CN109625020B - Guide wheel structure for circular tube track and robot - Google Patents
Guide wheel structure for circular tube track and robot Download PDFInfo
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- CN109625020B CN109625020B CN201811324768.9A CN201811324768A CN109625020B CN 109625020 B CN109625020 B CN 109625020B CN 201811324768 A CN201811324768 A CN 201811324768A CN 109625020 B CN109625020 B CN 109625020B
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- guide wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F9/00—Rail vehicles characterised by means for preventing derailing, e.g. by use of guide wheels
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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
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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Abstract
The invention discloses a guide wheel structure for a circular tube track and a robot, comprising: the rotating part is hung on the machine body and can rotate along with the machine body, and a floating part which can float in the cavity of the rotating part along with the rotation of the rotating part is arranged in the rotating part; one end of the connecting shaft is connected to a floating component in the cavity of the rotating component, the other end of the connecting shaft is installed to the guide wheel, and the floating component drives the guide wheel to float. The independent suspension type is adopted, so that the impact on the machine body is reduced, and the adhesive force of the driving wheel is improved; the front and rear guide wheels jump independently and are not coherent with each other, and are hung on the machine body independently and are not interfered by foreign objects.
Description
Technical Field
The disclosure relates to the technical field of guide structures, in particular to a guide wheel structure for a circular tube track and a robot.
Background
The technology is advancing, the robot can be rapidly developed, in order to meet the requirement of the market on a compact video inspection robot, the production and manufacturing cost is reduced, the popularity and the competitiveness are improved, the integration density of component units is improved, the protection capability (adaptive to the current situation of a tunnel environment) is improved, the modular production is facilitated, and the like, so that the portable, highly integrated and multifunctional video robot is produced.
The inventor finds that in work, on the circular tube track, the stability of the robot is greatly limited. The inconsistency of the center of gravity and the center of mass of the robot can cause the robot to shift; the driving force of the robot fluctuates at the turning and climbing positions of the track, so that the friction force is reduced, and the robot cannot effectively move; the vibration of the robot on the circular tube-shaped track can cause the quality of the transmitted video picture to be damaged and can also cause the noise to be increased.
Therefore, the existing robot running on the circular tube track generates vibration in the motion process due to the structure, and the use effect of the robot is influenced.
Disclosure of Invention
In order to overcome the defects of the prior art, one aspect of the present disclosure is to provide a guide wheel structure for a circular tube track, which can ensure that a robot can guide itself at a track turn; can be used for inhibiting the impact and the oscillation from the track surface and ensuring the smooth running of the robot on the circular tube track.
In order to achieve the purpose, the following technical scheme is adopted in the application:
a guide wheel structure for a round tube track, comprising:
the rotating part is hung on the machine body and can rotate along with the machine body, and a floating part which can float in the cavity of the rotating part along with the rotation of the rotating part is arranged in the rotating part;
one end of the connecting shaft is connected to a floating component in the cavity of the rotating component, the other end of the connecting shaft is installed to the guide wheel, and the floating component drives the guide wheel to float.
According to the further technical scheme, the rotating part is suspended on the machine body in a mode of being connected with the machine body through a hinge.
According to a further technical scheme, the rotating component is fixed to the hinge seat through the hinge shaft, the hinge seat is fixed to the machine body, and the rotating component and the hinge seat are separated through the wear-resistant gasket.
According to the further technical scheme, the hinge seat is provided with a limiting structure, the lower end of the hinge shaft is limited by the elastic check ring for the shaft, and the rotating part drives the guide wheel to rotate in a certain range by taking the hinge shaft as the shaft center.
According to a further technical scheme, the rotating part is provided with a boss structure, the limiting structure is a blocking rib on the hinge seat, the boss structure is fixed on the hinge seat through the hinge shaft, and the rotating part is limited by the boss structure on the rotating part and the blocking rib on the hinge seat.
Further technical scheme, first floating member has been placed in the cavity of rotating member, rotating member's cavity upper portion is provided with the second floating member, utilizes the dead lever to penetrate rotating member bottom, first floating member and second floating member respectively, and utilizes lock nut fastening on the dead lever at the top of dead lever and on being located the second floating member, prevents that the second floating member from removing the dead lever when the spring is flexible.
According to the technical scheme, grooves are formed in two sides of the first floating component, steel balls are embedded into the grooves, the first floating component can freely slide in a cavity of the rotating component conveniently, and a steel ball baffle is arranged on one side, close to the grooves, of the first floating component, so that the steel balls are prevented from sliding out.
According to the technical scheme, grooves are formed in the first floating component and the second floating component respectively, the fixed rod enables the first floating component and the second floating component to be connected in series through the grooves, meanwhile, the elastic component is placed at the positions where the grooves of the first floating component and the second floating component are located, and the first floating component and the second floating component can move in the cavity of the rotating component along the fixed rod.
According to the technical scheme, one end of the connecting shaft is connected with the guide wheel, the connecting shaft is provided with the limiting step, and the inner sides of the guide wheels are respectively provided with the bearing, so that the guide wheels can be automatically transmitted when moving on the rail and cannot fall off from the connecting shaft.
According to the technical scheme, the other side of the connecting shaft sequentially penetrates through the rotating part and the first floating part, the first floating part moves up and down in a cavity of the rotating part and simultaneously drives the guide wheel to float, and the stroke of the first floating part is the length of the strip-shaped hole reserved in the rotating part.
Another aspect of the present application discloses a robot, which adopts the following technical scheme:
a robot comprises the guide wheel structure for the circular tube track, wherein the guide wheel structure is fixed on a robot body of the robot.
Compared with the prior art, the beneficial effect of this disclosure is:
the independent suspension type is adopted, so that the impact on the machine body is reduced, and the adhesive force of the driving wheel is improved; the front and rear guide wheels jump independently and are not coherent with each other, and are hung on the machine body independently and are not interfered by foreign objects.
The method can ensure that the robot can automatically guide at the turning position of the track; the vibration from the track surface is reduced, and the robot can run stably on the circular tube track.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is an overall elevation view of a guide wheel structure according to an exemplary embodiment of the present disclosure;
FIG. 2 is an overall side view of a guide wheel structure of an embodiment of the present disclosure;
FIG. 3 is an overall cross-sectional view of a guide wheel structure of an embodiment of the present disclosure;
in the figure, 1, a hinge seat, 2, a hinge shaft, 3, a POM wear-resistant gasket, 4, an elastic retaining ring for the shaft, 5, a rotating block, 6, a lower floating block, 7, an upper floating block, 8, a steel ball, 9, a connecting shaft, 10, a guide wheel, 11, a spring, 12, a fixed rod, 13, a locking nut and 14, a steel ball baffle.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In an exemplary embodiment of the present application, as shown in fig. 1 to 3, there is provided a guide wheel structure applied to a circular pipe rail, which mainly includes: the hinge comprises a hinge seat 1, a hinge shaft 2, a rotating block 5, a lower floating block 6, an upper floating block 7, a connecting shaft 9, a guide wheel 10, a spring 11, a fixed rod 12, a guide wheel, a POM (polyoxymethylene) wear-resistant gasket, a locking nut, a steel ball and the like.
In specific implementation, as shown in fig. 1, a hinge base 1 is fixed on a machine body through a hexagon socket nut, a rotating block 5 is fixed on the hinge base 1 through a hinge shaft 2, the rotating block is provided with a boss structure, a blocking rib is arranged on the hinge base, the boss structure is fixed on the hinge base 1 through the hinge shaft 2, and the rotating block rotates around the hinge shaft.
In order to prevent the rotating block from moving too far to the hinge base in the working process, the boss structure on the rotating block 5 and the blocking ribs on the hinge base 1 are used for limiting the rotating block 5, so that the guide wheel driven by the rotating block is limited together to adapt to the rotation of the guide wheel at the turning position of the track.
As shown in fig. 3, the hinge seat 1 and the rotating block 5 are separated by the POM wear-resistant gasket 3, so that hard friction between the hinge seat 1 and the rotating block 5 is reduced, and the rotating block 5 can swing freely; the lower end of the hinge shaft 2 is limited by a shaft elastic retainer ring 4, so that the hinge shaft 2 is prevented from falling off due to vibration. Therefore, the rotating block 5 can drive the guide wheel 10 to rotate in a certain range by taking the hinge shaft 2 as an axis, and the requirement of stable turning is met.
In the above embodiment, the rotating block is connected to the machine body through a hinge, but the connection manner is not limited specifically, and other structures (such as a latch, etc.) capable of independently suspending the rotating block on the machine body are also within the scope of the present disclosure.
In the above embodiment, the rotating block may be replaced with other shapes, and is not necessarily the shape of the block, as long as it can satisfy the requirement that other components having a cavity and being able to rotate around the body after safety also conform to the overall technical concept of the present application. The preferred turning block has a high surface finish.
As shown in figure 3, the lower floating block 6 is placed in the cavity of the rotating block 5, a groove is formed in the lower floating block 6, steel balls 8 are placed in the groove, friction between the rotating block 5 and the lower floating block 6 is reduced, the rotating block and the lower floating block 6 can slide freely, the steel balls 8 are limited by the steel ball baffle 14, and the steel balls 8 are prevented from falling off from the groove of the lower floating block 6 in the moving process. The upper floating block is mainly used for adjusting the extension and compression of the spring and preventing the spring from popping.
In another embodiment, two grooves are symmetrically formed in the side surface of the lower slider at a certain distance from the upper surface and the lower surface, respectively, the number of the grooves can be formed according to actual needs, a baffle is not required to be arranged in the forming mode, and the lower slider rotating block 5 slides up and down in a cavity.
As shown in fig. 1 to 3, one side of the connecting shaft 9 is provided with a guide wheel 10, the connecting shaft 9 is provided with a limiting step, and the inner sides of the guide wheels 10 are respectively provided with a bearing, so that the guide wheels 10 can be ensured to be self-transmitted simultaneously when moving on the rail and cannot fall off from the connecting shaft 9. The other side of the connecting shaft 9 sequentially penetrates through the rotating block 5 and the lower floating block 6, the lower floating block 6 drives the guide wheel to float while moving up and down in the cavity of the rotating block 5, and the stroke of the guide wheel is the length of the strip-shaped hole reserved in the rotating block 5.
In a static state, the spring is in a compressed state, and the upper floating block can play a role in compressing the spring and preventing the spring from popping up; and a margin is left between the upper floating block and the rotating block as shown in figures 1 and 3, the upper floating block can also slide in the rotating block, and the spring continues to compress or rebound along with the movement process. The spring adjusts the fluctuation of the guide wheel in the process of turning and climbing the track and has the function of shock absorption.
As shown in fig. 3, the fixing rod 12 passes through the turning block 5, the lower floating block 6, the spring 11 and the upper floating block 7 in sequence, and is fixed by the locking nut 13. After fastening, the spring 11 is in a compressed state and has the capability of continuing to compress, and the cavity of the rotating block 5 simultaneously has a stroke equivalent to the compression amount of the spring. When the guide wheel 10 enters the track, the pressure from the track is applied, and the spring 11 continues to compress until the elastic force of the spring can counteract the pressure of the track; when the robot climbs a slope, the guide wheel 10 moves upwards along with the slope, and the spring 11 continues to be compressed until the highest point of the slope; when the robot descends, the spring 11 extends, and the guide wheel moves downwards along with the spring until the guide wheel enters the straight track. Thus, the guide wheel 10 can meet the requirements of curves and slopes, and is smooth and excessive, vibration is reduced, and driving is increased.
Another embodiment of the present application discloses a robot, which adopts the following technical solutions:
a robot comprises the guide wheel structure for the circular tube track, wherein the guide wheel structure is fixed on a robot body of the robot.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (9)
1. The utility model provides a leading wheel structure for pipe track, characterized by includes:
the rotating part is hung on the machine body and can rotate along with the machine body, and a floating part which can float in the cavity of the rotating part along with the rotation of the rotating part is arranged in the rotating part;
one end of the connecting shaft is connected to a floating component in the cavity of the rotating component, the other end of the connecting shaft is installed to the guide wheel, and the floating component drives the guide wheel to float;
a first floating component is placed in a cavity of the rotating component, a second floating component is arranged at the upper part of the cavity of the rotating component, a fixing rod penetrates through the bottom of the rotating component, the first floating component and the second floating component respectively, and the fixing rod is fastened on the fixing rod by a locking nut at the top of the fixing rod and above the second floating component;
grooves are formed in two sides of the first floating component, and steel balls are embedded in the grooves, so that the first floating component can freely slide in the cavity of the rotating component;
the connecting shaft passes through the first floating component, and the first floating component drives the guide wheel to float while moving up and down in the cavity of the rotating component.
2. The structure of a guide wheel for a circular pipe rail as claimed in claim 1, wherein the rotating member is hung on the body in such a manner as to be coupled to the body by means of a hinge.
3. The structure of a guide wheel for a circular pipe rail as claimed in claim 1, wherein the rotary member is fixed to a hinge base by a hinge shaft, the hinge base is fixed to a machine body, and the rotary member and the hinge base are spaced apart by a wear-resistant gasket.
4. The guide wheel structure for the circular tube track as claimed in claim 3, wherein the hinge base is provided with a limiting structure, and the lower end of the hinge shaft is limited by a shaft circlip, so that the guide wheel is driven by the rotating part to rotate within a certain range by taking the hinge shaft as an axis.
5. The guide wheel structure for the circular tube track as claimed in claim 1, wherein a steel ball baffle is provided at a side of the first floating member adjacent to the groove.
6. The guide wheel structure for the circular tube track as claimed in claim 1, wherein the first floating member and the second floating member are respectively provided with a groove, the fixing rod connects the first floating member and the second floating member in series through the grooves, and an elastic member is placed at the positions of the grooves of the first floating member and the second floating member.
7. The structure of the guide wheel for the circular tube rail as claimed in claim 1, wherein the other end of the connecting shaft is connected with the guide wheel, the connecting shaft is provided with a limit step, and the inside of the guide wheel is provided with a bearing to ensure that the guide wheel can simultaneously rotate and not fall off the connecting shaft when moving on the rail.
8. The guide wheel structure for the circular tube track as claimed in claim 7, wherein one end of the connecting shaft passes through the rotating member and the first floating member in sequence, the first floating member drives the guide wheel to float while moving up and down in the cavity of the rotating member, and the stroke of the first floating member is the length of the strip-shaped hole reserved on the rotating member.
9. A robot comprising a guide wheel structure for a pipe track according to any one of claims 1 to 8, the guide wheel structure being fixed to a body of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811324768.9A CN109625020B (en) | 2018-11-08 | 2018-11-08 | Guide wheel structure for circular tube track and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811324768.9A CN109625020B (en) | 2018-11-08 | 2018-11-08 | Guide wheel structure for circular tube track and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109625020A CN109625020A (en) | 2019-04-16 |
| CN109625020B true CN109625020B (en) | 2020-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811324768.9A Active CN109625020B (en) | 2018-11-08 | 2018-11-08 | Guide wheel structure for circular tube track and robot |
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| CN (1) | CN109625020B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110203030B (en) * | 2019-05-27 | 2022-07-19 | 康威通信技术股份有限公司 | Damping shock absorption mechanism, guide wheel and circular rail robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080000584U (en) * | 2007-11-19 | 2008-04-22 | 신화파스칼(주) | Cart for transporting salt |
| CN101570194A (en) * | 2008-04-29 | 2009-11-04 | 许恒梅 | Differential operation device of straddle-type single-track vehicle |
| CN203460651U (en) * | 2013-09-02 | 2014-03-05 | 东莞新能源科技有限公司 | Damping device and automatic guided vehicle |
| CN108656860A (en) * | 2018-05-24 | 2018-10-16 | 中山市雅西环保科技有限公司 | A kind of floating installation wheel |
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| CN109625020A (en) | 2019-04-16 |
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Address after: 250101 A203, block F, entrepreneurship square, Qilu Software Park, No.1 Shunhua Road, high tech Development Zone, Jinan City, Shandong Province Patentee after: Conway Communication Technology Co., Ltd Address before: 250101 A203, block F, entrepreneurship square, Qilu Software Park, No.1 Shunhua Road, high tech Development Zone, Jinan City, Shandong Province Patentee before: SHANDONG KANGWEI COMMUNICATION TECHNOLOGY Co.,Ltd. |