CN203666389U - Inspection robot and walking mechanism of inspection robot - Google Patents

Inspection robot and walking mechanism of inspection robot Download PDF

Info

Publication number
CN203666389U
CN203666389U CN201320812939.9U CN201320812939U CN203666389U CN 203666389 U CN203666389 U CN 203666389U CN 201320812939 U CN201320812939 U CN 201320812939U CN 203666389 U CN203666389 U CN 203666389U
Authority
CN
China
Prior art keywords
transmission shaft
gear
deep groove
groove ball
ball bearing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn - After Issue
Application number
CN201320812939.9U
Other languages
Chinese (zh)
Inventor
张弛
陈水耀
章建欢
任宏
严朝阳
夏喆
林阿斌
吴米佳
邢佳磊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
State Grid Corp of China SGCC
State Grid Zhejiang Electric Power Co Ltd
Zhejiang Guozi Robot Technology Co Ltd
Maintenance Branch of State Grid Zhejiang Electric Power Co Ltd
Original Assignee
State Grid Corp of China SGCC
State Grid Zhejiang Electric Power Co Ltd
Zhejiang Guozi Robot Technology Co Ltd
Maintenance Branch of State Grid Zhejiang Electric Power Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by State Grid Corp of China SGCC, State Grid Zhejiang Electric Power Co Ltd, Zhejiang Guozi Robot Technology Co Ltd, Maintenance Branch of State Grid Zhejiang Electric Power Co Ltd filed Critical State Grid Corp of China SGCC
Priority to CN201320812939.9U priority Critical patent/CN203666389U/en
Application granted granted Critical
Publication of CN203666389U publication Critical patent/CN203666389U/en
Withdrawn - After Issue legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The utility model discloses a walking mechanism. The middle of a transmission shaft of the walking mechanism is coaxially sleeved with a bearing base and a reducer, a motor reducer is parallel to one side of the transmission shaft, the output end of the motor reducer is provided with a first gear coaxially linked with the motor reducer, and the transmission shaft is coaxially sleeved with a second gear meshed with the first gear; the middle of the transmission shaft is respectively and coaxially sleeved with a first tapered roller bearing matched with the bearing base, and the inner end of the transmission is coaxially sleeved with a second tapered roller bearing; the middle of the transmission shaft is respectively and coaxially sleeved with a first deep groove ball bearing matched with the bearing base and a second deep groove ball bearing matched with an outer end plate of the reducer, and the inner end of the transmission shaft is respectively and coaxially sleeved with a third deep groove ball bearing and a fourth deep groove ball bearing which are matched with an inner end plate of the reducer. By means of the walking mechanism, an inspection robot can flexibly steer and move. The utility model further discloses the inspection robot with the walking mechanism.

Description

Crusing robot and traveling gear thereof
Technical field
The utility model relates to crusing robot accessory technical field, particularly a kind of traveling gear.The utility model also relates to a kind of crusing robot of this traveling gear of application.
Background technology
In current network system, crusing robot is a kind of comparatively common telemetry equipment of patrolling and examining, and traveling gear, as main structural constituent, has played vital effect to the overall work effect of crusing robot.And along with producing and the improving constantly of user demand, people also have higher requirement to the performance of traveling gear.
Current existing crusing robot, its traveling gear conventionally adopts simple motor to coordinate retarder and outputs power to the type of drive of wheel, although this kind of type of drive can meet the groundwork needs of crusing robot, but its turn to moving direction on all exist moment of torsion to export not enough phenomenon, in working process, to realize freely advance, retreat and steering operation difficulty larger, especially under high load condition, it turns to mobile operating more difficult.
Therefore, how to make crusing robot turn to and movement is the important technological problems that those skilled in the art need to solve at present more flexibly.
Utility model content
The purpose of this utility model is to provide a kind of traveling gear, and this traveling gear can make turning to of crusing robot and mobile more flexible.Another object of the present utility model is to provide a kind of crusing robot of applying above-mentioned traveling gear.
For solving the problems of the technologies described above, the utility model provides a kind of traveling gear, comprise transmission shaft, the outer end coaxial sleeve of described transmission shaft is equipped with wheel hub, the peripheral part coaxial sleeve of described wheel hub is equipped with tire, the middle part coaxial sleeve of described transmission shaft is equipped with bearing seat and drop-gear box, one side of described transmission shaft is arranged with motor reducer in parallel, the mouth of described motor reducer is provided with the first gear with its coaxial linkage, and on described transmission shaft, coaxial sleeve is equipped with the second gear being meshed with described the first gear;
The middle part coaxial sleeve of described transmission shaft is equipped with first tapered roller bearing suitable with described bearing seat, and the inner end coaxial sleeve of described transmission shaft is equipped with the second tapered roller bearing;
The middle part of described transmission shaft respectively coaxial sleeve be equipped with first deep groove ball bearing suitable with described bearing seat, with suitable the second deep groove ball bearing of the outer end plate of described drop-gear box, the inner end of described transmission shaft respectively coaxial package has three deep groove ball bearing suitable with the inner end plate of described drop-gear box and the 4th deep groove ball bearing, and described the 3rd deep groove ball bearing and described the 4th deep groove ball bearing are respectively along the both sides of the inner end plate that is axially positioned at described drop-gear box of described transmission shaft.
Preferably, the mouth coaxial sleeve of described motor reducer is equipped with the first abutment sleeve matching with described the first gear.
Preferably, the middle part coaxial sleeve of described transmission shaft is equipped with the second abutment sleeve matching with described the second gear.
Preferably, between described transmission shaft and described wheel hub, be connected by spline.
Preferably, described tire is band tyre.
The utility model also provides a kind of crusing robot, comprises chassis, is provided with the motor and the traveling gear that cooperatively interact on described chassis, and described traveling gear is specially the traveling gear as described in above-mentioned any one.
Above-mentioned background technology relatively, traveling gear provided by the utility model, comprise transmission shaft, the outer end coaxial sleeve of described transmission shaft is equipped with wheel hub, the peripheral part coaxial sleeve of described wheel hub is equipped with tire, the middle part coaxial sleeve of described transmission shaft is equipped with bearing seat and drop-gear box, one side of described transmission shaft is arranged with motor reducer in parallel, the mouth of described motor reducer is provided with the first gear with its coaxial linkage, and on described transmission shaft, coaxial sleeve is equipped with the second gear being meshed with described the first gear; The middle part coaxial sleeve of described transmission shaft is equipped with first tapered roller bearing suitable with described bearing seat, and the inner end coaxial sleeve of described transmission shaft is equipped with the second tapered roller bearing; The middle part of described transmission shaft respectively coaxial sleeve be equipped with first deep groove ball bearing suitable with described bearing seat, with suitable the second deep groove ball bearing of the outer end plate of described drop-gear box, the inner end of described transmission shaft respectively coaxial package has three deep groove ball bearing suitable with the inner end plate of described drop-gear box and the 4th deep groove ball bearing, and described the 3rd deep groove ball bearing and described the 4th deep groove ball bearing are respectively along the both sides of the inner end plate that is axially positioned at described drop-gear box of described transmission shaft.In working process, described the first tapered roller bearing and described the second tapered roller bearing can significantly improve the steering torque output of described traveling gear, thereby make the whole steering procedure accurate and flexible more of crusing robot; Simultaneously, described the first deep groove ball bearing, described the second deep groove ball bearing, described the 3rd deep groove ball bearing, described the 4th deep groove ball bearing can significantly improve the moment of torsion output on the moving direction of described traveling gear, thereby make the whole moving process of crusing robot more flexible.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only embodiment more of the present utility model, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
The mounting structure schematic diagram of the traveling gear that Fig. 1 provides for a kind of specific embodiment of the utility model;
The mounting structure schematic diagram of the chassis portion of the crusing robot that Fig. 2 provides for a kind of specific embodiment of the utility model.
The specific embodiment
Core of the present utility model is to provide a kind of traveling gear, and this traveling gear can make turning to of crusing robot and mobile more flexible; Meanwhile, provide a kind of crusing robot of applying above-mentioned traveling gear.
In order to make those skilled in the art person understand better the utility model scheme, below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
Please refer to Fig. 1, the mounting structure schematic diagram of the traveling gear that Fig. 1 provides for a kind of specific embodiment of the utility model.
In the specific embodiment, traveling gear provided by the utility model, comprise transmission shaft 11, the outer end coaxial sleeve of transmission shaft 11 is equipped with wheel hub 12, the peripheral part coaxial sleeve of wheel hub 12 is equipped with tire 13, the middle part coaxial sleeve of transmission shaft 11 is equipped with bearing seat 14 and drop-gear box, one side of transmission shaft 11 is arranged with motor reducer 15 in parallel, the mouth of motor reducer 15 is provided with the first gear 161 with its coaxial linkage, and on transmission shaft 11, coaxial sleeve is equipped with the second gear 162 being meshed with the first gear 161; The middle part coaxial sleeve of transmission shaft 11 is equipped with first tapered roller bearing 171 suitable with bearing seat 14, and the inner end coaxial sleeve of transmission shaft 11 is equipped with the second tapered roller bearing 172; The middle part of transmission shaft 11 respectively coaxial sleeve be equipped with first deep groove ball bearing 173 suitable with bearing seat 14, with suitable the second deep groove ball bearing 174 of the outer end plate 191 of drop-gear box, the inner end of transmission shaft 11 respectively coaxial package has three deep groove ball bearing 175 suitable with the inner end plate 192 of drop-gear box and the 4th deep groove ball bearing 176, and the 3rd deep groove ball bearing 175 and the 4th deep groove ball bearing 176 are respectively along the both sides of the inner end plate that is axially positioned at drop-gear box 192 of transmission shaft 11.In working process, the first tapered roller bearing 171 and the second tapered roller bearing 172 can significantly improve the steering torque output of described traveling gear, thereby make the whole steering procedure accurate and flexible more of crusing robot; Simultaneously, the first deep groove ball bearing 173, the second deep groove ball bearing 174, the 3rd deep groove ball bearing 175, the 4th deep groove ball bearing 176 can significantly improve the moment of torsion output on the moving direction of described traveling gear, thereby make the whole moving process of crusing robot more flexible.
Further, the mouth coaxial sleeve of motor reducer 15 is equipped with the first abutment sleeve 181 matching with the first gear 161.This first abutment sleeve 181 can guarantee the relative rigging position between the first gear 161 and relevant related parts thereof, thereby makes the overall drive mechanism of described traveling gear more reliable and more stable.
More specifically, the middle part coaxial sleeve of transmission shaft 11 is equipped with the second abutment sleeve 182 matching with the second gear 162.This second abutment sleeve 182 can guarantee the relative rigging position between the second gear 162 and relevant related parts thereof, thereby makes the overall drive mechanism of described traveling gear more reliable and more stable.
On the other hand, between transmission shaft 11 and wheel hub 12, be connected by spline 111.The mounting structure of this kind of spline joint is comparatively simple and reliable, and its driving efficiency is higher.Certainly, the type of attachment between this transmission shaft 11 and wheel hub 12 is not limited to the spline joint shown in figure, as long as the actual use needs that can meet described traveling gear all can.
In addition, tire 13 is band tyre.The wear resisting property of this kind of band tyre is better, and it is simple and reliable for structure, can make the integral structure reliability of described traveling gear and be able to corresponding raising service life.It should be pointed out that above-mentioned tire 13 is that band tyre is only preferred version, it is not limited to the band tyre shown in figure, as long as the actual use needs that can meet described traveling gear all can.
Please refer to Fig. 2, the mounting structure schematic diagram of the chassis portion of the crusing robot that Fig. 2 provides for a kind of specific embodiment of the utility model.
In the specific embodiment, crusing robot provided by the utility model, comprises chassis 21, is provided with the motor 22 and the traveling gear 23 that cooperatively interact on chassis 21, and traveling gear 23 is specially the traveling gear as described in each embodiment above.Described crusing robot turn to and mobile comparatively flexible.
In summary, the traveling gear providing in the utility model, comprise transmission shaft, the outer end coaxial sleeve of described transmission shaft is equipped with wheel hub, the peripheral part coaxial sleeve of described wheel hub is equipped with tire, and the middle part coaxial sleeve of described transmission shaft is equipped with bearing seat and drop-gear box, and a side of described transmission shaft is arranged with motor reducer in parallel, the mouth of described motor reducer is provided with the first gear with its coaxial linkage, and on described transmission shaft, coaxial sleeve is equipped with the second gear being meshed with described the first gear; The middle part coaxial sleeve of described transmission shaft is equipped with first tapered roller bearing suitable with described bearing seat, and the inner end coaxial sleeve of described transmission shaft is equipped with the second tapered roller bearing; The middle part of described transmission shaft respectively coaxial sleeve be equipped with first deep groove ball bearing suitable with described bearing seat, with suitable the second deep groove ball bearing of the outer end plate of described drop-gear box, the inner end of described transmission shaft respectively coaxial package has three deep groove ball bearing suitable with the inner end plate of described drop-gear box and the 4th deep groove ball bearing, and described the 3rd deep groove ball bearing and described the 4th deep groove ball bearing are respectively along the both sides of the inner end plate that is axially positioned at described drop-gear box of described transmission shaft.In working process, described the first tapered roller bearing and described the second tapered roller bearing can significantly improve the steering torque output of described traveling gear, thereby make the whole steering procedure accurate and flexible more of crusing robot; Simultaneously, described the first deep groove ball bearing, described the second deep groove ball bearing, described the 3rd deep groove ball bearing, described the 4th deep groove ball bearing can significantly improve the moment of torsion output on the moving direction of described traveling gear, thereby make the whole moving process of crusing robot more flexible.
In addition, the crusing robot of the above-mentioned traveling gear of application provided by the utility model, it turns to and moves comparatively flexible.
Above traveling gear provided by the utility model and the crusing robot of applying this traveling gear are described in detail.Applied specific case herein principle of the present utility model and embodiment are set forth, the explanation of above embodiment is just for helping to understand method of the present utility model and core concept thereof.Should be understood that; for those skilled in the art; do not departing under the prerequisite of the utility model principle, can also carry out some improvement and modification to the utility model, these improvement and modification also fall in the protection domain of the utility model claim.

Claims (6)

1. a traveling gear, it is characterized in that: comprise transmission shaft, the outer end coaxial sleeve of described transmission shaft is equipped with wheel hub, the peripheral part coaxial sleeve of described wheel hub is equipped with tire, the middle part coaxial sleeve of described transmission shaft is equipped with bearing seat and drop-gear box, one side of described transmission shaft is arranged with motor reducer in parallel, and the mouth of described motor reducer is provided with the first gear with its coaxial linkage, and on described transmission shaft, coaxial sleeve is equipped with the second gear being meshed with described the first gear;
The middle part coaxial sleeve of described transmission shaft is equipped with first tapered roller bearing suitable with described bearing seat, and the inner end coaxial sleeve of described transmission shaft is equipped with the second tapered roller bearing;
The middle part of described transmission shaft respectively coaxial sleeve be equipped with first deep groove ball bearing suitable with described bearing seat, with suitable the second deep groove ball bearing of the outer end plate of described drop-gear box, the inner end of described transmission shaft respectively coaxial package has three deep groove ball bearing suitable with the inner end plate of described drop-gear box and the 4th deep groove ball bearing, and described the 3rd deep groove ball bearing and described the 4th deep groove ball bearing are respectively along the both sides of the inner end plate that is axially positioned at described drop-gear box of described transmission shaft.
2. traveling gear as claimed in claim 1, is characterized in that: the mouth coaxial sleeve of described motor reducer is equipped with the first abutment sleeve matching with described the first gear.
3. traveling gear as claimed in claim 1, is characterized in that: the middle part coaxial sleeve of described transmission shaft is equipped with the second abutment sleeve matching with described the second gear.
4. traveling gear as claimed in claim 1, is characterized in that: between described transmission shaft and described wheel hub, be connected by spline.
5. traveling gear as claimed in claim 1, is characterized in that: described tire is band tyre.
6. a crusing robot, comprises chassis, is provided with the motor and the traveling gear that cooperatively interact on described chassis, it is characterized in that: described traveling gear is specially the traveling gear as described in any one in claim 1 to 5.
CN201320812939.9U 2013-12-10 2013-12-10 Inspection robot and walking mechanism of inspection robot Withdrawn - After Issue CN203666389U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320812939.9U CN203666389U (en) 2013-12-10 2013-12-10 Inspection robot and walking mechanism of inspection robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201320812939.9U CN203666389U (en) 2013-12-10 2013-12-10 Inspection robot and walking mechanism of inspection robot

Publications (1)

Publication Number Publication Date
CN203666389U true CN203666389U (en) 2014-06-25

Family

ID=50962712

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201320812939.9U Withdrawn - After Issue CN203666389U (en) 2013-12-10 2013-12-10 Inspection robot and walking mechanism of inspection robot

Country Status (1)

Country Link
CN (1) CN203666389U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103612559A (en) * 2013-12-10 2014-03-05 国家电网公司 Route inspection robot and walking mechanism thereof

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103612559A (en) * 2013-12-10 2014-03-05 国家电网公司 Route inspection robot and walking mechanism thereof
CN103612559B (en) * 2013-12-10 2015-10-21 国家电网公司 Crusing robot and traveling gear thereof

Similar Documents

Publication Publication Date Title
CN203666388U (en) Inspection robot and walking mechanism of inspection robot
CN203666389U (en) Inspection robot and walking mechanism of inspection robot
CN204057714U (en) A kind of walking dolly and use the electric block of this walking dolly
CN103612559B (en) Crusing robot and traveling gear thereof
CN203496892U (en) Connecting structure between gearbox and wheel set of low floor vehicle
CN203666387U (en) Inspection robot and walking mechanism of inspection robot
CN204415182U (en) A kind of railless electric flatcar
CN203372232U (en) 100% low floor independent wheel power truck single motor coaxial two-wheel synchronous driving mechanism
CN203293891U (en) Tyre-type running device of crane
CN203581081U (en) Automotive full-circle steering mechanism
CN204137291U (en) Double driving bicycle
CN203864695U (en) Wheel set and hollow shaft driving device for traction motor tests
CN203469463U (en) Rear wheel driving mechanism of steerable three-wheel carbon-free trolley driven through energy conversion
CN202848883U (en) Connecting device of double-beam bridge type crane trolley walking mechanism
CN103567753A (en) Reversible speed reducer assembling trolley
CN203126523U (en) Power driving system for forklift
CN203327504U (en) Steering mechanism
CN203143942U (en) Track type crane and operation mechanism thereof
CN205401630U (en) Multiaxis drive mechanism
CN203629811U (en) Flexible pipe flexing testing machine
CN202431841U (en) Gear shaft and shaft mechanism for speed reducer
CN209739148U (en) Novel driving steering device of transformer substation inspection robot
CN202646625U (en) Transmission device of winding machine
CN202294280U (en) Driving device of electric vehicle
CN204607414U (en) A kind of actuating device of belt lacing case

Legal Events

Date Code Title Description
GR01 Patent grant
C14 Grant of patent or utility model
AV01 Patent right actively abandoned

Granted publication date: 20140625

Effective date of abandoning: 20151021

C25 Abandonment of patent right or utility model to avoid double patenting