CN115194724A - Self-adaptive walking device of rail-mounted robot - Google Patents
Self-adaptive walking device of rail-mounted robot Download PDFInfo
- Publication number
- CN115194724A CN115194724A CN202110385578.3A CN202110385578A CN115194724A CN 115194724 A CN115194724 A CN 115194724A CN 202110385578 A CN202110385578 A CN 202110385578A CN 115194724 A CN115194724 A CN 115194724A
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- main frame
- rail
- wheel
- driven
- connecting rod
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- 230000003044 adaptive effect Effects 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 7
- 238000007689 inspection Methods 0.000 description 3
- 238000013016 damping Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a self-adaptive walking device of a rail-mounted robot.A driving wheel is fixed on a driving connecting rod and a driven connecting rod through shaft parts, the two connecting rods are fixed on a main frame, and an elastic guide device is arranged between the driven connecting rod and the main frame so as to meet the self-adaptability of a walking mechanism. The bearing wheel bearing is symmetrically arranged and fixed on the main frame, the steering mechanism comprises a steering support, an elastic element, a guide element and a steering wheel, wherein one end of the steering support is connected to the main frame and can elastically rotate and return relative to the main frame. The main frame and the steering mechanism are symmetrically distributed on two sides of the driving wheel and the driven wheel, so that the load of the walking device is uniformly distributed, and the running is stable. The invention can realize the stable running of the rail-mounted robot under the relatively severe environment, and can ensure no obvious shaking, stable running and good self-adaptability in the running process of the robot because the clamping devices are arranged in all directions of the rail.
Description
Technical Field
The invention relates to a movement, guide and jacking mechanism, in particular to a self-adaptive walking device of a rail-mounted robot.
Background
The rail-mounted robot is widely applied to various fields, wherein the actual operation environment in the mine field is more severe, and the severe environments such as low temperature of minus 20 ℃, dust, dryness, plateau and the like are common. The inspection robot system is required to walk safely and stably. The prior inspection robot has complex travelling mechanism, heavy structure and higher cost. The individual rail type robot system also needs to adopt specially processed and customized rails, and the popularization of the inspection robot system is limited. Therefore, the robot adaptive walking device is required to be designed in a simplified manner, in a light weight manner, and in a generalized manner.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: in view of the above problems in the prior art, a rail-mounted robot adaptive traveling device is provided that can achieve safe and stable operation, light weight, and a universal design.
In order to optimize the technical defects, the technical scheme adopted by the invention is as follows:
the invention provides a self-adaptive walking device of a rail-mounted robot, which comprises a left main frame 2, a right main frame 14, a driving connecting rod 5, a driven connecting rod 8, a steering support 9, a jacking support 11, a lower end fixing support 6, a driving wheel 7, a bearing wheel 4, a steering wheel 3 and a jacking wheel 10.
The self-adaptive walking device of the rail-mounted robot is characterized in that the central axis of a driving wheel 7 is parallel to the central axis of a steering wheel 3, the central axis of a bearing wheel 4 is parallel to the central axis of a jacking wheel 10, and the central axis of the driving wheel 7 is perpendicular to the central axis of the bearing wheel 4.
Further, the left main frame 2 and the right main frame 14 are symmetrical in structure and installation positions.
Further, the upper surfaces of the respective steering wheels 3 are located on the same horizontal plane.
Further, the axes of the respective bearing wheels 4 are located on the same horizontal plane.
Further, the left main frame 2, the right main frame 14 and the driven main frame 12 are provided with mounting through holes for fixing the bearing wheels 4.
Further, be equipped with the trompil rectangular channel on left body frame 2, right body frame 14, the driven body frame 12, with axle type part installation turn to support 9 and guarantee that it is rotatable, wherein turn to and contain elastic element between support 9 and left body frame 2, right body frame 14, the driven body frame 12, elastic element can adopt the elastic element of other forms such as coil spring, plays the damping return effect to guarantee to turn and the 13 unevenness condition of track, running gear passes through smoothly.
Further, the driving wheels 7 are distributed on both sides of the track 13.
Furthermore, the driven connecting rod 8 is connected with the driven main frame 12 through shaft parts and can rotate, and an elastic element 1 and a guide device are arranged between the driven connecting rod and the left main frame 2. Make running gear contain the self-adaptation ability, guarantee to patrol and examine the good trafficability characteristic of robot.
Furthermore, an elastic element 1 and a guiding device are arranged between the jacking bracket 11 and the lower end fixing bracket 6. The running gear is stable in running and does not shake laterally.
Further, the walking device also comprises an installation main board, and the left main frame 2, the right main frame 14, the driven main frame 12 and the lower end fixing support 6 are all fixed on the installation main board.
Further, the driving wheel 7 is arranged in the middle of the bearing wheel 4, and the jacking wheel 10 is arranged below the track.
Advantageous effects
1. The invention relates to a self-adaptive walking device of a rail-mounted robot, which is characterized by adopting a compact structural layout and high integration level. The parts are mostly plates, so that the whole walking mechanism is lighter in quality and smaller in running resistance due to the fact that castings are avoided.
2. The self-adaptive walking device of the rail-mounted robot adopts a symmetrical structural layout and mutually symmetrical parts, so that the parts of the walking device are good in universality and interchangeability.
3. The self-adaptive walking device of the rail-mounted robot is driven by the single-side motor, and compared with the traditional double-side driving, the self-adaptive walking device of the rail-mounted robot is simple in structure, low in price and good in stability.
4. The self-adaptive walking device of the rail-mounted robot can perform self-adaptive forward and backward walking, turning, ascending and descending, is stable in operation, adopts the national standard I-shaped steel as the walking rail, and has a good market popularization prospect.
Drawings
Fig. 1 is a perspective view of a self-adaptive walking device of a rail-mounted robot according to the present invention.
Fig. 2 is a left perspective view of an adaptive walking device of a rail-mounted robot according to the present invention.
Fig. 3 is a side perspective view of an adaptive type traveling apparatus of a rail-mounted robot according to the present invention.
Illustration of the drawings: 1. an elastic element; 2. a left main frame; 3. a steering wheel; 4. a load-bearing wheel; 5. a drive link; 6. a lower end fixing bracket; 7. a drive wheel; 8. a driven connecting rod; 9. a steering bracket; 10. a jacking wheel; 11. jacking a support; 12. a driven main frame; 13. a track; 14. and a right main frame.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
As shown in figure 1, the left main frame 2, the right main frame 14 and the driven main frame 12 are symmetrically arranged, which is beneficial to evenly bearing load and leading the robot to walk stably. The central axes of the bearing wheels 4 are vertical to the left main frame 2, and the central axes of the four bearing wheels 4 are positioned on the same horizontal plane, so that the bearing wheels 4 are stressed uniformly and are not abraded individually and seriously. The steering wheel 3 is fixed on the steering support 9, the steering support 9 can rotate relative to the left main frame 2 by combining a pin shaft or other shaft parts, the steering support 9 is connected to the left main frame 2 by combining the elastic element 1 and the guide rod element, the elastic damping limiting function between the steering support and the left main frame is realized, and the steering wheels 3 on two sides are stably attached to two sides of the track 13 under the action of the elastic element 1. The robot can run stably under the steering and straight running states.
As shown in fig. 2, two driving wheels 7 are arranged on two sides of the supporting track 13 and fixed on the corresponding driving connecting rod 5 and the driven connecting rod 8 through bearing parts. Meanwhile, the driven connecting rod 8 is fixed relative to one end of the driven main frame 12 by pin rotatable parts, and the other end of the driven connecting rod is connected to the left main frame 2 through the elastic element 1 and the guide element, so that the automatic tensioning function is realized. Therefore, the travelling mechanism has self-adaptability and can pass through rail joints and individual uneven areas by itself.
The power is transmitted to the driving shaft by the single-side motor through the coupling, and the driving force drives the robot to walk forwards or backwards under the action of the reaction force, namely the friction force. The driving connecting rod 5 and the driven connecting rod 8 are respectively fixed on the left main frame 2, the right main frame 14 and the driven main frame 12, so that the compact layout of the traveling mechanism is realized, and the integration and miniaturization arrangement scheme of the traveling mechanism is realized.
As shown in fig. 3, a tensioning device is arranged at the position of the lower end of the track of the traveling mechanism, the jacking wheel 10 is fixed on the jacking bracket 11, the jacking bracket 11 is connected with the lower fixing bracket 6 through an elastic and guiding element, can move up and down, and has an elastic return function. Therefore, the travelling mechanism has tensioning capacity in the vertical direction of the track 13, and the robot can smoothly travel on the track without shaking. The left main frame 2, the right main frame 14, the driven main frame 12 and the lower fixing support 6 are fixed on the installation main board.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to those skilled in the art without departing from the principles of the present invention should also be considered as within the scope of the present invention.
Claims (6)
1. The utility model provides a rail mounted robot self-adaptation formula running gear which characterized in that: comprises a left main frame 2, a right main frame 14, a jacking bracket 11, a lower end fixing bracket 6, a driving connecting rod 5, a driven connecting rod 8 and a driven main frame 12; two ends of a driving connecting rod 5 are fixed on the left main frame 2 and the right main frame 14, a driving wheel 7 and a rotating shaft are arranged on the driving connecting rod 5, a driven connecting rod 8 is provided with the driving wheel 7 and the rotating shaft, one end of the driven connecting rod 8 and the driven main frame 12 can rotate relatively, and the other end can be tensioned and adjusted; the left main frame 2, the right main frame 14 and the driven main frame 12 are provided with bearing wheels 4, the left main frame 2, the right main frame 14 and the driven main frame 12 are also provided with steering supports 9, the steering wheels 3 are arranged on the steering supports 9, one ends of the steering supports 9 can rotate relatively, and the other ends of the steering supports 9 can be tensioned and adjusted; the jacking bracket 11 is fixed with a jacking wheel 10, and an elastic element 1 is arranged between the jacking bracket 11 and the lower end fixing bracket 6 and can move up and down relatively and return.
2. The adaptive walking device of a rail-mounted robot according to claim 1, wherein: the central axis of the driving wheel 7 is parallel to the central axis of the steering wheel 3, the central axis of the bearing wheel 4 is parallel to the central axis of the jacking wheel 10, and the central axis of the driving wheel 7 is vertical to the central axis of the bearing wheel 4.
3. The adaptive walking device of a rail-mounted robot according to claim 1, wherein: the left main frame 2 and the right main frame 14 are symmetrical with each other, and the installation positions are symmetrical with each other.
4. The adaptive walking device of a rail-mounted robot according to claim 1, wherein: the upper surfaces of the four steering wheels 3 are positioned on the same horizontal plane, the central axes are parallel to each other, and the axes of the four bearing wheels 4 are positioned on the same horizontal plane; the axes of the two driving wheels 7 are parallel to each other; the driving wheels 7 are distributed on both sides of the track 13.
5. The adaptive walking device of the rail-mounted robot as claimed in claim 1, wherein: the jacking wheels 10 are arranged below the rails 13.
6. The adaptive walking device of a rail-mounted robot according to claim 1, wherein: the left main frame 2, the right main frame 14, the driven main frame 12 and the lower end fixing bracket 6 are fixed on the installation main board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110385578.3A CN115194724A (en) | 2021-04-10 | 2021-04-10 | Self-adaptive walking device of rail-mounted robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110385578.3A CN115194724A (en) | 2021-04-10 | 2021-04-10 | Self-adaptive walking device of rail-mounted robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115194724A true CN115194724A (en) | 2022-10-18 |
Family
ID=83570602
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110385578.3A Withdrawn CN115194724A (en) | 2021-04-10 | 2021-04-10 | Self-adaptive walking device of rail-mounted robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115194724A (en) |
-
2021
- 2021-04-10 CN CN202110385578.3A patent/CN115194724A/en not_active Withdrawn
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20221018 |