluminum profile |
| US20140156067A1 (en) * | 2012-11-30 | 2014-06-05 | Research & Business Foundation Sungkyunkwan University | Robot for inspecting pipelines |
| CN104317296A (en) * | 2014-10-21 | 2015-01-28 | 山东鲁能智能技术有限公司 | Indoor multi-dimensional track intelligent inspection robot |
| CN105598944A (en) * | 2016-03-29 | 2016-05-25 | 亿嘉和科技股份有限公司 | Robot walking mechanism |
| CN106540390A (en) * | 2016-10-27 | 2017-03-29 | 中国矿业大学 | Hanger rail type fire protection patrol robot system |
| EP3388204A1 (en) * | 2017-04-13 | 2018-10-17 | Petróleo Brasileiro S.A. Petrobras | Robotic inspection device and system |
| CN207953881U (en) * | 2018-03-26 | 2018-10-12 | 常州市盈能电气有限公司 | The double-deck big drop crusing robot track-type facilities |
| CN208325451U (en) * | 2018-06-21 | 2019-01-04 | 江苏迪伦智能科技有限公司 | A kind of walking of guide rails of robots and climbing mechanism |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190319 |