CN114110383A - Combined mechanical arm type track shooting robot - Google Patents
Combined mechanical arm type track shooting robot Download PDFInfo
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- CN114110383A CN114110383A CN202111528868.5A CN202111528868A CN114110383A CN 114110383 A CN114110383 A CN 114110383A CN 202111528868 A CN202111528868 A CN 202111528868A CN 114110383 A CN114110383 A CN 114110383A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to the technical field of track robots, and particularly relates to a combined mechanical arm type track shooting robot which comprises a track, a combined mechanical arm, a shooting device and a machine tractor, wherein the machine tractor is used for bearing the mechanical arm and the shooting device to walk on the track, and comprises a control main body, a transmission shaft, a steering mechanism, a roller and a motor; through setting up steering mechanism, when the shooting robot marchs to the track department of turning, the track department of turning surface produces the effort of deflecting to the gyro wheel, the effort of deflecting passes through the gyro wheel and transmits steering mechanism, steering mechanism control gyro wheel deflects and transmits the gyro wheel along with the track department of turning, make the gyro wheel follow the track angle of turning when walking to the track department of turning and deviate from and move ahead, when guaranteeing the gyro wheel deflection and between the track smooth in the same direction as smooth, improve the adaptability of gyro wheel to track angle, thereby improve the stability of gyro wheel, and then improve the smooth-going degree when the robot turns.
Description
Technical Field
The invention belongs to the technical field of track robots, and particularly relates to a combined mechanical arm type track shooting robot.
Background
In recent years, with the continuous development of intelligent robot technology, the field of intelligent robots is continuously expanding, and the combined mechanical arm type track shooting robot is a new development field of robots. The combined mechanical arm type track shooting robot is developed mainly aiming at the purpose of knowing the running condition of a pipeline or equipment in a tunnel at any time according to the severe degree of the field environment, and has the characteristics of reducing the labor intensity and improving the utilization rate of working space.
When two tubular rails are needed to provide gravity support for the combined mechanical arm type rail shooting robot for carrying out inspection detection on placed equipment in a mine, the over-bending capability is one of important indexes for measuring the performance of the robot, and because the central line of the over-bending rail is inconsistent with the advancing central line of the robot, the larger the inconsistency is, the larger the abrasion between a driving wheel and the rails is, the robot can carry out shooting operation on the roadway in the mine in the largest range through a curve smoothly;
when the robot walks in the underground mine tunnel, the gradient of the tunnel is more about 30 degrees; the underground roadway of the coal mine is divided into a main roadway and branch roadways, wherein the main roadway is mostly a horizontal roadway, the angle offset of the advancing direction is small, the branch roadways are roadways leading to each working surface or goaf, the branch roadways are not only more, but also the bending angles of the main roadway leading to each branch roadway are different in size, and the turning curvature radii are different; when the radius of curvature of turning of the robot from the main roadway to the branch roadway is small, the smoothness degree of the robot is reduced when the robot turns, and in addition, the influence of the roadway gradient on the robot turning at the same time enables the smoothness degree of the robot from the main roadway to the branch roadway to be further reduced, so that the robot is influenced when shooting operation is carried out.
In view of the above, the invention provides a combined mechanical arm type track shooting robot, which solves the problem that when the curvature radius of a turn of the robot from a main roadway to a branch roadway is smaller, the smoothness degree of the robot during the turn is reduced, so that the robot is influenced during shooting operation.
Disclosure of Invention
The invention provides a combined mechanical arm type track shooting robot, which aims to make up for the defects of the prior art and solve the problem that when the curvature radius of a turn from a main roadway to a branch roadway of the robot is smaller, the smoothness degree of the robot is reduced when the robot turns, so that the robot is influenced when shooting is carried out.
The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to a combined mechanical arm type track shooting robot, which comprises a track, a combined mechanical arm, a shooting device and a machine tractor, wherein the machine tractor is used for bearing the mechanical arm and the shooting device to walk on the track, and comprises:
a control body;
the transmission shafts are uniformly and rotatably connected to the two sides of the control main body;
the steering mechanisms are arranged at one ends of the transmission shafts, which are far away from the control main body, and are used for deflecting the vehicle body of the machine tractor at the turning position of the track;
the roller is arranged on the steering mechanism and used for driving the control main body to travel on the track;
the motor is installed in the control main body, and the output end of the motor is fixedly connected with one end, located in the control main body, of the transmission shaft.
Preferably, the steering mechanism includes:
the connecting block is fixedly connected to one end, far away from the control main body, of the transmission shaft and is used for connecting the roller and the transmission shaft;
the through hole is formed in the center of the roller, and the connecting block is positioned in the through hole;
the grooves are uniformly formed in the inner wall of the through hole and face the direction of the control main body;
the first block is uniformly and rotatably connected to the surface of the connecting block through a rotating shaft and is positioned in the groove;
the aperture of the through hole decreases from the middle to the two ends.
Preferably, a plurality of balls are uniformly arranged on one side surface of the first block contacting with the inner wall of the groove.
Preferably, a limiting groove is formed in the surface of one side, away from the first block, of the groove; a limiting rod is fixedly connected to the middle position of one side surface of the first block, which corresponds to the limiting groove, the limiting rod is located in the limiting groove, and the limiting rod is connected with the limiting groove through a reset spring.
Preferably, the surface of the outer ring of the roller is fixedly connected with an anti-skid film;
the antiskid membrane is made of EVA (ethylene vinyl acetate) foamed rubber.
Preferably, the propeller shaft includes:
the driving shafts are uniformly and rotatably connected to two sides of the control main body, and one ends of the driving shafts in the control main body are fixedly connected with the output end of the motor;
the first hole is formed in one end, far away from the control main body, of the driving shaft;
the driven shaft is connected in the first hole in a sliding mode, and one end, far away from the driving shaft, of the driven shaft is fixedly connected with the connecting block.
Preferably, the surfaces of the two sides of the roller are rotatably connected with rotating rings;
one side of the rotating ring, which is close to the anti-slip film, is provided with a hairbrush.
The invention has the following beneficial effects:
1. according to the combined mechanical arm type track shooting robot, the steering mechanism is arranged, when the shooting robot moves to a track corner, the surface of the track corner generates deflection acting force on the roller, the deflection acting force is transmitted to the steering mechanism through the roller, the steering mechanism controls the roller to deflect along with the track corner and transmit the roller, so that the roller deflects along with the track corner angle and moves forwards when walking to the track corner, the roller is guaranteed to be in stable and smooth contact with the track when deflecting, the adaptability of the roller to the track angle is improved, the stability of the roller is improved, and the smoothness degree of the robot when turning is improved.
2. According to the combined mechanical arm type track shooting robot, the rolling balls are arranged, when the rolling wheels deflect along with the turning of the track, the rolling wheels drive the grooves to deflect, the outer surfaces of the first blocks and the inner walls of the grooves are in a mutually-frictional sliding state, the first blocks are in contact with the inner walls of the grooves through the rolling balls, sliding friction between the first blocks and the inner walls of the grooves is changed into rolling friction, friction acting force between the first blocks and the grooves is reduced, deflection resistance generated by friction between the first blocks and the grooves when the rolling wheels deflect is further reduced, the capability of the rolling wheels deflecting along with the track is improved, the adaptability of the rolling wheels to the curved parts of the track is improved, and the smoothness degree of the robot when the robot turns is further improved.
Drawings
The invention will be further explained with reference to the drawings.
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a partial cross-sectional view of the mechanical tractor of the present invention;
FIG. 3 is a schematic view showing the construction of a steering mechanism according to the present invention;
FIG. 4 is an enlarged view of a portion of FIG. 3 at A;
FIG. 5 is a perspective view of a first block of the present invention;
in the figure: the control device comprises a control main body 1, a transmission shaft 2, a driving shaft 21, a first hole 22, a driven shaft 23, a steering mechanism 3, a connecting block 31, a through hole 32, a groove 33, a first block 34, a ball 35, a limiting groove 36, a limiting rod 37, a roller 4, an anti-skidding film 41, a rotating ring 42, a hairbrush 43 and a motor 5.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1 to 2, the combined mechanical arm type track shooting robot of the present invention includes a track, a combined mechanical arm, a shooting device, and a machine tractor, where the machine tractor is used to carry the mechanical arm and the shooting device to travel on the track, and the machine tractor includes:
a control body 1;
the transmission shafts 2 are uniformly and rotatably connected to the two sides of the control main body 1;
the steering mechanisms 3 are all arranged at one end, away from the control main body 1, of the transmission shaft 2, and the steering mechanisms 3 are used for deflecting the vehicle body of the machine tractor at the turning position of the track;
the roller 4 is arranged on the steering mechanism 3, and the roller 4 is used for driving the control main body 1 to travel on the track;
motor 5, motor 5 install in control main part 1, and the output of motor 5 and the one end that transmission shaft 2 is located control main part 1 link firmly.
When the robot is used, two pipelines are laid on the occasion of serving as a walking track of the shooting robot, a shooting person puts the roller 4 of the shooting robot on the two tracks, the shooting person wirelessly controls the shooting robot to run through a computer, the motor 5 runs to drive the transmission shaft 2 to rotate, the transmission shaft 2 rotates to drive the steering mechanism 3 to run, the transmission shaft 2 indirectly drives the roller 4 to roll on the track through the steering mechanism 3, and the roller 4 drives the control main body 1 to move forward along the track direction; when the shooting robot moves to a track turning part, the shooting robot is influenced by the self weight to enable the surface of the outer ring of the roller 4 to be attached to the track, the surface of the track turning part generates deflection acting force on the roller 4, the deflection acting force is transmitted to the steering mechanism 3 through the roller 4, the steering mechanism 3 controls the roller 4 to deflect along with the track turning part and transmits the roller 4, so that the roller 4 deflects along with the track turning angle and moves forwards when walking to the track turning part, the roller 4 is ensured to be stably and smoothly contacted with the track when deflecting, the adaptability of the roller 4 to the track angle is improved, the stability of the roller 4 is improved, the smoothness degree of the robot when turning is improved, and the phenomenon that the smoothness degree is reduced when the curvature radius of the robot from a main roadway to a branch roadway is smaller is avoided; when the shooting robot is shooting, shooting personnel control the combined mechanical arm to swing, so that the shooting device shoots a required position, and after the shooting work of the shooting robot is completed, the shooting personnel directly take the shooting robot down from the track.
As shown in fig. 2 to 3, as an embodiment of the present invention, the steering mechanism 3 includes:
the connecting block 31 is fixedly connected to one end, far away from the control main body 1, of the transmission shaft 2, and the connecting block 31 is used for connecting the roller 4 with the transmission shaft 2;
the through hole 32 is formed in the center of the roller 4, and the connecting block 31 is positioned in the through hole 32;
the grooves 33 are uniformly formed on the inner wall of the through hole 32, and the grooves 33 face the direction of the control main body 1;
the first block 34 is uniformly and rotatably connected to the surface of the connecting block 31 through a rotating shaft, and the first block 34 is positioned in the groove 33;
the hole diameter of the through hole 32 decreases from the middle to both ends.
When the device is used, the motor 5 drives the transmission shaft 2 to rotate, the transmission shaft 2 drives the connecting block 31 to rotate, the connecting block 31 drives the first block 34 to rotate, and the surface of the first block 34 is in contact with the groove 33 in the roller 4 so as to drive the roller 4 to rotate on the track; when the shooting robot walks to a corner of a track, the surface of the outer ring of the roller 4 is contacted with the outer surface of the track and is influenced by the guiding acting force of the corner of the track, so that the roller 4 deflects along with the track, the roller 4 deflects by taking the central point of the connecting block 31 as the reference when deflecting through the aperture of the through hole 32 from the middle part to two ends, the roller 4 deflects to drive the groove 33 to deflect, the first block 34 positioned on the longitudinal section of the connecting block 31 rotates under the influence of the deflection of the roller 4 because the first block 34 is positioned in the groove 33, the first block 34 positioned on the cross section of the connecting block 31 slides in the groove 33, so that the roller 4 deflects and the connecting block 31 does not deflect, the transmission shaft 2 drives the connecting block 31 to rotate, the connecting block 31 drives the first block 34 to rotate, the first block 34 is contacted with the inner wall of the groove 33 to drive the roller 4 to rotate, so that the roller 4 can still roll on the track through the first block 34 after deflecting, contact is steady in the same direction as smooth between the assurance gyro wheel 4 when deflecting and the track, improves gyro wheel 4 to the adaptability of track angle to improve the smooth-going degree when improving the robot and turning round.
As shown in fig. 5, as an embodiment of the present invention, a plurality of balls 35 are uniformly disposed on a surface of the first block 34 contacting an inner wall of the groove 33.
During the use, through setting up ball 35, when gyro wheel 4 deflects along with the track corner, gyro wheel 4 drives recess 33 and deflects, be the sliding state of looks mutual friction between a piece 34 surface and the recess 33 inner wall, a piece 34 passes through ball 35 and recess 33 inner wall contact, make sliding friction between a piece 34 and the recess 33 inner wall become rolling friction, reduce the frictional force between a piece 34 and the recess 33, receive the deflection resistance that the friction produced between a piece 34 and the recess 33 when further reducing gyro wheel 4 and deflect, improve gyro wheel 4 along with the ability that the track deflected, thereby improve gyro wheel 4 to the adaptability of track bending part, smooth and smooth degree when further improving the robot and turning.
As shown in fig. 3 to 4, as an embodiment of the present invention, a limiting groove 36 is formed on a side surface of the groove 33 away from the first block 34; a first block 34 is fixedly connected with a limiting rod 37 at the middle position of one side surface corresponding to the limiting groove 36, the limiting rod 37 is positioned in the limiting groove 36, and the limiting rod 37 is connected with the limiting groove 36 through a return spring.
When the track-turning device is used, through the matching among the limiting groove 36, the limiting rod 37 and the return springs, when the roller 4 moves forwards to the track turning part, the roller 4 deflects along with the track turning part, the roller 4 drives the limiting groove 36 to deflect, and the limiting groove 36 extrudes the return springs with the limiting rod 37 after deflecting, so that each return spring generates a telescopic acting force when the roller 4 deflects; because the roller 4 is limited by the track to be in a deflection state, the acting force generated by the reset spring stressed on each roller 4 in the deflection state extrudes the limiting rod 37, the limiting rod 37 resets to the middle position of the limiting groove 36 after being extruded, the limiting rod 37 drives the first block 34 to reset, the first block 34 drives the connecting block 31 to reset, the connecting block 31 drives the transmission shaft 2 to move, the transmission shaft 2 drives the control main body 1 to deflect along with the turning direction of the track, the forward moving direction of the control main body 1 and the shooting robot is kept consistent, the aim of shooting by the shooting device along with the walking direction of the shooting robot is achieved, and the adaptation degree of the shooting robot for shooting along the track is improved, therefore, the stability of the shooting robot during working is improved, and the shooting azimuth of the shooting robot is prevented from being unchanged in the deflection process of the shooting robot along the track, so that the stability of the shooting angle of the shooting robot is reduced.
As shown in fig. 2 to 3, as an embodiment of the present invention, an anti-slip film 41 is attached to the outer ring surface of the roller 4;
the anti-slip film 41 is made of EVA foamed rubber.
When the shooting robot is used, the anti-slip film 41 is arranged, the anti-slip film 41 is made of EVA (ethylene vinyl acetate) foamed rubber, the roller 4 drives the anti-slip film 41 to rotate in the process that the roller 4 moves forwards along the track, the outer surface of the anti-slip film 41 is in contact with the surface of the track, according to the characteristic that the friction coefficient between the surface of an object made of rubber and the surface of an object made of steel is high, the friction acting force after the roller 4 is in contact with the surface of the track is increased, the traction effect of the roller 4 on the shooting robot when the roller 4 rolls along the track is improved, the stability of the shooting robot when the shooting robot moves forwards along the track is improved, a large amount of dust attached to the track due to the fact that the track is not clean for a long time is reduced, and the phenomenon that the roller 4 slips due to the fact that the friction acting force between the roller 4 and the track is reduced due to the influence of the dust when the roller 4 made of metal is moved forwards on the track is avoided; because the slipmat 41 is EVA foamed rubber material, has good shockproof and shock-absorbing capacity, and wear resistance is higher than rubber, through slipmat 41 in order to slow down 4 when walking to the track turning and the vibrations that the friction produced between the track surface, further ensure when 4 deflects of gyro wheel and the track between the contact steadily in the same direction as smooth, improve 4 adaptability to the track angle of gyro wheel.
As shown in fig. 2 to 3, as an embodiment of the present invention, a propeller shaft 2 includes:
the driving shaft 21 is uniformly and rotatably connected to two sides of the control main body 1, and one end of the driving shaft 21, which is positioned in the control main body 1, is fixedly connected with the output end of the motor 5;
the first hole 22 is formed in one end, far away from the control main body 1, of the driving shaft 21;
driven shaft 23, driven shaft 23 sliding connection are in a hole 22, and driven shaft 23 keeps away from the one end of driving shaft 21 and links firmly with connecting block 31.
When the shooting robot is used, after a longer track is laid, the shooting robot regularly walks on the track, and under the influence of the self weight of the shooting robot on the pressure of the track and the self gravity of the long track, under the condition that the track is made of steel, because the steel has better ductility, part of the track deforms under the condition that the track is heavily stressed by the self weight and the shooting robot regularly walks and shoots the track, so that the distance between the two tracks at the deformed position is larger than that between the two tracks at the undeformed position; when the shooting robot moves to the track of the deformation position, the roller 4 on one side of the two sides of the control main body 1 is influenced by the track of the deformation position to deflect towards the direction far away from the control main body 1, the roller 4 deflects along with the guide action of the track of the deformation position, then the connecting block 31 contacts the inner wall of the through hole 32, the inner wall of the through hole 32 extrudes and drives the connecting block 31 to deflect along with the roller 4, the connecting block 31 drives the driven shaft 23 to slide in the first hole 22 towards the direction far away from the control main body 1, one end of the driven shaft 23 in the first hole 22 is still in the first hole 22 after sliding, the first hole 22 is a square hole, so that the driving shaft 21 can drive the driven shaft 23 to rotate through the first hole 22, the roller 4 is driven to walk on the track of the deformation position, the adaptability of the roller 4 to the deformation position of the track is improved, the stability of the roller 4 is improved, and the smoothness of the robot walking is further improved, the phenomenon that the walking of the robot is influenced due to the fact that the motion track of the roller 4 is not matched with the track of the deformed position after the roller 4 is contacted with the deformed position of the track is avoided.
As shown in fig. 2 to 3, as an embodiment of the present invention, a rotating ring 42 is rotatably connected to both side surfaces of the roller 4;
the side of the rotating ring 42 close to the anti-slip film 41 is provided with a brush 43.
When the device is used, the rotating ring 42 is arranged, the outer circle radius of the rotating ring 42 is larger than the sum of the linear distances between the axis of the tubular track and the axis of the roller 4, and the effect that the top and two side surfaces of the track are wrapped when the roller 4 runs on the track is achieved; when the roller 4 travels to the position of the track deformation position, the rotating rings 42 are gradually close to two sides of the surface of the track deformation position, the rotating rings 42 are guided by the two sides of the surface of the track deformation position to deflect towards the track deformation direction, and the rotating rings 42 are deflected and matched with the surface of the track deformation position to drive the roller 4 to deflect towards the track deformation direction, so that the rotating rings 42 play a role in limiting the traveling of the roller 4 to the track deformation position, the adaptability of the roller 4 to the track deformation position is further improved, the smoothness degree of the robot when the robot turns is improved, and the phenomenon that the traveling of the robot is influenced due to small guiding acting force of the track deformation position on the roller 4 is avoided;
by arranging the brush 43, and the length of the brush 43 is the width between the two adjacent rotating rings 42, the effect that the brush 43 contacts the surface of the track in front of the roller 4 when the roller 4 travels on the track is achieved; when the gyro wheel 4 walks on the track, gyro wheel 4 walks because of rotating on the track, swivel becket 42 is together walked on the track along with gyro wheel 4, brush 43 contact track surface on the swivel becket 42, brush 43 can comprise the nylon brush hair, brush 43 clears away the dust on track surface, improves the clean degree on track surface, reduces the dust that gyro wheel 4 outer lane surface is stained with and attaches, thereby improve the smooth-going degree that gyro wheel 4 walked on the track, reduce 4 outer lane surfaces of gyro wheel and take place to skid because of being stained with a large amount of dust and influence.
The specific working process is as follows:
on the occasion that two pipelines are laid as walking tracks of the shooting robot, a shooting person puts rollers 4 of the shooting robot on the two tracks, the shooting person wirelessly controls the shooting robot to operate through a computer, a motor 5 operates to drive a transmission shaft 2 to rotate, the transmission shaft 2 rotates to drive a steering mechanism 3 to operate, the transmission shaft 2 indirectly drives the rollers 4 to roll on the tracks through the steering mechanism 3, and the rollers 4 drive a control main body 1 to move forwards along the track direction; when the shooting robot moves to a track corner, the shooting robot is influenced by the self weight to enable the surface of the outer ring of the roller 4 to be attached to the track, the surface of the track corner generates deflection acting force on the roller 4, the deflection acting force is transmitted to the steering mechanism 3 through the roller 4, the steering mechanism 3 controls the roller 4 to deflect along with the track corner and transmits the roller 4, so that the roller 4 deflects along with the track corner angle and moves forwards when walking to the track corner, and the roller 4 is ensured to be stably contacted with the track and smoothly when deflecting; when the shooting robot is shooting, shooting personnel control the combined mechanical arm to swing, so that the shooting device shoots a required position, and after the shooting work of the shooting robot is completed, the shooting personnel directly take the shooting robot down from the track.
The front, the back, the left, the right, the upper and the lower are all based on figure 1 in the attached drawings of the specification, according to the standard of the observation angle of a person, the side of the device facing an observer is defined as the front, the left side of the observer is defined as the left, and the like.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplifying the description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the scope of the present invention.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a robot is shot to combined mechanical arm formula track, includes track, combination arm, shoots ware and machine tractor, and the machine tractor is used for bearing the weight of the arm and shoots the ware and walk its characterized in that on the track: the machine tractor comprises:
a control body (1);
the transmission shafts (2) are uniformly and rotatably connected to the two sides of the control main body (1);
the steering mechanisms (3) are all arranged at one end, away from the control main body (1), of the transmission shaft (2), and the steering mechanisms (3) are used for deflecting the vehicle body of the machine tractor at the turning position of the track;
the roller (4), the roller (4) is installed on the steering mechanism (3), and the roller (4) is used for driving the control main body (1) to walk on the track;
the motor (5), motor (5) are installed in control main part (1), and the output of motor (5) and transmission shaft (2) are located the one end of control main part (1) and link firmly.
2. The robot of claim 1, wherein: the steering mechanism (3) includes:
the connecting block (31) is fixedly connected to one end, far away from the control main body (1), of the transmission shaft (2), and the connecting block (31) is used for connecting the roller (4) and the transmission shaft (2);
the through hole (32), the through hole (32) is arranged at the central position of the roller (4), and the connecting block (31) is positioned in the through hole (32);
the grooves (33), the grooves (33) are uniformly arranged on the inner wall of the through hole (32), and the grooves (33) face the direction of the control main body (1);
the first block (34) is uniformly connected to the surface of the connecting block (31) in a rotating mode through a rotating shaft, and the first block (34) is located in the groove (33).
3. The robot of claim 2, wherein: the aperture of the through hole (32) decreases from the middle to the two ends.
4. The robot of claim 2, wherein: a plurality of balls (35) are uniformly arranged on the surface of one side of the first block (34) contacting the inner wall of the groove (33).
5. The robot of claim 2, wherein: a limiting groove (36) is formed in the surface of one side, away from the first block (34), of the groove (33); a limiting rod (37) is fixedly connected to the middle position of the surface of one side, corresponding to the limiting groove (36), of the first block (34), the limiting rod (37) is located in the limiting groove (36), and the limiting rod (37) is connected with the limiting groove (36) through a reset spring.
6. The robot of claim 1, wherein: the surface of the outer ring of the roller (4) is fixedly connected with an anti-skid film (41).
7. The robot of claim 6, wherein: the antiskid film (41) is made of EVA (ethylene vinyl acetate) foamed rubber.
8. The robot of claim 1, wherein: the drive shaft (2) comprises:
the driving shaft (21), the driving shaft (21) is uniformly and rotatably connected to two sides of the control main body (1), and one end of the driving shaft (21) positioned in the control main body (1) is fixedly connected with the output end of the motor (5);
the first hole (22) is formed in one end, away from the control main body (1), of the driving shaft (21);
driven shaft (23), driven shaft (23) sliding connection in a hole (22), and driven shaft (23) keep away from the one end of driving shaft (21) and link firmly with connecting block (31).
9. The robot of claim 1, wherein: the surfaces of the two sides of the roller (4) are rotatably connected with rotating rings (42).
10. The robot of claim 9, wherein: one side of the rotating ring (42) close to the anti-slip film (41) is provided with a hairbrush (43).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111528868.5A CN114110383B (en) | 2021-12-14 | 2021-12-14 | Combined mechanical arm type track shooting robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111528868.5A CN114110383B (en) | 2021-12-14 | 2021-12-14 | Combined mechanical arm type track shooting robot |
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| CN114110383A true CN114110383A (en) | 2022-03-01 |
| CN114110383B CN114110383B (en) | 2022-09-06 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114857467A (en) * | 2022-06-09 | 2022-08-05 | 安徽旭辰达电子科技有限公司 | Driving device of track shooting robot suitable for straight rails and curved rails |
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2021
- 2021-12-14 CN CN202111528868.5A patent/CN114110383B/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114857467A (en) * | 2022-06-09 | 2022-08-05 | 安徽旭辰达电子科技有限公司 | Driving device of track shooting robot suitable for straight rails and curved rails |
| CN114857467B (en) * | 2022-06-09 | 2023-11-14 | 安徽旭辰达电子科技有限公司 | Driving device of track shooting robot suitable for straight track and curved track |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114110383B (en) | 2022-09-06 |
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