CN209051289U - A kind of cable duct crusing robot walking mechanism - Google Patents

Abstract

The utility model provides a kind of walking mechanism of cable duct crusing robot, the walking mechanism includes chassis, opposite two inner sidewalls on the chassis are respectively fixedly installed at least two first motors, the output shaft of the first motor passes through the side wall on the chassis and end is equipped with traveling wheel, the rear and front end on the chassis is respectively equipped with auxiliary wheel assembly, the auxiliary wheel assembly includes copper post, the second motor that part is sheathed on the copper post and rotates and be placed in the idler wheel with the idler wheel of copper post movement and the driving copper post, the output shaft of second motor is parallel with the output shaft of the first motor, and end is connect with one end of the copper post；Second motor is fixed on an inner sidewall on the chassis by electric machine support, and another relative inner wall corresponding position on the chassis is fixed with bearing, and the other end of the copper post is fixed on the bearing, which has good obstacle climbing ability.

Description

A kind of cable duct crusing robot walking mechanism

Technical field

The utility model belongs to robot part field, in particular to a kind of cable duct crusing robot walking mechanism.

Background technique

With the fast development in city and electric utility, buried cable channel, tunnel, the cable in pipeline energy carry out electric energy Supply, be the usual manner of electric system conveying electric energy, but cable is in use, be easy to appear because overheat, Cable itself insulation ag(e)ing and phenomena such as cause fire in conduit line, these phenomenons seriously affect the normal power supply of cable, because This needs to carry out inspection to cable, due to narrow space in conduit line, bad environments, manual inspection there are it is larger it is dangerous because Element, therefore according to a large amount of air quality monitoring equipment inside conduit line, staff needs regular for power supply company at present It goes equipment nest point to read monitoring data, while checking whether conduit line inner cable has destruction；But this method is also to need Rely on artificial, large labor intensity.With intelligence machine man-based development, prior art discloses many for electricity in conduit line The robot of cable ditch inspection, such as cable rail crusing robot disclosed in CN105576563A, for another example CN107910806A is public A kind of cable channel crusing robot opened, crusing robot disclosed in the prior art can be realized in conduit line The inspection of cable situation, and robot is all to be advanced by setting walking mechanism band mobile robot, but the prior art discloses The walking mechanism of robot can only walk in more stable conduit line, when the cable laying in conduit line is complicated, The walking mechanism of existing robot cannot be by cable, and obstacle climbing ability is poor, when the motor of driving walking mechanism movement is twined by cable When firmly or stall occurs, walking mechanism disclosed above cannot walk with mobile robot.

Utility model content

In order to solve the problems in the existing technology, the utility model provides a kind of cable duct crusing robot walking Mechanism, the walking mechanism can significantly improve the obstacle climbing ability of robot.

The utility model specific technical solution is as follows:

A kind of cable duct crusing robot walking mechanism, the walking mechanism include chassis, opposite two inside on the chassis Wall is respectively fixedly installed at least two first motors, and the output shaft of the first motor passes through the side wall on the chassis and end is pacified Equipped with traveling wheel, the rear and front end on the chassis is respectively equipped with auxiliary wheel assembly, and the auxiliary wheel assembly includes copper post, part set Set on the copper post and the idler wheel moved with the copper post and drive the copper post to rotate and be placed in the idler wheel second The output shaft of motor, second motor is parallel with the output shaft of the first motor, and end and one end of the copper post connect It connects；Second motor is fixed on an inner sidewall on the chassis, another relative inner wall corresponding position on the chassis It is fixed with bearing, the other end of the copper post is fixed on the bearing.

Further to improve, one end that the copper post is connect with the bearing forms screw thread, the bearing and the copper Column is threadably secured connection, and the other end of the copper post is equipped with the through-hole deep for the output shaft of second motor, described The output shaft of second motor forms horizontal plane along axial direction.

Further to improve, the idler wheel includes hollow roller, and the outer surface of the roller is set in parallel along its length There is multiple groups gear hobbing portion；One end in the roller is equipped with the sleeve concentric with the roller, and the sleeve is solid by connecting plate Due on the inner wall of the roller；The cross section of the copper post is polygon, and the inner sidewall of the sleeve is sheathed on the copper post Above and it is shaped to structure compatible with the copper post.

Further to improve, the gear hobbing portion includes the first gear hobbing group and the second gear hobbing group, the first gear hobbing group and the Two gear hobbing groups are parallel to each other by n and the identical gear hobbing of spacing forms, n >=2.

Further to improve, the angle γ of each gear hobbing and horizontal plane is 10-30 °, the first gear hobbing group and the Corresponding each gear hobbing is not on same transverse and longitudinal section in two gear hobbing groups, and the extended line where corresponding two gear hobbings is formed 20-60 ° of angle σ.

Further to improve, the chassis includes two the first aluminum corner braces disposed in parallel, between two first aluminum corner braces If there are two second aluminum corner braces parallel with first aluminum corner brace.

It is further to improve, it is additionally provided with control assembly on the chassis, the control assembly includes mainboard, on the mainboard The first motor driving chip and the second motor drive ic for being integrated with main control chip and being connected with the main control chip.

The utility model has the beneficial effects that

The utility model provides a kind of cable duct crusing robot walking mechanism, which includes auxiliary wheel assembly, The obstacle climbing ability of walking mechanism can be improved in the auxiliary wheel assembly.

Detailed description of the invention

Fig. 1 is a kind of schematic perspective view of the cable duct crusing robot walking mechanism of embodiment 1；

Fig. 2 is a kind of top view of the cable duct crusing robot walking mechanism of embodiment 1；

Fig. 3 is the main view that the utility model assists wheel assembly；

Fig. 4 be Fig. 3 A-A to cross-sectional view；

Fig. 5 is the schematic perspective view of auxiliary wheel assembly of the utility model without containing idler wheel；

Fig. 6 is the top view of the utility model idler wheel；

Fig. 7 is the schematic perspective view on the utility model chassis；

Fig. 8 is the top view on the utility model chassis；

Fig. 9 is the circuit diagram of main control chip；

Figure 10 is the circuit diagram of four first motor driving chips；

Figure 11 is the circuit diagram of four the second motor drive ics；

Figure 12 is the circuit diagram of electrical level transferring chip.

Specific embodiment

The utility model is described in further detail with following embodiment with reference to the accompanying drawing, needs specification, The size of the attached drawing of the utility model is all by scaling processing appropriate, it is therefore an objective to can clearly show that claimed knot Structure.

Embodiment 1

The utility model embodiment 1 provides a kind of cable duct crusing robot walking mechanism, as shown in Figure 1, the walking Mechanism includes chassis 1, and as shown in Figure 7 and Figure 8, the chassis 1 includes two the first aluminum corner braces 11 disposed in parallel, and two described the Second aluminum corner brace 12 parallel with first aluminum corner brace 11 there are two being set between one aluminum corner brace 11；Second aluminum corner brace and the first aluminum corner brace pass through spiral shell Nail is fixedly connected；As shown in Fig. 2, opposite two inner sidewalls on the chassis 1 is respectively fixedly mounted there are two first motor 2, described the The output shaft of one motor 2 passes through the side wall on the chassis 1 and end is equipped with traveling wheel 3, and the side wall on the chassis 1, which can be equipped with, to be opened Mouthful, opening is equipped with first bearing, and the output shaft of first motor may pass through first bearing and then be equipped with traveling wheel in end, walks Wheel can also pass through the output axis connection of bearing and first motor；The rear and front end on the chassis 1 is respectively equipped with auxiliary wheel assembly 4, as shown in Figure 3 and Figure 4, the auxiliary wheel assembly 4 includes copper post 41, is partially sheathed on the copper post 41 and with the copper post 41 The idler wheel 42 of movement and driving second motor 43 copper post 41 rotation and be placed in the idler wheel 42, second motor 43 output shaft is parallel with the output shaft of the first motor 2, and end is connect with one end of the copper post 41；Second electricity Machine 43 is fixed on an inner sidewall on the chassis 1 by electric machine support 44, and electric machine support can be fixed on chassis side by screw On wall, another relative inner wall corresponding position on the chassis 1 is fixed with bearing 45, and the other end of the copper post 41 is fixed on On the bearing 45.

With reference to Fig. 4 and Fig. 5, one end that the copper post 41 is connect with the bearing 45 forms screw thread, 45 He of bearing The copper post 41 is threadably secured connection, and the other end of the copper post 41, which is equipped with, supplies the output shaft of second motor 43 to go deep into Through-hole 46, the output shaft of second motor 43 forms horizontal plane 47 along axial direction, further, also forms on the through-hole With the matched boss of the horizontal plane, for prevent the second motor relative to through-hole rotate.

With reference to Fig. 6, the idler wheel 42 includes hollow roller 421, and the outer surface of the roller 421 is parallel along its length Equipped with multiple groups gear hobbing portion；One end in the roller 421 is equipped with the sleeve 422 concentric with the roller 421, the sleeve 422 are fixed on the inner wall of the roller 421 by connecting plate 423；The cross section of the copper post 41 is hexagon, the sleeve 422 inner sidewall is sheathed in the copper post 41 and is shaped to structure compatible with the copper post 41.The sleeve 422 it is interior Sidewall cross-sectional is shaped to the hexagon being adapted to the copper post, plays the role of preventing relative rotation；The gear hobbing portion includes First gear hobbing group and the second gear hobbing group, the first gear hobbing group and the second gear hobbing group is parallel to each other by 4 and spacing is identical Gear hobbing 424 forms, and corresponding each gear hobbing 424 is not on same transverse and longitudinal section in the first gear hobbing group and the second gear hobbing group. The material of the gear hobbing is that rubber etc. has elasticity and has both the material of certain rigidity.

Walking mechanism provided by the utility model has auxiliary wheel assembly, when stall, auxiliary wheel assembly occurs in first motor Entire walking mechanism can be driven to walk, and then improve the obstacle climbing ability of entire walking mechanism.Second in the auxiliary wheel assembly Motor can according to need same first motor and start together, and the starting of first motor and the second motor can be carried out by remote controler Control.

Embodiment 2

The utility model embodiment 2 provides a kind of cable duct crusing robot walking mechanism, the walking mechanism and embodiment 1 It is essentially identical, unlike, with continued reference to Fig. 3, the angle γ of each gear hobbing 424 and horizontal plane is 15 °, described first Corresponding each gear hobbing 424 is not on same transverse and longitudinal section in gear hobbing group and the second gear hobbing group, and corresponding two gear hobbings 424 The extended line at place forms 30 ° of angle σ.

By limiting the angle of gear hobbing and horizontal plane and two gear hobbing group corresponding gears, walking mechanism can be significantly improved Obstacle climbing ability.

Embodiment 3

The utility model embodiment 3 provides a kind of cable duct crusing robot walking mechanism, the walking mechanism and embodiment 1 It is essentially identical, unlike, control assembly is additionally provided on the chassis 1, the control assembly includes mainboard, on the mainboard The first motor driving chip and the second motor drive ic for being integrated with main control chip and being connected with the main control chip.

It is additionally provided with control assembly in walking mechanism provided by the utility model, which is by multiple known chip collection At forming, the model STM32F407ZGT6 series of main control chip, circuit diagram is as shown in figure 9, first motor driving chip Including 4, circuit diagram is as shown in Figure 10, and each first motor driving chip controls a first motor, and the second motor drives Dynamic chip includes 2, controls the second motor respectively, circuit diagram is shown in Figure 11.It may be implemented by control assembly to the first electricity The control of machine and the second motor movement, specifically when connection, main control chip is that (circuit diagram is shown in figure by electrical level transferring chip 12) it is connect with first motor driving chip.

Claims (7)

1. a kind of cable duct crusing robot walking mechanism, which is characterized in that the walking mechanism includes chassis (1), the bottom Opposite two inner sidewalls of disk (1) are respectively fixedly installed at least two first motors (2), and the output shaft of the first motor (2) is worn It crosses the side wall on the chassis (1) and end is equipped with traveling wheel (3), the rear and front end of the chassis (1) is respectively equipped with auxiliary wheel Component (4), the auxiliary wheel assembly (4) include copper post (41), are partially sheathed on the copper post (41) and with the copper post (41) The idler wheel (42) of movement and driving second motor (43) copper post (41) rotation and be placed in the idler wheel (42), it is described The output shaft of second motor (43) is parallel with the output shaft of the first motor (2), and one end of end and the copper post (41) Connection；Second motor (43) is fixed on an inner sidewall on the chassis (1), another relative inner of the chassis (1) Wall corresponding position is fixed with bearing (45), and the other end of the copper post (41) is fixed on the bearing (45).

2. cable duct crusing robot walking mechanism as described in claim 1, which is characterized in that the copper post (41) with it is described One end of bearing (45) connection forms screw thread, and the bearing (45) and the copper post (41) are threadably secured connection, described The other end of copper post (41) is equipped with the through-hole (46) deep for the output shaft of second motor (43), second motor (43) Output shaft form horizontal plane (47) along axial direction.

3. cable duct crusing robot walking mechanism as claimed in claim 2, which is characterized in that during the idler wheel (42) includes Empty roller (421), the outer surface of the roller (421) are equipped with multiple groups gear hobbing portion in parallel along its length；The roller (421) Interior one end is equipped with the sleeve (422) concentric with the roller (421), and the sleeve (422) is fixed by connecting plate (423) In on the inner wall of the roller (421)；The cross section of the copper post (41) is polygon, the inner sidewall set of the sleeve (422) On the copper post (41) and it is shaped to the compatible structure with the copper post (41).

4. cable duct crusing robot walking mechanism as claimed in claim 3, which is characterized in that the gear hobbing portion includes first Gear hobbing group and the second gear hobbing group, the first gear hobbing group and the second gear hobbing group are parallel to each other by n and the identical gear hobbing of spacing (424) it forms, n >=2.

5. cable duct crusing robot walking mechanism as claimed in claim 4, which is characterized in that each gear hobbing (424) Angle γ with horizontal plane is 10-30 °, and corresponding each gear hobbing (424) does not exist in the first gear hobbing group and the second gear hobbing group Extended line on same transverse and longitudinal section, and where corresponding two gear hobbings (424) forms 20-60 ° of angle σ.

6. cable duct crusing robot walking mechanism as described in claim 1, which is characterized in that the chassis (1) includes flat Two the first aluminum corner braces (11) of row setting, set that there are two flat with first aluminum corner brace (11) between two first aluminum corner braces (11) Capable the second aluminum corner brace (12).

7. cable duct crusing robot walking mechanism as described in claim 1, which is characterized in that also set on the chassis (1) There is control assembly, the control assembly includes mainboard, and main control chip is integrated on the mainboard and is connected with the main control chip First motor driving chip and the second motor drive ic.