CN114987560A - Variable-drive walking mechanism, robot and walking track - Google Patents
Variable-drive walking mechanism, robot and walking track Download PDFInfo
- Publication number
- CN114987560A CN114987560A CN202210690046.5A CN202210690046A CN114987560A CN 114987560 A CN114987560 A CN 114987560A CN 202210690046 A CN202210690046 A CN 202210690046A CN 114987560 A CN114987560 A CN 114987560A
- Authority
- CN
- China
- Prior art keywords
- wheel
- walking
- traveling
- chain
- assembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 50
- 239000002131 composite material Substances 0.000 claims abstract description 47
- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 238000009434 installation Methods 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 4
- 238000007689 inspection Methods 0.000 abstract description 12
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 7
- 230000009194 climbing Effects 0.000 description 13
- 239000000428 dust Substances 0.000 description 6
- 238000009825 accumulation Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000009191 jumping Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B13/00—Other railway systems
- B61B13/04—Monorail systems
- B61B13/06—Saddle or like balanced type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C13/00—Locomotives or motor railcars characterised by their application to special systems or purposes
- B61C13/08—Locomotives or motor railcars characterised by their application to special systems or purposes for saddle or like balanced type railways
Abstract
The invention discloses a variable-drive traveling mechanism, a robot and a traveling rail, and relates to the technical field of inspection robots. A variable-drive traveling mechanism is used for traveling in cooperation with a traveling track and comprises a traveling wheel assembly, a composite wheel assembly and a driving assembly, wherein the composite wheel assembly comprises an auxiliary chain wheel; the driving component is used for driving the walking wheel component and the composite wheel component to synchronously walk on the walking track; when the composite wheel assembly runs on the running track, the auxiliary chain wheel synchronously rotates and is in meshing transmission with an auxiliary chain preset on the bottom surface of the supporting part of the running track. In the invention, a spring adjusting device in the prior art is omitted, the structure of the walking mechanism is relatively fixed, the auxiliary chain wheel and the auxiliary chain can be meshed for transmission without switching the state of the walking mechanism, and the technical problems of unsmooth meshing and high noise caused by pressing the chain with a spring in the walking process of the robot are solved.
Description
Technical Field
The invention relates to the technical field of inspection robots, in particular to a variable-drive traveling mechanism, a robot and a traveling rail.
Background
At present, the intelligent inspection robot is widely applied to the field of safety supervision and is used for replacing manual work to carry out inspection work on special scenes. The existing track inspection robot can be switched into a specific climbing mode for coping with high-gradient climbing so as to enhance the climbing capability of the robot.
Such as patent numbers: CN 205384507U-a track inspection robot walking climbing mechanism and in its matched track, when walking on the level land, 4 horizontal perpendicular two-way spacing units are located the guide rail guide way, and drive unit hugs closely the drive wheel and the track downside through pressure spring, and walking climbing mechanism produces the power that gos forward or retreat through the friction of drive wheel and the guide rail downside this moment. When the rail climbs vertically or with a larger slope, the chain unit is fixedly connected below the rail through bolts; the 4 horizontal vertical bidirectional limiting units are positioned in the track guide groove, the driving unit enables the driving chain wheel to be tightly attached to the lower side of the chain through the compression spring, the driving wheel is separated from the guide rail, and the walking climbing mechanism mainly generates forward or backward power through the matching of the driving chain wheel and the chain arranged on the lower side of the guide rail.
However, the technical problems of the technical means are as follows: 1. the height of the whole driving part is adjusted through the spring to adapt to the change of the track, so that the spring can continuously press the chain in the walking process of the robot, and unsmooth meshing and high noise are caused. 2. When climbing, the drive wheel is separated from the guide rail, and is mainly engaged with the chain by the chain wheel, so that the climbing power is poor, and the chain wheel is easy to damage.
Disclosure of Invention
The invention aims to provide a variable-drive traveling mechanism, a robot and a traveling track, and aims to solve the technical problems that chain sprockets are not meshed smoothly, noise is high, climbing power is poor and the chain sprockets are easy to damage in the climbing process of an existing track inspection robot.
In order to solve the above technical problem, the first aspect of the present invention discloses: a variable-drive traveling mechanism is used for traveling in cooperation with a traveling track and comprises a traveling wheel assembly, a composite wheel assembly and a driving assembly, wherein the composite wheel assembly comprises an auxiliary chain wheel; the walking wheel assembly is positioned above the composite wheel assembly, the walking wheel assembly is used for walking on the top surface of the supporting part of the walking track, the composite wheel assembly is used for walking on the bottom surface of the supporting part of the walking track, and the driving assembly is used for driving the walking wheel assembly and the composite wheel assembly to synchronously walk on the walking track; when the composite wheel assembly runs on the bottom surface of the supporting part of the running track, the auxiliary chain wheel synchronously rotates and is in meshing transmission with the auxiliary chain which is pre-arranged on the bottom surface of the supporting part of the running track.
As an alternative embodiment, in the first aspect of the present invention, the traveling wheel assembly includes a first traveling wheel and a second traveling wheel, and the rotating shaft of the first traveling wheel and the rotating shaft of the second traveling wheel are both provided with a driven sprocket; the composite wheel assembly further comprises a linkage shaft, a third travelling wheel and a linkage chain wheel, and the third travelling wheel, the auxiliary chain wheel and the linkage chain wheel are coaxially mounted on the linkage shaft; the first travelling wheel, the second travelling wheel and the third travelling wheel are arranged on the same side, and the driven chain wheel of the first travelling wheel, the driven chain wheel of the second travelling wheel and the linkage chain wheel have the same radius; the driving assembly synchronously drives the first travelling wheel, the second travelling wheel and the third travelling wheel to rotate in a chain transmission mode, the rotating direction of the first travelling wheel is consistent with that of the second travelling wheel, and the rotating direction of the first travelling wheel is opposite to that of the third travelling wheel.
As an alternative embodiment, in the first aspect of the present invention, the driving assembly includes a driving motor, a driving sprocket and a driving chain, the driving sprocket is mounted on an output shaft of the driving motor, and one end of the driving chain is sequentially wound around the driving sprocket, the driven sprocket of the first traveling wheel, the linkage sprocket and the driven sprocket of the second traveling wheel and then connected with the other end of the driving chain in a closed loop.
As an optional embodiment, in the first aspect of the present invention, the composite wheel assembly further includes a fourth traveling wheel, the fourth traveling wheel is installed on the linkage shaft, the traveling wheel assembly further includes a fifth traveling wheel and a sixth traveling wheel, and the fourth traveling wheel, the fifth traveling wheel and the sixth traveling wheel are arranged on the same side; the linkage shaft drives the fifth traveling wheel and the sixth traveling wheel to travel in a chain and chain wheel mode or a gear transmission mode.
As an alternative embodiment, in the first aspect of the present invention, the auxiliary sprocket is disposed between the third traveling wheel and the fourth traveling wheel.
As an alternative embodiment, in the first aspect of the present invention, the traveling mechanism further includes a limit wheel set for rolling against a side wall of the support portion of the traveling rail.
The second aspect of the invention discloses a robot, which comprises a frame and the variable-drive walking mechanism disclosed by the first aspect of the invention, wherein the walking wheel assembly, the composite wheel assembly and the drive assembly are all arranged in the frame.
The invention discloses a running rail, which is used for matching the variable driving running mechanism disclosed by the first aspect of the invention, and comprises a connecting part and a supporting part, wherein the bottom surface of the supporting part is provided with an auxiliary chain arranged along the length direction of the running rail, and the connecting part is vertically arranged on the top surface of the supporting part.
As an alternative embodiment, in the third aspect of the present invention, the bottom surface of the supporting portion is provided with a mounting chute with a downward opening, and the auxiliary chain is clamped in the mounting chute.
As an optional embodiment, in the third aspect of the present invention, the two end portions of the auxiliary chain are respectively provided with a limiting block, the limiting blocks are slidably disposed in the mounting sliding grooves, and the limiting blocks are fixedly connected to the supporting portion through a fastening screw.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
according to the invention, the walking wheel assembly walks on the top surface of the supporting part of the walking track, the composite wheel assembly walks on the bottom surface of the supporting part of the walking track, and the walking wheel assembly and the composite wheel assembly are matched to realize that the walking track is clamped from the upper direction and the lower direction to walk, so that derailment of the walking mechanism is effectively avoided, and the stability of the walking mechanism is improved. When the walking mechanism passes through the auxiliary chain preset on the walking track, the auxiliary chain wheel in the composite wheel assembly is in meshing transmission with the auxiliary chain, so that the walking mechanism is effectively prevented from backing up when the walking track goes up a slope and slipping on the walking track, and the forward walking capability of the inspection robot is greatly improved.
In the embodiment of the invention, the structure of the travelling mechanism is relatively fixed, the auxiliary chain wheel and the auxiliary chain can be meshed for transmission without switching the state of the travelling mechanism, and the technical problems of unsmooth meshing and higher noise caused by pressing the chain with the spring in the travelling process of the robot are solved. In addition, for prior art, the climbing power of existing auxiliary sprocket and auxiliary chain meshing when this embodiment climbs the slope has the power of walking forward of walking wheel subassembly again, and the power of advancing is stronger, makes the meshing between auxiliary sprocket and the auxiliary chain more smooth and easy.
Furthermore, it is worth explaining that the composite wheel assembly runs under the running track, the auxiliary chain wheel is in meshed transmission with the auxiliary chain on the bottom surface of the supporting part of the running track, the problem that the auxiliary chain wheel and the auxiliary chain are not well meshed due to dust accumulation can be effectively avoided, the phenomena of tooth jumping and tooth grinding are avoided, and the influence of dust on the running mechanism is reduced.
Drawings
FIG. 1 is a schematic view of a traveling mechanism of one embodiment of the present invention traveling on a traveling rail;
FIG. 2 is a schematic view of a drive assembly driving movement of a composite wheel assembly and road wheel assembly in accordance with one embodiment of the invention;
FIG. 3 is a schematic structural diagram of a running rail according to an embodiment of the present invention;
FIG. 4 is a schematic top view of a robot walking on a walking track according to one embodiment of the present invention;
FIG. 5 is a schematic view of the installation of an auxiliary chain in accordance with one embodiment of the present invention;
in the drawings: 100-frame, 200-running mechanism, 210-running wheel assembly, 211-first running wheel, 212-second running wheel, 213-driven chain wheel, 214-fifth running wheel, 215-sixth running wheel, 220-composite wheel assembly, 221-auxiliary chain wheel, 222-linkage shaft, 223-third running wheel, 224-linkage chain wheel, 225-fourth running wheel, 230-driving assembly, 231-driving motor, 232-driving chain wheel, 233-driving chain, 240-limiting wheel set, 300-running track, 310-supporting part, 311-auxiliary chain, 312-limiting block, 313-mounting sliding groove, 314-screw hole position and 320-connecting part.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial.
With reference to fig. 1 to 5, a robot according to an embodiment of the present invention is described, which includes a frame 100 and a variably-driven traveling mechanism 200, wherein the traveling mechanism 200 is configured to travel along a traveling track 300, the traveling mechanism 200 includes a traveling wheel assembly 210, a composite wheel assembly 220, and a driving assembly 230, the composite wheel assembly 220 includes an auxiliary sprocket 221;
the traveling wheel assembly 210 is positioned above the composite wheel assembly 220, the traveling wheel assembly 210 is used for traveling on the top surface of the support part 310 of the traveling rail 300, the composite wheel assembly 220 is used for traveling on the bottom surface of the support part 310 of the traveling rail 300, and the driving assembly 230 is used for driving the traveling wheel assembly 210 and the composite wheel assembly 220 to travel on the traveling rail 300 synchronously; when the composite wheel assembly 220 travels on the bottom surface of the support part 310 of the traveling rail 300, the auxiliary sprocket 221 rotates synchronously and is engaged with the auxiliary chain 311 preset on the bottom surface of the support part 310 of the traveling rail 300 for transmission. The auxiliary chain 311 may be provided only in an uphill section or a section that is easy to slip of the running rail 300, or may be provided all the way along the running rail 300.
In the invention, the walking wheel assembly 210 walks on the top surface of the supporting part 310 of the walking track 300, the composite wheel assembly 220 walks on the bottom surface of the supporting part 310 of the walking track 300, and the walking track 300 is clamped from the upper direction and the lower direction to walk by matching the walking wheel assembly 210 with the composite wheel assembly 220, thereby effectively avoiding derailment of the walking mechanism 200 and improving the stability of the walking mechanism 200. When the walking mechanism 200 passes through the auxiliary chain 311 preset in the walking track 300, the auxiliary chain wheel 221 in the composite wheel assembly 220 is in meshing transmission with the auxiliary chain 311, so that the walking mechanism 200 is effectively prevented from backing up when the walking track 300 goes up a slope and the walking mechanism 200 is prevented from slipping on the walking track 300, and the forward walking capability of the inspection robot is greatly improved.
In the embodiment of the present invention, the structure of the traveling mechanism 200 is relatively fixed, and the auxiliary chain wheel 221 and the auxiliary chain 311 can be meshed for transmission without switching the state of the traveling mechanism 200, so as to solve the technical problems of unsmooth meshing and high noise caused by the spring pressing the chain in the traveling process of the robot. In addition, compared with the prior art, when climbing a slope, the present embodiment has the climbing power of the auxiliary sprocket 221 engaged with the auxiliary chain 311 and the forward traveling power of the traveling wheel assembly 210, and the forward traveling power is stronger, so that the engagement between the auxiliary sprocket 221 and the auxiliary chain 311 is smoother.
Furthermore, it should be noted that the composite wheel assembly 220 travels under the traveling track 300, and the auxiliary chain wheel 221 is engaged with the auxiliary chain 311 on the bottom surface of the supporting portion 310 of the traveling track 300 for transmission, so that the problem of poor engagement caused by dust accumulation on the auxiliary chain wheel 221 and the auxiliary chain 311 can be effectively avoided, the phenomena of tooth jumping and tooth grinding can be avoided, and the influence of dust on the traveling mechanism 200 can be reduced.
As an alternative embodiment, the traveling wheel assembly 210 includes a first traveling wheel 211 and a second traveling wheel 212, and the rotating shaft of the first traveling wheel 211 and the rotating shaft of the second traveling wheel 212 are both provided with a driven sprocket 213;
the composite wheel assembly 220 further comprises a linkage shaft 222, a third traveling wheel 223 and a linkage sprocket 224, wherein the third traveling wheel 223, the auxiliary sprocket 221 and the linkage sprocket 224 are all coaxially mounted to the linkage shaft 222;
the first traveling wheel 211, the second traveling wheel 212 and the third traveling wheel 223 are arranged on the same side of one side wall of the rack 100, and the driven chain wheel 213 of the first traveling wheel 211, the driven chain wheel 213 of the second traveling wheel 212 and the linkage chain wheel 224 have the same radius;
the driving assembly 230 drives the first traveling wheel 211, the second traveling wheel 212 and the third traveling wheel 223 to rotate synchronously in a chain transmission manner, the rotation direction of the first traveling wheel 211 is consistent with that of the second traveling wheel 212, and the rotation direction of the first traveling wheel 211 is opposite to that of the third traveling wheel 223.
Specifically, the driving assembly 230 includes a driving motor 231, a driving sprocket 232 and a driving chain 233, the driving sprocket 232 is mounted on an output shaft of the driving motor 231, and the driving chain 233 is in meshing transmission with the driving sprocket 232, the driven sprocket 213 of the first traveling wheel 211, the interlocking sprocket 224 and the driven sprocket 213 of the second traveling wheel 212.
In a specific embodiment of the present invention, as shown in fig. 2, the third traveling wheel 223 is disposed below the first traveling wheel 211 and the second traveling wheel 212, the driving assembly 230 is disposed on the outer bottom surface of the frame 100, and one end of the driving chain 233 is connected to the other end of the driving chain in a closed loop after sequentially winding around the driving sprocket 232, the driven sprocket 213 of the first traveling wheel 211, the interlocking sprocket 224, and the driven sprocket 213 of the second traveling wheel 212. In this way, when the driving motor 231 drives the driving sprocket 232 to rotate, the first traveling wheel 211 and the second traveling wheel 212 are steered in the same direction by the driving chain 233, the third traveling wheel 223 is steered in the opposite direction to the first traveling wheel 211 and the second traveling wheel 212, and the sprocket is steered in the same direction as the third traveling wheel 223. The walking wheel assembly 210 and the composite wheel assembly 220 are matched to walk in the same direction. It should be noted that, in the present embodiment, the driven sprocket 213 of the first traveling wheel 211, the driven sprocket 213 of the second traveling wheel 212 and the interlocking sprocket 224 have the same radius, so as to ensure that the traveling wheel assembly 210 and the composite wheel assembly 220 advance synchronously when traveling.
It should be noted that, in other embodiments, the total number of the first traveling wheel 211 and the second traveling wheel 212 is greater than or equal to two, and the number of the composite wheel assembly 220 is one less than the total number of the first traveling wheel 211 and the second traveling wheel 212. For example, when the total number of the first road wheels 211 and the second road wheels 212 is three, the number of the composite wheel assemblies 220 is two. When the total number of the first road wheels 221 and the second road wheels 212 is four, the number of the composite wheel assemblies 220 is three. In these embodiments, one end of the drive chain 233 is looped around the drive sprocket 232, around one driven sprocket 213, around one interlocking sprocket 224, around the next driven sprocket 213, around the next interlocking sprocket 224, and around the last driven sprocket 213, and then connected to the other end thereof in a closed loop.
As an alternative embodiment, the composite wheel assembly 220 further includes a fourth traveling wheel 225, the fourth traveling wheel 225 is mounted on the linkage shaft 222, the traveling wheel assembly 210 further includes a fifth traveling wheel 214 and a sixth traveling wheel 215, and the fourth traveling wheel 225, the fifth traveling wheel 214 and the sixth traveling wheel 215 are arranged on the same side on the other side wall of the rack 100; the linkage shaft 222 drives the fifth traveling wheel 214 and the sixth traveling wheel 215 to travel by means of a chain sprocket or a gear transmission. Wherein the auxiliary sprocket 221 is disposed between the third traveling wheel 223 and the fourth traveling wheel 225. Specifically, as shown in fig. 1, the auxiliary sprocket 221 is located at the center of the frame 100, and is configured with symmetrical traveling wheels, so that the whole body is of a left-right symmetrical structure, and therefore, the body can be kept not to roll in the process of meshing with the auxiliary contact chain 311 without being configured with a spring, a good balance state is kept, and the stability of the robot during traveling is improved.
Specifically, in the preferred embodiment of the present invention, the fifth traveling wheel 214 is opposite to the first traveling wheel 211, the sixth traveling wheel 215 is opposite to the second traveling wheel 212, and the fourth traveling wheel 225 is opposite to the third traveling wheel 223, so that the traveling wheels in the traveling mechanism 200 are designed symmetrically left and right, and the body can be kept from rolling in the process of meshing the contact auxiliary chain without matching a spring, a good balance state is kept, and the stability of the posture of the inspection robot is improved.
In this embodiment, the linkage shaft 222 transmits power to the fifth traveling wheel 214 and the sixth traveling wheel 215 on the other side of the rack 100 through another chain or a double-sided tooth synchronous tooth form, so that the complexity of the traveling structure is effectively reduced, and the transmission efficiency is high. Therefore, 4 power wheels with power are arranged on the supporting part 310 of the walking track 300, and the driving force of the inspection robot is more sufficient.
As an alternative embodiment, the traveling mechanism 200 further includes a limit wheel set 240 mounted on the frame 100, and the limit wheel set 240 is used for rolling against the side wall of the supporting portion 310 of the traveling rail 300.
More preferably, as shown in the embodiment of fig. 1 and 4, the limiting wheel set 240 includes a first limiting wheel disposed on one side wall of the rack 100, and a second limiting wheel disposed on the other side wall of the rack 100. On the basis that the walking track 300 is clamped by the walking wheel assembly 210 and the composite wheel assembly 220 from the up-down direction, the walking track 300 is clamped by the limiting wheel assembly 240 in the left-right direction, the walking track 300 is surrounded, and the walking stability of the inspection robot is effectively ensured.
The invention also discloses a traveling rail, which is used in cooperation with the traveling mechanism 200, wherein the traveling rail 300 comprises a connecting part 320 and a supporting part 310, an auxiliary chain 311 arranged along the length direction of the traveling rail 300 is arranged on the bottom surface of the supporting part 310, and the connecting part 320 is vertically arranged on the top surface of the supporting part 310. In this embodiment, the auxiliary chain 311 is disposed on the bottom surface of the support portion 310, so that the auxiliary chain wheel 221 of the composite wheel assembly 220 is meshed with the auxiliary chain 311 under the support portion 310 of the traveling rail 300 for transmission, thereby effectively preventing the auxiliary chain wheel 221 and the auxiliary chain 311 from being deposited with dust, and further reducing the influence of dust on the traveling mechanism 200.
As an alternative embodiment, the bottom surface of the supporting portion 310 is provided with a mounting sliding groove 313 with a downward opening, and the auxiliary chain 311 is clamped in the mounting sliding groove 313. In this embodiment, through with supplementary chain 311 joint in installation spout 313, can ensure that supplementary chain 311 can not zigzag, do benefit to and cooperate with auxiliary sprocket 221, and drag supplementary chain 311 in installation spout 313 and can adjust the position of supplementary chain 311, installation adjustment is convenient, has reduced the installation degree of difficulty of supplementary chain 311 to a certain extent.
As an optional embodiment, two end portions of the auxiliary chain 311 are each provided with a limiting block 312, the limiting blocks 312 are slidably disposed in the mounting sliding grooves 313, and the limiting blocks 312 are fixedly connected with the supporting portions 310 through set screws. Specifically, the limiting block 312 is provided with a screw hole 314 for passing a set screw. The limiting block 312 is fixed on the supporting portion 310 through the fastening screw, so that the two ends of the auxiliary chain 311 are fixed, and the auxiliary chain 311 is locked, so that the auxiliary chain 311 is prevented from sliding, and the auxiliary chain is convenient to lock and simple to operate.
As an alternative embodiment, the connection portion 320 is disposed on a center line of the support portion 310. Preferably, as shown in fig. 3, the connection part 320 is disposed on a center line of the support part 310, so that the cross-sectional shape of the travel rail 300 is an inverted T shape, and the support part 310 is divided into a left region and a right region to guide and engage the travel wheels on both sides of the travel mechanism 200.
Other configurations and operations of a variable-drive traveling mechanism, a robot, and a traveling rail according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.
In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A variable-drive traveling mechanism characterized in that: the walking mechanism is used for walking in a manner of being matched with the walking track, and comprises a walking wheel assembly, a composite wheel assembly and a driving assembly, wherein the composite wheel assembly comprises an auxiliary chain wheel;
the walking wheel assembly is positioned above the composite wheel assembly, the walking wheel assembly is used for walking on the top surface of the supporting part of the walking track, the composite wheel assembly is used for walking on the bottom surface of the supporting part of the walking track, and the driving assembly is used for driving the walking wheel assembly and the composite wheel assembly to synchronously walk on the walking track; when the composite wheel assembly runs on the bottom surface of the supporting part of the running track, the auxiliary chain wheel synchronously rotates and is in meshing transmission with the auxiliary chain preset on the bottom surface of the supporting part of the running track.
2. A variable-drive traveling mechanism according to claim 1, characterized in that: the walking wheel assembly comprises a first walking wheel and a second walking wheel, and driven chain wheels are arranged on a rotating shaft of the first walking wheel and a rotating shaft of the second walking wheel;
the composite wheel assembly further comprises a linkage shaft, a third travelling wheel and a linkage chain wheel, and the third travelling wheel, the auxiliary chain wheel and the linkage chain wheel are coaxially mounted on the linkage shaft;
the first travelling wheel, the second travelling wheel and the third travelling wheel are arranged on the same side, and the driven chain wheel of the first travelling wheel, the driven chain wheel of the second travelling wheel and the radius of the linkage chain wheel are the same;
the driving assembly synchronously drives the first travelling wheel, the second travelling wheel and the third travelling wheel to rotate in a chain transmission mode, the rotating direction of the first travelling wheel is consistent with that of the second travelling wheel, and the rotating direction of the first travelling wheel is opposite to that of the third travelling wheel.
3. A variable-drive traveling mechanism according to claim 2, characterized in that: the drive assembly includes driving motor, driving sprocket and drive chain, driving sprocket install in driving motor's output shaft, driving chain's one end meets rather than the other end closed loop behind the driven sprocket of according to the preface around driving sprocket, the driven sprocket of first walking wheel, gang sprocket and second walking wheel.
4. A variable-drive traveling mechanism according to claim 2, characterized in that: the composite wheel assembly further comprises a fourth traveling wheel, the fourth traveling wheel is mounted on the linkage shaft, the traveling wheel assembly further comprises a fifth traveling wheel and a sixth traveling wheel, and the fourth traveling wheel, the fifth traveling wheel and the sixth traveling wheel are arranged on the same side; the linkage shaft drives the fifth traveling wheel and the sixth traveling wheel to travel in a chain and chain wheel mode or a gear transmission mode.
5. The variable drive travel mechanism of claim 4, wherein: the auxiliary chain wheel is arranged between the third travelling wheel and the fourth travelling wheel.
6. A variable-drive traveling mechanism according to claim 1, characterized in that: the walking mechanism further comprises a limiting wheel set, and the limiting wheel set is used for rolling against the side wall of the supporting part of the walking track.
7. A robot, characterized by: comprising a frame and a variable drive travel mechanism as claimed in any one of claims 1 to 6, the travel wheel assembly, composite wheel assembly and drive assembly all being mounted within the frame.
8. A running rail, characterized in that: for use with a variable-drive running gear according to any one of claims 1 to 6, the running rail comprising a connecting portion and a support portion, the support portion having a bottom surface provided with an auxiliary chain arranged along the length of the running rail, the connecting portion being arranged vertically on the top surface of the support portion.
9. A running rail according to claim 7, characterized in that: the bottom surface of the supporting part is provided with an installation sliding groove with a downward opening, and the auxiliary chain is clamped in the installation sliding groove.
10. A running rail according to claim 8, characterized in that: the two end parts of the auxiliary chain are respectively provided with a limiting block, the limiting blocks are arranged in the mounting sliding grooves in a sliding mode, and the limiting blocks are fixedly connected with the supporting parts through set screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210690046.5A CN114987560B (en) | 2022-06-17 | 2022-06-17 | Running gear, robot and walking track of variable drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210690046.5A CN114987560B (en) | 2022-06-17 | 2022-06-17 | Running gear, robot and walking track of variable drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114987560A true CN114987560A (en) | 2022-09-02 |
| CN114987560B CN114987560B (en) | 2024-03-19 |
Family
ID=83034609
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210690046.5A Active CN114987560B (en) | 2022-06-17 | 2022-06-17 | Running gear, robot and walking track of variable drive |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114987560B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09226569A (en) * | 1996-02-26 | 1997-09-02 | Shinryo Corp | Track vehicle |
| JPH10129469A (en) * | 1996-11-05 | 1998-05-19 | Shinko Electric Co Ltd | Tunnel inside lamp changing vehicle |
| CN109305176A (en) * | 2018-10-11 | 2019-02-05 | 国家电网公司 | A kind of auxiliary climbing mechanism of rail mounted crusing robot |
| CN109334675A (en) * | 2018-12-03 | 2019-02-15 | 深圳市施罗德工业测控设备有限公司 | Guide rail is along driving |
| CN109823358A (en) * | 2019-02-27 | 2019-05-31 | 中铁宝桥集团有限公司 | There are two types of the suspension type monorail bogies of driving method for a kind of tool |
| CN112600118A (en) * | 2020-12-06 | 2021-04-02 | 武汉露能科技有限公司 | Transmission line work robot |
| CN215511026U (en) * | 2021-06-22 | 2022-01-14 | 广州国巡机器人科技有限公司 | Single-rail hanging type walking mechanism of inspection robot |
| CN114044008A (en) * | 2021-10-25 | 2022-02-15 | 苏州朝丝暮雪智能科技有限公司 | Permanent magnet motor-based train with toothed rail traction function and using method thereof |
| CN114407033A (en) * | 2022-01-07 | 2022-04-29 | 湖南工程学院 | A hang rail and patrol and examine supplementary climbing mechanism of robot for outdoor heavy grade operation |
-
2022
- 2022-06-17 CN CN202210690046.5A patent/CN114987560B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09226569A (en) * | 1996-02-26 | 1997-09-02 | Shinryo Corp | Track vehicle |
| JPH10129469A (en) * | 1996-11-05 | 1998-05-19 | Shinko Electric Co Ltd | Tunnel inside lamp changing vehicle |
| CN109305176A (en) * | 2018-10-11 | 2019-02-05 | 国家电网公司 | A kind of auxiliary climbing mechanism of rail mounted crusing robot |
| CN109334675A (en) * | 2018-12-03 | 2019-02-15 | 深圳市施罗德工业测控设备有限公司 | Guide rail is along driving |
| CN109823358A (en) * | 2019-02-27 | 2019-05-31 | 中铁宝桥集团有限公司 | There are two types of the suspension type monorail bogies of driving method for a kind of tool |
| CN112600118A (en) * | 2020-12-06 | 2021-04-02 | 武汉露能科技有限公司 | Transmission line work robot |
| CN215511026U (en) * | 2021-06-22 | 2022-01-14 | 广州国巡机器人科技有限公司 | Single-rail hanging type walking mechanism of inspection robot |
| CN114044008A (en) * | 2021-10-25 | 2022-02-15 | 苏州朝丝暮雪智能科技有限公司 | Permanent magnet motor-based train with toothed rail traction function and using method thereof |
| CN114407033A (en) * | 2022-01-07 | 2022-04-29 | 湖南工程学院 | A hang rail and patrol and examine supplementary climbing mechanism of robot for outdoor heavy grade operation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114987560B (en) | 2024-03-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201154426Y (en) | Walking device of friction drive type welding tractor | |
| CN103832797B (en) | A kind of suspension chain delivery system | |
| US4372619A (en) | Chain having longitudinal stiffness used with hauling and cutting equipment | |
| CN114987560A (en) | Variable-drive walking mechanism, robot and walking track | |
| CN106493842A (en) | A kind of support base car | |
| CN1579918A (en) | Drive equipment for escalator step or moving walkway plate | |
| CN213111217U (en) | Friction wheel assembly for monorail concrete conveying system | |
| CN214290078U (en) | Guide rail moving device of aluminum tractor | |
| CN207598717U (en) | Straight-line guidance wheel telecontrol equipment | |
| DE3439647C2 (en) | Drive trolley of an electric overhead conveyor with automatic gearbox | |
| CN215587231U (en) | Adhesive tape separating device for door and window profile | |
| CN211103961U (en) | Track for climbing of track type robot and track type robot | |
| CN116690529A (en) | Double-drive type track climbing inspection device capable of turning | |
| CN109680919B (en) | Slide capable of freely changing track | |
| CN220096351U (en) | Hanging chair transfer mechanism and overhead manned device | |
| CN212332274U (en) | Platform applied to single-track walking along curved line | |
| CN217602409U (en) | Movable box guide driving system based on platform door | |
| CN218616940U (en) | Crawler-type self-walking equipment | |
| CN214036580U (en) | Clutch device of egg collector | |
| CN216966748U (en) | Clamping driving device for walking mechanism of all-position automatic welding machine | |
| CN212561322U (en) | Bidirectional telescopic sliding device | |
| CN213920530U (en) | A walking wheel subassembly for single track concrete conveying system | |
| CN209760762U (en) | Freely rail-changeable slide | |
| CN215205113U (en) | Track vehicle | |
| CN212023799U (en) | Long-distance material-distributing belt anti-tipping device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |