CN117260677B - Robot moving mechanism for long and large tunnel inspection operation - Google Patents
Robot moving mechanism for long and large tunnel inspection operation Download PDFInfo
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- CN117260677B CN117260677B CN202311555056.9A CN202311555056A CN117260677B CN 117260677 B CN117260677 B CN 117260677B CN 202311555056 A CN202311555056 A CN 202311555056A CN 117260677 B CN117260677 B CN 117260677B
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- reset
- rotary reset
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- 238000007689 inspection Methods 0.000 title claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 230000001360 synchronised effect Effects 0.000 claims abstract description 4
- 230000006835 compression Effects 0.000 claims description 23
- 238000007906 compression Methods 0.000 claims description 23
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 19
- 229910052802 copper Inorganic materials 0.000 claims description 19
- 239000010949 copper Substances 0.000 claims description 19
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 18
- 229910052782 aluminium Inorganic materials 0.000 claims description 18
- 230000001681 protective effect Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 230000000712 assembly Effects 0.000 description 4
- 238000000429 assembly Methods 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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
- B25J11/00—Manipulators not otherwise provided for
-
- 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
Abstract
The invention relates to the field of mobile robots, in particular to a robot moving mechanism for long and large tunnel inspection operation, which is characterized in that a long half shaft and a short half shaft are respectively and rotatably connected with the left end and the right end of a rotary joint support, one end of the long half shaft and one end of the short half shaft are respectively connected with travelling wheels, the other end of the long half shaft and the other end of the short half shaft are respectively and rotatably arranged on the left side and the right side of a differential mechanism frame, and synchronous rotation of the short half shaft, the differential mechanism frame and the long half shaft is realized through a bevel gear group; the motor is arranged on the rotary joint support and is connected with the differential mechanism frame through the transmission gear set; the rotary joint support is fixedly connected to one side of the turning body rotary support, the other side of the turning body rotary support is rotationally connected with one end of the travelling wheel lifting connecting frame, and the other end of the travelling wheel lifting connecting frame is fixedly connected to the robot body; one end of the rotary component mounting plate is fixedly connected to the travelling wheel lifting connecting frame, and the other end of the rotary component mounting plate is provided with a rotary reset elastic component. The invention can realize differential motion of the travelling wheels, so that the travelling wheels can avoid slipping with the guide rail when the guide rail turns.
Description
Technical Field
The invention relates to the field of mobile robots, in particular to a robot moving mechanism for long tunnel inspection operation.
Background
With the acceleration of the urban process and the growth of population, urban traffic pressure is increasing. In order to alleviate traffic congestion and improve traffic efficiency, highway tunneling is an important direction of traffic infrastructure development. Under certain geographical and geological conditions, growing tunnels is an effective way to overcome natural obstacles such as mountains, rivers, canyons, etc. The long highway tunnel is more prominent in the aspect of the operation scale and the length characteristics of the highway tunnel, is also an important link of a main network in transportation, is used as an important component of a traffic infrastructure, and needs frequent inspection to ensure the safe operation and the normal function of the long highway tunnel. The inspection of long tunnels involves several aspects including inspection of structural safety, equipment operation, ventilation systems, lighting facilities, drainage systems, and the like. However, the conventional tunnel inspection method has some difficulties and limitations, such as time and effort consumption, high safety risk, tunnel traffic interruption and the like, and the use of robot inspection instead of conventional inspection is a safe and reliable scheme. However, in the long tunnel, working conditions such as bending, climbing and the like exist, and a new challenge is provided for a moving mechanism of the inspection robot.
Disclosure of Invention
In order to meet the requirements of a long and large tunnel on a moving mechanism of a patrol robot, the invention aims to provide the moving mechanism of the robot for the patrol operation of the long and large tunnel. The moving mechanism can adapt to the bending of the moving guide rail in the tunnel, when the guide rail is bent, the moving mechanism of the robot for inspection operation deflects along with the guide rail, and the differential mechanism in the moving mechanism can realize the automatic rotation speed allocation of the wheels at the two sides, so that the wheels and the guide rail are prevented from slipping. When the vehicle returns to the straight running part, the rotary reset mechanism can realize automatic reset of the moving mechanism.
The aim of the invention is realized by the following technical scheme:
the invention comprises a differential walking wheel assembly and a rotary resetting assembly, wherein the differential walking wheel assembly comprises a left walking wheel, a motor, a rotary joint support, a long half shaft, a right walking wheel, a short half shaft, a bevel gear set, a transmission gear set and a differential mechanism frame, wherein the short half shaft and the long half shaft are respectively and rotationally connected with the left end and the right end of the rotary joint support, one end of the short half shaft is connected with the left walking wheel, one end of the long half shaft is connected with the right walking wheel, the other end of the short half shaft and the other end of the long half shaft are respectively and rotationally arranged on the left side and the right side of the differential mechanism frame, and synchronous rotation of the short half shaft, the differential mechanism frame and the long half shaft is realized through the bevel gear set; the motor is arranged on the rotary joint support, is connected with the differential mechanism frame through the transmission gear set and drives the differential mechanism frame to rotate; the rotary reset assembly comprises a turning body rotary support, a travelling wheel lifting connecting frame, a rotary assembly mounting plate and a rotary reset elastic assembly, wherein the rotary joint support is fixedly connected to one side of the turning body rotary support, the other side of the turning body rotary support is rotationally connected with one end of the travelling wheel lifting connecting frame, and the other end of the travelling wheel lifting connecting frame is fixedly connected to the robot body; one end of the rotary assembly mounting plate is fixedly connected to the travelling wheel lifting connecting frame, and the other end of the rotary assembly mounting plate is provided with a rotary reset elastic assembly which is always in abutting connection with the rotary support of the vehicle body and can reset the rotary support of the vehicle body which rotates.
Wherein: the bevel gear set is positioned inside the differential mechanism frame and comprises a differential bevel gear A, a differential bevel gear B and an intermediate bevel gear, wherein the differential bevel gear A is connected with the other end of the long half shaft, the differential bevel gear B is connected with the other end of the short half shaft, and the intermediate bevel gear is rotatably arranged on the differential mechanism frame and is respectively meshed with the differential bevel gear A and the differential bevel gear B for transmission.
The differential mechanism frame is U-shaped, two side edges of the U-shaped are respectively and rotatably connected with the other ends of the short half shaft and the long half shaft, and the middle bevel gear is rotatably arranged at the bottom edge of the U-shaped; the axial center line of the minor semi-axis is collinear with the axial center line of the major semi-axis.
The transmission gear set comprises a driving gear and a driven gear, the driving gear is connected with the output end of the motor, the driven gear is fixedly connected to the outer side face of one side, which is rotationally connected with the long half shaft, of the differential mechanism frame, the driven gear is meshed with the driving gear for transmission, and the other end of the long half shaft passes through the driven gear in a non-contact manner.
The rotary reset elastic assembly comprises a bearing, a rotary reset ejector rod, a rotary reset sleeve and a rotary compression spring, wherein the rotary reset sleeve is fixedly connected with the other end of the rotary assembly mounting plate, the rotary reset ejector rod can relatively move to penetrate through the rotary reset sleeve, one end of the rotary reset ejector rod is connected with one side of the bearing, the part of the rotary reset ejector rod, which is positioned in the rotary reset sleeve, is sleeved with the rotary compression spring, and two ends of the rotary compression spring are respectively abutted with the rotary reset ejector rod and the rotary reset sleeve; the bottom of the turning body rotary support is provided with a wedge block, the lower surface of the wedge block is a cambered surface with high middle and low two sides, and the other side of the bearing is always in rolling contact with the cambered surface.
The rotary reset sleeve comprises a rotary reset copper sleeve and a rotary reset aluminum sleeve, wherein one end of the rotary reset aluminum sleeve is provided with an opening and a rotary reset locking nut, the other end of the rotary reset aluminum sleeve is provided with a central hole for a rotary reset ejector rod to pass through, one end of the rotary reset copper sleeve is provided with an opening and an external thread, the other end of the rotary reset copper sleeve is fixedly connected with the other end of a rotary assembly mounting plate and is provided with a central hole for the rotary reset ejector rod to pass through, and one end of the rotary reset copper sleeve is in threaded connection with the rotary reset locking nut; the rotary compression spring is accommodated in a space formed by the rotary reset copper sleeve and the rotary reset aluminum sleeve, one end of the rotary compression spring is abutted to the rotary reset ejector rod, and the other end of the rotary compression spring is abutted to the inner side of the other end of the rotary reset aluminum sleeve.
The cross section of the length direction of the rotary reset top rod is in a cross shape, the cross-shaped transverse edge is positioned in the rotary reset sleeve, and the lower surface of the cross-shaped transverse edge is abutted to one end of the rotary compression spring.
The travelling wheel lifting connecting frame is connected with a turning body rotating shaft, the other side of the turning body rotating support is fixedly connected with a turning body rotating bearing seat, and the turning body rotating bearing seat is rotationally connected with the turning body rotating shaft.
The exterior of the bevel gear set, the transmission gear set and the differential mechanism frame is provided with a differential mechanism protective cover fixedly connected on the rotary joint support.
The differential protection cover is divided into an independent differential upper protection cover, an independent differential lower protection cover, an independent differential left protection cover and an independent differential right protection cover.
The invention has the advantages and positive effects that:
1. the invention adopts the differential walking wheel assembly, can realize the differential motion of the left walking wheel and the right walking wheel, and prevents the sliding between the walking wheel and the guide rail when the wall surface turns.
2. The invention adopts a rotary reset component to provide an active reset acting force for the differential walking wheel component.
3. The invention utilizes one motor to drive two travelling wheels, so that the number of the motors can be reduced, the dead weight of the robot can be reduced, and the cost can be saved.
4. The invention aims at the inspection robot of the long highway tunnel, and can improve the moving performance of the inspection robot.
Drawings
FIG. 1 is a schematic view of a robot-mounted structure according to the present invention;
FIG. 2 is a schematic view of the differential travel wheel assembly of the present invention;
FIG. 3 is an enlarged view of a portion of the differential of FIG. 2 near one end of the left road wheel with the protective cover removed;
FIG. 4 is a schematic diagram of a swing reset assembly according to the present invention;
FIG. 5 is a schematic perspective view of the swing return spring assembly of FIG. 4;
FIG. 6 is a cross-sectional view of the swing return spring assembly of FIG. 4;
wherein: 1 is a differential walking wheel assembly, 101 is a left walking wheel, 102 is a differential upper protection cover, 103 is a motor, 104 is a rotary joint support, 105 is a long half shaft, 106 is a right walking wheel, 107 is a differential right protection cover, 108 is a differential lower protection cover, 109 is a differential left protection cover, 120 is a differential support frame, 121 is a short half shaft, 122 is a differential bevel gear A,123 is a driving gear, 124 is a differential motor support frame, 125 is a driven gear, 126 is a middle bevel gear, 127 is a differential support, and 128 is a differential bevel gear B;
2 is a rotary reset assembly, 201 is a rotary support of a vehicle body, 202 is a rotary shaft of the vehicle body, 203 is a rotary bearing seat of the vehicle body, 204 is a travelling wheel lifting connecting frame, 205 is a rotary assembly mounting plate, 206 is a rotary reset elastic assembly, 2061 is a bearing, 2062 is a rotary reset ejector rod, 2063 is a rotary reset copper sleeve, 2064 is a rotary reset lock nut, 2065 is a rotary reset aluminum sleeve, 2066 is a rotary compression spring, and 207 is a wedge;
3 is a guide rail, and 4 is a robot body.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1, the invention provides a robot moving mechanism for long and large tunnel inspection operation, which comprises a differential walking wheel assembly 1 and a rotary reset assembly 2, wherein a group of differential walking wheel assemblies 1 and rotary reset assemblies 2 are respectively arranged on the front side and the rear side of the moving direction of a robot body 4, the robot body 4 is fixedly connected with the rotary reset assembly 2 through bolts, the differential walking wheel assemblies 1 are fixedly connected with the rotary reset assembly 2 through bolts, and the differential walking wheel assemblies 1 are in contact with a guide rail 3.
As shown in fig. 1, 2 and 3, the differential walking wheel assembly 1 of the present embodiment includes a left walking wheel 101, a motor 103, a rotary joint support 104, a long half shaft 105, a right walking wheel 106, a short half shaft 121, a bevel gear set, a transmission gear set and a differential gear frame 127, the short half shaft 121 and the long half shaft 105 are respectively rotationally connected with the left and right ends of the rotary joint support 104, one end of the short half shaft 121 is connected with the left walking wheel 101, one end of the long half shaft 105 is connected with the right walking wheel 106, the other end of the short half shaft 121 and the other end of the long half shaft 105 are respectively rotationally installed on the left and right sides of the differential gear frame 127, and synchronous rotation of the short half shaft 121, the differential gear frame 127 and the long half shaft 105 is realized through the bevel gear set; the motor 103 is mounted on the rotary joint support 104 through a differential motor support 124, and is connected with the differential frame 127 through a transmission gear set to drive the differential frame 127 to rotate.
The rotary joint support 104 of the embodiment is flat plate-shaped, two ends of the rotary joint support are respectively fixedly connected with a differential support frame 120 through bolts, and a short half shaft 121 and a long half shaft 105 are respectively rotatably arranged on the differential support frames 120 at the two ends.
The differential gear frame 127 of this embodiment is "U" shaped, copper sheathing is installed respectively to "U" shape both sides limit, and the other end of minor axis 121, major axis 105 passes through the copper sheathing and rotates with "U" shape both sides limit to be connected, and the other end of minor axis 121, major axis 105 penetrates in differential gear frame 127 respectively by "U" shape both sides limit, and the axial central line of minor axis 121 and the axial central line collineation of major axis 105.
The bevel gear set of this embodiment is located inside the differential gear frame 127, and includes a differential bevel gear a122, a differential bevel gear B128 and an intermediate bevel gear 126, where the differential bevel gear a122 is connected to the other end of the long half shaft 105, the differential bevel gear B128 is connected to the other end of the short half shaft 121, and the intermediate bevel gear 126 is rotatably installed at the bottom edge of the "u" shape of the differential gear frame 127, and is meshed with the differential bevel gear a122 and the differential bevel gear B128 respectively for transmission.
The driving gear set of this embodiment includes a driving gear 123 and a driven gear 125, the driving gear 123 is connected with the output end of the motor 103, the driven gear 125 is fixedly connected to the outer side surface of the side where the differential gear rack 127 is rotationally connected with the long half shaft 105 through a bolt, and is meshed with the driving gear 125 for driving, and the other end of the long half shaft 105 passes through the driven gear 125 without contact.
The outer parts of the bevel gear set, the transmission gear set and the differential gear frame 127 are provided with differential gear protecting covers fixedly connected to the rotary joint support 104, and the differential gear protecting covers are divided into an independent differential gear upper protecting cover 102, a differential gear lower protecting cover 108, a differential gear left protecting cover 109 and a differential gear right protecting cover 107, so that the bevel gear set, the transmission gear set and the differential gear frame 127 are enclosed.
As shown in fig. 1 and 4, the rotary reset assembly 2 of the present embodiment includes a vehicle body rotary support 201, a travelling wheel lifting connection frame 204, a rotary assembly mounting plate 205 and a rotary reset elastic assembly 206, wherein the rotary joint support 104 is fixedly connected to one side of the vehicle body rotary support 201, the other side of the vehicle body rotary support 201 is rotatably connected with one end of the travelling wheel lifting connection frame 204, and the other end of the travelling wheel lifting connection frame 204 is fixedly connected to the robot body 4 through a bolt; one end of the rotating assembly mounting plate 205 is fixedly connected to the travelling wheel lifting connecting frame 204, and the other end of the rotating assembly mounting plate 205 is provided with a rotating reset elastic assembly 206 which is always in contact with the rotating body rotating support 201 and can reset the rotating body rotating support 201.
One end of the travelling wheel lifting connecting frame 204 in the embodiment is connected with a turning body rotating shaft 202 in a threaded manner, the other side of the turning body rotating support 201 is fixedly connected with a turning body rotating bearing seat 203, and the turning body rotating bearing seat 203 is rotationally connected with the turning body rotating shaft 202.
As shown in fig. 1 and fig. 4 to 6, the rotary reset elastic assembly 206 of the present embodiment includes a bearing 2061, a rotary reset jack 2062, a rotary reset sleeve and a rotary compression spring 2066, the rotary reset sleeve is fixedly connected to the other end of the rotary assembly mounting plate 205, the rotary reset jack 2062 relatively movably passes through the rotary reset sleeve, and a part of the rotary reset jack 2062 located in the rotary reset sleeve is sleeved with the rotary compression spring 2066.
The rotary reset sleeve of this embodiment includes a rotary reset copper sleeve 2063 and a rotary reset aluminum sleeve 2065, one end of the rotary reset aluminum sleeve 2065 is opened and provided with a rotary reset lock nut 2064, the other end of the rotary reset aluminum sleeve 2065 is provided with a central hole for the rotary reset push rod 2062 to pass through, one end of the rotary reset copper sleeve 2063 is opened and provided with an external thread, the other end of the rotary reset copper sleeve 2063 is fixedly connected with the other end of the rotary assembly mounting plate 205 and provided with a central hole for the rotary reset push rod 2062 to pass through, and one end of the rotary reset copper sleeve 2063 is in threaded connection with the rotary reset lock nut 2064.
In this embodiment, the cross section of the return jack 2062 in the longitudinal direction is in a cross shape, the transverse side of the cross shape and the return compression spring 2066 are both accommodated in the space formed by the return copper sleeve 2063 and the return aluminum sleeve 2065, one end of the return compression spring 2066 is in contact with the lower surface of the transverse side of the cross shape of the return jack 2062, and the other end of the return compression spring 2066 is in contact with the inner side of the other end of the return aluminum sleeve 2065. One end of the cross-shaped vertical edge of the rotary reset ejector rod 2062 penetrates through the central hole at the other end of the rotary reset copper sleeve 2063 and is connected with one side of the bearing 2061, and the other end of the cross-shaped vertical edge of the rotary reset ejector rod 2062 is inserted into the central hole at the other end of the rotary reset aluminum sleeve 2065.
In this embodiment, a wedge block 207 is provided at the bottom of the turning body slewing bearing 201, the lower surface of the wedge block 207 is a cambered surface with a high middle and low two sides, and the other side of the bearing 2061 is always in rolling contact with the cambered surface.
The working principle of the invention is as follows:
when the guide rail 3 is not bent, the motor 103 works to drive the driving gear 123 to rotate, and the differential gear rack 127 is driven to rotate through the meshing transmission of the driving gear 123 and the driven gear 125; the middle bevel gear 126 on the differential gear frame 127 rotates along with the differential gear frame 127 (but the middle bevel gear 126 does not rotate), and the short half shaft 121 and the long half shaft 105 are driven to synchronously rotate at the same speed through the meshing of the middle bevel gear 126, the differential bevel gear A122 and the differential bevel gear B128, so that the left travelling wheel 101 and the right travelling wheel 106 travel on the guide rail 3. Since the guide rail 3 is not bent, the swivel support 201 of the car body is not rotated, the bearing 2061 in the swivel return elastic assembly 206 is abutted with the middle of the arc surface of the wedge block 207, and the swivel compression spring 2066 is not compressed.
When the guide rail 3 is bent, the rotation speeds of the left traveling wheel 101 and the right traveling wheel 106 are different, the rotation speeds of the differential bevel gear A122 and the differential bevel gear B128 are inconsistent, the middle bevel gear 126 starts to rotate, so that the rotation speed difference is generated between the left traveling wheel 101 and the right traveling wheel 106, and the left traveling wheel 101 and the right traveling wheel 106 can be prevented from slipping on the guide rail 3. When the differential traveling wheel assembly 1 turns to adapt to the bending of the guide rail 3, the turning body rotary support 201 is driven to rotate, and then the wedge block 207 is driven to rotate; when the wedge 207 rotates, the contact position of the cambered surface and the bearing 2061 rolls from the middle to one side, the bearing 2061 and the rotary reset ejector rod 2062 compress the rotary compression spring 2066, and an acting force in a direction away from the rotary reset aluminum sleeve 2065 is applied to the rotary reset ejector rod 2062, namely an acting force for returning the rotary support 201 of the vehicle body to the middle position of the cambered surface is generated. When the guide rail 3 is not bent any more, the vehicle body swivel support 201 drives the differential traveling wheel assembly 1 to reset under the action of the swivel compression spring 2066.
Claims (8)
1. The utility model provides a robot moving mechanism towards long and large tunnel inspection operation which characterized in that: the differential walking wheel assembly (1) comprises a left walking wheel (101), a motor (103), a rotary joint support (104), a long half shaft (105), a right walking wheel (106), a short half shaft (121), a bevel gear set, a transmission gear set and a differential mechanism frame (127), wherein the short half shaft (121) and the long half shaft (105) are respectively and rotationally connected with the left end and the right end of the rotary joint support (104), one end of the short half shaft (121) is connected with the left walking wheel (101), one end of the long half shaft (105) is connected with the right walking wheel (106), the other end of the short half shaft (121) and the other end of the long half shaft (105) are respectively and rotationally installed on the left side and the right side of the differential mechanism frame (127), and synchronous rotation of the short half shaft (121), the differential mechanism frame (127) and the long half shaft (105) is realized through the bevel gear set; the motor (103) is arranged on the rotary joint support (104) and is connected with the differential mechanism frame (127) through the transmission gear set to drive the differential mechanism frame (127) to rotate; the rotary reset assembly (2) comprises a turning body rotary support (201), a travelling wheel lifting connecting frame (204), a rotary assembly mounting plate (205) and a rotary reset elastic assembly (206), wherein the rotary joint support (104) is fixedly connected to one side of the turning body rotary support (201), the other side of the turning body rotary support (201) is rotatably connected with one end of the travelling wheel lifting connecting frame (204), and the other end of the travelling wheel lifting connecting frame (204) is fixedly connected to the robot body (4); one end of the rotary assembly mounting plate (205) is fixedly connected to the travelling wheel lifting connecting frame (204), and the other end of the rotary assembly mounting plate (205) is provided with a rotary reset elastic assembly (206) which is always in contact with the rotary support (201) of the turning body and can reset the rotary support (201) of the turning body;
the rotary reset elastic assembly (206) comprises a bearing (2061), a rotary reset ejector rod (2062), a rotary reset sleeve and a rotary compression spring (2066), wherein the rotary reset sleeve is fixedly connected with the other end of the rotary assembly mounting plate (205), the rotary reset ejector rod (2062) can relatively movably penetrate through the rotary reset sleeve, one end of the rotary reset ejector rod (2062) is connected with one side of the bearing (2061), a part of the rotary reset ejector rod (2062) positioned in the rotary reset sleeve is sleeved with the rotary compression spring (2066), and two ends of the rotary compression spring (2066) are respectively abutted with the rotary reset ejector rod (2062) and the rotary reset sleeve; the bottom of the turning body slewing bearing (201) is provided with a wedge block (207), the lower surface of the wedge block (207) is a cambered surface with a high middle and low two sides, and the other side of the bearing (2061) is always in rolling contact with the cambered surface;
the travelling wheel lifting connecting frame (204) is connected with a turning body rotating shaft (202), the other side of the turning body rotating support (201) is fixedly connected with a turning body rotating bearing seat (203), and the turning body rotating bearing seat (203) is rotationally connected with the turning body rotating shaft (202).
2. The robotic movement mechanism for long tunnel inspection operations of claim 1, wherein: the bevel gear set is located inside the differential mechanism frame (127), and comprises a differential bevel gear A (122), a differential bevel gear B (128) and an intermediate bevel gear (126), wherein the differential bevel gear A (122) is connected with the other end of the long half shaft (105), the differential bevel gear B (128) is connected with the other end of the short half shaft (121), and the intermediate bevel gear (126) is rotatably installed on the differential mechanism frame (127) and is respectively meshed with the differential bevel gear A (122) and the differential bevel gear B (128) for transmission.
3. The robotic movement mechanism for long tunnel inspection operations of claim 2, wherein: the differential mechanism frame (127) is U-shaped, two side edges of the U-shaped are respectively and rotatably connected with the other ends of the short half shaft (121) and the long half shaft (105), and the middle bevel gear (126) is rotatably arranged at the bottom edge of the U-shaped; the axial centerline of the minor semi-axis (121) is collinear with the axial centerline of the major semi-axis (105).
4. The robotic movement mechanism for long tunnel inspection operations of claim 1, wherein: the transmission gear set comprises a driving gear (123) and a driven gear (125), the driving gear (123) is connected with the output end of the motor (103), the driven gear (125) is fixedly connected to the outer side face of one side of the differential mechanism frame (127) which is rotationally connected with the long half shaft (105), the driven gear is meshed with the driving gear (123) for transmission, and the other end of the long half shaft (105) passes through the driven gear (125) in a non-contact manner.
5. The robotic movement mechanism for long tunnel inspection operations of claim 1, wherein: the rotary reset sleeve comprises a rotary reset copper sleeve (2063) and a rotary reset aluminum sleeve (2065), one end of the rotary reset aluminum sleeve (2065) is provided with an opening and is provided with a rotary reset lock nut (2064), the other end of the rotary reset aluminum sleeve (2065) is provided with a central hole for a rotary reset ejector rod (2062) to pass through, one end of the rotary reset copper sleeve (2063) is provided with an opening and is provided with an external thread, the other end of the rotary reset copper sleeve (2063) is fixedly connected with the other end of a rotary assembly mounting plate (205) and is provided with a central hole for the rotary reset ejector rod (2062) to pass through, and one end of the rotary reset copper sleeve (2063) is in threaded connection with the rotary reset lock nut (2064); the rotary compression spring (2066) is accommodated in a space formed by the rotary reset copper sleeve (2063) and the rotary reset aluminum sleeve (2065), one end of the rotary compression spring (2066) is abutted against the rotary reset ejector rod (2062), and the other end of the rotary compression spring (2066) is abutted against the inner side of the other end of the rotary reset aluminum sleeve (2065).
6. The robotic movement mechanism for long tunnel inspection operations of claim 1, wherein: the cross section of the length direction of the rotary reset ejector rod (2062) is in a cross shape, the transverse edge of the cross shape is positioned in the rotary reset sleeve, and the lower surface of the transverse edge of the cross shape is abutted with one end of the rotary compression spring (2066).
7. The robotic movement mechanism for long tunnel inspection operations of claim 1, wherein: the exterior of the bevel gear set, the transmission gear set and the differential mechanism frame (127) is provided with a differential mechanism protective cover fixedly connected on the rotary joint support (104).
8. The robotic movement mechanism for long tunnel inspection operations of claim 7, wherein: the differential protection cover is divided into an independent differential upper protection cover (102), a differential lower protection cover (108), a differential left protection cover (109) and a differential right protection cover (107).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311555056.9A CN117260677B (en) | 2023-11-21 | 2023-11-21 | Robot moving mechanism for long and large tunnel inspection operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311555056.9A CN117260677B (en) | 2023-11-21 | 2023-11-21 | Robot moving mechanism for long and large tunnel inspection operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117260677A CN117260677A (en) | 2023-12-22 |
| CN117260677B true CN117260677B (en) | 2024-02-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311555056.9A Active CN117260677B (en) | 2023-11-21 | 2023-11-21 | Robot moving mechanism for long and large tunnel inspection operation |
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| CN210476940U (en) * | 2019-06-28 | 2020-05-08 | 天津市三源电力设备制造有限公司 | Charging station track robot |
| CN111267127A (en) * | 2020-02-24 | 2020-06-12 | 陕西科技大学 | Multifunctional intelligent distribution robot |
| CN216859748U (en) * | 2022-03-09 | 2022-07-01 | 扬州大学 | Suspension type inspection robot remotely controlled through Internet of things |
| CN218257707U (en) * | 2022-11-07 | 2023-01-10 | 深圳极创机器人科技有限公司 | Driving device of transfer robot |
-
2023
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| DE102010024619A1 (en) * | 2010-06-22 | 2011-12-22 | Volkswagen Ag | Differential gear has differential housing and two axle shaft gear wheels, which are coaxially arranged in differential housing, where adjusting force element is provided, which is supported on axle bolt |
| US8894117B1 (en) * | 2013-12-03 | 2014-11-25 | Korea Institute Of Science And Technology | Robot finger driving module using differential gear characteristics and robot hand including the same |
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| CN210476940U (en) * | 2019-06-28 | 2020-05-08 | 天津市三源电力设备制造有限公司 | Charging station track robot |
| CN111267127A (en) * | 2020-02-24 | 2020-06-12 | 陕西科技大学 | Multifunctional intelligent distribution robot |
| CN216859748U (en) * | 2022-03-09 | 2022-07-01 | 扬州大学 | Suspension type inspection robot remotely controlled through Internet of things |
| CN218257707U (en) * | 2022-11-07 | 2023-01-10 | 深圳极创机器人科技有限公司 | Driving device of transfer robot |
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| CN117260677A (en) | 2023-12-22 |
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