CN204586367U - Novel transformer substation crusing robot wheel - Google Patents
Novel transformer substation crusing robot wheel Download PDFInfo
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- CN204586367U CN204586367U CN201520263022.7U CN201520263022U CN204586367U CN 204586367 U CN204586367 U CN 204586367U CN 201520263022 U CN201520263022 U CN 201520263022U CN 204586367 U CN204586367 U CN 204586367U
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- wheel
- tire
- support ring
- tire support
- skeleton
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Abstract
The utility model discloses a kind of Novel transformer substation crusing robot wheel, belong to wheel technical field.The utility model comprises solid tire (102), wheel skeleton (101) and wheel cowl (104), wheel cowl (104) is loaded on solid tire (102) outside, it is characterized in that, wheel skeleton (101) is embedded in tire (102), and both form an entirety.Wheel skeleton is embedded in the solid tire that polyurethane makes by the utility model, skeleton and tire form integrated integral structure, the impregnability of wheel body can be strengthened, make that wheel overall weight is light and hardness is high, problem on deformation of leaking gas in the long-play situation that real heart type structure it also avoid employing inflatable tire and brings simultaneously.Therefore, this wheel particularly suitable is Long-Time Service under high friction environment, can not produce the problems such as distortion skidding.
Description
Technical field
The utility model belongs to wheel technical field, is specifically related to the wheel that a kind of Intelligent Mobile Robot is used.
Background technology
Intelligent Mobile Robot is widely used among substation's O&M.According to the requirement of substation's O&M, this robot needs unmanned long-term work.In this case, when the long-term friction on the wheel that long-term work brings and ground, robot obstacle detouring produce larger vibrations and the seasonal variation of outside air temperature, all require that the wheel of robot has super performance, namely good impregnability, friction resistant, anti-deformation etc.
At present, with regard to existing wheel technology, mainly comprise inflatable and solid formula two type.Inflated wheel for vehicle; i.e. non-solid core type wheel; general employing skeleton and tire separate design mode, tire adopts the design of the inner tube of a tyre and cover tire, in cover tire, usually add the parts such as steel belt, car lip steel wire, car shoulder pad glue in order to the protective effect increasing cover tire.Whether this wheel is in load-bearing, and there is its advantage the aspects such as resistance to deformation, but long-time running easily produces gas leakage distortion in various degree, and reliability can not meet the demands, need periodic inspection to exist as pricked the problem such as tire, leak test.As skeleton is filled unreasonable, the distortion that also there will be in various degree is skidded.In addition, the height of temperature is comparatively large on inner gas volume impact, and when outdoor temperature changes, wheel shape will change to some extent, and robot bottom relies on coder measurement vehicle wheel rotational speed to measure travel distance, the crusing robot of squeegee action to precision walking location is disadvantageous.Therefore, inflated wheel for vehicle is not too applicable to the technical requirements of the long-term unattended operation of Intelligent Mobile Robot.
With regard to solid formula wheel on the market, it designs mainly for low speed and heavy lift vehicle, and these heavy waress are as less demanding to kinematic dexterity in harbour trailer, high to the distortion tolerance of tire during motion.Therefore, the weight of these tires is large and non-deformability is poor, does not also meet the requirement of Intelligent Mobile Robot wheel.
Summary of the invention
The utility model object is: the problem all not meeting the requirement of Intelligent Mobile Robot wheel in order to overcome existing wheel design, a kind of Novel transformer substation crusing robot wheel is proposed, this wheel adopts the design plan that skeleton tire is integrated, tire is solid, compact, lightweight, there is larger weight capacity, resistance to deformation skidding ability is strong, when Long-Time Service without the need to frequent maintenance.
Specifically, the utility model realizes by the following technical solutions, comprise solid tire (102), wheel skeleton (101) and wheel cowl (104), wheel cowl (104) is loaded on solid tire (102) outside, it is characterized in that, wheel skeleton (101) is embedded in tire (102), and both form an entirety.Because skeleton and tire form integrated integral structure, the impregnability of wheel body can be strengthened, make that wheel overall weight is light and hardness is high simultaneously, thus alleviate robot deadweight, the cruise duration after robot single charge can be improved, also overcome due to tire construction hardness cause not in long-term obstacle detouring because of the vibrations of bearing with make squeegee action and groove wear problem with the friction on ground.
The side of solid tire (102) has tire side line (120), and surface has tire table line (121).The setting of tire side line and tire table line effectively can increase friction force and the resistance to abrasion of wheel.
Solid tire (102) adopts polyurethane manufacture.Polyurethane material makes this wheel have certain elasticity, in obstacle detouring process, play buffer action to vibrations, can alleviate the impact to wheel itself and whole robot simultaneously.
Furthermore, wheel skeleton (101) comprises installs set collar (128), wheel skeleton inner ring (124), coupling link (129) and tire support ring (130), wherein: set collar (128) is installed and is positioned at wheel skeleton (101) middle part, interiorly be provided with wheel mounting hole (122) along place, outer place is provided with wheel cowl mounting hole (123); Coupling link (129) is arranged on one heart installs set collar (128) outside; Wheel skeleton inner ring (124) has two, all be arranged on the junction of installing set collar (128) and coupling link (129), one of them wheel skeleton inner ring (124) is along the left hand projection of wheel, and another wheel skeleton inner ring (124) is protruding along the right direction of wheel; Tire support ring (130) is arranged on the outside of coupling link (129), the left and right sides of tire support ring (130) is respectively arranged with the left edge of tire support ring (125) and the right edge of tire support ring (126), and the left edge of tire support ring (125) and the right edge of tire support ring (126) are provided with bone tire connecting bore (127).
Furthermore, it is left along in 125 and the right chamber between 126 of tire support ring that the some polyurethanes material of solid tire (102) is filled in the chamber between wheel skeleton inner ring (124) and the left edge of tire support ring (125), the chamber between wheel skeleton inner ring (124) and the right edge of tire support ring (126) and tire support ring respectively, is filled in the polyurethane material of each chamber through bone tire connecting bore (127) the formation entirety on the left edge of tire support ring (125) and the right edge of tire support ring (126).
Furthermore, wheel skeleton (101) adopts aluminum alloy materials turnery processing to become an entirety.
Furthermore, described wheel mounting hole (122) is 6, and described wheel cowl mounting hole (123) is 6.
Furthermore, described bone tire connecting bore (127) is 16, and the left edge of tire support ring (125) and the right edge of tire support ring (126) respectively have 8.
The beneficial effects of the utility model are as follows: wheel skeleton is embedded in the solid tire that polyurethane makes by the utility model, skeleton and tire form integrated integral structure, the impregnability of wheel body can be strengthened, make that wheel overall weight is light and hardness is high simultaneously, thus alleviate robot deadweight, the cruise duration after robot single charge can be improved, also overcome due to tire construction hardness cause not in long-term obstacle detouring because of the vibrations of bearing with make squeegee action and groove wear problem with the friction on ground.Real heart type structure it also avoid and adopts inflatable tire and problem on deformation of leaking gas in the long-play situation brought.Therefore, this wheel particularly suitable is Long-Time Service under high friction environment, can not produce the problems such as distortion skidding.Polyurethane material makes this wheel have certain elasticity, in obstacle detouring process, play buffer action to vibrations, can alleviate the impact to wheel itself and whole robot simultaneously.The setting of tire side line and tire table line effectively can increase friction force and the resistance to abrasion of wheel.Adopt wheel cowl to carry out water proof and dust proof, turn increase robot overall aesthetics.Being connected and fixed between wheel and robot, is easy to installation, dismounting and change.
Accompanying drawing explanation
Fig. 1 is the overall schematic of the utility model wheel.
Fig. 2 is the lateral plan of the utility model wheel.
Fig. 3 is the front schematic view of wheel skeleton.
Fig. 4 is the lateral plan of wheel skeleton.
Fig. 5 is the schematic perspective view of wheel skeleton.
Fig. 6 is wheel cowl schematic diagram.
In above accompanying drawing, 101 is wheel skeleton; 102 is tire; 120 is tire side line; 121 is tire table line; 122 is wheel mounting hole; 123 is wheel cowl mounting hole; 124 is wheel skeleton inner ring; 125 is the left edge of tire support ring; 126 is the right edge of tire support ring; 127 is bone tire connecting bore; 128 for installing set collar; 129 is coupling link; 130 is tire support ring; 104 is wheel cowl.
Detailed description of the invention
With reference to the accompanying drawings and in conjunction with example, the utility model is described in further detail.
As shown in Figure 1, a kind of wheel for Novel transformer substation crusing robot, comprises 3 parts, i.e. solid tire 102, wheel skeleton 101 and wheel cowl 104, and wheel skeleton 101 is embedded in tire 102, and both form a firmly entirety.
In the present embodiment, solid tire 102 profile is external diameter 280.5cm, internal diameter is the annulus of 170.24mm, and left and right sides is wide is 85cm, adopts polyurethane manufacture.Polyurethane material makes this wheel have certain elasticity, in obstacle detouring process, play buffer action to vibrations, can alleviate the impact to wheel itself and whole robot simultaneously.As shown in Figure 1 and Figure 2, solid tire 102 side has tire side line 120, and surface has tire table line 121.The setting of tire side line 120 and tire table line 121 effectively can increase friction force and the resistance to abrasion of wheel.
As shown in Fig. 3, Fig. 4, Fig. 5, wheel skeleton 101 comprises installs set collar 128, wheel skeleton inner ring 124, coupling link 129, tire support ring 130.Wherein, install set collar 128 and be positioned in the middle part of wheel skeleton 101, interior along locating evenly to arrange 6 wheel mounting holes 122 for installing wheel, outer place evenly arranges 6 wheel cowl mounting holes 123 for installation car wheel cover 104.Installing outside set collar 128 is concentric coupling link 129.Two protruding wheel skeleton inner ring 124 are set along the direction, the left and right sides of wheel respectively in the junction of installing set collar 128 and coupling link 129.At the arranged outside tire support ring 130 of coupling link 129, the left and right sides of tire support ring 130 arrange respectively tire support ring left along 125 and tire support ring right along 126.Left along 125 with tire support ring is right evenly arranges 8 bone tire connecting bores 127 along each on 126 at tire support ring.In the present embodiment, wheel skeleton 101 adopts 6.61 aluminum alloy materials turnery processing to become an entirety, adopts surface anodization and sand-blast finish.
Add man-hour at solid tire 102, in a mold the some polyurethanes material of tire 102 is filled in respectively about wheel skeleton inner ring 124 and tire support ring along in two chambers between (125,126).Tire support ring is left simultaneously also fills full polyurethane material along 125 and the right chamber between 126 of tire support ring.The above-mentioned polyurethane material being filled in each chamber through tire support ring left along 125 and tire support ring right along 16 on 126, a bone tire connecting bore 127 forms an entirety, thus make solid tire 102 together with tire skeleton 101 compact siro spinning technology.Owing to wheel skeleton 101 being embedded in solid tire 102 that polyurethane makes, skeleton and tire form integrated integral structure, the impregnability of wheel body can be strengthened, make that wheel overall weight is light and hardness is high simultaneously, thus alleviate robot deadweight, the cruise duration after robot single charge can be improved, also overcome due to tire construction hardness cause not in long-term obstacle detouring because of the vibrations of bearing with make squeegee action and groove wear problem with the friction on ground.Real heart type structure it also avoid and adopts inflatable tire and problem on deformation of leaking gas in the long-play situation brought.Therefore, this wheel particularly suitable is Long-Time Service under high friction environment, can not produce the problems such as distortion skidding.
As shown in Figure 6, the effect that wheel cowl 104 and wheel skeleton 101 use the screw fixing vehicle wheel cover 104 through wheel cowl mounting hole 123 both to play water proof and dust proof turn increases robot overall aesthetics.Be connected and fixed by wheel mounting hole 122 between the wheel drive shaft of robot and wheel, be easy to installation, dismounting and change.
Although the utility model with preferred embodiment openly as above, embodiment is not of the present utility model for limiting.Not departing from the spirit and scope of the utility model, any equivalence change done or retouching, belong to the protection domain of the utility model equally.Therefore the content that protection domain of the present utility model should define with the claim of the application is standard.
Claims (8)
1. Novel transformer substation crusing robot wheel, comprise solid tire (102), wheel skeleton (101) and wheel cowl (104), wheel cowl (104) is loaded on solid tire (102) outside, it is characterized in that, wheel skeleton (101) is embedded in tire (102), and both form an entirety.
2. Novel transformer substation crusing robot wheel according to claim 1, is characterized in that, the side of solid tire (102) has tire side line (120), and surface has tire table line (121).
3. Novel transformer substation crusing robot wheel according to claim 2, is characterized in that, solid tire (102) adopts polyurethane manufacture.
4. Novel transformer substation crusing robot wheel according to claim 3, is characterized in that, wheel skeleton (101) comprises installs set collar (128), wheel skeleton inner ring (124), coupling link (129) and tire support ring (130), wherein:
Install set collar (128) and be positioned at wheel skeleton (101) middle part, Nei Yanchu is provided with wheel mounting hole (122), and outer place is provided with wheel cowl mounting hole (123); Coupling link (129) is arranged on one heart installs set collar (128) outside; Wheel skeleton inner ring (124) has two, all be arranged on the junction of installing set collar (128) and coupling link (129), one of them wheel skeleton inner ring (124) is along the left hand projection of wheel, and another wheel skeleton inner ring (124) is protruding along the right direction of wheel; Tire support ring (130) is arranged on the outside of coupling link (129), the left and right sides of tire support ring (130) is respectively arranged with the left edge of tire support ring (125) and the right edge of tire support ring (126), and the left edge of tire support ring (125) and the right edge of tire support ring (126) are provided with bone tire connecting bore (127).
5. Novel transformer substation crusing robot wheel according to claim 4, it is characterized in that, the some polyurethanes material of solid tire (102) is filled in the chamber between wheel skeleton inner ring (124) and the left edge of tire support ring (125) respectively, chamber between wheel skeleton inner ring (124) and the right edge of tire support ring (126), and tire support ring is left along in 125 and the right chamber between 126 of tire support ring, the polyurethane material being filled in each chamber forms an entirety through the bone tire connecting bore (127) on the left edge of tire support ring (125) and the right edge of tire support ring (126).
6. Novel transformer substation crusing robot wheel according to claim 5, is characterized in that, wheel skeleton (101) adopts aluminum alloy materials turnery processing to become an entirety.
7. the Novel transformer substation crusing robot wheel according to any one of claim 4 ~ 6, is characterized in that, described wheel mounting hole (122) is 6, and described wheel cowl mounting hole (123) is 6.
8. the Novel transformer substation crusing robot wheel according to any one of claim 4 ~ 6, is characterized in that, described bone tire connecting bore (127) is 16, and the left edge of tire support ring (125) and the right edge of tire support ring (126) respectively have 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520263022.7U CN204586367U (en) | 2015-04-28 | 2015-04-28 | Novel transformer substation crusing robot wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520263022.7U CN204586367U (en) | 2015-04-28 | 2015-04-28 | Novel transformer substation crusing robot wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204586367U true CN204586367U (en) | 2015-08-26 |
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ID=53922558
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520263022.7U Withdrawn - After Issue CN204586367U (en) | 2015-04-28 | 2015-04-28 | Novel transformer substation crusing robot wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204586367U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104875554A (en) * | 2015-04-28 | 2015-09-02 | 江苏亿嘉和信息科技有限公司 | Novel wheel for transformer substation inspection robot |
-
2015
- 2015-04-28 CN CN201520263022.7U patent/CN204586367U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104875554A (en) * | 2015-04-28 | 2015-09-02 | 江苏亿嘉和信息科技有限公司 | Novel wheel for transformer substation inspection robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: High tech Zone Nanjing city Jiangsu province 210061 Lijing Road No. 20 building No. 2 room C110 D Patentee after: JIANGSU YIJIAHE TECHNOLOGY Co.,Ltd. Address before: High tech Zone Nanjing city Jiangsu province 210061 Lijing Road No. 20 building No. 2 room C110 D Patentee before: JIANGSU YIJIAHE INFORMATION SCIENCE & TECHNOLOGY CO.,LTD. |
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| CP03 | Change of name, title or address |
Address after: 210012 Yuhuatai Ande District, Nanjing, No. 5 main street, building No. 1, building 8, floor to floor, building 57 Patentee after: YIJIAHE TECHNOLOGY Co.,Ltd. Address before: High tech Zone Nanjing city Jiangsu province 210061 Lijing Road No. 20 building No. 2 room C110 D Patentee before: JIANGSU YIJIAHE TECHNOLOGY Co.,Ltd. |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20150826 Effective date of abandoning: 20160706 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20150826 Effective date of abandoning: 20160706 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |