CN207173601U - A kind of pipe gallery crusing robot hoofing part mechanism - Google Patents
A kind of pipe gallery crusing robot hoofing part mechanism Download PDFInfo
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- CN207173601U CN207173601U CN201720670297.1U CN201720670297U CN207173601U CN 207173601 U CN207173601 U CN 207173601U CN 201720670297 U CN201720670297 U CN 201720670297U CN 207173601 U CN207173601 U CN 207173601U
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Abstract
The utility model discloses a kind of pipe gallery crusing robot hoofing part mechanism, the hoofing part mechanism is by preceding guiding mechanism（1）, left drive mechanism（5）, driving force hold-down mechanism（6）, motor（7）, right drive mechanism（8）, rear guiding mechanism（9）, guide rail（12）, main support member（13）, bearing pin（14）, driving wheel（16）And pressure arm（17）Composition.Walking carrier of the mechanism as crusing robot, using I-shaped section bar as guide rail, the driving wheel and guide rail contact of drive mechanism, produce frictional force by hold-down mechanism and power is provided, rotating mechanism can automatically adjust turning and ramp angle, ensure that walking is smooth.The hoofing part mechanism has automatic turning and climbing capacity, suitable for the working environment that narrow space, environment are complicated.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of pipe gallery crusing robot hoofing part machine
Structure.
Background technology
Pipe gallery, it is exactly urban Underground pipeline synthesis corridor, i.e., a tunnel space is built in Urban Underground, by electricity
The various utilities pipelines such as power, communication, combustion gas, heat supply, plumbing are integrated in one, provided with special access hole, hoisting port and monitoring
System, implement unified planning, Uniting, the unified important infrastructure and " life built and managed, be guarantee city operations
Line ".
The inspection work of pipe gallery is manual inspection at present, and based on the complex environment inside pipe gallery, inside can deposit
Low in toxic gas, oxygen content, manual inspection difficulty is big, it is impossible in real time to piping lane carry out inspection, occur fire when can not and
Shi Faxian and put out a fire to save life and property, toxic gas also can produce harm to people.
All inspection operations of pipe gallery equipment can be replaced being accomplished manually using pipe gallery crusing robot.Piping lane patrols
Robot system is examined by the way of autonomous or remote control, inspection is carried out to all devices in unattended pipe gallery, can
According to operation of the operating personnel in base station or task set in advance, by carrying various sensors, to complete in pipe gallery
The inspection and environmental monitoring of equipment, really play a part of personnel reduction and enlargement, while can avoid because toxic and harmful gas is to patrolling
Harm caused by inspection personnel.
Pipe gallery crusing robot is typically all to cover into environmental monitoring fixed track is up.Due in piping lane
Shape is complicated, and robot running track has situations such as turning, climb and fall, in order that crusing robot can be put down in all cases
Surely walk, it is necessary to there is the walking mechanism of preferable adaptability.
The content of the invention
In order to solve the above technical problems, this practicality newly provides a kind of pipe gallery crusing robot hoofing part mechanism,
Walking carrier of the mechanism as crusing robot, using I-shaped section bar as guide rail, there is minor-circle turn and climbing capacity, fit
The patrol task of various complex environments is answered, compatibility is by force.
The technical solution adopted in the utility model is：A kind of pipe gallery crusing robot hoofing part mechanism, by leading
To mechanism（1）, left drive mechanism（5）, driving force hold-down mechanism（6）, motor（7）, right drive mechanism（8）, rear Guiding machine
Structure（9）, guide rail（12）, main support member（13）, bearing pin（14）, driving wheel（16）And pressure arm（17）Composition.
The preceding guiding mechanism（1）Including：Preceding upper support wheel（2）, rami posterior superior support wheel（24）, front lower support wheel（3）, it is vertical
Rotary shaft（4）, transverse rotation axle（10）, angular contact bearing（23）, taper roll bearing（18）, cross link（15）, it is rear under
Support wheel（11）, directive wheel（19）, runing rest（20）, leading truck（21）And fixture block（22）.Transverse rotation axle（10）Pass through circle
Taper roller bearing（18）With cross link（15）It is fixedly connected, cross link（15）Can transversely rotary shaft（10）Axially rotation
Turn.Directive wheel（19）With preceding upper support wheel（2）, rami posterior superior support wheel（24）It is fixed on leading truck（21）On.Front lower support wheel（3）With
Rami posterior inferior support wheel（11）Pass through fixture block（22）It is fixed on leading truck（21）On；Leading truck（21）With runing rest（20）It is fixed to connect
Connect.Runing rest（20）Pass through angular contact bearing（23）, vertical rotating shaft（4）With cross link（15）It is fixedly connected.
Guiding mechanism afterwards（9）With preceding guiding mechanism（1）With identical composition structure and connected mode.
Drive mechanism upper support wheel before integrally relying on（2）, rami posterior superior support wheel（24）, front lower support wheel（3）, taper roller axle
Hold（18）Support and take turns with rami posterior inferior（11）With guide rail（12）It is fixed, due to there is preceding guiding mechanism（1）With rear guiding mechanism（9）Two groups are led
To mechanism, so preceding guiding mechanism（1）Vertical rotating shaft（4）With rear guiding mechanism（9）Vertical rotating shaft（4）Form solid
Fixed 2 points, by main support member（13）Level is fixed.Preceding guiding mechanism（1）Vertical rotating shaft（4）With rear guiding mechanism（9）
Vertical rotating shaft（4）By two groups of angular contact bearings（23）It is fixed, can transversely rotary shaft（10）Vertical direction rotates.Before on
Support wheel（2）, rami posterior superior support wheel（24）, front lower support wheel（3）, rami posterior inferior support wheel（11）And directive wheel（19）Both driving machine is played
Structure and guide rail（12）Supporting role, and climbing when play guide effect.
Left drive mechanism（5）With right drive mechanism（8）Respectively independent motor and decelerator driving, ensure robot row
Enough power is provided when walking, two driving wheels especially in flat bank（16）Have speed difference, two driving wheels（16）
There are each independent motor, decelerator, it is ensured that walking is stable, reliable.When a side drive wheel（16）During skidding, another side drive wheel
（16）Driving force can be provided.Driving force hold-down mechanism（6）With main support member（13）Driving wheel can be ensured by nut connection
（16）With I-shaped guide rail（12）Contact area and thrust, to provide frictional force.Pressure arm（17）One end is by bearing pin（14）Gu
It is scheduled on main support member（13）, it is freely rotatable, the other end is by driving force hold-down mechanism（6）Compress.
Preceding guiding mechanism（1）With rear guiding mechanism（9）Collective effect, pass through vertical rotating shaft（4）, taper roll bearing
（18）With main support member（13）Be fixedly connected, pass through preceding upper support wheel（2）, rami posterior superior support wheel（24）Can vertical direction, water
Square to rotation, come adaptation level turning and vertical direction climbing.
Preceding guiding mechanism（1）, rear guiding mechanism（9）With main support member（13）Pass through transverse rotation axle（10）, circular cone rolling
Sub- bearing（18）Flexible connection, track when different radiuss of turn and the climbing of track turns is adapted in mechanism walking process
Different gradient changes.
The beneficial effects of the utility model are：The driving wheel and guide rail contact of drive mechanism, friction is produced by hold-down mechanism
Power provides power, and rotating mechanism can automatically adjust turning and ramp angle, ensures that walking is smooth.This walking drive mechanism can be realized
Radius is R1000mm automatic turning and climbing capacity at min. turning radius R900mm, 30 ° of ramp angle, straight line and upward slope,
Suitable for the working environment that narrow space, environment are complicated.
Brief description of the drawings
Fig. 1 is the schematic perspective view of crusing robot hoofing part mechanism；
Fig. 2 is the front view of crusing robot hoofing part mechanism；
Fig. 3 is the top view of crusing robot hoofing part mechanism；
Fig. 4 is the schematic perspective view of guiding mechanism;
Fig. 5 is crusing robot hoofing part mechanism turning schematic diagram；
Fig. 6 is crusing robot hoofing part mechanism climbing schematic diagram.
Embodiment
The technical solution of the utility model is described in detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in Fig. 1 ~ Fig. 6, a kind of pipe gallery crusing robot hoofing part mechanism, by preceding guiding mechanism（1）, left drive
Motivation structure（5）, driving force hold-down mechanism（6）, motor（7）, right drive mechanism（8）, rear guiding mechanism（9）, guide rail（12）、
Main support member（13）, bearing pin（14）, driving wheel（16）And pressure arm（17）Composition.
The preceding guiding mechanism（1）Including：Preceding upper support wheel（2）, rami posterior superior support wheel（24）, front lower support wheel（3）, it is vertical
Rotary shaft（4）, transverse rotation axle（10）, angular contact bearing（23）, taper roll bearing（18）, cross link（15）, it is rear under
Support wheel（11）, directive wheel（19）, runing rest（20）, leading truck（21）And fixture block（22）.Transverse rotation axle（10）Pass through circle
Taper roller bearing（18）With cross link（15）It is fixedly connected, cross link（15）Can transversely rotary shaft（10）Axially rotation
Turn.Directive wheel（19）With preceding upper support wheel（2）, rami posterior superior support wheel（24）It is fixed on leading truck（21）On.Front lower support wheel（3）With
Rami posterior inferior support wheel（11）Pass through fixture block（22）It is fixed on leading truck（21）On；Leading truck（21）With runing rest（20）It is fixed to connect
Connect.Runing rest（20）Pass through angular contact bearing（23）, vertical rotating shaft（4）With cross link（15）It is fixedly connected.
Guiding mechanism after described（9）With preceding guiding mechanism（1）With identical composition structure and connected mode.
Drive mechanism is integrally by support wheel of going forward（2）, rami posterior superior support wheel（24）, front lower support wheel（3）, taper roller axle
Hold（18）Support and take turns with rami posterior inferior（11）With guide rail（12）It is fixed, due to there is preceding guiding mechanism（1）With rear guiding mechanism（9）Two groups are led
To mechanism, so preceding guiding mechanism（1）Vertical rotating shaft（4）With rear guiding mechanism（9）Vertical rotating shaft（4）Form solid
Fixed 2 points, by main support member（13）Level is fixed.Preceding guiding mechanism（1）Vertical rotating shaft（4）With rear guiding mechanism（9）
Vertical rotating shaft（4）By two groups of angular contact bearings（23）It is fixed, can transversely rotary shaft（10）Vertical direction rotates.Before on
Support wheel（2）, rami posterior superior support wheel（24）, front lower support wheel（3）, rami posterior inferior support wheel（11）And directive wheel（19）Both driving machine is played
Structure and guide rail（12）Supporting role, and climbing when play guide effect.
Left drive mechanism（5）With right drive mechanism（8）Respectively independent motor and decelerator driving, ensure robot row
Enough power is provided when walking, two driving wheels especially in flat bank（16）Have speed difference, two driving wheels（16）
There are each independent motor, decelerator, it is ensured that walking is stable, reliable.When a side drive wheel（16）During skidding, another side drive wheel
（16）Driving force can be provided.Driving force hold-down mechanism（6）Driving wheel can be ensured（16）With I-shaped guide rail（12）Contact area
And thrust, to provide frictional force.Pressure arm（17）One end is by bearing pin（14）It is fixed on main support member（13）, it is freely rotatable,
The other end is by driving force hold-down mechanism（6）Compress.
Preceding guiding mechanism（1）With rear guiding mechanism（9）Collective effect, pass through vertical rotating shaft（4）, taper roll bearing
（18）With main support member（13）It is fixedly connected, passes through preceding upper support wheel（2）, rami posterior superior support wheel（24）With can vertical direction, water
Square to rotation, come adaptation level turning and vertical direction climbing.
Preceding guiding mechanism（1）, rear guiding mechanism（9）With main support member（13）Pass through transverse rotation axle（10）, circular cone rolling
Sub- bearing（18）Flexible connection, adaptation rail linearity section smooth-going walking, the different of turning are turned partly in mechanism walking process
The different gradient change of track when footpath and climbing.Voluntarily adapted to when assurance mechanism is walked in orbit track straight line, turn
Change.
Guiding mechanism has synthesized guide function, support function.Support force and guiding force are provided during robot ambulation,
Ensure robot ambulation process stabilization, reliable.In vertical climbing and flat bank, crusing robot hoofing part mechanism can edge
Cross link（15）Both vertically and horizontally rotate freely to adapt to I-shaped guide rail（12）Change.Straightway,
Non-straight line segment is all stable, reliably walking.
Driving force hold-down mechanism（6）, can be while enough thrusts be ensured according to guide rail using spring compression form
Change and servo-actuated change, avoid rigid contact to left drive mechanism（5）With right drive mechanism（8）Produce damage.Assurance mechanism
In guide rail（12）Upper steady walking.
The course of work of the present utility model is：
During normal plate rail operation：Drive mechanism integrally relies on preceding guiding mechanism（1）With rear guiding mechanism（9）Preceding upper support
Wheel（2）Support and take turns with rami posterior inferior（11）With guide rail（12）Fixed, every group is supported by upper support wheel because before and after（2）Support and take turns with rami posterior inferior
（11）, this is just by former and later two vertical rotating shafts（4）Fixed 2 points are formd, by main support member（13）Level is fixed.Hang down
Direct rotary rotating shaft（4）By two groups of angular contact bearings（23）It is fixed, can vertically it rotate.Preceding upper support wheel（2）And rami posterior inferior
Support wheel（11）Both drive mechanism and guide rail are played（12）Supporting role, and climbing when play guide effect.
During negotiation of bends：As shown in figure 5, preceding guiding mechanism（1）, rear guiding mechanism（9）With main support member（13）Pass through
Transverse rotation axle（10）, taper roll bearing（18）Connection, adapts to I-shaped guide rail in mechanism walking process（12）Turning
Different radiuss of turn and climbing when track different gradient change.
When running into climb and fall：As shown in fig. 6, rear guiding mechanism（9）With preceding guiding mechanism（1）Structure is identical and makees jointly
With passing through vertical rotating shaft（4）, taper roll bearing（18）With main support member（13）It is fixedly connected, passes through preceding upper support wheel
（2）, rami posterior superior support wheel（24）And directive wheel（19）Collective effect, drive mechanism is integrally limited in I-shaped guide rail（12）On,
And along guide rail can vertical direction, horizontal direction rotate, come adaptation level turning and vertical direction climbing.
Claims (1)
1. a kind of pipe gallery crusing robot hoofing part mechanism, it is characterized in that：The hoofing part mechanism is by preceding guiding mechanism
（1）, left drive mechanism（5）, driving force hold-down mechanism（6）, motor（7）, right drive mechanism（8）, rear guiding mechanism（9）、
Guide rail（12）, main support member（13）, bearing pin（14）, driving wheel（16）And pressure arm（17）Composition；The preceding guiding mechanism（1）Bag
Include：Preceding upper support wheel（2）, rami posterior superior support wheel（24）, front lower support wheel（3）, vertical rotating shaft（4）, transverse rotation axle（10）, angle
Contact bearing（23）, taper roll bearing（18）, cross link（15）, rami posterior inferior support wheel（11）, directive wheel（19）, rotation branch
Frame（20）, leading truck（21）And fixture block（22）；Guiding mechanism after described（9）With preceding guiding mechanism（1）With identical group
Into structure and connected mode；Drive mechanism upper support wheel before integrally relying on（2）, rami posterior superior support wheel（24）, front lower support wheel（3）、
Taper roll bearing（18）Support and take turns with rami posterior inferior（11）With guide rail（12）It is fixed, preceding guiding mechanism（1）Vertical rotating shaft（4）With
Guiding mechanism afterwards（9）Vertical rotating shaft（4）Fixed 2 points are formed, by main support member（13）Level is fixed；Preceding Guiding machine
Structure（1）Vertical rotating shaft（4）With rear guiding mechanism（9）Vertical rotating shaft（4）By two groups of angular contact bearings（23）It is fixed；
Left drive mechanism（5）With right drive mechanism（8）Independent motor is leaned on respectively（7）Two driving wheels are driven with decelerator
（16）, when a side drive wheel（16）During skidding, another side drive wheel（16）Driving force can be provided；Driving force hold-down mechanism（6）With
Main support member（13）Connected by nut, ensure driving wheel（16）With I-shaped guide rail（12）Contact area and thrust；
Pressure arm（17）One end is by bearing pin（14）It is fixed on main support member（13）, the other end is by driving force hold-down mechanism（6）Compress；It is leading
To mechanism（1）With rear guiding mechanism（9）Pass through vertical rotating shaft（4）, taper roll bearing（18）With main support member（13）Gu
Fixed connection, passes through preceding upper support wheel（2）Support and take turns with rami posterior superior（24）Can vertical direction, horizontal direction rotation；The preceding Guiding machine
Structure（1）With rear guiding mechanism（9）In, transverse rotation axle（10）Pass through taper roll bearing（18）With cross link（15）It is fixed
Connection, cross link（15）Can transversely rotary shaft（10）Axial-rotation；Directive wheel（19）With preceding upper support wheel（2）, it is rear on
Support wheel（24）It is fixed on leading truck（21）On；Front lower support wheel（3）Support and take turns with rami posterior inferior（11）Pass through fixture block（22）It is fixed on
Leading truck（21）On；Leading truck（21）With runing rest（20）It is fixedly connected；Runing rest（20）Pass through angular contact bearing（23）、
Vertical rotating shaft（4）With cross link（15）It is fixedly connected.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720670297.1U CN207173601U (en) | 2017-06-10 | 2017-06-10 | A kind of pipe gallery crusing robot hoofing part mechanism |
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|---|---|---|---|
| CN201720670297.1U CN207173601U (en) | 2017-06-10 | 2017-06-10 | A kind of pipe gallery crusing robot hoofing part mechanism |
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| CN207173601U true CN207173601U (en) | 2018-04-03 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139949A (en) * | 2017-06-10 | 2017-09-08 | 中信重工开诚智能装备有限公司 | A kind of pipe gallery crusing robot hoofing part mechanism |
| 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 |
| CN109760013A (en) * | 2019-03-21 | 2019-05-17 | 深圳昱拓智能有限公司 | A kind of track machine people power-driven mechanism, system and track machine people |
| CN110744524A (en) * | 2019-10-28 | 2020-02-04 | 北京海益同展信息科技有限公司 | Drive guiding mechanism and rail hanging robot |
| CN110788829A (en) * | 2019-11-14 | 2020-02-14 | 云南电网有限责任公司电力科学研究院 | Tunnel inspection robot suitable for steep slope lifting |
| WO2021027128A1 (en) * | 2019-08-09 | 2021-02-18 | 中国矿业大学 | Shaft inspection system and steel wire rope moving device thereof |
| CN108890659B (en) * | 2018-07-13 | 2021-06-25 | 北京工业大学 | Comprehensive pipe rack inspection robot |
| CN113427467A (en) * | 2021-06-24 | 2021-09-24 | 贵州国致科技有限公司 | Hang rail self-compaction rail line device |
| CN115229761A (en) * | 2022-09-23 | 2022-10-25 | 太原理工大学 | Track type inspection robot |
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2017
- 2017-06-10 CN CN201720670297.1U patent/CN207173601U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139949A (en) * | 2017-06-10 | 2017-09-08 | 中信重工开诚智能装备有限公司 | A kind of pipe gallery crusing robot hoofing part mechanism |
| CN108890659B (en) * | 2018-07-13 | 2021-06-25 | 北京工业大学 | Comprehensive pipe rack inspection robot |
| 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 |
| CN109760013A (en) * | 2019-03-21 | 2019-05-17 | 深圳昱拓智能有限公司 | A kind of track machine people power-driven mechanism, system and track machine people |
| CN109760013B (en) * | 2019-03-21 | 2023-10-13 | 深圳昱拓智能有限公司 | Track robot power driving mechanism, system and track robot |
| WO2021027128A1 (en) * | 2019-08-09 | 2021-02-18 | 中国矿业大学 | Shaft inspection system and steel wire rope moving device thereof |
| CN110744524A (en) * | 2019-10-28 | 2020-02-04 | 北京海益同展信息科技有限公司 | Drive guiding mechanism and rail hanging robot |
| CN110788829A (en) * | 2019-11-14 | 2020-02-14 | 云南电网有限责任公司电力科学研究院 | Tunnel inspection robot suitable for steep slope lifting |
| CN113427467A (en) * | 2021-06-24 | 2021-09-24 | 贵州国致科技有限公司 | Hang rail self-compaction rail line device |
| CN113427467B (en) * | 2021-06-24 | 2024-06-07 | 贵州国致科技有限公司 | Rail hanging self-compacting rail device |
| CN115229761A (en) * | 2022-09-23 | 2022-10-25 | 太原理工大学 | Track type inspection robot |
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