CN115848531B - Wheeled robot with winding turnover mechanism for replacing fault travelling wheels - Google Patents
Wheeled robot with winding turnover mechanism for replacing fault travelling wheels Download PDFInfo
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- CN115848531B CN115848531B CN202310044090.3A CN202310044090A CN115848531B CN 115848531 B CN115848531 B CN 115848531B CN 202310044090 A CN202310044090 A CN 202310044090A CN 115848531 B CN115848531 B CN 115848531B
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- 238000004804 winding Methods 0.000 title claims abstract description 244
- 230000007246 mechanism Effects 0.000 title claims abstract description 165
- 230000007306 turnover Effects 0.000 title claims abstract description 88
- 238000006243 chemical reaction Methods 0.000 claims description 22
- 238000010618 wire wrap Methods 0.000 claims description 20
- 230000000712 assembly Effects 0.000 claims description 19
- 238000000429 assembly Methods 0.000 claims description 19
- 230000009471 action Effects 0.000 claims description 10
- 238000007689 inspection Methods 0.000 abstract description 10
- 238000012423 maintenance Methods 0.000 abstract description 6
- 230000002035 prolonged effect Effects 0.000 abstract description 4
- 238000006467 substitution reaction Methods 0.000 description 13
- 238000000034 method Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000007405 data analysis Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 208000003164 Diplopia Diseases 0.000 description 1
- 235000004443 Ricinus communis Nutrition 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 208000029444 double vision Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
The invention relates to the technical field of intelligent inspection robots of substations, and particularly discloses a wheeled robot with a winding turnover mechanism for replacing fault travelling wheels. Therefore, the maintenance of the robot in severe environments such as a transformer substation can be achieved, the service life of a running system of the robot can be prolonged, and the reliability of the robot can be improved.
Description
Technical Field
The invention relates to the technical field of intelligent inspection robots of substations, in particular to a wheeled robot with a winding turnover mechanism for replacing fault travelling wheels.
Background
The intelligent inspection robot of the transformer substation is mainly used for performing autonomous inspection and data acquisition on outdoor equipment of the transformer substation; the inspection data is transmitted to a local monitoring background in real time through a wireless communication system, so that the functions of data analysis processing, early warning, warning and the like are completed; and realizing the remote centralized control management of the system through a remote centralized control background.
The intelligent inspection robot for the transformer substation has the functions of autonomous navigation, positioning, charging and inspection, and the infrared thermal imaging and high-definition video double-vision combination technology is applied to accurately identify various meter readings in the transformer substation and current and voltage heating phenomena of equipment, discover equipment defects in time and improve equipment inspection efficiency. Meanwhile, the background data analysis is used for timely informing the related operation and maintenance personnel of the abnormal information, so that the operation and maintenance personnel can timely handle the abnormal problem. The transformer substation has the advantages of large number of ubiquitous equipment and high density; the inspection road is narrower; complicated road conditions and the like. Aiming at the above situation, the walking requirement of the intelligent inspection robot must have the characteristics of strong power, flexible steering, small turning radius and the like.
However, the original four-wheel differential driving mode has large steering noise, severe shaking and shortened service life of the robot, and once any wheel is damaged, the robot can be broken, so that the maintenance is difficult in severe environments such as a transformer substation.
In view of this, the present invention proposes a wheeled robot with a wire wrap turnover mechanism that replaces a failed road wheel.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a wheeled robot with a winding turnover mechanism for replacing a fault walking wheel.
In order to solve the technical problems, the following technical scheme is adopted:
the wheel type robot with the winding turnover mechanism for replacing the fault travelling wheels comprises a vehicle body chassis and four wheel assemblies arranged on the vehicle body chassis, wherein a linear sliding mechanism and a replacing wheel conversion mechanism are arranged on the vehicle body chassis, the linear sliding mechanism is arranged in the middle of the bottom of the vehicle body chassis, and the replacing wheel conversion mechanism capable of sliding along the linear sliding mechanism is arranged on the linear sliding mechanism.
The two wheel assemblies located on the front side are connected with a first winding turnover mechanism capable of driving the wheels to fold and turn, and the two wheel assemblies located on the rear side are connected with a second winding turnover mechanism capable of driving the wheels to fold and turn.
One end of the first winding turnover mechanism is connected to one wheel assembly on the front side, and the other end of the first winding turnover mechanism penetrates through the alternative wheel conversion mechanism to be connected to the other wheel assembly on the front side.
One end of the second winding turnover mechanism is connected to one wheel assembly at the rear side, and the other end of the second winding turnover mechanism penetrates through the other wheel assembly at the rear side to be connected to one wheel assembly at the front side.
When one of the wheels fails, the first winding turnover mechanism drives the replacement wheel conversion mechanism to move to one side of the failed wheel, and meanwhile, under the combined action of the first winding turnover mechanism and the second winding turnover mechanism, the failed wheel is turned upwards, the normal wheel is turned downwards, and the replacement wheel conversion mechanism and the normal wheel drive the wheeled robot to walk together.
Further, the first wire winding turns over a mechanism and includes first traction wire, wire winding subassembly, first capstan winch and substitution wheel wire winding seat, wire winding subassembly includes first wire winding subassembly and second wire winding subassembly, substitution wheel wire winding seat including set up in substitution wheel wire winding seat and the second substitution wheel wire winding seat of substitution wheel mechanism both sides, first capstan winch sets up in one of front side on the wheel subassembly, first traction wire has been wound on the first capstan winch, just first capstan winch passes through first traction wire connects first wire winding subassembly, first wire winding subassembly pass through first traction wire connect in on the first substitution wheel wire winding seat, connect through first traction wire between first substitution wheel wire winding seat and the second substitution wheel wire winding seat, the second substitution wheel wire winding seat passes through first traction wire connect the second wire winding subassembly, the second wire winding subassembly passes through another of first traction wire connection front side on the wheel subassembly.
Further, a first clutch is arranged on the first winch and used for enabling the first winch and a wheel shaft of the wheel assembly to be in a connection state and a disconnection state.
Further, the wire winding subassembly including set up in first wheel wire winding seat and second wheel wire winding seat on the wheel subassembly, set up in first automobile body chassis wire winding seat and second automobile body chassis wire winding seat on the automobile body chassis, first wheel wire winding seat set up in on the wheel support of wheel subassembly, first wheel wire winding seat sets up on the roll-over plate, first automobile body chassis wire winding seat set up in the middle part of automobile body chassis, second automobile body chassis wire winding seat set up in automobile body chassis and be located near the rear side one side of wheel subassembly, through first traction wire connects gradually first capstan winch, first wheel wire winding seat, second wheel wire winding seat, first automobile body chassis wire winding seat, second automobile body chassis wire winding seat and alternate wheel wire winding seat.
Further, the second winding turnover mechanism comprises a second traction wire, a second winch and a third winding component, wherein the second winch is arranged on the other wheel component at the front side, the second winch is wound with the second traction wire, the second winch is connected with the third winding component through the second traction wire, and the other end of the third winding component is connected to one wheel component at the rear side through the second traction wire.
Further, a second clutch is arranged on the second winch and used for enabling the second winch and a wheel shaft of the wheel assembly to be in a connection state and a disconnection state.
Further, the third wire winding subassembly includes front side wheel wire winding seat, front side wire winding seat, rear end wire winding seat, rear side first wheel wire winding seat and rear side second wheel wire winding seat, front side wheel wire winding seat set up on the wheel support of one wheel subassembly of front side, front side wire winding seat set up in the front side middle part of automobile body chassis, rear side wire winding seat set up in the rear side middle part of automobile body chassis, rear end wire winding seat set up in the rear end middle part of automobile body chassis, rear side first wheel wire winding seat set up on the wheel support of one wheel subassembly of rear side, rear side second wheel wire winding seat sets up on the wheel support of another wheel subassembly of rear side, through the second traction wire, connect gradually second capstan winch, front side wheel wire winding seat, front side wire winding seat, rear side first wheel wire winding seat, rear end wire winding seat and rear side second wheel wire winding seat.
Further, the wheel assembly is connected with a turnover mechanism, the turnover mechanism comprises a turnover plate, one side of the turnover plate is connected with a hinged plate, and the other side of the turnover plate is connected with a wheel bracket.
Further, a torsion spring is sleeved on the hinge plate and is arranged in a space formed by the hole of the turnover plate and the hinge plate.
Further, the two ends of the hinged plate are provided with bearing seats, each bearing seat comprises a first bearing seat and a second bearing seat, one end of each hinged plate is connected with the first bearing seat, the other end of each hinged plate is connected with the second bearing seat, and the first bearing seats and the second bearing seats are fixedly installed on the chassis of the vehicle body.
Further, an electromagnetic limiting piece is arranged on the vehicle body chassis or the bearing seat, the electromagnetic limiting piece comprises an electromagnetic controller and an electromagnetic bolt, the electromagnetic controller is arranged on the vehicle body chassis or the bearing seat, the electromagnetic bolt is arranged on the electromagnetic controller, and the electromagnetic bolt acts on the hinge plate.
Further, the substitute wheel switching mechanism includes a substitute wheel and a substitute wheel holder connected to an upper portion of the substitute wheel, the substitute wheel holder being slidably mounted on the linear sliding mechanism.
Further, the linear sliding mechanism comprises a sliding table which can slide in place of the wheel switching mechanism.
Further, the substitute wheel is designed such that the center of the substitute wheel is higher than the center of the wheel assembly.
Due to the adoption of the technical scheme, the method has the following beneficial effects:
the invention relates to a wheel type robot with a winding turnover mechanism for replacing fault travelling wheels. Specifically, on the basis of the above-mentioned alternative wheel conversion mechanism, set up first wire winding and turn over mechanism, second wire winding and turn over mechanism and straight line slide mechanism, when the wheel subassembly of wherein the rear side breaks down, first through first clutch and second clutch, make first capstan winch and second capstan winch be connected with the axletree of the wheel subassembly that its installation set up respectively, drive axletree rotation by the driving motor of the wheel subassembly of front side, under the effect of first clutch and second clutch, make first capstan winch and second capstan winch connect with the axletree of the wheel subassembly that its installation set up respectively after, first capstan winch and second capstan winch rotate afterwards, twine first haulage wire on first capstan winch, and wind out second haulage wire from the second capstan winch, under the connecting action of first wire subassembly, second wire subassembly and third wire winding subassembly, pull alternative wheel conversion mechanism and slide on the slip table, the action of alternative wheel conversion mechanism moves to the one side of the wheel of the trouble of rear side like this, simultaneously, the normal wheel subassembly of front side also folds the following the action of the wheel subassembly of the wheel of the installation set up, the machine turns over the wheel of the fault side after turning over, the machine wheel is upwards moved by the normal machine together with the wheel of the alternative wheel. Therefore, the maintenance of the robot in severe environments such as a transformer substation can be achieved, the service life of a running system of the robot can be prolonged, and the reliability of the robot can be improved.
Drawings
The invention is further described below with reference to the accompanying drawings:
fig. 1 is a bottom perspective view of a wheel robot with a wire wrap turnover mechanism in place of a failed road wheel in accordance with embodiment 1 of the present invention.
Fig. 2 is a perspective view of another perspective of a wheeled robot with a wire wrap turnover mechanism in place of a failed road wheel in accordance with embodiment 1 of the present invention.
Fig. 3 is a schematic front view of a wheel robot with a wire winding turnover mechanism in place of a faulty road wheel according to embodiment 1 of the present invention.
Fig. 4 is a schematic rear view of a wheel robot with a wire wrap turnover mechanism in place of a faulty road wheel in accordance with embodiment 1 of the present invention.
Fig. 5 is a left-hand structural schematic view of a wheeled robot with a wire wrap turnover mechanism in place of a faulty road wheel according to embodiment 1 of the present invention.
Fig. 6 is a right side view of a schematic of a wheel robot with a wire wrap turnover mechanism in place of a failed road wheel in accordance with embodiment 1 of the present invention.
Fig. 7 is a schematic top view of a wheel robot with a wire wrap turnover mechanism in place of a failed road wheel in accordance with embodiment 1 of the present invention.
Fig. 8 is a schematic bottom view of a wheeled robot with a wire wrap turnover mechanism in place of a faulty road wheel in accordance with embodiment 1 of the present invention.
Fig. 9 is a schematic view showing a structure in which a first wire winding turnover mechanism is provided on a chassis of a vehicle body according to embodiment 1 of the present invention.
Fig. 10 is a schematic view showing a structure in which a second wire winding turnover mechanism according to embodiment 1 of the present invention is provided on a chassis of a vehicle body.
Fig. 11 is a schematic structural view of an electromagnetic restriction member according to embodiment 1 of the present invention.
In the figure: the vehicle comprises a vehicle body chassis, a 2-wheel assembly, a 3-turnover mechanism, a 4-linear sliding mechanism, a 5-alternative wheel conversion mechanism, a 7-electromagnetic limiting piece, a 8-first winding turnover mechanism and a 9-second winding turnover mechanism.
12-turning over the groove.
21-wheels, 22-wheel drive motors, 23-wheel axles, 24-wheel supports.
34-the turnover plate, 35-the first bearing seat, 36-the second bearing seat, 38-the hinged plate.
341-turning the bump.
41-slipway.
51-substitute wheel, 52-substitute wheel fixing seat.
71-electromagnetic controller, 72-electromagnetic bolt.
81-first traction wire, 82-first winding assembly, 83-second winding assembly, 84-first winch, 86-first alternate wheel winding seat, 87-second alternate wheel winding seat, 88-first clutch.
821-first wheel winding seat, 822-second wheel winding seat, 823-first body chassis winding seat, 824-second body chassis winding seat.
91-second traction wire, 92-second clutch, 93-third winding assembly, 94-second winch.
931-front wheel winding seat, 932-front winding seat, 933-rear winding seat, 934-rear end winding seat, 935-rear first wheel winding seat, 936-rear second wheel winding seat.
Description of the embodiments
The present invention will be further described in detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
Examples
As shown in fig. 1-11, the wheel robot with a winding turnover mechanism for replacing fault walking comprises a vehicle body chassis 1 and four wheel assemblies 2 arranged on the vehicle body chassis 1, wherein a linear sliding mechanism 4 and a replacing wheel conversion mechanism 5 are arranged on the vehicle body chassis 1, the linear sliding mechanism 4 is arranged in the middle of the bottom of the vehicle body chassis 1, and the replacing wheel conversion mechanism 5 capable of sliding along the linear sliding mechanism 4 is arranged on the linear sliding mechanism 4.
As a further explanation of the embodiment of the present invention, the two wheel assemblies 2 located at the front side are connected with a first winding turnover mechanism 8 capable of driving the wheels 21 to fold and turn, and the two wheel assemblies 2 located at the rear side are connected with a second winding turnover mechanism 9 capable of driving the wheels 21 to fold and turn. The front two wheel assemblies 2 and the rear two wheel assemblies 2 are defined according to the spatial positions of fig. 3 to 8 for convenience of description. The second winding and folding mechanism 9 may be connected to the front two wheel assemblies 2, and the first winding and folding mechanism 8 may be connected to the rear two wheel assemblies 2.
As a further explanation of the embodiment of the present invention, one end of the first wire-wrap turnover mechanism 8 is connected to one of the wheel assemblies 2 on the front side, and the other end of the first wire-wrap turnover mechanism 8 is connected to the other of the wheel assemblies 2 on the front side through the alternative wheel switching mechanism 5.
As a further explanation of the embodiment of the present invention, one end of the second wire winding and folding mechanism 9 is connected to one of the wheel assemblies 2 on the rear side, and the other end of the second wire winding and folding mechanism 9 is connected to one of the wheel assemblies 2 on the front side through the other one of the wheel assemblies 2 on the rear side.
As a further explanation of the embodiment of the present invention, when one of the wheels 21 fails, the first winding and turning mechanism 8 drives the alternative wheel switching mechanism 5 to move to one side of the failed wheel 21, and simultaneously, under the combined action of the first winding and turning mechanism 8 and the second winding and turning mechanism 9, the failed wheel 21 is turned upwards, the normal wheel 21 is turned downwards, and the alternative wheel switching mechanism 5 and the normal wheel 21 drive the wheeled robot to walk together.
As a further illustration of the embodiment of the present invention, each of the four wheel assemblies 2 includes a wheel 21, a wheel drive motor 22, a wheel axle 23, and a wheel bracket 24, the wheel 21 is connected to the wheel axle 23, the wheel axle 23 is connected to the wheel drive motor 22, the wheel drive motor 22 is connected to the wheel bracket 24 through a motor bracket, and the wheel bracket 24 is connected to the flipping panel 34.
As a further explanation of the embodiment of the present invention, the first winding turnover mechanism 8 includes a first traction wire 81, a winding assembly, a first reel 84 and a substituted reel winding seat, the winding assembly includes a first winding assembly 82 and a second winding assembly 83, the substituted reel winding seat includes a first substituted reel winding seat 86 and a second substituted reel winding seat 87 disposed at two sides of the substituted reel switching mechanism 5, the first reel 84 is disposed on one of the wheel assemblies 2 at a front side, the first reel 84 is wound with the first traction wire 81, the first reel 84 is connected to the first winding assembly 82 through the first traction wire 81, the first winding assembly 82 is connected to the first substituted reel winding seat 86 through the first traction wire 81, the first substituted reel winding seat 86 and the second substituted reel winding seat 87 are connected to the second assembly 83 through the first traction wire 81, and the second reel winding seat 87 is connected to the other wheel assembly 2 at the front side through the first traction wire 81.
As a further illustration of an embodiment of the present invention, the first capstan 84 is provided with a first clutch 88, and the first clutch 88 is used to connect and disconnect the first capstan 84 to and from the wheel axle 23 of the wheel assembly 2. Normally, the first capstan 84 and the wheel shaft 23 are separated by the first clutch 88, and the separated state means that when the wheel driving motor 22 drives the wheel shaft 23 to rotate and further drives the wheel 21 to perform linear motion, the first capstan 84 and the wheel shaft 23 are separated, and the first capstan 84 does not rotate along with the rotation of the wheel shaft 23. Therefore, the wheel driving motor 22 normally drives the wheel 21 to move at ordinary times, and when a fault occurs, the first winch 84 and the wheel shaft 23 are in a connection state through the first clutch 88, and at the moment, the wheel driving motor 22 drives the wheel shaft 23 to rotate and simultaneously drives the first winch 84 to work together so as to drive the whole first winding turnover mechanism 8 to work, so that the linear sliding driving piece for the fault and the wheel driving motor 22 for driving are combined into a unit to form a walking fault multiplexing motor unit. Therefore, the walking fault multiplexing motor unit can integrate the linear sliding driving piece and the wheel driving motor 22, and fault substitution is realized under the condition that no additional driving equipment is added.
As a further explanation of the embodiment of the present invention, the winding assembly includes a first wheel winding seat 821 and a second wheel winding seat 822 provided on the wheel assembly 2, a first body chassis winding seat 823 and a second body chassis winding seat 824 provided on the vehicle body chassis 1, the first wheel winding seat 821 is provided on the wheel bracket 24 of the wheel assembly 2, the first wheel winding seat 821 is provided on the roll-over plate 34, the first body chassis winding seat 823 is provided in the middle of the vehicle body chassis 1, and the second body chassis winding seat 824 is provided on the vehicle body chassis 1 and on the side of the wheel assembly 2 near the rear side, and the first winch 84, the first wheel winding seat 821, the second wheel winding seat 822, the first body chassis winding seat 823, the second body chassis winding seat 824 and the alternate wheel winding seat are sequentially connected through the first traction wire 81. Specifically, one end of the first traction wire 81 is wound on the first capstan 84, and from the first capstan 84, passes through the first wheel winding seat 821, the second wheel winding seat 822, the first body chassis winding seat 823, and the second body chassis winding seat 824 of the first winding assembly 82, passes through the second replacement wheel winding seat 87 and the first replacement wheel winding seat 86, passes through the second body chassis winding seat 824, the first body chassis winding seat 823, and the second wheel winding seat 822 of the second winding assembly 83, and finally passes through the other end of the first traction wire 81 on the wheel support 24 of the other wheel assembly 2 on the front side.
As a further explanation of the embodiment of the present invention, the second winding and turning mechanism 9 includes a second traction wire 91, a second winch 94 and a third winding assembly 93, the second winch 94 is disposed on the other wheel assembly 2 on the front side, the second winch 94 is wound with the second traction wire 91, the second winch 94 is connected to the third winding assembly 93 through the second traction wire 91, and the other end of the third winding assembly 93 is connected to the one wheel assembly 2 on the rear side through the second traction wire 91.
As a further illustration of an embodiment of the present invention, the second capstan 94 is provided with a second clutch 92, and the second clutch 92 is used to connect and disconnect the second capstan 94 to and from the wheel axle 23 of the wheel assembly 2. Normally, the second winch 94 and the wheel shaft 23 are separated by the second clutch 92, and the separated state means that when the wheel driving motor 22 drives the wheel shaft 23 to rotate and further drives the wheel 21 to perform linear motion, the second winch 94 and the wheel shaft 23 are separated, and the second winch 94 does not rotate along with the rotation of the wheel shaft 23. Therefore, the wheel driving motor 22 normally drives the wheel 21 to move at ordinary times, and when a fault occurs, the second winch 94 and the wheel shaft 23 are in a connection state through the second clutch 92, and at the moment, the wheel driving motor 22 drives the wheel shaft 23 to rotate and simultaneously drives the second winch 94 to work together so as to drive the whole second winding turnover mechanism 9 to work, so that the linear sliding driving piece for the fault and the wheel driving motor 22 for driving are combined into a unit to form a walking fault multiplexing motor unit. Therefore, the walking fault multiplexing motor unit can integrate the linear sliding driving piece and the wheel driving motor 22, and fault substitution is realized under the condition that no additional driving equipment is added.
As a further explanation of the embodiment of the present invention, the third winding unit 93 includes a front wheel winding seat 931, a front wheel winding seat 932, a rear wheel winding seat 933, a rear end winding seat 934, a rear first wheel winding seat 935, and a rear second wheel winding seat 936, the front wheel winding seat 931 is disposed on the wheel support 24 of one wheel assembly 2 on the front side, the front wheel winding seat 932 is disposed on the front middle portion of the vehicle body chassis 1, the rear wheel winding seat 933 is disposed on the rear middle portion of the vehicle body chassis 1, the rear end winding seat 934 is disposed on the rear middle portion of the rear end of the vehicle body chassis 1, the rear first wheel winding seat 935 is disposed on the wheel support 24 of the other wheel assembly 2 on the rear side, the rear second wheel winding seat 936 is disposed on the wheel support 24 of the other wheel assembly 2 on the rear side, one end of the second traction wire 91 is wound on the second capstan 94, and then the front wheel winding seat 932, the front wheel winding seat 933, the rear first wheel winding seat 936, the rear wheel winding seat 933 are sequentially connected to the rear wheel winding seat 933 on the rear wheel winding seat 933.
Through the first winding turnover mechanism 8 and the second winding turnover mechanism 9, when the replacement wheel conversion mechanism 5 is required to move to one side of the failed wheel 21, the winch and the wheel shaft 23 are in a connection state through the first clutch 88 and the second clutch 92, at the moment, the wheel driving motor 22 drives the wheel shaft 23 to rotate and simultaneously drives the first winch 84 and the second winch 94 to work together, the first traction wire 81 and the second traction wire 91 are pulled, the replacement wheel conversion mechanism 5 is pulled to slide on the sliding table 41 under the connection action of the first winding assembly 82, the second winding assembly 83 and the third winding assembly 93, so that the replacement wheel conversion mechanism 5 moves to one side of the failed wheel 21 at the rear side under the action of the sliding table 41, meanwhile, the normal wheel assembly 2 at the front side is folded and turned down, and the failed wheel assembly 2 at the rear side is folded and turned up. The wheel robot is driven to travel by the substitute wheel switching mechanism 5 together with the normal wheels 21 on the front side. Therefore, the maintenance of the robot in severe environments such as a transformer substation can be achieved, the service life of a running system of the robot can be prolonged, and the reliability of the robot can be improved.
As a further illustration of the embodiment of the present invention, the wheel assembly 2 is connected to a tilting mechanism 3, the tilting mechanism 3 includes a tilting plate 34, one side of the tilting plate 34 is connected to a hinge plate 38, and the other side of the tilting plate 34 is connected to a wheel bracket 24.
The two ends of the hinged plate 38 are provided with bearing seats, each bearing seat comprises a first bearing seat 35 and a second bearing seat 36, one end of each hinged plate 38 is connected with the first bearing seat 35, the other end of each hinged plate 38 is connected with the second bearing seat 36, and the first bearing seats 35 and the second bearing seats 36 are fixedly mounted on the chassis 1 of the vehicle body. The space for installing the turnover plate 34 is formed between the first bearing housing 35 and the second bearing housing 36, so that the turnover plate 34 is not offset in the axial direction of the hinge plate 38 when being turned.
As a further explanation of the embodiment of the present invention, the substitute wheel switching mechanism 5 includes a substitute wheel 51 and a substitute wheel holder 52 connected to an upper portion of the substitute wheel 51, the substitute wheel holder 52 being slidably mounted on the linear slide mechanism 4.
Preferably, the substitute wheel 51 in this embodiment may be an existing universal wheel, wheel 21, or the like. Preferably a castor.
Specifically, the replacing wheel fixing seat 52 is a U-shaped seat, and the inner surface of the U-shaped seat is attached to the sliding table 41 of the linear sliding mechanism 4, so that the linear sliding mechanism 4 can conveniently slide with the replacing wheel switching mechanism 5.
As a further explanation of the embodiment of the present invention, the linear slide mechanism 4 includes a slide table 41 that can slide in place of the wheel switching mechanism 5.
As a further explanation of the embodiment of the present invention, the present embodiment does not provide an additional linear sliding driving member on the sliding table 41, and can combine the linear sliding driving member and the wheel driving motor 22 directly by the traveling fault multiplexing motor unit.
Specifically, the linear sliding driving member described in the present embodiment is a driving member that drives the substitute wheel fixing seat 52 of the substitute wheel switching mechanism 5 to move. Specifically, the linear sliding driving piece may be composed of a conventional linear driving device such as a linear motor, a push rod motor, and a cylinder, and the alternative wheel conversion mechanism 5 is mounted on a sliding table 41, the sliding table 41 is fixedly mounted on the vehicle chassis 1, and the linear sliding driving piece is connected with the alternative wheel conversion mechanism 5. A screw-nut device, a slide rail slider device, etc. may be disposed in the sliding table 41, and the linear sliding driving member may drive the alternative wheel conversion mechanism 5 to slide on the sliding table 41, where the linear sliding driving member may adopt a driving device of the prior art, and is not described in a one-to-one development. The present embodiment is equivalent to directly omitting the linear sliding driving member, and the walking fault multiplexing motor unit can combine the linear sliding driving member and the wheel driving motor 22, so that fault substitution is realized without adding additional driving equipment.
As a further explanation of the embodiment of the present invention, in order to improve the safety of the whole robot, the electromagnetic restraint 7 is provided on the chassis 1 or the bearing seat, specifically, the electromagnetic restraint 7 includes an electromagnetic controller 71 and an electromagnetic latch 72, the electromagnetic controller 71 is mounted on the chassis 1 or the bearing seat, the electromagnetic latch 72 is provided on the electromagnetic controller 71, and the electromagnetic latch 72 acts on the hinge plate 38. Specifically, when the wheel assembly 2 is not damaged, the electromagnetic bolt 72 acts on the hinged plate 38 to limit the hinged plate 38, so that the first winding turnover mechanism 8 and the second winding turnover mechanism 9 can not drive the wheel 21 to move in the movement process of the wheel 21, and the safety of the whole robot is ensured.
Since the wheels 21 that replace the wheel switching mechanism 5 are universal wheels, no failure generally occurs with respect to the other four wheels 21. In practice, only one wheel 21 of the wheel robot will fail, and more than two wheels 21 will not fail, so that the wheel robot of the present invention can meet the wheel 21 failure in most cases.
In addition, the above-described manner can ensure that the wheel 21 on one side thereof fails once, so that in theory, the service life of the wheel assembly 2 of the wheeled robot can be doubled when other parts of the wheeled robot and the system thereof do not fail.
As a further preferable mode of the embodiment of the present invention, the universal wheel of the alternative wheel converting mechanism 5 may be designed such that the center of the universal wheel is higher than the centers of the front and rear wheels, so that in the process of the linear sliding mechanism driving the universal wheel to slide to the side of the failed wheel 21, the alternative two wheels 21 are turned down first, and because the center of the universal wheel is higher than the centers of the front and rear wheels, the turned alternative two wheels 21 are temporarily not grounded, so that the requirement on the driving force of the linear sliding mechanism can be reduced, and when the linear sliding mechanism driving the universal wheel approaches to the side of the failed wheel 21, the two normal alternative wheels 21 are grounded. Similarly, because the center of the universal wheel is higher than the center of the front wheel and the rear wheel, the two failed wheels 21 can be lifted off, then the linear sliding mechanism drives the universal wheel to slide a certain distance to one side of the failed wheel, so that the two failed wheels 21 which are not grounded (are lifted up by the universal wheel) are lifted up, and at the moment, a two-wheel differential three-wheel driving system is formed by the universal wheel and the two replaced normal wheels 21 which are lifted down.
In summary, the two wheels 21 that are in failure are raised by the universal wheel and then turned over, so that the driving force requirement for the linear slide mechanism can be reduced. The two alternative normal wheels 21 are raised by the universal wheel and then turned over again, which also reduces the drive force requirements for the linear slide mechanism.
The working principle of the embodiment of the invention is as follows: it is assumed that the substitute wheel switching mechanism 5 is disposed at the front side or the rear side of the slide table 41, and for convenience of description, it is assumed that the substitute wheel switching mechanism 5 is disposed at the front side of the slide table 41, the wheel assembly 2 located at the front side is folded and turned upwards at this time, the wheel assembly 2 located at the rear side and the substitute wheel switching mechanism 5 together drive the wheeled robot to walk, and the two steering motors and the driving motor of the rear wheel drive the trolley to move at this time. In addition, the preferred use mode of the universal wheel, which is higher in the center of the front wheel than the center of the rear wheel, can limit the hinged plate 38 through the electromagnetic bolt 72 when no fault occurs normally, so that the first winding turnover mechanism 8 and the second winding turnover mechanism 9 can not drive the wheel 21 to do rotary motion in the motion process of the wheel 21, the wheel 21 can be turned over, namely the hinged plate 38 can not drive the wheel 21 to move, and the safety of the whole robot is ensured. When one of the wheels 21 on the rear side fails or 2 wheels 21 fail together, the first wire winding turnover mechanism 8 and the second wire winding turnover mechanism 9 drive the replacement wheel fixing seat 52 and the replacement wheel 51 to move to the rear side of the vehicle body chassis 1. Specifically, the first clutch 88 and the second clutch 92 are used to make the winch and the wheel shaft 23 in a connection state, at this time, the wheel driving motor 22 drives the wheel shaft 23 to rotate and simultaneously drives the first winch 84 and the second winch 94 to work together, and under the connection action of the first winding assembly 82, the second winding assembly 83 and the third winding assembly 93, the alternative wheel switching mechanism 5 is pulled to slide on the sliding table 41, so that the alternative wheel switching mechanism 5 moves to one side of the rear side faulty wheel 21 under the action of the sliding table 41, at the same time, the front side normal wheel assembly 2 is folded and turned down, the rear side faulty wheel assembly 2 is folded and turned up, and thus the front side two-wheel and rear side three-wheel mechanism of the alternative wheel switching mechanism 5 is formed. And finally, the main control system controls the normal wheel driving motor 22 to drive the two rear wheels 21 to move, the alternative wheel switching mechanism 5 and the normal two wheels 21 form a three-wheel differential driving system, and the alternative wheel switching mechanism 5 and the normal wheels 21 drive the wheeled robot to walk together. Therefore, the problem that the robot is inconvenient to maintain in severe environments such as a transformer substation can be solved, the service life of a running system of the robot can be prolonged, and the reliability of the robot is improved.
The above is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions or modifications made on the basis of the present invention to solve the substantially same technical problems and achieve the substantially same technical effects are encompassed within the scope of the present invention.
Claims (14)
1. Wheel robot with wire winding turns over mechanism's replacement trouble walking wheel, is in including automobile body chassis and setting four wheel components on the automobile body chassis, its characterized in that: the vehicle body chassis is provided with a linear sliding mechanism and a substitute wheel conversion mechanism, the linear sliding mechanism is arranged in the middle of the bottom of the vehicle body chassis, and the linear sliding mechanism is provided with the substitute wheel conversion mechanism which can slide along the linear sliding mechanism;
the two wheel assemblies positioned at the front side are connected with a first winding turnover mechanism capable of driving the wheels to fold and turn, and the two wheel assemblies positioned at the rear side are connected with a second winding turnover mechanism capable of driving the wheels to fold and turn;
one end of the first winding turnover mechanism is connected to one wheel assembly at the front side, and the other end of the first winding turnover mechanism penetrates through the alternative wheel rotating mechanism to be connected to the other wheel assembly at the front side;
one end of the second winding turnover mechanism is connected to one wheel assembly at the rear side, and the other end of the second winding turnover mechanism passes through the other wheel assembly at the rear side to be connected to one wheel assembly at the front side;
when one of the wheels fails, the first winding turnover mechanism drives the replacement wheel conversion mechanism to move to one side of the failed wheel, and meanwhile, under the combined action of the first winding turnover mechanism and the second winding turnover mechanism, the failed wheel is turned upwards, the normal wheel is turned downwards, and the replacement wheel conversion mechanism and the normal wheel drive the wheeled robot to walk together.
2. The wheeled robot with a wire wrap turnover mechanism for replacing a faulty road wheel of claim 1, wherein: the first winding turnover mechanism comprises a first traction wire, a winding assembly, a first winch and a replacement wheel winding seat, the winding assembly comprises a first winding assembly and a second winding assembly, the replacement wheel winding seat comprises a first replacement wheel winding seat and a second replacement wheel winding seat which are arranged on two sides of the replacement wheel turnover mechanism, the first winch is arranged on one wheel assembly on the front side, the first winch is wound with the first traction wire, the first winch is connected with the first winding assembly through the first traction wire, the first winding assembly is connected with the first replacement wheel winding seat through the first traction wire, the first replacement wheel winding seat is connected with the second replacement wheel winding seat through the first traction wire, the second replacement wheel winding seat is connected with the second winding assembly through the first traction wire, and the second winding assembly is connected with the other wheel assembly on the front side through the first traction wire.
3. The wheeled robot with a winding turnover mechanism for replacing a faulty road wheel of claim 2, wherein: the first winch is provided with a first clutch which is used for enabling the first winch and a wheel shaft of the wheel assembly to be in a connection state and a disconnection state.
4. A wheeled robot with a wire wrap turnover mechanism for replacing a faulty road wheel as claimed in claim 3, wherein: the wire winding subassembly including set up in first wheel wire winding seat and second wheel wire winding seat on the wheel subassembly, set up in first automobile body chassis wire winding seat and second automobile body chassis wire winding seat on the automobile body chassis, first wheel wire winding seat set up in on the wheel support of wheel subassembly, first wheel wire winding seat sets up on the roll-over plate, first automobile body chassis wire winding seat set up in the middle part of automobile body chassis, second automobile body chassis wire winding seat set up in automobile body chassis just is located near the rear side one side of wheel subassembly, through first traction wire connects gradually first capstan winch, first wheel wire winding seat, second wheel wire winding seat, first automobile body chassis wire winding seat, second automobile body chassis wire winding seat and alternate wheel wire winding seat.
5. A wheeled robot with a wire wrap turnover mechanism for replacing a faulty road wheel as claimed in claim 3, wherein: the second winding turnover mechanism comprises a second traction wire, a second winch and a third winding component, wherein the second winch is arranged on the other wheel component at the front side, the second winch is wound with the second traction wire, the second winch is connected with the third winding component through the second traction wire, and the other end of the third winding component is connected onto the one wheel component at the rear side through the second traction wire.
6. The wheeled robot with a winding turnover mechanism for replacing a faulty road wheel of claim 5, wherein: the second winch is provided with a second clutch which is used for connecting and disconnecting the second winch and the wheel shaft of the wheel assembly.
7. The wheeled robot with a winding turnover mechanism for replacing a faulty road wheel of claim 5, wherein: the third wire winding subassembly includes front side wheel wire winding seat, front side wire winding seat, rear end wire winding seat, rear side first wheel wire winding seat and rear side second wheel wire winding seat, front side wheel wire winding seat set up in on the wheel support of one wheel subassembly of front side, front side wire winding seat set up in the front side middle part of automobile body chassis, rear side wire winding seat set up in the rear side middle part of automobile body chassis, rear end wire winding seat set up in the rear end middle part of automobile body chassis, rear side first wheel wire winding seat set up on the wheel support of one wheel subassembly of rear side, rear side second wheel wire winding seat sets up on the wheel support of another wheel subassembly of rear side, through the second traction wire, connect gradually second capstan winch, front side wheel wire winding seat, rear side first wheel wire winding seat, rear end wire winding seat and rear side first wheel wire winding seat.
8. A wheeled robot with a wire wrap turnover mechanism for replacing a faulty road wheel as claimed in any one of claims 1 to 7, wherein: the wheel assembly is connected with a turnover mechanism, the turnover mechanism comprises a turnover plate, one side of the turnover plate is connected with a hinged plate, and the other side of the turnover plate is connected with a wheel bracket.
9. The wheeled robot with a wire wrap turnover mechanism for replacing a faulty road wheel of claim 8, wherein: the hinge plate is sleeved with a torsion spring, and the torsion spring is installed in a space formed by a hole of the turnover plate and the hinge plate.
10. The wheeled robot with a wire wrap turnover mechanism for replacing a faulty road wheel of claim 9, wherein: the two ends of the hinged plate are provided with bearing seats, each bearing seat comprises a first bearing seat and a second bearing seat, one end of each hinged plate is connected with the first bearing seat, the other end of each hinged plate is connected with the second bearing seat, and the first bearing seats and the second bearing seats are fixedly arranged on the chassis of the vehicle body.
11. The wheeled robot with a wire wrap turnover mechanism for replacing a faulty road wheel of claim 10, wherein: the electromagnetic limiting piece comprises an electromagnetic controller and an electromagnetic bolt, wherein the electromagnetic controller is installed on the vehicle body chassis or the bearing seat, the electromagnetic bolt is arranged on the electromagnetic controller, and the electromagnetic bolt acts on the hinge plate.
12. The wheeled robot with a wire wrap turnover mechanism for replacing a faulty road wheel of claim 9, wherein: the alternative wheel switching mechanism comprises an alternative wheel and an alternative wheel fixing seat connected to the upper part of the alternative wheel, and the alternative wheel fixing seat is slidably and movably arranged on the linear sliding mechanism.
13. A wheeled robot with a wire wrap turnover mechanism for replacing a faulty road wheel as claimed in claim 12, wherein: the linear sliding mechanism comprises a sliding table which can replace the wheel conversion mechanism to slide.
14. A wheeled robot with a wire wrap turnover mechanism for replacing a faulty road wheel of claim 13, wherein: the replacement wheel is designed such that the center of the replacement wheel is higher than the center of the wheel assembly.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310044090.3A CN115848531B (en) | 2023-01-29 | 2023-01-29 | Wheeled robot with winding turnover mechanism for replacing fault travelling wheels |
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| CN202310044090.3A CN115848531B (en) | 2023-01-29 | 2023-01-29 | Wheeled robot with winding turnover mechanism for replacing fault travelling wheels |
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| CN115848531B true CN115848531B (en) | 2023-06-02 |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES204085A1 (en) * | 1952-06-19 | 1952-09-01 | Forcada Bertran Casimiro | Safety device against failures in the automotive vehicle address (Machine-translation by Google Translate, not legally binding) |
| DE1729528U (en) * | 1954-06-28 | 1956-09-06 | F X Meiller Fahrzeug Und Masch | SPARE WHEEL CARRIERS FOR VEHICLES. |
| JPS56154285U (en) * | 1980-04-18 | 1981-11-18 | ||
| DE3843532A1 (en) * | 1988-07-02 | 1990-01-04 | Friedrich Striehl | Off-the-road and road vehicle |
| CN208593448U (en) * | 2018-06-27 | 2019-03-12 | 北京航空航天大学 | Full ground anthropomorphic robot |
| CN210175021U (en) * | 2019-07-02 | 2020-03-24 | 深圳市安信美实业有限公司 | Standby high-pressure cleaning circulating system |
| CN112849300A (en) * | 2021-01-28 | 2021-05-28 | 北京建筑大学 | Multi-mode deformable wheel type moving mechanism |
-
2023
- 2023-01-29 CN CN202310044090.3A patent/CN115848531B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES204085A1 (en) * | 1952-06-19 | 1952-09-01 | Forcada Bertran Casimiro | Safety device against failures in the automotive vehicle address (Machine-translation by Google Translate, not legally binding) |
| DE1729528U (en) * | 1954-06-28 | 1956-09-06 | F X Meiller Fahrzeug Und Masch | SPARE WHEEL CARRIERS FOR VEHICLES. |
| JPS56154285U (en) * | 1980-04-18 | 1981-11-18 | ||
| DE3843532A1 (en) * | 1988-07-02 | 1990-01-04 | Friedrich Striehl | Off-the-road and road vehicle |
| CN208593448U (en) * | 2018-06-27 | 2019-03-12 | 北京航空航天大学 | Full ground anthropomorphic robot |
| CN210175021U (en) * | 2019-07-02 | 2020-03-24 | 深圳市安信美实业有限公司 | Standby high-pressure cleaning circulating system |
| CN112849300A (en) * | 2021-01-28 | 2021-05-28 | 北京建筑大学 | Multi-mode deformable wheel type moving mechanism |
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|---|---|
| CN115848531A (en) | 2023-03-28 |
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