CN114538025B - Light-weight high-curvature self-adaptive heavy-load track robot moving mechanism - Google Patents
Light-weight high-curvature self-adaptive heavy-load track robot moving mechanism Download PDFInfo
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- CN114538025B CN114538025B CN202210167763.XA CN202210167763A CN114538025B CN 114538025 B CN114538025 B CN 114538025B CN 202210167763 A CN202210167763 A CN 202210167763A CN 114538025 B CN114538025 B CN 114538025B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/02—Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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Abstract
The invention relates to a light-weight high-curvature self-adaptive heavy-load track robot moving mechanism, which comprises a control box and a moving module arranged on the control box, wherein the moving module comprises a supporting arm, a walking wheel mechanism and a transmission mechanism, the lower end of the supporting arm is arranged on the control box, the upper end of the supporting arm is rotatably connected with the walking wheel mechanism, the power part of the transmission mechanism is arranged in the control box or arranged on the control box, the output part of the transmission mechanism is flexibly connected with walking wheels in the walking wheel mechanism, good adaptability can be realized on high-curvature curved tracks, and the efficient movement of the moving module on linear, curved and mixed tracks containing straight lines and curved tracks is realized, so that the circular movement on the mixed tracks containing straight lines and curved tracks is realized. The invention has simple and compact structure, stable movement, strong environmental adaptability, strong loading capacity, safety and reliability, and can be well adapted to linear rails with different wire diameters and curved rails with high curvature characteristics.
Description
Technical Field
The invention relates to an intelligent inspection robot mechanism for large bulk material conveying equipment, in particular to a light-weight high-curvature self-adaptive heavy-load track robot moving mechanism.
Background
At present, inspection and maintenance of pipe belt conveyors and belt conveyors in places such as urban ports, mines, power plants, cement plants, coal mines and large conveyor belt conveyor roadways are mostly finished manually, and the inspection frequency is low and the time interval is long along with manual inspection, so that the risk of problem expansion caused by problems cannot be found timely. In addition, in the places, the environment is complex, the space is narrow and small, and water accumulation and dust are common, so that great harm is caused to manual inspection. The robot replaces the manual work to accomplish the advantage of inspection and maintenance work and is showing day by day. In the operation process of a pipe belt machine or a belt machine, the roller and the carrier roller of the belt machine are frequently damaged, and the problems of burst longitudinal tearing of the conveying belt, water accumulation in a gallery and the like are solved. In order to solve the problems, the robot firstly needs to be capable of freely completing series of motions such as climbing and turning on a spatial track in a complex occasion; the robot needs to carry a tool box for efficient detection and maintenance.
Disclosure of Invention
In order to solve the problems of the conventional inspection robot, the invention aims to provide a light-weight high-curvature self-adaptive heavy-load track robot moving mechanism.
The purpose of the invention is realized by the following technical scheme:
the invention comprises a control box and a moving module arranged on the control box, wherein the moving module comprises a supporting arm, a walking wheel mechanism and a transmission mechanism, the lower end of the supporting arm is arranged on the control box, the walking wheel mechanism is rotatably connected with the upper end of the supporting arm, the power part of the transmission mechanism is arranged in the control box or on the control box, the output part of the transmission mechanism is flexibly connected with a walking wheel in the walking wheel mechanism, and further the movement of the moving module on a linear track and a curved track is realized.
Wherein: the support arm comprises an arm main body and a rotating shaft, the lower end of the arm main body is fixedly connected to the control box, the lower end of the rotating shaft is rotatably connected with the upper end of the arm main body, and the upper end of the rotating shaft is rotatably connected with the travelling wheel mechanism.
The arm main part is hollow structure, and the upper end has seted up the connecting hole, the bearing A who is used for rotating with the rotation axis lower extreme and is connected is held to the connecting hole, the upper end of rotation axis is passed through bearing C and is rotated with the mechanism connecting hole that sets up on the running wheel mechanism and be connected the cover is equipped with the bearing spacer on the rotation axis, the both ends of bearing spacer respectively with the lower surface butt of bearing A and mechanism connecting hole.
A bearing end cover A is fixedly connected to the inner portion of the upper end of the arm main body, the outer ring of the bearing A is axially limited through a spigot of the inner wall of the connecting hole and the bearing end cover A, and the inner ring of the bearing A is axially limited through a bearing spacer bush and a shaft shoulder on the rotating shaft.
The walking wheel mechanism comprises a walking wheel support, a mechanism connecting hole, a clamping jaw supporting plate and a walking wheel, the tail end of the walking wheel support is provided with the mechanism connecting hole which is connected with the upper end of a supporting arm in a rotating mode, a walking wheel shaft of the walking wheel is rotatably installed on the walking wheel support, and the clamping jaw supporting plate fixedly connected to the walking wheel support is arranged on the front side and the rear side of the walking direction of the walking wheel.
Two ends of the travelling wheel are respectively and rotatably connected with a travelling wheel bracket through a bearing B, and the travelling wheel brackets at two ends of the travelling wheel shaft are respectively and fixedly connected with bearing end covers B for axially limiting the bearing B; and any end of the walking wheel shaft penetrates out of the walking wheel bracket and is flexibly connected with the output part of the transmission mechanism.
And one end of the walking wheel shaft, which is flexibly connected with the output part of the transmission mechanism, is provided with an isolation sleeve.
The walking wheel comprises a walking wheel shaft, a walking wheel outer frame, a walking wheel polyurethane layer, a walking wheel shaft sleeve and a walking wheel shaft nut, wherein the walking wheel outer frame is arranged at two ends of the walking wheel polyurethane layer, two sides of the walking wheel outer frame are integrally fixedly connected with the walking wheel polyurethane layer and are arranged on the walking wheel shaft, the walking wheel shaft sleeve is linked with the walking wheel shaft, one side of the walking wheel outer frame is arranged on the outer side of the walking wheel shaft sleeve, the walking wheel shaft sleeve is arranged on the other side of the walking wheel outer frame, the walking wheel shaft nut is arranged on the walking wheel shaft, and the walking wheel shaft sleeve and the walking wheel shaft nut limit the walking wheel polyurethane layer to move axially on the walking wheel shaft integrally.
The transmission mechanism comprises a driving motor, a driving motor coupler, a chain wheel transmission shaft, a chain wheel cover rear cover, a power output shaft, a flexible coupler, a chain and a chain wheel cover, wherein the driving motor is used as a power part of the transmission mechanism and is arranged inside the control box or on the control box; the chain wheel cover is characterized in that the lower end of the rear cover of the chain wheel cover is rotatably connected with a chain wheel transmission shaft, the upper end of the rear cover of the chain wheel cover is rotatably connected with a power output shaft, the output end of the driving motor is connected with the chain wheel transmission shaft through a driving motor coupler, one end of the power output shaft is connected with a walking wheel through a flexible coupler serving as the output part of a transmission mechanism, chain wheels are mounted at the other end of the chain wheel transmission shaft and the other end of the power output shaft, the two chain wheels are connected through a chain, and the chain wheels and the chain are all accommodated in a space enclosed by the chain wheel cover and the rear cover of the chain wheel cover.
The control box is a cuboid or a cube and comprises two symmetrically arranged box side plates, two symmetrically arranged mechanism connecting plates and a box body side plate and a mechanism connecting plate which are distributed around the control box and fixedly connected with each other through bolts; the box body top plate is fixedly connected to the tops of the box body side plates and the mechanism connecting plate, an installation bottom hole A used for being connected with a supporting arm is formed in the box body top plate, and an installation bottom hole B used for being connected with a transmission mechanism is formed in any one of the mechanism connecting plates.
The invention has the advantages and positive effects that:
1. the invention has the advantages of simple and compact structure, stable movement, strong environmental adaptability, strong loading capacity, safety and reliability.
2. The walking wheel mechanism and the transmission mechanism adopt flexible connection, and the pose change of a required angle can be generated in the process of power transmission between the walking wheel mechanism and the transmission mechanism; the moving module disclosed by the invention not only can adapt to linear rails with different wire diameters, but also can be well adapted to a curved rail with high curvature characteristic.
3. The travelling wheel mechanism is connected with the control box through the supporting arm, and the gravity of the moving mechanism is borne by the supporting arm, so that the travelling wheel mechanism can realize the following functions of large dead weight ratio (the dead weight ratio reaches 1.
4. The walking wheels of the invention adopt a wide-line design, thus increasing the adaptability of the invention to the tracks with different line diameters and realizing the high-efficiency movement of the invention on the tracks with different line diameters.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural diagram of a mobile module according to the present invention
FIG. 3 is a schematic structural diagram of a control box according to the present invention;
FIG. 4 is a schematic view of a support arm according to the present invention;
FIG. 5 is a schematic view of the structure of the traveling wheel mechanism of the present invention;
FIG. 6 is a schematic structural view of the road wheel of the present invention;
FIG. 7 is a schematic view of the transmission mechanism of the present invention;
FIG. 8 is a view showing the operation of the present invention on a linear track;
FIG. 9 is a view showing the operation of the present invention on a curved track;
wherein: the structure of the robot comprises a control box 1, a box side plate 101, a box top plate 102, a mounting bottom hole A103, a mechanism connecting plate 104, a mounting bottom hole B105, a supporting arm 2, a connecting flange 201, an arm body 202, a bearing end cover A203, a bearing A204, a bearing spacer 205, a rotating shaft 206, a traveling wheel mechanism 3, a traveling wheel bracket 301, a mechanism connecting hole 302, a clamping jaw support plate 303, a traveling wheel 304, a traveling wheel shaft 3041, an outer frame 3042, a traveling wheel polyurethane layer 3043, a traveling wheel shaft sleeve 3044, a traveling wheel shaft nut 3045, a bearing B305, a bearing end cover B306, an isolating sleeve 307, a synchronous belt transmission mechanism 4, a driving motor 401, a driving motor coupling 402, a driving motor bearing seat 403, a bearing isolating sleeve 404, a chain wheel transmission shaft 405, a chain wheel 406, a chain wheel 407, a chain wheel cover rear cover 407, a power output shaft 408, a flexible 409, a chain coupling 410, a driving motor connecting plate 411, a chain wheel cover 412 and a track 5.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 7, the present invention includes a control box 1 and two sets of moving modules disposed on the control box 1, wherein the moving modules of the present embodiment have the same structure, and are symmetrically disposed on the control box 1 for moving and turning on a track 5. The moving module of the embodiment comprises a supporting arm 2, a walking wheel mechanism 3 and a transmission mechanism 4, wherein the lower end of the supporting arm 2 is installed on a control box 1, the walking wheel mechanism 3 is rotatably connected with the upper end of the supporting arm 2, the power part of the transmission mechanism 4 is installed inside the control box 1 or on the control box 1, and the output part of the transmission mechanism 4 is flexibly connected with a walking wheel 304 in the walking wheel mechanism 3; the supporting arm 2 is used for providing supporting force and increasing the stability of movement; the transmission mechanism 4 is positioned at one side of the control box 1 and used for providing power; the walking wheel mechanism 3 is arranged at the tail ends of the supporting arm 2 and the transmission mechanism 4 and is used for walking and steering on the track; through the cooperation of supporting arm, walking wheel mechanism 3 and drive mechanism 4, and then realize the steady motion of removal module on linear type and curved type track.
As shown in fig. 1, 2 and 3, the control box 1 of the present embodiment is a cuboid or a cube, and includes two box side plates 101, two box top plates 102 and two mechanism connecting plates 104, where the two box side plates 101 are symmetrically arranged, the two mechanism connecting plates 104 are symmetrically arranged, and the box side plates 101 and the mechanism connecting plates 104 are distributed around the control box 1 and are fixedly connected by bolts; the box top plate 102 is fixedly connected to the top of the box side plate 101 and the mechanism connecting plate 104, a mounting bottom hole a103 used for being connected with the supporting arm 2 is formed in the box top plate 102, and a mounting bottom hole B105 used for being connected with the transmission mechanism 4 is formed in any one mechanism connecting plate 104.
The support arm 2 is mainly used for bearing the gravity of the operation module of the rail robot, so that the load capacity of the mobile module is 10 times of the self gravity. As shown in fig. 1 to 4, the support arm 2 of the present embodiment includes a connecting flange 201, an arm main body 202, a bearing end cap a203, a bearing a204, a bearing spacer 205 and a rotation shaft 206, wherein the arm main body 202 is a hollow cylinder, the lower end of the arm main body is provided with the connecting flange 201, and the connecting flange 201 is fixedly connected with the top plate 102 of the control box 1 through a mounting bottom hole a 103; the upper end of the arm main body 202 is provided with a connecting hole, a bearing A204 is arranged in the connecting hole, and the lower end of the rotating shaft 206 is rotatably connected with the bearing A204. The upper end of the rotating shaft 206 is rotatably connected to a mechanism connection hole 302 provided in the travel wheel mechanism 3, a bearing spacer 205 is fitted over the rotating shaft 206, and both ends of the bearing spacer 205 are respectively abutted against the lower surfaces of the bearing a204 and the mechanism connection hole 302. The inside of the upper end of the arm main body 202 is fixedly connected with a bearing end cover A203 through a bolt, the outer ring of the bearing A204 is axially limited through a spigot of the inner wall of the connecting hole and the bearing end cover A203, and the inner ring of the bearing A204 is axially limited through a bearing spacer 205 and a shaft shoulder on the rotating shaft 206.
As shown in fig. 1 to 5, the travelling wheel mechanism 3 of this embodiment includes a travelling wheel bracket 301, a mechanism connecting hole 302, a clamping jaw support plate 303, a travelling wheel 304, a bearing B305, a bearing end cover B306 and an isolation sleeve 307, wherein the end of the travelling wheel bracket 301 is provided with the mechanism connecting hole 302, the mechanism connecting hole 302 is an unthreaded hole, the upper end of the rotating shaft 206 is penetrated through the mechanism connecting hole 302 and axially limited by a gasket sleeved on the rotating shaft 206, and further the rotating connection between the rotating shaft 206 and the mechanism connecting hole 302 is realized; a travelling wheel shaft 3041 of the travelling wheel 304 is rotatably installed on the travelling wheel bracket 301, clamping jaw support plates 303 fixedly connected to the travelling wheel bracket 301 through bolts are arranged on the front side and the rear side of the travelling wheel 304 in the travelling direction, and the clamping jaw support plates 303 on the two sides are symmetrically arranged. Two ends of a travelling wheel shaft 3041 of the embodiment are rotatably connected with a travelling wheel bracket 301 through bearings B305 respectively, and bearing end covers B306 for axially limiting the bearings B305 are fixedly connected to the travelling wheel brackets 301 at the two ends of the travelling wheel shaft 3041 respectively; any end of the walking wheel shaft 3041 penetrates through the walking wheel bracket 301 and is flexibly connected with the output part of the transmission mechanism 4. The end of the walking wheel shaft 3041 flexibly connected with the output part of the transmission mechanism 4 is provided with an isolation sleeve 307.
As shown in fig. 1 to 6, the traveling wheel 304 of this embodiment includes a traveling wheel shaft 3041, a traveling wheel outer frame 3042, a traveling wheel polyurethane layer 3043, a traveling wheel shaft sleeve 3044 and a traveling wheel shaft nut 3045, where both ends of the traveling wheel polyurethane layer 3043 are provided with the traveling wheel outer frames 3042, the traveling wheel outer frames 3042 on both sides are fixedly connected with the traveling wheel polyurethane layer 3043 as a whole and are mounted on the traveling wheel shaft 3041 to be interlocked with the traveling wheel shaft 3041, the traveling wheel shaft sleeve 3044 mounted on the traveling wheel shaft 3041 is provided on the outer side of one side of the traveling wheel outer frame 3042, the traveling wheel shaft nut 3045 mounted on the traveling wheel shaft 3041 is provided on the outer side of the other side of the traveling wheel outer frame 3042, and the traveling wheel shaft sleeve 3044 and the traveling wheel shaft nut 3045 limit the axial movement of the traveling wheel polyurethane layer 3043 and the traveling wheel outer frame 3042 on the traveling wheel shaft 3041.
As shown in fig. 1 to 7, the transmission mechanism 4 of this embodiment includes a driving motor 401, a driving motor coupler 402, a bearing seat 403, a bearing spacer 404, a sprocket transmission shaft 405, a sprocket 406, a sprocket cover rear cover 407, a power output shaft 408, a flexible coupler 409, a chain 410, a driving motor connecting plate 411 and a sprocket cover 412, the driving motor 401 is installed inside the control box 1 as a power part of the transmission mechanism 4 through the driving motor connecting plate 411, the bearing seats 403 are fixedly connected to both ends of the driving motor connecting plate 411 through bolts, a bearing D is installed in each bearing seat 403, and the bearing spacer 404 for axially limiting the bearing D is installed on the driving motor coupler 402 between the two bearings D; one side of the chain wheel cover rear cover 407 is fixedly connected to the control box 1, and the other side of the chain wheel cover rear cover 407 is fixedly connected to the chain wheel cover 412; the lower end of the chain wheel cover rear cover 407 is rotatably connected with a chain wheel transmission shaft 405, the upper end of the chain wheel cover rear cover 407 is rotatably connected with a power output shaft 408, the output end of a driving motor 401 is connected with the chain wheel transmission shaft 405 through a driving motor coupler 402, one end of the power output shaft 408 is flexibly connected with a walking wheel shaft 3041 of a walking wheel 304 through a flexible coupler 409 serving as the output part of a transmission mechanism 4, and an isolation sleeve 307 is used for carrying out axial limiting after the walking wheel shaft 3041 is connected with the flexible coupler 409 in a key mode; the other end of the chain wheel transmission shaft 405 and the other end of the power output shaft 408 are both provided with a chain wheel 406, the two chain wheels 406 are connected through a chain 410, and the chain wheel 406 and the chain 410 are both accommodated in a space surrounded by a chain wheel cover 412 and a chain wheel cover rear cover 407.
The working principle of the invention is as follows:
the moving module can move stably on linear rails with different wire diameters and curved rails with high curvature characteristics. As shown in fig. 8 and 9, in the working state, the road wheels 304 in the road wheel mechanism 3 adopt a line-widening design, so that the adaptive range of the road wheels 304 to the line diameter of the track 5 is increased, and the road wheels 304 are in full contact with the surface of the track 5. At the moment, the gravity of the control box 1 is mainly transmitted to the travelling wheel mechanism 3 through the supporting arm 2, the transmission mechanism 4 mainly transmits power to the travelling wheel mechanism 3 through the flexible coupling 409, and the stability of the moving mechanism is improved due to the arrangement of the supporting arm 2.
When the moving module faces a curved track with high curvature (the curvature radius is less than 2 m), the flexible coupling 409 arranged between the travelling wheel mechanism 3 and the transmission mechanism 4 is bent and deformed, the travelling wheel mechanism 3 integrally rotates around the rotating shaft 206, an included angle between the curved track and the travelling wheel mechanism 3 is eliminated, the effective contact area between the travelling wheel 304 and the track is increased, the resistance borne by the moving module in the moving process is reduced, and the adaptability of the moving module to the high-curvature track is realized.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (8)
1. The utility model provides a heavy load rail robot moving mechanism of high camber self-adaptation of light weight type which characterized in that: the device comprises a control box (1) and a moving module arranged on the control box (1), wherein the moving module comprises a supporting arm (2), a travelling wheel mechanism (3) and a transmission mechanism (4), the lower end of the supporting arm (2) is installed on the control box (1), the travelling wheel mechanism (3) is rotatably connected with the upper end of the supporting arm (2), the power part of the transmission mechanism (4) is installed inside the control box (1) or on the control box (1), the output part of the transmission mechanism (4) is flexibly connected with travelling wheels (304) in the travelling wheel mechanism (3), and then the moving module can move on linear tracks and curved tracks;
the supporting arm (2) comprises an arm main body (202) and a rotating shaft (206), the lower end of the arm main body (202) is fixedly connected to the control box (1), the lower end of the rotating shaft (206) is rotatably connected with the upper end of the arm main body (202), and the upper end of the rotating shaft (206) is rotatably connected with the travelling wheel mechanism (3);
the arm main body (202) is of a hollow structure, a connecting hole is formed in the upper end of the arm main body, a bearing A (204) used for being connected with the lower end of a rotating shaft (206) in a rotating mode is arranged in the connecting hole, the upper end of the rotating shaft (206) is connected with a mechanism connecting hole (302) formed in a walking wheel mechanism (3) in a rotating mode, a bearing spacer bush (205) is sleeved on the rotating shaft (206), and the two ends of the bearing spacer bush (205) are abutted to the lower surfaces of the bearing A (204) and the mechanism connecting hole (302) respectively.
2. A lightweight high curvature adaptive heavy duty rail robot moving mechanism according to claim 1, characterized by: the inner portion of the upper end of the arm main body (202) is fixedly connected with a bearing end cover A (203), the outer ring of the bearing A (204) is axially limited through a spigot of the inner wall of the connecting hole and the bearing end cover A (203), and the inner ring of the bearing A (204) is axially limited through a bearing spacer bush (205) and a shaft shoulder on the rotating shaft (206).
3. A lightweight high curvature adaptive heavy duty orbital robot movement mechanism according to claim 1 characterized by: the walking wheel mechanism (3) comprises a walking wheel support (301), a mechanism connecting hole (302), a clamping jaw supporting plate (303) and a walking wheel (304), the tail end of the walking wheel support (301) is provided with the mechanism connecting hole (302) which is rotatably connected with the upper end of a supporting arm (2), a walking wheel shaft (3041) of the walking wheel (304) is rotatably installed on the walking wheel support (301), and the clamping jaw supporting plate (303) fixedly connected onto the walking wheel support (301) is arranged on the front side and the rear side of the walking direction of the walking wheel (304).
4. A lightweight high curvature adaptive heavy duty orbital robot movement mechanism according to claim 3 characterized in that: two ends of the walking wheel shaft (3041) are respectively and rotatably connected with the walking wheel bracket (301) through bearings B (305), and bearing end covers B (306) for axially limiting the bearings B (305) are respectively and fixedly connected to the walking wheel brackets (301) at the two ends of the walking wheel shaft (3041); any end of the walking wheel shaft (3041) penetrates out of the walking wheel bracket (301) and is flexibly connected with the output part of the transmission mechanism (4).
5. The lightweight high curvature adaptive heavy duty rail robot moving mechanism of claim 4, characterized in that: an isolation sleeve (307) is installed at one end of the flexible connection between the walking wheel shaft (3041) and the output part of the transmission mechanism (4).
6. A lightweight high curvature adaptive heavy duty rail robot moving mechanism according to claim 1, characterized by: the walking wheel (304) comprises a walking wheel shaft (3041), a walking wheel outer frame (3042), a walking wheel polyurethane layer (3043), a walking wheel shaft sleeve (3044) and a walking wheel shaft nut (3045), wherein the two ends of the walking wheel polyurethane layer (3043) are respectively provided with the walking wheel outer frame (3042), the walking wheel outer frames (3042) on the two sides and the walking wheel polyurethane layer (3043) are fixedly connected into a whole, are arranged on the walking wheel shaft (3041) and are linked with the walking wheel shaft (3041), the walking wheel shaft sleeve (3044) arranged on the walking wheel shaft (3041) is arranged on the outer side of the walking wheel outer frame (3042) on one side, the walking wheel shaft nut (3045) arranged on the walking wheel shaft (3041) is arranged on the outer side of the walking wheel outer frame (3042) on the other side, and the walking wheel shaft sleeve (3044) and the walking wheel shaft nut (3045) limit the axial movement of the walking wheel polyurethane layer (3043) and the walking wheel outer frame (3042) on the walking wheel shaft (3041).
7. A lightweight high curvature adaptive heavy duty orbital robot movement mechanism according to claim 1 characterized by: the transmission mechanism (4) comprises a driving motor (401), a driving motor coupler (402), a sprocket transmission shaft (405), a sprocket (406), a sprocket cover rear cover (407), a power output shaft (408), a flexible coupler (409), a chain (410) and a sprocket cover (412), the driving motor (401) is used as a power part of the transmission mechanism (4) and is installed inside the control box (1) or on the control box (1), one side of the sprocket cover rear cover (407) is fixedly connected onto the control box (1), and the other side of the sprocket cover rear cover (407) is fixedly connected with the sprocket cover (412); the chain wheel cover comprises a chain wheel cover rear cover (407), wherein the lower end of the chain wheel cover rear cover (407) is rotatably connected with a chain wheel transmission shaft (405), the upper end of the chain wheel cover rear cover is rotatably connected with a power output shaft (408), the output end of a driving motor (401) is connected with the chain wheel transmission shaft (405) through a driving motor coupler (402), one end of the power output shaft (408) is connected with a walking wheel (304) through a flexible coupler (409) serving as the output part of a transmission mechanism (4), the other end of the chain wheel transmission shaft (405) and the other end of the power output shaft (408) are both provided with a chain wheel (406), the two chain wheels (406) are connected through a chain (410), and the chain wheel (406) and the chain (410) are both accommodated in a space surrounded by the chain wheel cover (412) and the chain wheel cover rear cover (407).
8. A lightweight high curvature adaptive heavy duty orbital robot movement mechanism according to claim 1 characterized by: the control box (1) is cuboid or square and comprises two box body side plates (101), two box body top plates (102) and two mechanism connecting plates (104), wherein the two box body side plates (101) are symmetrically arranged, the two mechanism connecting plates (104) are symmetrically arranged, and the box body side plates (101) and the mechanism connecting plates (104) are distributed around the control box (1) and are fixedly connected through bolts; the box body top plate (102) is fixedly connected to the tops of the box body side plates (101) and the mechanism connecting plate (104), a mounting bottom hole A (103) used for being connected with the supporting arm (2) is formed in the box body top plate (102), and a mounting bottom hole B (105) used for being connected with the transmission mechanism (4) is formed in any one of the mechanism connecting plate (104).
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| CN202210167763.XA CN114538025B (en) | 2022-02-23 | 2022-02-23 | Light-weight high-curvature self-adaptive heavy-load track robot moving mechanism |
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| CN202210167763.XA CN114538025B (en) | 2022-02-23 | 2022-02-23 | Light-weight high-curvature self-adaptive heavy-load track robot moving mechanism |
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