CN206366989U - Rail mounted robot running gear - Google Patents
Rail mounted robot running gear Download PDFInfo
- Publication number
- CN206366989U CN206366989U CN201621165087.9U CN201621165087U CN206366989U CN 206366989 U CN206366989 U CN 206366989U CN 201621165087 U CN201621165087 U CN 201621165087U CN 206366989 U CN206366989 U CN 206366989U
- Authority
- CN
- China
- Prior art keywords
- out against
- guide rail
- adaptive
- fixed mount
- running gear
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
- Toys (AREA)
Abstract
The utility model is applied to robotic technology field, there is provided a kind of rail mounted robot running gear, including the guide rail with hollow cavity, it is placed in inner chamber and for holding out against guide rail with so that crusing robot the adaptive of even running on guide rail holds out against guiding mechanism, it is placed in the adaptive lower section for holding out against guiding mechanism and rolls the adaptive driving mechanism coordinated with guide rail, coordinate to cause crusing robot adaptive follower forward on guide rail and the skeleton for supporting adaptive driving mechanism and adaptive follower is connected and be used for crusing robot with adaptive driving mechanism.The utility model is by the adaptive driving mechanism of setting, adaptive follower and adaptively holds out against guiding mechanism so that the guide rail radius of turn that walking mechanism can pass through is small, and when turning, to ensure that crusing robot operates steadily, excessively curved stabilization.
Description
Technical field
The utility model belongs to robotic technology field, more particularly to a kind of rail mounted robot running gear.
Background technology
Crusing robot can be used for the places such as large supermarket, warehouse, farm, factory, power distribution room, transformer station.At this stage, with
The development of robot technology, various intelligentized inspection supervisory-controlled robot applications are more and more extensive, wherein, rail mounted survey monitor
Device people because working line is reliable and stable, do not take up an area space of planes, control simple and convenient, more and more favored, vehicle with walking machine
Structure is as the important mechanism of crusing robot, and its design is also particularly important.
Prior art devises a kind of cable tunnel inspection robot walking mechanism, is referring to Authorization Notice No.
The Chinese patent document of " 201510159496.1 ", specifically, referring to Fig. 1, the cable tunnel inspection robot walking mechanism
By front and rear two crossbeams that can mutually swing as vehicle frame, vehicle frame is hidden in orbit, and directive wheel and BOGEY WHEEL are all arranged on car
On frame, in track interior, driving wheel 130 and follower 131 are fitted below track with track bottom wall 116.Motor, which drives, to be driven
Driving wheel 130, driving wheel is brought into close contact with track bottom wall 116, frictionally driving.
However, the crusing robot walking mechanism of prior art is primarily present following technical problem：One is by crossbeam length
Limitation, the guide rail radius of turn that walking mechanism passes through is excessive；Two be robot during operation, especially in turning
When, operation is unstable, easily rock.
Utility model content
Main purpose of the present utility model is to provide a kind of rail mounted robot running gear, it is intended to solve conventional machines
Guide rail radius of turn that people is present is excessive, run jiggly problem.
The utility model is achieved in that a kind of rail mounted robot running gear, including：
Guide rail with hollow cavity, it is placed in the inner chamber and for holding out against the guide rail to cause crusing robot to exist
On the guide rail even running it is adaptive hold out against guiding mechanism, be placed in the adaptive lower section for holding out against guiding mechanism and with institute
Guide rail is stated to roll the adaptive driving mechanism of cooperation, with the adaptive driving mechanism coordinate to cause crusing robot described
On guide rail move ahead adaptive follower and be connected with the crusing robot and be used for support the adaptive mover
The skeleton of structure and the adaptive follower.
It is used as optimal technical scheme of the present utility model：
Further, it is described adaptive to hold out against guiding fixed mount that guiding mechanism includes being connected with the skeleton, be placed in institute
The side for stating the sidepiece of guiding fixed mount and the medial surface for holding out against the guide rail holds out against directive wheel and is placed in the fixed guide
Determine frame top and for hold out against the guide rail inner top surface on hold out against directive wheel.
Further, the side holds out against directive wheel and includes being fixedly mounted on the side of the guiding fixed mount and for holding out against
The first of one medial surface of the guide rail holds out against directive wheel and the opposite side for being rotatably connected on the guiding fixed mount and is used for
Hold out against another medial surface of the guide rail second holds out against directive wheel；Described second hold out against directive wheel by the side-sway frame of setting with
The guiding fixed mount rotates connection, and the side-sway frame, which is provided with, to be used to hold out against the described second the first torsion spring for holding out against directive wheel.
Further, hold out against directive wheel on described and be rotatably connected to rocker, the other end of the upper rocker is led with described
Connection is rotated to the upper end of fixed mount, the upper rocker, which is provided with, is used to hold out against the second torsion spring that directive wheel is held out against on described.
Further, the adaptive driving mechanism include be connected with crusing robot active fixed mount, be placed in described in
Driving shaft on active fixed mount, the two ends for being placed in the driving shaft and roll the driving wheel coordinated with the medial surface of the inner chamber
And the drive component with the driving shaft drive connection.
Further, the drive component includes what is coordinated with the timing belt of driving wheel cooperation, with the timing belt
Synchronous pulley, the clutch shaft bearing for being placed in the active fixed mount and coordinating with the synchronous pulley and described same for driving
Walk the motor that belt wheel is rotated.
Further, the adaptive follower include be connected with crusing robot driven fixed mount, be placed in described in
Swinging axle on driven fixed mount, it is placed on the driven fixed mount and the center perpendicular with the axis direction of the swinging axle
Axle, the two ends for being placed in the swinging axle and roll the driven pulley coordinated with the medial surface of the inner chamber and be placed in described driven solid
Determine the second bearing of the bottom of frame.
Further, the guide rail includes the first guide rail section and is spliced into the hollow cavity with first guide rail section
The second guide rail section；Being formed with to be provided with mounting groove, the mounting groove on the madial wall of first guide rail section is used for inspection
The trolley that robot powers, the mounting groove and the trolley extend along the length direction of the guide rail.
Further, the skeleton, which is provided with, is used for the current-collector of the power taking from guide rail, and the current-collector includes current collection branch
Frame and the brush being placed on the current collection support, the brush are electrically connected with crusing robot；The current collection support is set to
The quadric chain of quadrangularly is sequentially hinged, the quadric chain is provided with by elastic force to cause the brush and institute
State the extension spring that trolley is brought into close contact.
Further, walking mechanism also includes the bottom with the adaptive driving mechanism and the adaptive follower
It is connected to protect the casing of the adaptive driving mechanism and the adaptive follower.
The rail mounted robot running gear that the utility model is provided, by the adaptive driving mechanism of setting and with from
The effect for the adaptive follower that driving mechanism coordinates is adapted to, crusing robot moves ahead on guide rail, meanwhile, by guide rail
Inner chamber in set it is adaptive hold out against guiding mechanism, guide rail is held out against to cause crusing robot even running on guide rail.With
Prior art is compared, and walking mechanism is not limited when turning by crossbeam length, in adaptive driving mechanism, adaptive driven machine
Turned under structure and the adaptive collective effect for holding out against guiding mechanism so that the guide rail radius of turn that walking mechanism can pass through
It is small, and when turning, adaptively hold out against guiding mechanism and hold out against guide rail, to ensure that crusing robot operates steadily, excessively curved stabilization.
Brief description of the drawings
Fig. 1 is the structural representation of the rail mounted robot running gear of prior art；
Fig. 2 is the structural representation for the rail mounted robot running gear that the utility model embodiment is provided；
Fig. 3 is the stereogram for the rail mounted robot running gear that the utility model embodiment is provided；
Fig. 4 is the partial structural diagram for the rail mounted robot running gear that the utility model embodiment is provided；
Fig. 5 is the stereogram of the guide rail for the rail mounted robot running gear that the utility model embodiment is provided；
Fig. 6 is the front view of the guide rail for the rail mounted robot running gear that the utility model embodiment is provided；
Fig. 7 is the adaptive follower and first for the rail mounted robot running gear that the utility model embodiment is provided
The structural representation of current-collector；
Fig. 8 is the adaptive driving mechanism and second for the rail mounted robot running gear that the utility model embodiment is provided
The structural representation of current-collector；
Fig. 9 is that the adaptive of the rail mounted robot running gear that the utility model embodiment is provided holds out against guiding mechanism
Structural representation；
Figure 10 is that the rail mounted robot running gear part that the utility model embodiment is provided is arranged in casing
Structural representation.
In figure：1- guide rails, the guide rail sections of 11- first, 111- mounting grooves, 112- trolleys, 113- hanging grooves, 12- second is led
Rail section, 2- adaptively holds out against guiding mechanism, and 21- first holds out against directive wheel, and 211- sides link, 22- second holds out against directive wheel,
Hold out against directive wheel on 221- side-sway framves, the torsion springs of 2211- first, 23-, the upper rockers of 231-, the torsion springs of 2311- second, 3- adaptively from
Motivation structure, the driven fixed mounts of 31-, 311- swinging axles, 312- central shafts, 313- driven pulleys, 32- second bearings, 4- skeletons, 5- is certainly
Adapt to driving mechanism, 51- active fixed mounts, 511- driving shafts, 512- driving wheels, 52- drive components, 521- timing belts, 522-
Synchronous pulley, 523- clutch shaft bearings, 524- motors, 6- current-collectors, the current-collectors of 61- first, 611- the first current collection supports,
The brushes of 6111- first, the current-collectors of 62- second, 621- the second current collection supports, the brushes of 6211- second, 7- casings, 130- driving wheels,
131- followers, 116- track bottom walls.
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, the utility model is further elaborated.It should be appreciated that specific embodiment described herein is only to explain this
Utility model, is not used to limit the utility model.
It should be noted that when element is referred to as " being fixed on " or " being arranged at " another element, it can be directly another
On one element or it is connected on another element.When an element is referred to as " being connected to " another element, it can be with
It is directly to another element or is indirectly connected to another element.
The utility model provides a kind of rail mounted robot running gear, by the adaptive driving mechanism 5 of setting, adaptive
Answer follower 3 and adaptively hold out against guiding mechanism 2 so that the guide rail radius of turn that walking mechanism can pass through is small, and turn
When, to ensure that crusing robot operates steadily, excessively curved stabilization.
2~Figure 10 of accompanying drawing is referred to, the rail mounted robot running gear includes：Guide rail 1 with hollow cavity, it is placed in
In inner chamber and for hold out against guide rail 1 with so that crusing robot on guide rail 1 even running it is adaptive hold out against guiding mechanism 2,
It is placed in the lower section for adaptively holding out against guiding mechanism 2 and rolls the adaptive driving mechanism 5 coordinated and adaptive active with guide rail 1
Mechanism 5 coordinate with cause adaptive follower 3 that crusing robot moves ahead on guide rail 1 and be connected with crusing robot and
Skeleton 4 for supporting adaptive driving mechanism 5 and adaptive follower 3.
The rail mounted robot running gear that the utility model embodiment is provided, passes through the adaptive driving mechanism 5 of setting
And with adaptive driving mechanism 5 coordinate adaptive follower 3 effect, crusing robot on guide rail 1 move ahead, together
When, guiding mechanism 2 adaptively is held out against by what is set in the inner chamber of guide rail 1, guide rail 1 is held out against with so that crusing robot is being led
Even running on rail 1.Compared with Fig. 1 of prior art, walking mechanism is not limited when turning by crossbeam length, adaptive
Turned under driving mechanism 5, adaptive follower 3 and the adaptive collective effect for holding out against guiding mechanism 2 so that walking
The guide rail radius of turn that mechanism can pass through is small, and when turning, adaptively holds out against guiding mechanism 2 and hold out against guide rail 1, to ensure to patrol
Inspection robot operates steadily, excessively curved stabilization.And guiding mechanism 2 adaptively is held out against due to being set in the inner chamber of guide rail 1, contribute to
Water proof and dust proof.It should be noted that, because adaptive driving mechanism 5 and adaptive follower 3 are arranged on and adaptively held out against
The lower section of guiding mechanism 2, can cause a walking mechanism part to be arranged in guide rail 1, and then contribute to water proof and dust proof.
Further, refer to Fig. 2, Fig. 3, Fig. 5 and Fig. 6, guide rail 1 include the first guide rail section 11 and with the first guide rail section
11 are spliced into the second guide rail section 12 of hollow cavity；Mounting groove 111, mounting groove are formed with the madial wall of first guide rail section 11
The trolley 112 for being used for powering to crusing robot is provided with 111, mounting groove 111 and trolley 112 are along the length of guide rail 1
Direction extends.Specifically, trolley 112 is carried out conductive using PVC copper bars.In addition, the first guide rail section 11 and/or the second guide rail section
The hanging groove 113 for being easy to hang guide rail is set on 12.As illustrated, hanging groove 113 includes the journal stirrup of two T-shaped.Specifically,
It is C-shape that one guide rail section 11 and the second guide rail section 12 are set to section.In addition, the bottom wall in guide rail 1 can also set RFID card, just
In the information for reading walking mechanism.It should be noted that, RFID is also referred to as electronic tag, and it is Radio Frequency
Identification abbreviation, term is radio frequency identification.
Further, Fig. 2, Fig. 3, Fig. 4 and Fig. 7 are referred to, adaptive follower 3 includes what is be connected with crusing robot
Driven fixed mount 31, it is placed in the swinging axle 311 on the driven fixed mount 31, is placed on driven fixed mount 31 and and swinging axle
The perpendicular central shaft 312 of 311 axis direction, the two ends for being placed in swinging axle 311 and roll what is coordinated with the medial surface of inner chamber
Driven pulley 313 and be placed in driven fixed mount 31 bottom second bearing 32.What deserves to be explained is, adaptive follower 3
Coordinate with adaptive driving mechanism 5 to cause crusing robot to be moved ahead on guide rail 1, meanwhile, adaptive follower 3 is used as and held
Force mechanisms, by the swinging axle 311 of setting, are further ensured that two driving wheels 512 and two driven pulleys 313 are led while touching
On the face of rail 1, all play a part of load support, and then ensure that four wheels stress is consistent, abrasion is consistent.
Further, Fig. 2, Fig. 3, Fig. 4 and Fig. 8 are referred to, adaptive driving mechanism 5 includes what is be connected with crusing robot
Active fixed mount 51, the driving shaft 511 being placed on active fixed mount 51, the two ends for being placed in driving shaft 511 and with the inner side of inner chamber
Face rolls the driving wheel 512 of cooperation and the drive component 52 with the drive connection of driving shaft 511.Further, drive component 52
Including the timing belt 521 coordinated with driving wheel 512, the synchronous pulley 522 with the cooperation of timing belt 521, it is placed in active fixed mount 51
Clutch shaft bearing 523 and the motor 524 for driving synchronous pulley 522 to rotate interior and coordinate with synchronous pulley 522.It is logical
Motor 524 of overdriving drives driving wheel 512, is transferred to by timing belt 521 on driving wheel 512, driving wheel 512 is produced with guide rail 1
Raw frictional force and then promotion walking structure operation.The clutch shaft bearing 523 that the bottom of adaptive driving mechanism 5 is set is installed to machine
In the crossbeam of structure, it should be noted that, adaptive driving mechanism 5 can also be surrounded in the presence of guiding mechanism 2 is adaptively held out against
Clutch shaft bearing 523 rotates back and forth motion.
Further, Fig. 2, Fig. 4 and Fig. 9 are referred to, the guiding that guiding mechanism 2 includes being connected with skeleton 4 is adaptively held out against
The side of fixed mount, the sidepiece for being placed in guiding fixed mount and the medial surface for holding out against guide rail 1 holds out against directive wheel and is placed in guiding
The top of fixed mount and for hold out against guide rail 1 inner top surface on hold out against directive wheel 23.Further, side holds out against directive wheel and included
Be fixedly mounted on be oriented to fixed mount side and for hold out against guide rail 1 a medial surface first hold out against directive wheel 21 and rotation
It is connected to the opposite side that is oriented to fixed mount and second holds out against directive wheel 22 for another medial surface for holding out against guide rail 1；Second top
Tight directive wheel 22 is connected by the side-sway frame 221 of setting with being oriented to fixed mount rotation, and side-sway frame 221, which is provided with, to be used to hold out against second
Hold out against the first torsion spring 2211 of directive wheel 22.Specifically, first hold out against directive wheel 21 and be rotatably connected to side link 211, side connects
The other end for connecing frame 211 is fixed with being oriented to the side of fixed mount.Further, above hold out against directive wheel 23 and be rotatably connected to rocker
231, upper end rotation of the other end of upper rocker 231 with being oriented to fixed mount is connected, and upper rocker 231, which is provided with, to be used to hold out against
Second torsion spring 2311 of directive wheel 23.The adaptive guiding mechanism 2 that holds out against plays a part of to hold out against and adapts to be oriented to, and adaptively holds out against and leads
Directive wheel 23 is held out against on to the top of mechanism 2 and is held out against using the second torsion spring 2311, makes to hold out against the interior of directive wheel 23 and guide rail 1
Top surface is contacted, and the reaction force of the second torsion spring 2311 adaptively will hold out against guiding mechanism 2 and be pressed downward so that adaptively hold out against Guiding machine
Structure 2 can not takeoff upwards in operation.Directive wheel 21 is held out against by set in the sidepiece for adaptively holding out against guiding mechanism 2 first
Directive wheel 22 is held out against with second.Specifically, first hold out against directive wheel 21 and second and hold out against directive wheel 22 and be respectively set to two, respectively
Contact two sides of guide rail 1.Hold out against directive wheel 21 and be fixedly mounted on and be oriented to the side of fixed mount and for holding out against due to first
One medial surface of guide rail 1, second, which holds out against directive wheel 22, is rotatably connected on the opposite side for being oriented to fixed mount and is used to hold out against guide rail 1
Another medial surface, second holds out against the rotation connection of directive wheel 22 so that it is the swing form for having position limitation, the first torsion spring
Angle and the size of moment of torsion that 2211 controls are swung, further such that first holds out against directive wheel 21, second to hold out against directive wheel 22 same
When hold out against the medial surface of guide rail 1, laterally run.When running into bend, swingable second holds out against directive wheel 22 according to track
The change adjust automatically swing angle of side, it is ensured that first, which holds out against directive wheel 21 and second, holds out against the presses against track simultaneously of directive wheel 22
1 side is excessively curved, further such that walking mechanism is stable.Can be in bend simultaneously as adaptively holding out against guiding mechanism 2
In it is adaptive, turned without servicing unit, it is simple in construction, light and handy.
Further, Fig. 4, Fig. 7, Fig. 8 and Figure 10 are referred to, skeleton 4, which is provided with, is used for the current-collector of the power taking from guide rail 1
6, current-collector 6 includes current collection support and the brush being placed on current collection support, and brush is electrically connected with crusing robot.Specifically
Ground, current-collector 6 include the first current-collector 61 and the second current-collector 62, the first current-collector 61 include the first current collection support 611 and
The first brush 6111 being placed on the first current collection support 611；Second current-collector 62 includes the second current collection support 621 and is placed in the
The second brush 6211 on two current collection supports 621.Specifically, the first current-collector 61 is located at the driven solid of adaptive follower 3
Determine on frame 31, the second current-collector 62 is located on the active fixed mount 51 of adaptive mover.It should be noted that, skeleton 4 includes master
Dynamic fixed mount 51, driven fixed mount 31 and the crossbeam for connecting active fixed mount 51 and driven fixed mount 31.Further,
First current collection support 611 and the second current collection support 621 are set to sequentially be hinged the quadric chain of quadrangularly, quadric chain
It is provided with the extension spring to cause brush and trolley 112 to be brought into close contact by elastic force.Due to being installed on quadric chain
Have extension spring, extension spring is constantly in extended state, its convergent force ensure brush linear running with it is excessively curved when always with
Trolley 112 is brought into close contact, by dual brush designs, is further ensured that power taking will not be interrupted.Walking mechanism can pass through guide rail 1
From external electrical network power taking.In addition, it should be noted that, internal battery can also be set in walking mechanism, when extranets are powered off,
Also it can be driven, can be charged the battery in driving, so as to be provided for the uninterrupted operation of crusing robot by internal battery
Ensure.In addition, referring to Fig. 2, Fig. 3 and Figure 10, walking mechanism also includes and adaptive driving mechanism 5 and adaptive follower
3 bottom is connected to protect the casing 7 of adaptive driving mechanism 5 and adaptive follower 3.So that a walking mechanism part is set
Put in guide rail 1, a part is arranged in casing 7, degree of protection is high, up to IP34.It should be noted that, IP34, which refers to waterproof, to be prevented
The degree of dirt.I represents the grade for preventing that solid foreign materials from entering, and highest level is 6.Second digit shows the journey of equipment waterproof
Degree.P, which is represented, prevents the grade into water, and highest level is 8.
Preferred embodiment of the present utility model is these are only, it is all in this practicality not to limit the utility model
Any modification, equivalent substitution or improvement made within new spirit and principle etc., should be included in guarantor of the present utility model
Within the scope of shield.
Claims (10)
1. a kind of rail mounted robot running gear, it is characterised in that including：
Guide rail with hollow cavity, it is placed in the inner chamber and for holding out against the guide rail to cause crusing robot described
The adaptive of even running holds out against guiding mechanism, is placed in and described adaptively hold out against the lower section of guiding mechanism and led with described on guide rail
Rail rolls the adaptive driving mechanism coordinated and the adaptive driving mechanism coordinates to cause crusing robot in the guide rail
Upper forward adaptive follower and be connected with the crusing robot and be used to supporting the adaptive driving mechanism and
The skeleton of the adaptive follower.
2. rail mounted robot running gear as claimed in claim 1, it is characterised in that described adaptively to hold out against guiding mechanism
Including be connected with the skeleton guiding fixed mount, be placed in the sidepiece of the guiding fixed mount and for holding out against in the guide rail
The side of side holds out against directive wheel and the top for being placed in the guiding fixed mount and the inner top surface for holding out against the guide rail
Hold out against directive wheel.
3. rail mounted robot running gear as claimed in claim 2, it is characterised in that the side, which holds out against directive wheel, to be included admittedly
Dingan County mounted in it is described guiding fixed mount side and for hold out against the guide rail a medial surface first hold out against directive wheel and
It is rotatably connected on the opposite side of the guiding fixed mount and second holds out against guiding for another medial surface for holding out against the guide rail
Wheel；Described second holds out against directive wheel is connected by the side-sway frame of setting with the guiding fixed mount rotation, is set on the side-sway frame
Have for holding out against the described second the first torsion spring for holding out against directive wheel.
4. rail mounted robot running gear as claimed in claim 2, it is characterised in that directive wheel is held out against on described and rotates company
Rocker is connected to, the other end of the upper rocker is rotated with the upper end of the guiding fixed mount and is connected, and the upper rocker is provided with
The second torsion spring of directive wheel is held out against on described for holding out against.
5. the rail mounted robot running gear as described in any one of Claims 1 to 4, it is characterised in that the adaptive master
Motivation structure include be connected with crusing robot active fixed mount, be placed on the active fixed mount driving shaft, be placed in described in
The two ends of driving shaft and the driving wheel with the medial surface rolling cooperation of the inner chamber and the drive with the driving shaft drive connection
Dynamic component.
6. rail mounted robot running gear as claimed in claim 5, it is characterised in that the drive component include with it is described
Timing belt that driving wheel coordinates, the synchronous pulley coordinated with the timing belt, be placed in the active fixed mount and with it is described same
The clutch shaft bearing that step belt wheel coordinates and the motor for driving the synchronous pulley to rotate.
7. the rail mounted robot running gear as described in any one of Claims 1 to 4, it is characterised in that it is described it is adaptive from
Motivation structure include be connected with crusing robot driven fixed mount, be placed on the driven fixed mount swinging axle, be placed in described in
On driven fixed mount and with the axis direction of the swinging axle perpendicular central shaft, be placed in the swinging axle two ends and with institute
The medial surface for stating inner chamber rolls the driven pulley coordinated and is placed in the second bearing of the bottom of the driven fixed mount.
8. the rail mounted robot running gear as described in any one of Claims 1 to 4, it is characterised in that the guide rail includes
First guide rail section and the second guide rail section that the hollow cavity is spliced into first guide rail section；First guide rail section
The trolley for being provided with mounting groove, the mounting groove and being used for powering to crusing robot, the mounting groove are formed with madial wall
Extend with the trolley along the length direction of the guide rail.
9. rail mounted robot running gear as claimed in claim 8, it is characterised in that the skeleton, which is provided with, to be used for from leading
The current-collector of power taking in rail, the current-collector includes current collection support and the brush being placed on the current collection support, the brush
It is electrically connected with crusing robot；The current collection support is set to sequentially be hinged the quadric chain of quadrangularly, the double leval jib
Mechanism is provided with the extension spring to cause the brush and the trolley to be brought into close contact by elastic force.
10. the rail mounted robot running gear as described in any one of Claims 1 to 4, it is characterised in that also including with it is described
Adaptive driving mechanism be connected with the bottom of the adaptive follower with protect the adaptive driving mechanism and it is described oneself
Adapt to the casing of follower.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621165087.9U CN206366989U (en) | 2016-10-31 | 2016-10-31 | Rail mounted robot running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621165087.9U CN206366989U (en) | 2016-10-31 | 2016-10-31 | Rail mounted robot running gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206366989U true CN206366989U (en) | 2017-08-01 |
Family
ID=59389039
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621165087.9U Active CN206366989U (en) | 2016-10-31 | 2016-10-31 | Rail mounted robot running gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206366989U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600101A (en) * | 2017-09-27 | 2018-01-19 | 重庆市瀚德高科机器人有限公司 | A kind of miniature hanger rail type various dimensions steering mechanism |
| CN107639622A (en) * | 2017-09-15 | 2018-01-30 | 深圳市朗驰欣创科技股份有限公司 | Rail polling robot running gear |
| CN107703559A (en) * | 2017-09-07 | 2018-02-16 | 国网浙江省电力公司宁波供电公司 | Seep water infrared detecting device for a kind of cable tunnel |
| CN107825406A (en) * | 2017-11-30 | 2018-03-23 | 山东大学 | A kind of high-speed overload large-span gantry manipulator truss guide driver and its application |
| CN108555881A (en) * | 2018-06-29 | 2018-09-21 | 山东金惠新达智能制造科技有限公司 | One kind can minor-circle turn hanger rail robot climbing apparatus |
| CN108622118A (en) * | 2018-04-27 | 2018-10-09 | 深圳博通机器人有限公司 | A kind of robot for piping lane inspection |
| CN108789356A (en) * | 2018-03-26 | 2018-11-13 | 无锡中车时代智能装备有限公司 | Robot sliding guide rail system and detection control method |
| CN108858160A (en) * | 2018-07-25 | 2018-11-23 | 佛山市顺德区晶睿机电科技有限公司 | A kind of universal glass plate loading and unloading mechanical arm |
| CN109048851A (en) * | 2018-10-23 | 2018-12-21 | 哈尔滨工程大学 | A kind of rail mounted crusing robot |
| CN109398373A (en) * | 2018-12-05 | 2019-03-01 | 辽宁工业大学 | A kind of suspension type is double to drive lane-change system and its track |
| CN109500798A (en) * | 2018-12-06 | 2019-03-22 | 合肥瑞堡科技发展有限公司 | A kind of mobile robot including more driving |
-
2016
- 2016-10-31 CN CN201621165087.9U patent/CN206366989U/en active Active
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107703559A (en) * | 2017-09-07 | 2018-02-16 | 国网浙江省电力公司宁波供电公司 | Seep water infrared detecting device for a kind of cable tunnel |
| CN107639622A (en) * | 2017-09-15 | 2018-01-30 | 深圳市朗驰欣创科技股份有限公司 | Rail polling robot running gear |
| CN107600101A (en) * | 2017-09-27 | 2018-01-19 | 重庆市瀚德高科机器人有限公司 | A kind of miniature hanger rail type various dimensions steering mechanism |
| CN107825406B (en) * | 2017-11-30 | 2023-06-02 | 山东大学 | Truss guide driving device of high-speed heavy-load large-span gantry manipulator and application thereof |
| CN107825406A (en) * | 2017-11-30 | 2018-03-23 | 山东大学 | A kind of high-speed overload large-span gantry manipulator truss guide driver and its application |
| CN108789356A (en) * | 2018-03-26 | 2018-11-13 | 无锡中车时代智能装备有限公司 | Robot sliding guide rail system and detection control method |
| CN108789356B (en) * | 2018-03-26 | 2023-08-18 | 无锡中车时代智能装备研究院有限公司 | Robot sliding guide rail system and detection control method |
| CN108622118A (en) * | 2018-04-27 | 2018-10-09 | 深圳博通机器人有限公司 | A kind of robot for piping lane inspection |
| CN108555881A (en) * | 2018-06-29 | 2018-09-21 | 山东金惠新达智能制造科技有限公司 | One kind can minor-circle turn hanger rail robot climbing apparatus |
| CN108858160A (en) * | 2018-07-25 | 2018-11-23 | 佛山市顺德区晶睿机电科技有限公司 | A kind of universal glass plate loading and unloading mechanical arm |
| CN108858160B (en) * | 2018-07-25 | 2024-06-18 | 佛山市顺德区晶睿机电科技有限公司 | Universal glass plate feeding and discharging mechanical arm |
| CN109048851B (en) * | 2018-10-23 | 2021-09-10 | 哈尔滨工程大学 | Track type inspection robot |
| CN109048851A (en) * | 2018-10-23 | 2018-12-21 | 哈尔滨工程大学 | A kind of rail mounted crusing robot |
| CN109398373A (en) * | 2018-12-05 | 2019-03-01 | 辽宁工业大学 | A kind of suspension type is double to drive lane-change system and its track |
| CN109398373B (en) * | 2018-12-05 | 2024-05-28 | 辽宁工业大学 | Suspension type double-drive lane changing system and rail thereof |
| CN109500798A (en) * | 2018-12-06 | 2019-03-22 | 合肥瑞堡科技发展有限公司 | A kind of mobile robot including more driving |
| CN109500798B (en) * | 2018-12-06 | 2024-02-20 | 合肥瑞堡科技发展有限公司 | Mobile robot comprising multiple drives |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206366989U (en) | Rail mounted robot running gear | |
| CN108000484A (en) | Rail mounted robot running gear | |
| CN206088035U (en) | Mecanum wheel shuttle | |
| CN107398888A (en) | Rail polling robot running gear | |
| CN205734888U (en) | Rail polling robot running gear | |
| CN110342206A (en) | A kind of car assembly shop material transfer AGV trolley | |
| CN112879774A (en) | City wisdom tourism is guide to visitors device independently | |
| CN104571105B (en) | AGV intelligence charge cars | |
| CN207480577U (en) | A kind of track machine people turning device | |
| CN203654981U (en) | Automatic door and moving device of automatic door | |
| CN211442073U (en) | Logistics AGV dolly convenient to use | |
| CN103662699A (en) | Interior-line contactless power supply sliding plate | |
| CN207773197U (en) | Electric stair climbing ladder trolley | |
| CN2803149Y (en) | Trackless movable stereo goods shelf | |
| CN114291510A (en) | Lifting type track conveying device for recycling waste automobiles | |
| CN205615516U (en) | Straight mixed rail mounted electric flat carriage of arc | |
| CN203499306U (en) | Three-dimensional parking device | |
| CN207293390U (en) | A kind of underslung trolley conveying device | |
| CN109910836B (en) | Internet of things automobile power supply quick dismounting and mounting equipment and working process thereof | |
| CN210312241U (en) | AGV dolly is used in material transfer between car assembly workshop | |
| CN207847207U (en) | A kind of rechargeable vertical circulating garage | |
| CN217318019U (en) | Single-rail inspection robot | |
| CN212830857U (en) | Coal belt conveying protection device | |
| CN215883800U (en) | Automatic seek electronic flatcar of mark travelling | |
| CN218966910U (en) | Bogie (wheel set) traction robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |