CN207155778U - Rail polling robot running gear - Google Patents

Rail polling robot running gear Download PDF

Info

Publication number
CN207155778U
CN207155778U CN201721181889.3U CN201721181889U CN207155778U CN 207155778 U CN207155778 U CN 207155778U CN 201721181889 U CN201721181889 U CN 201721181889U CN 207155778 U CN207155778 U CN 207155778U
Authority
CN
China
Prior art keywords
aluminium
wheel
bar
crossbeam
drive
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
Application number
CN201721181889.3U
Other languages
Chinese (zh)
Inventor
席文兵
任春勇
鲜开义
周仁彬
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.)
Chengdu Hitoal Automatic Control Technology Co., Ltd.
Shenzhen Launch Digital Technology Co Ltd
Original Assignee
Shenzhen Launch Digital Technology 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 Shenzhen Launch Digital Technology Co Ltd filed Critical Shenzhen Launch Digital Technology Co Ltd
Priority to CN201721181889.3U priority Critical patent/CN207155778U/en
Application granted granted Critical
Publication of CN207155778U publication Critical patent/CN207155778U/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The utility model discloses a kind of rail polling robot running gear, including track and drive mechanism, drive mechanism to be moved along track, and crusing robot is arranged in drive mechanism;Track includes aluminium section bar and chain, and chain is set in parallel in the lower section of aluminium section bar;Drive mechanism includes suspension arm, crossbeam, steady wheel group, sprocket wheel, motor and transfer, two suspension arms and crossbeam composition U-shape structure, suspension arm is slidably contacted by steady wheel group with aluminium section bar, sprocket wheel is horizontally disposed and is rotatably connected with crossbeam, and sprocket wheel engages with chain, the torque input shaft of chain is fixedly connected by transmission belt with the torque output shaft of motor, and motor is fixedly connected with crossbeam.The utility model using standard industry aluminium section bar as track, chain as path, sprocket wheel as driving wheel, using chain drive, it is possible to achieve be accurately positioned, easily realization turning climb, using steering spindle as knuckle, can meet the needs of minor-circle turn.

Description

Rail polling robot running gear
Technical field
It the utility model is related to robot running gear, more particularly to a kind of rail polling robot running gear.
Background technology
Robot application is more and more extensive at present.In the occasion that had certain requirements to security, more and more using edge The robot of track travel.The track used at present, it is to have continued to use the I shape track from transfer robot of walking mostly.In the presence of Weight is big, and price is high, is not easy to realize the situation of minor-circle turn.In the occasion that the equipment such as electric power computer room are intensive, it is more difficult to meet real Border demand.Therefore develop it is a kind of it is cheap, walking is reliable, can the robot of minor-circle turn just seem necessary.It is existing Technology is mainly the self friction advance by driving wheel, or by cloth rack in orbit, passes through gear and engage advance.
Using friction type because being roller friction, skidded due to existing, be not easy realization and be accurately positioned.And use gear The form of rack is not in skid, but is not easy to realize climbing of turning, and rack cost is higher.
Utility model content
The purpose of this utility model is that to solve the above problems and provides a kind of rail polling robot ambulation machine Structure.
The utility model is achieved through the following technical solutions above-mentioned purpose:
A kind of rail polling robot running gear, including track and drive mechanism, the drive mechanism is along the track Mobile, the crusing robot is arranged in the drive mechanism;
The track includes aluminium section bar and chain, and the chain is set in parallel in the lower section of the aluminium section bar, and with it is described The downside of aluminium section bar is fixedly connected;
The drive mechanism includes suspension arm, crossbeam, steady wheel group, sprocket wheel, motor and transfer, described in two Suspension arm and crossbeam composition U-shape structure, the aluminium section bar is located in the U-shape structure, and the suspension arm pass through it is described Steady wheel group slidably contacts with the aluminium section bar, and the sprocket wheel is horizontally disposed and is rotatably connected with the crossbeam, and described Sprocket wheel engages with the chain, and the torque input shaft of the chain is consolidated by the torque output shaft of transmission belt and the motor Fixed connection, the motor are fixedly connected with the crossbeam.
Further, the walking mechanism also includes electric supply installation, and the electric supply installation includes trolley and current-collector, described Current-collector is fixedly connected with the crossbeam, and the trolley is fixed on the aluminium section bar, and the current-collector and the wiping Linear contact lay power taking, the current-collector electrically connect with the motor.
Preferably, the quantity of the current-collector is two groups, and current-collector is fixedly connected with the crossbeam described in two groups.
Specifically, the steady wheel group includes suspension sheave and guide wheel group,
Two suspension sheaves are arranged at the top of the aluminium section bar, and are connect with the upper side rolling of the aluminium section bar Touch, two suspension sheaves are rotatably connected by rotating shaft and the upper end of the suspension arm respectively;
Two guide wheel groups are separately positioned on the two sides of the aluminium section bar, and two sides with the aluminium section bar respectively It is in rolling contact, the guide wheel group is fixedly connected by leading arm with the middle-end of the suspension arm.
Specifically, the guide wheel group includes flexible guiding wheel and rigid directive wheel, the flexible guiding wheel and it is described just Property directive wheel positioned at being same as horizontal plane, and the both ends with the leading arm are fixedly connected respectively, the middle-end of the leading arm and institute State suspension arm to be fixedly connected, connected between the flexible guiding wheel and the leading arm by buffering torsion spring.
Further, the walking mechanism also includes follower, the follower include with the drive mechanism Structure and connected mode all same suspension arm, crossbeam, transfer and steady wheel group, the transfer of the follower It is fixedly connected with the transfer of the drive mechanism with the crusing robot.
Specifically, the transfer includes steering spindle and steering bearing, and the upper end of the steering spindle passes through the steering The middle-end of bearing and the crossbeam is rotatably connected, and the lower end of the steering spindle is to be fixedly connected with the crusing robot.
The beneficial effects of the utility model are:
A kind of rail polling robot running gear of the utility model is made using standard industry aluminium section bar as track, chain It is path, sprocket wheel as driving wheel, using chain drive, it is possible to achieve be accurately positioned, climbing of turning easily realized, using steering Axle can meet the needs of minor-circle turn as knuckle.
Brief description of the drawings
Fig. 1 is a kind of structural representation of rail polling robot running gear described in the utility model, is to turn in figure Curved walking states;
Fig. 2 is a kind of structural representation of rail polling robot running gear described in the utility model, is straight in figure Line walking states;
Fig. 3 is the structural representation of drive mechanism described in the utility model;
Fig. 4 is the structural representation of follower described in the utility model.
Embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings:
As shown in Figure 1, Figure 2 and Figure 3, a kind of rail polling robot running gear of the utility model, including track, driving Mechanism and electric supply installation, drive mechanism are moved along track, and crusing robot is arranged in drive mechanism;
Track includes aluminium section bar 1 and chain 4, and chain 4 is set in parallel in the lower section of aluminium section bar 1, and with the downside of aluminium section bar 1 Face is fixedly connected;
Drive mechanism includes suspension arm 12, crossbeam, steady wheel group, sprocket wheel 7, motor 3 and transfer 9, and two outstanding Upper arm 12 and crossbeam composition U-shape structure, aluminium section bar 1 is located in U-shape structure, and suspension arm 12 passes through steady wheel group and aluminium section bar 1 Slidably contact, sprocket wheel 7 is horizontally disposed and is rotatably connected with crossbeam, and sprocket wheel 7 engages with chain 4, the torque input of chain 4 Axle is fixedly connected by transmission belt 8 with the torque output shaft of motor 3, and motor 3 is fixedly connected with crossbeam;
Electric supply installation includes trolley 10 and current-collector 11, and current-collector 11 is fixedly connected with crossbeam, and trolley 10 is fixed on On aluminium section bar 1, and current-collector 11 and the contact electricity getting of trolley 10, current-collector 11 electrically connect with motor 3, the number of current-collector 11 Measure as two groups, two groups of current-collectors 11 are fixedly connected with crossbeam, and steady wheel group includes suspension sheave 2 and guide wheel group, two suspensions Wheel 2 is arranged at the top of aluminium section bar 1, and is in rolling contact with the upper side of aluminium section bar 1, and two suspension sheaves 2 pass through rotating shaft respectively 14 are rotatably connected with the upper end of suspension arm 12;Two guide wheel groups are separately positioned on the two sides of aluminium section bar 1, and respectively with aluminium Two sides of section bar 1 are in rolling contact, and guide wheel group is fixedly connected by leading arm 15 with the middle-end of suspension arm 12.
Guide wheel group includes flexible guiding wheel 5 and rigid directive wheel 6, and flexible guiding wheel 5 and rigid directive wheel 6, which are located at, to be same as Horizontal plane, and the both ends with leading arm 15 are fixedly connected respectively, the middle-end of leading arm 15 is fixedly connected with suspension arm 12, and flexibility is led Connected between wheel 5 and leading arm 15 by buffering torsion spring 13.
As shown in Figure 1, Figure 2 and Figure 4, walking mechanism also includes follower, follower include with drive mechanism The suspension arm 12 of structure and connected mode all same, crossbeam, transfer 9 and steady wheel group, the He of transfer 9 of follower The transfer 9 of drive mechanism is fixedly connected with crusing robot.
Transfer 9 includes steering spindle and steering bearing, and the upper end of steering spindle can by the middle-end of steering bearing and crossbeam Rotation connection, lower end and the crusing robot of steering spindle are to be fixedly connected.
A kind of operation principle of rail polling robot running gear of the utility model is as follows:
Walking mechanism is fixed on aluminium section bar 1 by suspension sheave 2 and steady wheel group, and it is moved along aluminium section bar 1; Walking mechanism is suspended on aluminium section bar 1 by suspension sheave 2, prevents from going by the flexible guiding wheel 5 and rigid directive wheel 6 of both sides Walk mechanism to rock, and rocking when turning is reduced by buffering torsion spring 13.
Rotated with movable sprocket 7 by motor 3, simultaneously as sprocket wheel 7 engages with the chain 4 of the lower section of aluminium section bar 1, realized The movement of walking mechanism.
By current-collector 11 and the contact electricity getting of trolley 10, two groups of current-collectors 11 can be prevented because bounce causes system unexpected Power-off.
The technical solution of the utility model is not limited to the limitation of above-mentioned specific embodiment, every according to skill of the present utility model The technology deformation that art scheme is made, each falls within the scope of protection of the utility model.

Claims (7)

  1. A kind of 1. rail polling robot running gear, it is characterised in that:Including track and drive mechanism, the drive mechanism edge The track movement, the crusing robot are arranged in the drive mechanism;
    The track includes aluminium section bar and chain, and the chain is set in parallel in the lower section of the aluminium section bar, and with the aluminium profiles The downside of material is fixedly connected;
    The drive mechanism includes suspension arm, crossbeam, steady wheel group, sprocket wheel, motor and transfer, two suspensions Arm and crossbeam composition U-shape structure, the aluminium section bar is located in the U-shape structure, and the suspension arm passes through the stabilization Wheel group slidably contacts with the aluminium section bar, and the sprocket wheel is horizontally disposed and is rotatably connected with the crossbeam, and the sprocket wheel Engaged with the chain, the torque input shaft of the chain is fixed by the torque output shaft of transmission belt and the motor to be connected Connect, the motor is fixedly connected with the crossbeam.
  2. 2. rail polling robot running gear according to claim 1, it is characterised in that:Also include electric supply installation, institute Stating electric supply installation includes trolley and current-collector, and the current-collector is fixedly connected with the crossbeam, and the trolley is fixed on institute State on aluminium section bar, and the current-collector and the trolley contact electricity getting, the current-collector electrically connect with the motor.
  3. 3. rail polling robot running gear according to claim 2, it is characterised in that:The quantity of the current-collector is Two groups, current-collector is fixedly connected with the crossbeam described in two groups.
  4. 4. rail polling robot running gear according to claim 1, it is characterised in that:The steady wheel group includes outstanding Change gear and guide wheel group,
    Two suspension sheaves are arranged at the top of the aluminium section bar, and are in rolling contact with the upper side of the aluminium section bar, two The individual suspension sheave is rotatably connected by rotating shaft and the upper end of the suspension arm respectively;
    Two guide wheel groups are separately positioned on the two sides of the aluminium section bar, and two sides with the aluminium section bar roll respectively Contact, the guide wheel group are fixedly connected by leading arm with the middle-end of the suspension arm.
  5. 5. rail polling robot running gear according to claim 4, it is characterised in that:The guide wheel group includes soft Property directive wheel and rigid directive wheel, the flexible guiding wheel and the rigid directive wheel positioned at being same as horizontal plane, and respectively with institute The both ends for stating leading arm are fixedly connected, and the middle-end of the leading arm is fixedly connected with the suspension arm, the flexible guiding wheel with Connected between the leading arm by buffering torsion spring.
  6. 6. rail polling robot running gear according to claim 1, it is characterised in that:Also include follower, institute State follower include with the structure in the drive mechanism and the suspension arm of connected mode all same, crossbeam, transfer and The transfer of steady wheel group, the transfer of the follower and the drive mechanism is fixed with the crusing robot Connection.
  7. 7. rail polling robot running gear according to claim 6, it is characterised in that:The transfer includes turning To axle and steering bearing, the upper end of the steering spindle is rotatably connected by the middle-end of the steering bearing and the crossbeam, institute The lower end and the crusing robot for stating steering spindle are to be fixedly connected.
CN201721181889.3U 2017-09-15 2017-09-15 Rail polling robot running gear Active CN207155778U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201721181889.3U CN207155778U (en) 2017-09-15 2017-09-15 Rail polling robot running gear

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201721181889.3U CN207155778U (en) 2017-09-15 2017-09-15 Rail polling robot running gear

Publications (1)

Publication Number Publication Date
CN207155778U true CN207155778U (en) 2018-03-30

Family

ID=61721816

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201721181889.3U Active CN207155778U (en) 2017-09-15 2017-09-15 Rail polling robot running gear

Country Status (1)

Country Link
CN (1) CN207155778U (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110282380A (en) * 2019-07-09 2019-09-27 无锡中吉泰电气科技有限公司 A kind of magneto transfer board
CN110549313A (en) * 2019-08-27 2019-12-10 北京戴纳实验科技有限公司 hanger rail taking manipulator for laboratory equipment

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110282380A (en) * 2019-07-09 2019-09-27 无锡中吉泰电气科技有限公司 A kind of magneto transfer board
CN110549313A (en) * 2019-08-27 2019-12-10 北京戴纳实验科技有限公司 hanger rail taking manipulator for laboratory equipment

Similar Documents

Publication Publication Date Title
CN107639622A (en) Rail polling robot running gear
CN207155778U (en) Rail polling robot running gear
CN203254885U (en) Track wheel
CN205998511U (en) A kind of wheel hub pipeline
CN103481895B (en) A kind of RGV dolly
CN106740899B (en) Electric tunnel inspection robot walking structure, robot and its method
CN103010950A (en) Constant-pressure friction driving trolley of hanging type hoisting equipment and method
CN206886546U (en) One kind driving
CN203938125U (en) A kind of dolly friction track drive-type delivery system
CN202924356U (en) Transitional lifting rolling machine
CN100560012C (en) Rack bar weight counterbalance operation type window wiping machine
CN108177529A (en) A kind of pantograph collector head
CN103832797A (en) Suspension chain conveyor system
CN202609814U (en) Self-steering craning conveying device
CN204211031U (en) A kind of slide plate conveyer
CN202823816U (en) Lift for powder spraying
CN203006274U (en) Lifting roller bed capable of rotating and moving
CN207595916U (en) A kind of motor-driven carrier for being used for straight rail or arc orbit
CN102530752A (en) Two-vertical-column belt lifter capable of separating workpiece from rail to realize transshipment
CN203006279U (en) Automobile body friction drive roller bed device
CN202358841U (en) Electromagnetic crane car
CN201683844U (en) Mechanical linkage mobile counterweight device
CN201801142U (en) Belt carrier device
CN205855824U (en) A kind of monkey walking mechanism
CN208265191U (en) A kind of device of control gathering chain transport trolley sprocket wheel rotation

Legal Events

Date Code Title Description
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right

Effective date of registration: 20181229

Address after: 518000 Fengyun Science and Technology Building 301, No. 5 Industrial Zone, North Ring Road, Nanshan District, Shenzhen City, Guangdong Province

Co-patentee after: Chengdu Hitoal Automatic Control Technology Co., Ltd.

Patentee after: Shenzhen Launch Digital Technology Co., Ltd.

Address before: 518108 301 of Fengyun science and technology mansion, Fifth Industrial Zone, Nanshan District North Ring Road, Shenzhen, Guangdong.

Patentee before: Shenzhen Launch Digital Technology Co., Ltd.

TR01 Transfer of patent right