CN113119060B - Rail clamping operation device can be dismantled to complicated track towards robot removal - Google Patents
Rail clamping operation device can be dismantled to complicated track towards robot removal Download PDFInfo
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- CN113119060B CN113119060B CN202110418348.2A CN202110418348A CN113119060B CN 113119060 B CN113119060 B CN 113119060B CN 202110418348 A CN202110418348 A CN 202110418348A CN 113119060 B CN113119060 B CN 113119060B
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- track
- rail
- plate
- wheel
- polyurethane rubber
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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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on 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
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
Abstract
A complex track detachable rail-holding operation device for robot movement belongs to the field of robots. The problem of how to walk on the curved track steadily to the robot is solved. The whole device is driven by the driving wheel set to walk on the rail, the self-adaptive deformation driven wheel set is a key component capable of finishing the function of automatically adapting to the rail, when the width of the rail changes, the distance between the third polyurethane rubber coated wheel and the first polyurethane rubber coated wheel must be adapted to the width of the rail to pass through, so when the width of the rail changes, due to the existence of the moving pair consisting of the right optical axis and the left optical axis, the right linear bearing and the left linear bearing, the rail can push the first polyurethane rubber coated wheel to move towards the width change direction, and the pull plate is connected with the two moving pairs, the right constant force spring and the left constant force spring, the rail can be tightly held at any time when the rail is bent, and the bending stability of the whole device is ensured. It is used for embracing the rail operation on the track.
Description
Technical Field
The invention relates to a rail holding operation robot, and belongs to the field of robots.
Background
At present, the robot replaces manual work to operate in dangerous places, such as heat supply network, gas and mining operation pipe gallery inspection and the like, a plurality of scenes relate to that the robot walks on different rails with different heights and bends, and the robot patrols, detects and operates along the rails, so that the robot has high-precision and high-stability movement control, but the problems of rail holding and effectiveness maintenance need to be solved after long-term operation.
Disclosure of Invention
Aiming at the problem of how to stably walk on a curved track by a robot, the complex track detachable rail-holding running device for robot movement is provided.
A detachable rail holding running device for a complex track moving towards a robot comprises a driven wheel set, a driving wheel set, a self-adaptive deformation driven wheel set and a rail holding frame,
the rail holding frame comprises a top plate and 2 side plates, wherein the 2 side plates are vertical to two sides of the bottom of the top plate;
the driving wheel set is fixed at the bottom of the top plate, the driven wheel set is fixed on the inner wall of one side plate, the driving wheel set is used for driving the whole device to run on the track, and the track runs to drive the driven wheel set attached to one side wall of the track to rotate;
the self-adaptive deformation driven wheel set is used for walking on rails with different widths and can pass through a bent rail;
the self-adaptive deformation driven wheel set comprises a first polyurethane rubber-coated wheel, a double-end connecting shaft, a supporting seat, a right optical shaft, a left optical shaft, a right linear bearing, a left linear bearing, a right constant force spring, a right reel core, a left constant force spring, a left reel core and a pulling plate,
the first polyurethane rubber-coated wheel, the double-end connecting shaft and the supporting seat are positioned inside the other side plate, the right optical shaft, the left optical shaft, the right linear bearing, the left linear bearing and the pulling plate are positioned outside the other side plate, the first polyurethane rubber-coated wheel, the double-end connecting shaft and the supporting seat are coaxially connected from top to bottom, the first polyurethane rubber-coated wheel is attached to the other side wall of the track, the right linear bearing and the left linear bearing are fixedly connected with the other side plate, one end of the right optical shaft and one end of the left optical shaft penetrate through the other side plate to be fixedly connected with the supporting seat, and the other end of the right optical shaft and the other end of the left optical shaft are connected to the pulling plate;
the right winding drum core and the left winding drum core are symmetrically fixed on two end faces of the other side plate, one end of the right constant force spring is wound on the right winding drum core, one end of the left constant force spring is wound on the left winding drum core, and the other end of the right constant force spring and the other end of the left constant force spring are fixedly connected with the pull plate.
Preferably, the driving wheel set comprises a second polyurethane rubber-coated wheel, a jackscrew coupler, a double-end motor base, a direct-current brushless motor and a first bearing,
a bolt penetrates through a second polyurethane rubber-coated wheel to extend into one end of the jackscrew coupler and is fixed with one end of the jackscrew coupler, a double-end motor base is fixed at the bottom of the top plate, a first bearing is sleeved in the double-end motor base, the other end of the jackscrew coupler is arranged on one side of an inner ring of the first bearing, an output shaft of a direct-current brushless motor extends into the other side of the inner ring of the first bearing, and the second polyurethane rubber-coated wheel is attached to the top of the track;
the direct-current brushless motor is used for driving the first bearing to rotate, so that the jackscrew coupler and the second polyurethane rubber-coated wheel are driven to rotate simultaneously, and the second polyurethane rubber-coated wheel can walk on the track.
Preferably, the driven wheel set comprises a photoelectric encoder, a flexible coupling, a double-end supporting seat, a third polyurethane rubber-coated wheel and a second bearing,
the double-end supporting seat is fixed on the inner wall of one side plate, a second bearing is sleeved in the double-end supporting seat, a bolt sequentially penetrates through a third polyurethane rubber-coated wheel and a second bearing inner ring, the photoelectric encoder is positioned on the top plate, an output shaft of the photoelectric encoder penetrates through the top plate to enter the bottom of the top of the photoelectric encoder, the bolt and the output shaft of the photoelectric encoder are connected through a flexible coupling, and the third polyurethane rubber-coated wheel is attached to one side wall of the track;
the photoelectric encoder is used for driving an output shaft of the photoelectric encoder to rotate through the third polyurethane rubber-coated wheel, so that the rotation angle is recorded, and the running displacement of the device is determined according to the rotation angle and the wheel diameter of the third polyurethane rubber-coated wheel.
Preferably, the apparatus further comprises a base plate detachment mechanism,
the bottom plate dismounting mechanism comprises a fixing plate, a rotating hinge, a spring bayonet lock base, a spring bayonet lock rotating handle, a lower substrate, a connecting angle aluminum, a bayonet lock and a third bearing,
the fixed plate is vertically fixed with the bottom of one side plate, the fixed plate is connected with one end of the lower substrate through a rotating hinge, the spring bayonet lock base is vertically connected with the other end of the lower substrate, the fixed end of the spring bayonet lock rotating handle is fixed on the outer wall of the spring bayonet lock base, one end of the bayonet lock extends into the spring bayonet lock rotating handle, the other end of the bayonet lock penetrates through the spring bayonet lock base and extends into the inner side of the spring bayonet lock base,
a through hole is formed in the other side plate, a third bearing is embedded in the through hole, and an inner ring of the third bearing is used for the bayonet lock to enter and exit.
Preferably, the number of the spring bayonet lock rotating handles is 2, the number of the bayonet locks is 2, the number of the third bearings is 2, and the number of the through holes is 2.
Preferably, the device further comprises a universal wheel,
the universal wheel fixed connection is in the roof bottom, and the universal wheel is laminated with the track top.
Preferably, the device further comprises a bull's-eye wheel,
the bull's eye wheel is connected at infrabasal plate internal surface, and the laminating of bull's eye wheel and track bottom.
Preferably, the device further comprises battery means,
the battery device is arranged at the bottom of the lower substrate,
and the battery device is used for providing power for the whole device.
Preferably, the device also comprises a 360-degree steering engine as an expansion module,
the 360 steering engine is an expansion module embedded on the lower substrate,
360 the steering wheel is for extending the module for add by oneself and patrol and examine the executor.
Preferably, the inspection executor includes a radar and a camera.
The invention has the beneficial effects that:
this application is walked on the track by the whole device of initiative wheelset drive, and driven wheelset laminating track lateral wall has guaranteed that the device is more smooth and easy that walks on whole track. Self-adaptation warp driven wheelset is the key part that this device can accomplish automatic adaptation track function, when the track width changes, the distance must adapt to track width side and can pass through between No. three polyurethane package rubber wheels and a polyurethane package rubber wheel, so when the track width changes, because the vice existence of removal that right optical axis and left optical axis and right linear bearing and left linear bearing constitute, the track can promote a polyurethane package rubber wheel and remove to the width change direction, and the arm-tie is connected these two pairs of removals and right constant force spring and left constant force spring, so this device also can hold the track constantly when the track is crossed the curve, the stationarity that whole device crossed the curve has been guaranteed. Because the smoothness of movement is guaranteed, the constant force spring is selected.
When the whole device needs to be detached from the track, the handle is pulled to enable the polyurethane rubber-coated wheel to be released from the tangent state with the track, and the whole device can be separated from the track by directly lifting upwards; therefore, the rail fastening device not only can guarantee that the device tightly holds the rail all the time, stably walks and stably turns on the rail, but also has the advantages of convenience and quickness in disassembly.
The robot walking part is suitable for running on the tracks in the fields of tunnels, pipe galleries, rail transit and the like, can realize quick assembly and disassembly of the robot moving part mechanism on the walking track, and can also guarantee stable running and smooth bending on the complex track. The invention is suitable for various tracks, loads, sizes and shapes of the tracks and the like, and can be realized by modifying the distribution of the wheel train.
The self-adaptation rail walking and the easily detachable rail embracing device of this application development are favorable to making the robot walk on the track for a long time.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a complex track detachable rail-holding running device moving towards a robot;
FIG. 2 is a schematic structural diagram of an operation part of a detachable rail holding running device of a complex track moving towards a robot;
FIG. 3 is a schematic structural view of the base plate detachment mechanism;
FIG. 4 is a perspective view of the base plate detachment mechanism removed;
FIG. 5 is a front view of the base plate detachment mechanism removed.
Detailed Description
The first embodiment is as follows: the present embodiment is described with reference to fig. 1 to 3, and the apparatus for detachably embracing a rail on a complex track moving towards a robot in the present embodiment includes a driven wheel set 2, a driving wheel set 1, a self-adaptive deformation driven wheel set and a rail embracing frame,
the rail holding frame comprises a top plate 28 and 2 side plates, wherein the 2 side plates are vertical to two sides of the bottom of the top plate 28;
the driving wheel set 1 is fixed at the bottom of the top plate 28, the driven wheel set 2 is fixed on the inner wall of one side plate 29, the driving wheel set 1 is used for driving the whole device to run on the track 21, and the track 21 runs to drive the driving wheel set 2 attached to one side wall of the track 21 to rotate;
the self-adaptive deformation driven wheel set is used for adapting to the passing and bending of the rails 21 with different widths;
the self-adaptive deformation driven wheel set comprises a first polyurethane rubber-coated wheel 3, a double-end connecting shaft 4, a supporting seat 5, a right optical axis 8, a left optical axis 12, a right linear bearing 6, a left linear bearing 11, a right constant force spring 9, a right reel core 7, a left constant force spring 13, a left reel core 14 and a pulling plate 10,
the first polyurethane rubber-coated wheel 3, the double-end connecting shaft 4 and the supporting seat 5 are positioned inside the other side plate 30, the right optical shaft 8, the left optical shaft 12, the right linear bearing 6, the left linear bearing 11 and the pulling plate 10 are positioned outside the other side plate 30, the first polyurethane rubber-coated wheel 3, the double-end connecting shaft 4 and the supporting seat 5 are coaxially connected from top to bottom, the first polyurethane rubber-coated wheel 3 is attached to the other side wall of the track 21, the right linear bearing 6 and the left linear bearing 11 are fixedly connected with the other side plate 30, one end of the right optical shaft 8 and one end of the left optical shaft 12 penetrate through the other side plate 30 to be fixedly connected with the supporting seat 4, and the other end of the right optical shaft 8 and the other end of the left optical shaft 12 are connected to the pulling plate 10;
the right reel core 7 and the left reel core 14 are symmetrically fixed on two end faces of the other side plate 30, one end of the right constant force spring 9 is wound on the right reel core 7, one end of the left constant force spring 13 is wound on the left reel core 14, and the other end of the right constant force spring 9 and the other end of the left constant force spring 13 are fixedly connected with the pulling plate 10.
In this embodiment, the adaptive deformation driven wheel set is a key component of the device that can perform the function of automatically adapting to the track. The right optical axis and the left optical axis are matched with the right linear bearing and the left linear bearing respectively to form a sliding pair, and the two pairs of sliding pairs on one degree of freedom ensure the motion stability. The elastic force is transmitted to the driven wheel set through the pulling plate.
The driven wheelset, the driving wheelset and the self-adaptive deformation driven wheelset are distributed in a triangular mode, the design that the condition of the requirement for structural stability is the simplest is achieved, three points are met, and the stability of the upper layer in the operation process can be naturally guaranteed. The polyurethane rubber-coated wheel on the driving wheel set aims at increasing friction and reducing slippage, and through repeated experiments, the wear resistance and the ground grabbing force meet requirements, the driving motor is a brushless direct current motor, and is provided with an electronic speed regulator, so that the torque is stably output, and the weight can be loaded. Two driven guide wheel groups use 1 cun universal rubber-covered wheel, the purpose is easily to turn to.
The biggest advantage of driven wheelset lies in the antitorque, can furthest improve overall structure's rigidity, and three wheels are from the driving wheel, and the material is polyurethane, and shore hardness 55A adds on a driven wheel simultaneously has the encoder, can be used to the location. The key point of the self-adaptive track is that the whole side clamping wheel has elastic deformation, a constant force volute spring of 32kg grade is used, both sides of the driven wheel are provided with the constant force volute springs, and in order to limit the degree of freedom of the driven wheel, the linear bearing is matched with the optical axis, so that the displacement direction and the length of the movable driven elastic wheel are limited.
The moving mechanism can perform three motion conditions of linear motion, inward bending and outward bending. When the three wheels move linearly, the three wheels keep moving at a fixed interval; when the self-adaptive deformation driven wheel set passes through the inner bend, the self-adaptive deformation driven wheel set is required to move towards the inner direction of the mechanism; when the self-adaptation warp driven wheelset and cross the evagination, need the self-adaptation to warp driven wheelset and to the displacement of mechanism outside direction, can guarantee this mechanism like this and slide in the same direction and cross curvedly.
The second embodiment is as follows: the embodiment is a detachable track-embracing operation device facing to a robot moving complex track, a driving wheel set comprises a second polyurethane rubber-coated wheel 1-1, a jackscrew coupler 1-2, a double-end motor base 1-3, a direct-current brushless motor 1-4 and a first bearing,
a bolt penetrates through a second polyurethane rubber-coated wheel 1-1 to extend into one end of the jackscrew coupler 1-2 and is fixed with one end of the jackscrew coupler 1-2, a double-end motor base 1-3 is fixed at the bottom of the top plate, a first bearing is sleeved in the double-end motor base 1-3, the other end of the jackscrew coupler 1-2 is arranged on one side of an inner ring of the first bearing, an output shaft of a direct-current brushless motor 1-4 extends into the other side of the inner ring of the first bearing, and the second polyurethane rubber-coated wheel 1-1 is attached to the top of the track;
the brushless direct-current motor 11 is used for driving the first bearing to rotate, so that the jackscrew coupler 8 and the second polyurethane rubber-coated wheel 7 are driven to rotate simultaneously, and the second polyurethane rubber-coated wheel 7 can walk on the track 21.
The third concrete implementation mode: the embodiment is a robot-moving-oriented complex track detachable rail-embracing operation device, a driven wheel set comprises a photoelectric encoder 2-1, a flexible coupling 2-2, a double-end supporting seat 2-3, a third polyurethane rubber-coated wheel 2-4 and a second bearing,
the double-end supporting seat 2-is fixed on the inner wall of one side plate, a second bearing is sleeved in the double-end supporting seat 2-3, a bolt sequentially penetrates through a third polyurethane rubber-coated wheel 2-4 and a second bearing inner ring, the photoelectric encoder 2-1 is positioned on the top plate, an output shaft of the photoelectric encoder 2-1 penetrates through the top plate to enter the bottom of the top, the bolt and the output shaft of the photoelectric encoder 2-1 are connected through the flexible coupler 2-2, and the third polyurethane rubber-coated wheel 2-4 is attached to one side wall of the track;
the photoelectric encoder 2-1 is used for driving an output shaft of the photoelectric encoder 2-1 to rotate by the third polyurethane rubber-coated wheel 2-4 so as to record a rotation angle, and determining the running displacement of the device according to the rotation angle and the wheel diameter of the third polyurethane rubber-coated wheel 2-4.
In this embodiment, the jackscrew coupler and the output shaft of the dc brushless motor transmit torque through the jackscrew, and the reduction ratio is 1: 1. the photoelectric encoder 2-1 can confirm the position of the apparatus itself.
The fourth concrete implementation mode: the present embodiment is described with reference to fig. 4 to 5, and the present embodiment is a device for detachably holding rails for a complex track facing a robot to move according to the first embodiment, the device further includes a bottom plate detaching mechanism,
the bottom plate dismounting mechanism comprises a fixed plate 15, a rotating hinge 16, a spring bayonet base 18, a spring bayonet rotating handle 19, a lower base plate 17, a connecting angle aluminum 20, a bayonet 22 and a third bearing 23,
the fixed plate 15 is vertically fixed with the bottom of a side plate 29, the fixed plate 15 is connected with one end of a lower base plate 17 through a rotating hinge 16, a spring bayonet base 18 is vertically connected with the other end of the lower base plate 17, the fixed end of a spring bayonet rotating handle 19 is fixed on the outer wall of the spring bayonet base 18, one end of a bayonet 22 extends into the spring bayonet rotating handle 19, the other end of the bayonet 22 penetrates through the spring bayonet base 18 and extends into the inner side of the spring bayonet base 18,
the other side plate 30 is provided with a through hole, the third bearing 23 is embedded in the through hole, and the inner ring of the third bearing 23 is used for the inlet and outlet of the bayonet 22.
In this embodiment, the hinge is first rotated to be fixedly connected with the lower substrate, so that the lower substrate and all modules thereon can freely rotate around the rotating shaft of the hinge. The spring bayonet lock base, the spring bayonet lock rotating handle and the bayonet lock form a spring bayonet lock module, the working principle is that the spring bayonet lock rotating handle is rotated and pulled upwards, the bayonet lock can be hidden in the spring bayonet lock base as shown in the lower right corner of figure 5, otherwise, the bayonet lock can be extended out as shown in the lower right corner of figure 4. The lower substrate is fixedly connected with the spring bayonet module by the connecting angle aluminum. The quick dismantlement theory of operation is as the state of fig. 3, and this device is in the cohesion state this moment, relies on the interference fit of bayonet lock and bearing to guarantee that the infrabasal plate can not drop in the motion process. The first step of disassembly, rotating the spring bayonet to rotate the handle and pull it up to move the bayonet out of the bearing and into the spring bayonet base, the lower base plate will rotate freely downward around the axis of rotation of the hinge [5] due to gravity, the situation at this time being as shown in fig. 5.
The second step of disassembly is realized by moving the device off the track in two ways, namely pulling the handle to enable the polyurethane rubber-coated wheel to be released from the tangent state with the track, and directly lifting the whole device upwards to separate the whole device from the track; and the second step is to push the device directly along the track until the end of the track is separated from the track. The above is the working principle of quick disassembly, otherwise, the quick assembly process.
The bottom plate dismounting mechanism mainly comprises an aluminum hinge and a spring bayonet lock, and the stability of the whole mechanism is kept by the matching of a pin with the diameter of the spring bayonet lock and the bearing inner ring. When the chassis is disassembled, the spring clamping pin is firstly screwed out of the bearing, then the aluminum hinge is used as a rotating shaft to complete circular motion, and the whole chassis mechanism can be moved out of the track after the circular motion is completed; the loading process is carried out simultaneously, the whole loading (disassembling) process is completed within 4s, and only one person is needed to finish the loading process independently. The quick disassembling module has the advantages of simple and compact structure, tight matching of the pin and the bearing, high stability, no shedding and vibration, high assembling and disassembling speed, less manpower requirement, high man-machine interaction and suitability for occasions with compact space and high efficiency requirement.
The fifth concrete implementation mode: in the fourth embodiment, the number of the spring bayonet lock rotating handles 19 is 2, the number of the bayonet locks 22 is 2, the number of the third bearings 23 is 2, and the number of the through holes is 2.
The sixth specific implementation mode: the present embodiment is a device for detachably embracing a rail of a complex track facing to a robot moving according to the first embodiment, the device further comprises universal wheels 24,
the universal wheels 24 are fixedly connected to the bottom of the top plate, and the universal wheels 24 are attached to the top of the track.
In the embodiment, the universal wheels and the bull's eye wheels are used as auxiliary wheels, so that the movement and turning stability of the whole device is ensured.
The seventh embodiment: the present embodiment is a detachable rail-holding running device facing to a complex track of a robot, which is described in the fourth embodiment, the device further comprises a bull's eye wheel 25,
the bull's eye wheel 25 is connected at the internal surface of infrabasal plate 17, and bull's eye wheel 25 is laminated with track 21 bottom.
The specific implementation mode is eight: the present embodiment is a device for detachably holding rails for a complex track facing a robot, which is described in the fourth embodiment, and the device further includes a battery device 27,
the battery device 27 is disposed at the bottom of the lower substrate 17,
and a battery device 27 for providing power for the whole device.
The specific implementation method nine: the embodiment is a detachable rail holding running device for a complex track moving towards a robot, which is described in the fourth embodiment, the device further comprises a 360-degree steering engine as an expansion module 26,
360 steering engine for expanding module 26 is embedded on lower base plate 17,
the 360 steering wheel is an expansion module 26 and is used for automatically adding an inspection executor.
In this embodiment, the 360-degree steering engine is an expansion module 26, and the 360-degree steering engine is an expansion module 26 embedded on the lower substrate 17 but not in contact with the track, as shown in fig. 1.
The detailed implementation mode is ten: the embodiment is the ninth embodiment, the track holding operation device can be dismantled to complicated track towards robot removal, and the executor of patrolling and examining includes radar and camera.
Claims (9)
1. A detachable rail-holding running device for a complex track moving towards a robot is characterized by comprising a driven wheel set (2), a driving wheel set (1), a self-adaptive deformation driven wheel set and a rail-holding frame,
the rail holding frame comprises a top plate (28) and 2 side plates, wherein the 2 side plates are vertical to two sides of the bottom of the top plate (28);
the driving wheel set (1) is fixed at the bottom of the top plate (28), the driven wheel set (2) is fixed on the inner wall of one side plate (29), the driving wheel set (1) is used for driving the whole device to run on the track (21), and the track (21) runs to drive the driven wheel set (2) attached to one side wall of the track (21) to rotate;
the self-adaptive deformation driven wheel set is used for walking on rails (21) with different widths and can pass through the bent rails (21);
the self-adaptive deformation driven wheel set comprises a first polyurethane rubber-coated wheel (3), a double-end connecting shaft (4), a supporting seat (5), a right optical axis (8), a left optical axis (12), a right linear bearing (6), a left linear bearing (11), a right constant force spring (9), a right reel core (7), a left constant force spring (13), a left reel core (14) and a pulling plate (10),
the first polyurethane rubber-coated wheel (3), the double-end connecting shaft (4) and the supporting seat (5) are located inside the other side plate (30), the right optical shaft (8), the left optical shaft (12), the right linear bearing (6), the left linear bearing (11) and the pulling plate (10) are located on the outer side of the other side plate (30), the first polyurethane rubber-coated wheel (3), the double-end connecting shaft (4) and the supporting seat (5) are coaxially connected from top to bottom, the first polyurethane rubber-coated wheel (3) is attached to the other side wall of the rail (21), the right linear bearing (6) and the left linear bearing (11) are fixedly connected with the other side plate (30), one end of the right optical shaft (8) and one end of the left optical shaft (12) penetrate through the other side plate (30) to be fixedly connected with the supporting seat (5), and the other end of the right optical shaft (8) and the other end of the left optical shaft (12) are connected to the pulling plate (10);
the right winding drum core (7) and the left winding drum core (14) are symmetrically fixed on two end faces of the other side plate (30), one end of a right constant force spring (9) is wound on the right winding drum core (7), one end of a left constant force spring (13) is wound on the left winding drum core (14), and the other end of the right constant force spring (9) and the other end of the left constant force spring (13) are fixedly connected with the pull plate (10);
the apparatus further comprises a base plate removal mechanism,
the bottom plate dismounting mechanism comprises a fixing plate (15), a rotating hinge (16), a spring bayonet base (18), a spring bayonet rotating handle (19), a lower base plate (17), a connecting angle aluminum (20), a bayonet (22) and a third bearing (23),
the fixed plate (15) is vertically fixed with the bottom of one side plate (29), the fixed plate (15) is connected with one end of a lower base plate (17) through a rotating hinge (16), a spring bayonet lock base (18) is vertically connected with the other end of the lower base plate (17), the fixed end of a spring bayonet lock rotating handle (19) is fixed on the outer wall of the spring bayonet lock base (18), one end of a bayonet lock (22) extends into the spring bayonet lock rotating handle (19), the other end of the bayonet lock (22) penetrates through the spring bayonet lock base (18) and extends into the inner side of the spring bayonet lock base (18),
a through hole is formed in the other side plate (30), a third bearing (23) is embedded in the through hole, and the inner ring of the third bearing (23) is used for the bayonet lock (22) to enter and exit;
the right optical axis and the left optical axis are respectively matched with the right linear bearing and the left linear bearing to form a sliding pair.
2. The detachable rail-holding running device facing to the robot moving complex track is characterized in that a driving wheel set comprises a second polyurethane rubber-coated wheel (1-1), a jackscrew coupler (1-2), a double-end motor base (1-3), a direct current brushless motor (1-4) and a first bearing,
a bolt penetrates through a second polyurethane rubber-coated wheel (1-1) to extend into one end of the jackscrew coupler (1-2) and is fixed with one end of the jackscrew coupler (1-2), a double-end motor base (1-3) is fixed at the bottom of the top plate, a first bearing is sleeved in the double-end motor base (1-3), the other end of the jackscrew coupler (1-2) is arranged on one side of an inner ring of the first bearing, an output shaft of a direct-current brushless motor (1-4) extends into the other side of the inner ring of the first bearing, and the second polyurethane rubber-coated wheel (1-1) is attached to the top of the track (21);
the direct-current brushless motor (1-4) is used for driving the first bearing to rotate, so that the jackscrew coupler (1-4) and the second polyurethane rubber-coated wheel (1-1) are driven to rotate simultaneously, and the second polyurethane rubber-coated wheel (1-1) can run on the track (21).
3. The detachable orbital tracking running device facing to the robot is characterized in that the driven wheel set comprises a photoelectric encoder (2-1), a flexible coupling (2-2), a double-end supporting seat (2-3), a third polyurethane rubber-coated wheel (2-4) and a second bearing,
the double-end supporting seat (2-3) is fixed on the inner wall of one side plate, a second bearing is sleeved in the double-end supporting seat (2-3), a bolt sequentially penetrates through a third polyurethane rubber-coated wheel (2-4) and a second bearing inner ring, the photoelectric encoder (2-1) is positioned on the top plate, an output shaft of the photoelectric encoder (2-1) penetrates through the top plate to enter the bottom of the top, the bolt and the output shaft of the photoelectric encoder (2-1) are connected through the flexible coupling (2-2), and the third polyurethane rubber-coated wheel (2-4) is attached to one side wall of the track;
the photoelectric encoder (2-1) is used for driving an output shaft of the photoelectric encoder (2-1) to rotate through the third polyurethane rubber-coated wheel (2-4), so that a rotation angle is recorded, and the running displacement of the device is determined according to the rotation angle and the wheel diameter of the third polyurethane rubber-coated wheel (2-4).
4. The device for detachably embracing rail moving towards robot in complex track as claimed in claim 1, wherein the number of spring bayonet rotating handles (19) is 2, the number of bayonet (22) is 2, the number of third bearing (23) is 2, and the number of through holes is 2.
5. The device for the detachable holding rail operation of the complex track facing to the robot in claim 1, characterized in that the device further comprises universal wheels (24),
the universal wheels (24) are fixedly connected to the bottom of the top plate, and the universal wheels (24) are attached to the top of the track.
6. The device for the detachable holding track running of complex track facing to robot movement according to claim 1, characterized in that the device further comprises a bull's eye wheel (25),
the bull's eye wheel (25) is connected at the internal surface of infrabasal plate (17), and bull's eye wheel (25) and track (21) bottom laminating.
7. The device for the detachable orbital transportation of complex tracks facing to robot movement according to claim 1, characterized in that it further comprises battery means (27),
the battery device (27) is arranged at the bottom of the lower base plate (17),
and the battery device (27) is used for providing power for the whole device.
8. The device for detachably embracing rail and moving complex track facing robot of claim 1, further comprising a 360-degree steering engine as an expansion module (26),
the 360-degree steering engine is characterized in that an expansion module (26) is embedded on a lower substrate (17),
360 steering wheel is for expanding module (26) for add by oneself and patrol and examine the executor.
9. The device for detachably embracing rail moving toward the robot as claimed in claim 8, wherein the inspection executor comprises a radar and a camera.
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| CN114108399B (en) * | 2021-10-11 | 2023-06-16 | 北京天玛智控科技股份有限公司 | Chassis of inspection robot and matched single-rail double-beam type track |
| CN114102668B (en) * | 2021-11-03 | 2024-04-16 | 佛山科学技术学院 | Control method of feedback buffer chassis applied to track robot |
| CN115300295B (en) * | 2022-10-10 | 2023-01-31 | 北京彼岸鸿侨医疗科技有限公司 | Pitching conversion treatment bed |
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| US6722284B2 (en) * | 2001-12-13 | 2004-04-20 | Storage Technology Corporation | Steering mechanism for rail guided robots in a library |
| ES2929459T3 (en) * | 2014-06-26 | 2022-11-29 | Bombardier Transp Gmbh | Undercarriage unit with reduced torsional vibrations |
| CN204636213U (en) * | 2015-05-17 | 2015-09-16 | 郑祥模 | For the climbing structures of balustrade clean robot |
| CN205852778U (en) * | 2016-05-20 | 2017-01-04 | 深圳市朗驰欣创科技股份有限公司 | Crusing robot guiding mechanism |
| US10953555B2 (en) * | 2016-10-14 | 2021-03-23 | IAM Robotics, LLC | Field replaceable battery pack and lift counterbalance for a mobile manipulation robot |
| CN107764319A (en) * | 2017-09-08 | 2018-03-06 | 国网山东省电力公司电力科学研究院 | One kind is brought into close contact formula track automatic crusing robot |
| CN111300488A (en) * | 2020-04-26 | 2020-06-19 | 太原科技大学 | Chassis structure of sliding block type wheel set track robot |
| CN212601942U (en) * | 2020-05-18 | 2021-02-26 | 贵州贵安新区盛典科技发展有限公司 | Driving wheel support assembly of inspection robot |
| CN112572495A (en) * | 2020-12-21 | 2021-03-30 | 上海贽匠智能科技有限公司 | Running gear of robot is patrolled and examined to track |
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