CN205384507U - Track is patrolled and examined walking climbing mechanism of robot and is reached rather than matched with track - Google Patents
Track is patrolled and examined walking climbing mechanism of robot and is reached rather than matched with track Download PDFInfo
- Publication number
- CN205384507U CN205384507U CN201521125443.XU CN201521125443U CN205384507U CN 205384507 U CN205384507 U CN 205384507U CN 201521125443 U CN201521125443 U CN 201521125443U CN 205384507 U CN205384507 U CN 205384507U
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- track
- climbing device
- driven pulley
- walking
- climbing
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Abstract
The utility model discloses a track is patrolled and examined walking climbing mechanism of robot and is reached rather than matched with track, including frame, drive unit, the perpendicular two -way spacing unit of level, drive unit passes through closing device and connects the frame on, drive unit includes by driving sprocket who is used for climbing perpendicularly with motor drive and the drive wheel that is used for the level land walking, the perpendicular two -way spacing unit of level is located frame curb plate both sides. The utility model discloses a driving motor realizes walking, two major functions of climbing perpendicularly, can adapt to various complex environments such as cable tunnel, have that driving motor is few, simple structure is reliable, light in weight, a great deal of advantage such as with low costs.
Description
Technical field
This utility model relates to a kind of rail polling robot ambulation climbing device and the track being matched therewith, and relates to crusing robot field.
Background technology
In recent years, along with the development of underground electric transmission technology, the cable tunnel transmission for extra-high voltage has all been built in many cities.Owing to underground electric transmission technology does not take up an area the advantage of space of planes, in many countries, especially developed country is obtained for great development, and the electric power such as area, Tokyo more than 85% transmits and is underground extra high voltage network.Meanwhile, cable tunnel is in the environment moist, perishable of underground throughout the year so that the safety problem of power circuit becomes a key technology.In order to ensure the safety that electric power transmits, except carrying out the waterproof in tunnel, moistureproof work, it is also requisite that power circuit in tunnel is made regular check on, but the general distance in cable tunnel is longer, environment is closed, the situation of few survey, missing inspection easily occurs in manual inspection, and once produce burst accident, the human safety issues of patrol officer there is also threat greatly.Based on this, can be used for the rail polling robot of cable tunnel or similar environments and arise at the historic moment, the advantage that compared with patrolling and examining with Traditional Man, rail polling robot has that adaptive capacity to environment is strong, accuracy of detection is high, can realize 24 hours whole days patrols and examines.But due to general inner space, cable tunnel is less and exist substantial amounts of turn round, situation that climb and fall even vertically climbs, therefore extremely test the performance of crusing robot walking mechanism.
At present, patent for rail polling robot running gear has a lot, as CN104742111A proposes a kind of cable tunnel inspection robot walking mechanism, horizontal guide wheel and driving guide wheel are placed in inside hollow rail, and provide walking power by the friction driving roller contacted with rail base, there is simple in construction, lighter in weight, it is easy to transport, the advantage installed, debug；CN202624224U proposes a kind of electric tunnel inspection robot walking structure, driving wheel bear load, and horizontal guide sheave undertakes biasing and drives produced moment of torsion, can effectively solve the drawback making driving axle produce flexible deformation due to load-carrying.But these patents are all not solved by cable tunnel or similar environments the great slope walking being likely to occur, the problem even vertically climbed.
Summary of the invention
The purpose of this utility model is in that the track providing a kind of rail polling robot ambulation climbing device and being matched therewith, prior art Problems existing can be improved, realize walking by drive motor, vertically climb two big functions, it is possible to the various complex environments such as appropriate cable tunnel；There is the plurality of advantages such as drive motor is few, simple and reliable for structure, lightweight, cost is low.
This utility model is achieved through the following technical solutions:
A kind of rail polling robot ambulation climbing device, including frame, driver element, the bidirectionally limited unit of horizontal vertical, described driver element is connected in described frame by hold down gag, described driver element includes by with the motor-driven drive sprocket for vertically climbing and the driving wheel for level walking, and the bidirectionally limited unit of described horizontal vertical is positioned at framework lateral plate both sides.
Further, for realizing this utility model better, described driver element provides power for rail polling robot ambulation climbing device, its power source includes motor and speed reducer, being provided with the drive sprocket for vertically climbing and the driving wheel for level walking on described reductor shaft, the described driving wheel for level walking can also pass through drive mechanism and be connected with reductor shaft.
Further, for realizing this utility model better, the bidirectionally limited unit of described horizontal vertical is made up of vertical driven pulley and horizontal driven pulley, and wherein horizontal driven pulley is embedded in vertical driven pulley by bearing, and described vertical driven pulley is be rotatably connected in described frame.
The invention also discloses the track that a kind of rail polling robot ambulation climbing device matches, including installing locating slot, gathering sill, described installation locating slot is arranged in outside track, described gathering sill is arranged in track both sides, described vertical driven pulley can be embedded in two described gathering sills and roll along described gathering sill, and the outer wall of described driving wheel can be fitted on the lower surface of described gathering sill.
Further, for realizing this utility model better, it is arranged below chain unit at described track, can be connected with each other with drive sprocket.
Further, for realizing this utility model better, the width of described gathering sill is more than the external diameter of described vertical driven pulley, and the outer wall of the driving wheel described in when described chain unit is connected with each other with described drive sprocket is relative unsettled with the lower surface of described gathering sill.
This utility model is compared with prior art, have the advantages that available single drive motor, by simple frame for movement, realize crusing robot in orbit straight line moving, turn round, climb, or even the function vertically climbed, decline, substantially increase the adaptive capacity to environment of rail polling robot, simplify the structure under corresponding function, reduce construction cost.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of this utility model embodiment, the accompanying drawing used required in embodiment will be briefly described below, it is to be understood that, the following drawings illustrate only some embodiment of the present utility model, therefore the restriction to scope it is not construed as, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other relevant accompanying drawings according to these accompanying drawings.
Fig. 1 is the cross sectional representation of crusing robot track；
Fig. 2 is that walking is climbed integral mechanism perspective view；
The installation cross-sectional view of walking climbing device and track when Fig. 3 is level land or minor grade walking；
Fig. 4 is great slope walking or the installation cross-sectional view of walking climbing device and track when vertically climbing；
Fig. 5 is the walking after walking climbing device coordinates with track and the schematic diagram that climbs.
Wherein: 100. tracks；101. installation locating slot；102. gathering sill；103. middle hole capital after selling all securities；110. horizontal rail；120. vertical track；200. walking climbing device；210. frame；220. driver element；221. motor；222. turbine worm reducer；223. drive sprocket；224. drive mechanism；225. driving wheel；226. holddown spring；227. hinge axis；230. the bidirectionally limited unit of horizontal vertical；231. vertical driven pulley；232. horizontal driven pulley；240. ECU.
Detailed description of the invention
Below in conjunction with specific embodiment, this utility model is described in further detail, but embodiment of the present utility model is not limited to this.
General rail mounted crusing robot can only realize horizontal turning and minor grade walking function, function for vertically climbing does not have good settling mode, also or adopt complicated auxiliary body to realize this function, the cost of the crusing robot greatly increased and the complexity of field construction.
In this utility model, adopt walking climbing device 200 to realize walking and process of climbing, by the track 100 being matched therewith, it is achieved the great slope walking being likely to occur in the like environment such as cable tunnel, even vertically climb.
Embodiment 1:
As in figure 2 it is shown, a kind of rail polling robot ambulation climbing device, rail polling robot ambulation climbing device 200 is made up of frame 210, driver element 220, the bidirectionally limited unit 230 of horizontal vertical and ECU 240.It is internal that described driver element 220 is positioned at frame 210；4 bidirectionally limited unit 230 of horizontal vertical are positioned at frame 210 side plate both sides and are arranged symmetrically with.Described driver element 220 is by motor 221, reductor 222 transmits power, reductor 222 shaft is connected with for the vertical drive sprocket 223 climbed and drive mechanism 224, and impart power to the driving wheel 225 for level walking by drive mechanism 224, wherein drive mechanism 224 can be but be not restricted to sprocket wheel or gear train, it act as and makes drive sprocket 223 and driving wheel 225 not coaxial and have different output speeds and moment of torsion, this function can make the walking integral mechanism that climbs have different speed and moment of torsion at level walking and when vertically climbing, thus farthest utilizing output power of motor, described driver element 220 one end by hinge axis 227 hinged with in frame 210, the other end is connected by holddown spring 226.The bidirectionally limited unit of described horizontal vertical 230 is made up of vertical driven pulley 231 and horizontal driven pulley 232, and wherein horizontal driven pulley 232 is embedded in vertical driven pulley 231 by bearing.Described ECU 240 is used for placing the electrical equipments such as circuit board.
In order to make overall structure more stable, in the present embodiment, it is preferable that described vertical driven pulley 231 is 2 groups that are symmetricly set in described frame 210.
Embodiment 2:
Fig. 1 is the cross sectional representation of crusing robot track, this utility model further simultaneously discloses a kind of rail polling robot ambulation climbing device and climbs track, including installing locating slot 101, gathering sill 102 and middle hole capital after selling all securities 103, described installation locating slot 101 is symmetrically arranged on track 100 lower planes, connection for two sections of tracks, described gathering sill 102 is for being arranged symmetrically in track 100 both sides, described vertical driven pulley 231 can be embedded in two described gathering sills 102 and roll along described gathering sill 102, the outer wall of described driving wheel 225 can be fitted on the lower surface of described gathering sill 102.
Preferably, described a kind of rail polling robot ambulation climbing device track that climbs is that aluminium alloy is made.
In the present embodiment, in order to convenient realization is vertical or climbing and running under larger angle, it is preferable that being arranged below chain unit 300 at described middle hole capital after selling all securities 103, described chain unit 300 can be connected with each other with described drive sprocket 223.
Further preferably, the width of described gathering sill 102 is more than the external diameter of described vertical driven pulley 231, and the outer wall of the driving wheel 225 described in when described chain unit 300 is connected with each other with described drive sprocket 223 is relative unsettled with the lower surface of described gathering sill 102.
Fig. 3, Fig. 4 are the cross sectional representation after walking climbing device coordinates with track.The installation cross-sectional view of walking climbing device 200 and track 100 when Fig. 3 is level land and minor grade walking, the climbing device 200 installation cross-sectional view with track 100 of walking when Fig. 4 is vertically climb.Shown in Fig. 3, when level walking, 4 bidirectionally limited unit 230 of horizontal vertical are positioned at way 102, driver element 220 by holddown spring 226 driving wheel 225 is close to track 100 on the downside of, now walking climbing device 200 produces the power that advances or retreat mainly through the friction of driving wheel 225 with guide rail downside.Shown in Fig. 4, when great slope or when vertically climbing, track passes under the affixed chain unit 300 of bolt 302；4 bidirectionally limited unit of horizontal vertical 230 are positioned at rail-guided groove 102, drive sprocket 223 is close to by holddown spring 226 and is then separated with guide rail 100 with driving wheel 225 on the downside of chain 301 by driver element 220, and now walking climbing device 200 coordinates with the chain 301 being arranged on the downside of guide rail mainly through drive sprocket 223 and produces to advance or the power of retrogressing.
Fig. 5 is the walking after walking climbing device coordinates with track and the schematic diagram that climbs.When walking climbing device 200 level walking, chain unit 300 is not installed on the downside of horizontal rail 110, driving wheel 225 provides power；When climbing device 200 of walking will enter vertical track 120, chain unit 300 is installed on the downside of horizontal rail 110, now will be provided power by drive sprocket 223.It should be noted that no matter be that driving wheel 225 provides power or drive sprocket 223 provides power, its initial driving force source is same motor.
The foregoing is only preferred embodiment of the present utility model, be not limited to this utility model, for a person skilled in the art, this utility model can have various modifications and variations.All within spirit of the present utility model and principle, any amendment of making, equivalent replacement, improvement etc., should be included within protection domain of the present utility model.
Claims (6)
1. a rail polling robot ambulation climbing device, it is characterized in that: include frame, driver element, the bidirectionally limited unit of horizontal vertical, described driver element is connected in described frame by hold down gag, described driver element includes by with the motor-driven drive sprocket for vertically climbing and the driving wheel for level walking, and the bidirectionally limited unit of described horizontal vertical is positioned at framework lateral plate both sides.
2. a kind of rail polling robot ambulation climbing device according to claim 1, it is characterized in that: described driver element provides power for rail polling robot ambulation climbing device, its power source includes motor and speed reducer, being provided with the drive sprocket for vertically climbing and the driving wheel for level walking on described reductor shaft, the described driving wheel for level walking can also pass through drive mechanism and be connected with reductor shaft.
3. a kind of rail polling robot ambulation climbing device according to claim 1, it is characterized in that: the bidirectionally limited unit of described horizontal vertical is made up of vertical driven pulley and horizontal driven pulley, wherein horizontal driven pulley is embedded in vertical driven pulley by bearing, and described vertical driven pulley is be rotatably connected in described frame.
4. the track that a rail polling robot ambulation climbing device matches, rail polling robot ambulation climbing device including claim 3, it is characterized in that: include locating slot, gathering sill are installed, described installation locating slot is arranged in outside track, described gathering sill is arranged in track both sides, described vertical driven pulley can be embedded in two described gathering sills and roll along described gathering sill, and the outer wall of described driving wheel can be fitted on the lower surface of described gathering sill.
5. the track that a kind of rail polling robot ambulation climbing device according to claim 4 matches, it is characterised in that: it is arranged below chain unit at described track, can be connected with each other with drive sprocket.
6. the track that a kind of rail polling robot ambulation climbing device according to claim 5 matches, it is characterized in that: the width of described gathering sill is more than the external diameter of described vertical driven pulley, and the outer wall of the driving wheel described in when described chain unit is connected with each other with described drive sprocket is relative unsettled with the lower surface of described gathering sill.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521125443.XU CN205384507U (en) | 2015-12-29 | 2015-12-29 | Track is patrolled and examined walking climbing mechanism of robot and is reached rather than matched with track |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521125443.XU CN205384507U (en) | 2015-12-29 | 2015-12-29 | Track is patrolled and examined walking climbing mechanism of robot and is reached rather than matched with track |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205384507U true CN205384507U (en) | 2016-07-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521125443.XU Expired - Fee Related CN205384507U (en) | 2015-12-29 | 2015-12-29 | Track is patrolled and examined walking climbing mechanism of robot and is reached rather than matched with track |
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| CN (1) | CN205384507U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107688341A (en) * | 2016-08-05 | 2018-02-13 | 深圳市朗驰欣创科技股份有限公司 | The control method and control system of electric power tunnel lamp automatic detecting |
| CN109283435A (en) * | 2018-11-05 | 2019-01-29 | 国网江苏省电力有限公司无锡供电分公司 | A kind of alert covering return device of rail mounted cigarette for cable tunnel |
| CN109483513A (en) * | 2019-01-05 | 2019-03-19 | 上海擎刚智能科技有限公司 | A kind of track and robot system |
| CN109500800A (en) * | 2019-01-05 | 2019-03-22 | 上海擎刚智能科技有限公司 | A kind of rail system |
| CN109605393A (en) * | 2019-01-07 | 2019-04-12 | 南京华群光电技术有限公司 | A kind of modularization adjustable rail crawling device |
| CN110155623A (en) * | 2019-05-29 | 2019-08-23 | 秦皇岛燕联自控设备有限公司 | A kind of high load-carrying single track hanging transportation system |
| CN110494372A (en) * | 2015-10-13 | 2019-11-22 | 艾克索泰克解决方案公司 | Order radio frequency |
| CN111390929A (en) * | 2020-04-13 | 2020-07-10 | 中煤科工集团重庆研究院有限公司 | Chain climbing auxiliary mechanism of mining track type inspection robot |
| CN113021417A (en) * | 2021-03-26 | 2021-06-25 | 山西戴德测控技术有限公司 | Track walking structure device of inspection robot |
| CN113524141A (en) * | 2021-08-03 | 2021-10-22 | 中铁十一局集团有限公司 | Hang rail inspection robot rail system based on existing piping lane |
| CN114571435A (en) * | 2022-03-16 | 2022-06-03 | 南京科远智慧科技集团股份有限公司 | Hang rail formula and patrol and examine robot actuating mechanism |
-
2015
- 2015-12-29 CN CN201521125443.XU patent/CN205384507U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110494372A (en) * | 2015-10-13 | 2019-11-22 | 艾克索泰克解决方案公司 | Order radio frequency |
| CN110494372B (en) * | 2015-10-13 | 2021-10-08 | 艾克索泰克解决方案公司 | Order picking system |
| CN107688341A (en) * | 2016-08-05 | 2018-02-13 | 深圳市朗驰欣创科技股份有限公司 | The control method and control system of electric power tunnel lamp automatic detecting |
| CN107688341B (en) * | 2016-08-05 | 2021-05-04 | 深圳市朗驰欣创科技股份有限公司 | Control method and control system for automatic inspection of electric tunnel lamp |
| CN109283435A (en) * | 2018-11-05 | 2019-01-29 | 国网江苏省电力有限公司无锡供电分公司 | A kind of alert covering return device of rail mounted cigarette for cable tunnel |
| CN109500800A (en) * | 2019-01-05 | 2019-03-22 | 上海擎刚智能科技有限公司 | A kind of rail system |
| CN109483513A (en) * | 2019-01-05 | 2019-03-19 | 上海擎刚智能科技有限公司 | A kind of track and robot system |
| CN109605393A (en) * | 2019-01-07 | 2019-04-12 | 南京华群光电技术有限公司 | A kind of modularization adjustable rail crawling device |
| CN110155623A (en) * | 2019-05-29 | 2019-08-23 | 秦皇岛燕联自控设备有限公司 | A kind of high load-carrying single track hanging transportation system |
| CN111390929A (en) * | 2020-04-13 | 2020-07-10 | 中煤科工集团重庆研究院有限公司 | Chain climbing auxiliary mechanism of mining track type inspection robot |
| CN113021417A (en) * | 2021-03-26 | 2021-06-25 | 山西戴德测控技术有限公司 | Track walking structure device of inspection robot |
| CN113524141A (en) * | 2021-08-03 | 2021-10-22 | 中铁十一局集团有限公司 | Hang rail inspection robot rail system based on existing piping lane |
| CN113524141B (en) * | 2021-08-03 | 2022-11-25 | 中铁十一局集团有限公司 | Hang rail inspection robot rail system based on existing piping lane |
| CN114571435A (en) * | 2022-03-16 | 2022-06-03 | 南京科远智慧科技集团股份有限公司 | Hang rail formula and patrol and examine robot actuating mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160713 Termination date: 20201229 |
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| CF01 | Termination of patent right due to non-payment of annual fee |