CN209063084U - A kind of adaptive robot ambulation track internal contracting brake mechanism - Google Patents
A kind of adaptive robot ambulation track internal contracting brake mechanism Download PDFInfo
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- CN209063084U CN209063084U CN201821879281.2U CN201821879281U CN209063084U CN 209063084 U CN209063084 U CN 209063084U CN 201821879281 U CN201821879281 U CN 201821879281U CN 209063084 U CN209063084 U CN 209063084U
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Abstract
The utility model discloses a kind of adaptive robot ambulation track internal contracting brake mechanisms, belong to robot walking device technical field.The internal contracting brake mechanism includes: walking plate, is provided with curved hole and fixation hole on the walking plate；Suspension guiding system, including forward mounting guidance system and rear suspension guidance system；Push away cylinder drive system, cylinder, push rod and follower pushrod are pushed away including band-type brake, the push rod can under the driving that band-type brake pushes away cylinder stretching motion, the follower pushrod is sheathed in push rod, follower pushrod can be relative to push rod free extension, the train support long axis of the follower pushrod and forward mounting guidance system is rotatably attached, and the train support long axis that the band-type brake pushes away cylinder and rear suspension guidance system is rotatably attached.The utility model provides the adaptive Gua Gui robot internal contracting brake mechanism of a kind of modular Single Drive Source high efficiency, multiple spot band-type brake, bending track, inhibits the lateral beat of robot under band-type brake state, unlocks after band-type brake internal contracting brake mechanism without limitation on the passability of robot.
Description
Technical field
The utility model relates to a kind of adaptive robot ambulation track internal contracting brake mechanisms, belong to robotic technology field.
Background technique
Chinese patent application 201720773824.1 discloses a kind of walking mechanism.The walking mechanism, including pedestal, driving
System, suspension guiding system, suspension guiding system includes the identical forward mounting guidance system of structure and hangs guidance system afterwards, preceding
Suspension guiding system and rear suspension guidance system are separately mounted to the both ends of pedestal, and the drive system can be installed movably
On the base, forward and backward suspension guiding system includes rotating seat, and the rotating seat is installed in rotation on pedestal, described
The both ends of rotating seat are separately installed with supporting guide wheel, have angle between the plane where supporting guide wheel and pedestal.This is specially
Suspension guiding system and drive system can be adaptive in bend in sharp technical literature scheme, turned without auxiliary device
It is curved.But the mechanism easily causes lateral beat with the movement of robot.
Track internal contracting brake mechanism is not used applied to the extension rail robot of power distribution station at present, lateral beat is difficult to inhibit,
As there is apparent shake in the movement of robot.And track internal contracting brake mechanism on the market uses single-point band-type brake, i.e., in track branch
Realize that robot is locked therefore substantially zeroed by the arm of force relative to track fulcrum relative to the band-type brake of track at point, it can after band-type brake
To inhibit the movement of direction along ng a path for the locked movement for inhibiting Robot orbital direction of Robot orbital direction.And it is right
It is unobvious in the inhibition of lateral beat, when by vertical track be biased to force opportunity device people can be seriously inclined relative to track fulcrum
Pendulum.
Simultaneously as hanging rail robot needs to adapt to bending track walking, certain requirement is proposed to the unlock efficiency of band-type brake.
Utility model content
The purpose of this utility model is to provide a kind of adaptive robot ambulation track internal contracting brake mechanisms, for existing skill
Headband is tightened in art and realizes self-locking and unlocking structure complexity problem, and a kind of new adaptive robot ambulation track armful is provided
Brake mechanism inhibits the lateral beat of robot.
The purpose of this utility model is achieved by the following technical programs:
A kind of adaptive robot ambulation track internal contracting brake mechanism, the internal contracting brake mechanism walk on track, the band-type brake
Mechanism includes:
It walks plate, is provided with curved hole and fixation hole on the walking plate；
Suspension guiding system, including forward mounting guidance system and rear suspension guidance system, the forward mounting guidance system and
Suspension guidance system includes train support plate, train support long axis, train short supporting axle, main shaft, traveling wheel afterwards, and the main shaft is worn
It crosses train support plate to be installed on walking plate, rotate train support plate can along main shaft, the train support long axis and train branch
Support short axle is respectively arranged in the train support plate of main shaft two sides, and the traveling wheel can support long axis or train support short along train
Axis rotation, the track are passed through between two traveling wheels, and the suspension strut to robot is realized in the traveling wheel and track cooperation
And guiding, the curved hole that the train support long axis passes through on walking plate are rotatably connect with follower pushrod；
Cylinder drive system is pushed away, including band-type brake pushes away cylinder, push rod and follower pushrod, the push rod can be under the driving that band-type brake pushes away cylinder
Stretching motion, the follower pushrod are sheathed in push rod, follower pushrod can relative to push rod free extension, the follower pushrod with
The train support long axis of forward mounting guidance system is rotatably attached, and the band-type brake pushes away the train branch of cylinder and rear suspension guidance system
Support long axis is rotatably attached.
It is preferred: the auxiliary support wheel that the traveling wheel includes supporting guide wheel and is set to above supporting guide wheel, institute
It states supporting guide wheel and auxiliary support wheel is tangent with orbital plane always.
Preferred: the working condition of the internal contracting brake mechanism includes band-type brake state and walking states.
Preferred: under band-type brake state, the push rod gradually extends under the driving that band-type brake pushes away cylinder, reaches and follower pushrod phase
Behind the position of abutting, follower pushrod and push rod push forward the train of forward mounting guidance system to support under the driving that band-type brake pushes away cylinder
Plate rotation continues to extend to locked track, the push rod under the driving that band-type brake pushes away cylinder, and band-type brake is pushed away after cylinder pushes backward and hung
To locked track, two suspension guiding systems deflect locked track jointly and realize band-type brake for the train support plate rotation of guidance system.
Preferred: under walking states, the band-type brake pushes away cylinder and does not drive to push rod, and push rod remains retracted state, follower pushrod
Can be relative to push rod free extension, the servo-actuated deflection with the variation of trade shape of two suspension guiding systems.
Preferred: the band-type brake pushes away cylinder and pushes away cylinder holes equipped with band-type brake, and the train of the forward mounting guidance system supports long axis
Cylinder holes rotation connection is pushed away across curved hole and band-type brake；The follower pushrod is equipped with follower pushrod hole, hangs guidance system after described
Train support long axis pass through curved hole and follower pushrod hole and be rotatablely connected.
It is preferred: to be provided on the track with the first supporting surface of supporting guide wheel cooperation and cooperated with auxiliary support wheel
The second supporting surface, first supporting surface is that the inclined-plane tilted down outside by interior is correspondingly set on the supporting guide wheel
It is equipped with conical camber, second supporting surface is the level table outwardly protruded.
Preferred: the lower end of the conical camber of the supporting guide wheel is provided with limiting groove.
The purpose of this utility model can also be further realized by following technical measures:
Compared with prior art, the utility model has the beneficial effects that the utility model provides a kind of modular list
Driving source high efficiency, multiple spot band-type brake, bending track adaptive Gua Gui robot internal contracting brake mechanism inhibit the side of robot under band-type brake state
To beat, internal contracting brake mechanism is unlocked after band-type brake without limitation on the passability of robot.
Detailed description of the invention
Fig. 1 is the band-type brake schematic diagram of existing robot；
Fig. 2 is the structural schematic diagram of the utility model internal contracting brake mechanism straight rail band-type brake state；
Fig. 3 is the top view of the utility model internal contracting brake mechanism straight rail band-type brake state；
Fig. 4 is the structural schematic diagram of the utility model internal contracting brake mechanism straight rail walking states；
Fig. 5 is the utility model internal contracting brake mechanism straight rail walking states top view；
Fig. 6 is the utility model internal contracting brake mechanism bending track walking states top view；
Fig. 7 be the utility model internal contracting brake mechanism do not include walk plate straight rail band-type brake state structural schematic diagram；
Fig. 8 is the structural schematic diagram that the utility model internal contracting brake mechanism does not include walking plate；
Fig. 9 is the detonation configuration figure of the utility model internal contracting brake mechanism；
Figure 10 is the matching chart of suspension guiding system and track under the utility model walking states；
Figure 11 is the matching chart of suspension guiding system and track under the utility model band-type brake state.
Label in figure: 1- track, 2- walking plate, 3- band-type brake push away cylinder, 4- push rod, 5- supporting guide wheel, 6- Auxiliary support
Wheel, 7- train support long axis, 8- follower pushrod, 9- fixed rotating shaft, 10- train short supporting axle, 11- train support plate, 12- front overhang
Guidance system is hung, 13- handspike drive system hangs guidance system after 14-, and 15- band-type brake pushes away cylinder holes, 16- follower pushrod hole, 17-
Fixation hole, the curved hole 18-, 19- track fulcrum, 20- robot, 21- force arm, 22- main shaft, the first supporting surface of 23-, 24- second
Supporting surface.
Specific embodiment
The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, it is intended to for explaining the utility model, and should not be understood as to the utility model
Limitation.In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", " length ", " width
Degree ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " suitable
The orientation or positional relationship of the instructions such as hour hands ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " is orientation based on the figure
Or positional relationship, be merely for convenience of describing the present invention and simplifying the description, rather than the device of indication or suggestion meaning or
Element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as the limit to the utility model
System.In addition, term " first ", " second " be used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or
Implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or imply
Ground includes at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Track internal contracting brake mechanism on the market uses single-point band-type brake as shown in Figure 1 at present, i.e., machine is realized at track fulcrum 19
Device people 20 is locked therefore substantially zeroed relative to the force arm of track fulcrum 19 21 relative to the band-type brake of track 1.It can be with after band-type brake
20 direction along ng a path of robot is locked, inhibits Robot orbital direction power F1, inhibits the movement of direction along ng a path.And for
The inhibition of lateral beat is unobvious, and when by vertical track angular force F2, robot can be seriously inclined relative to track fulcrum
Pendulum.
The utility model provides a kind of adaptive robot ambulation track as shown in Figure 2 and Figure 4 regarding to the issue above
Internal contracting brake mechanism, the internal contracting brake mechanism walk on track 1, which includes:
It walks plate 2, is provided with curved hole 18 and fixation hole 17 on the walking plate 2.Curved hole 18 is by waist-shaped hole towards fixation hole 17
Radially outward direction is bent.
Suspension guiding system, including forward mounting guidance system 12 and rear suspension guidance system 14.As Figure 7-9, front overhang
It hangs guidance system and rear suspension guidance system includes train support plate 11, train support long axis 7, train short supporting axle 10, main shaft
22, traveling wheel.Main shaft 22 passes through train support plate 11 and is installed on walking plate 2, rotate train support plate 11 can along main shaft 22.
Main shaft 22 can be installed in fixation hole 17 by fixed rotating shaft 9 as shown in Figure 9.Train supports long axis 7 and train support short
Axis 10 is respectively arranged in the train support plate 11 of 22 two sides of main shaft.Traveling wheel can support long axis 7 or train support short along train
Axis 10 rotates.Track 1 is passed through between two traveling wheels, and traveling wheel to the suspension strut of robot and is led with the cooperation of track 1 realization
To.The curved hole 18 that train support long axis 7 passes through on walking plate is rotatably connect with follower pushrod 8.
Cylinder drive system 13 is pushed away, as Figure 7-9, including band-type brake pushes away cylinder 3, push rod 4 and follower pushrod 8.Push rod 4 can embraced
Lock pushes away stretching motion under the driving of cylinder 3.Follower pushrod 8 is sheathed in push rod 4, and follower pushrod 8 can freely be stretched relative to push rod 4
Contracting.Follower pushrod 8 and the train support long axis 7 of forward mounting guidance system 12 are rotatably attached.Band-type brake pushes away cylinder 3 and leads with rear suspension
It is rotatably attached to the train of system 14 support long axis 7.The push rod 4 is hollow stem, and follower pushrod 8 is installed in push rod 4,
And it can arbitrarily be stretched by external force in a certain range relative to push rod 4,13 head and the tail of handspike drive system pass through respectively
Train support long axis 7 is connect with two suspension guiding systems, stretching to apply between two suspension guiding systems and push away by push rod 4
Power ensure that the distance between two installation points can be become according to the deflection of two suspension guiding systems in two suspension guiding systems
Change, keeps two suspension guiding systems laterally inclined to hold track system tightly around its generation deflection of fixed rotating shaft 9 between walking plate 2
Pendulum.
The adaptive robot ambulation track internal contracting brake mechanism of the utility model includes two kinds of working conditions, i.e. band-type brake state
And walking states.
Band-type brake state is as Figure 2-3.Push rod 4 gradually extends under the driving that band-type brake pushes away cylinder 3, reaches and follower pushrod 8
When the position abutted against, the extension elongation of push rod 4 offsets 8 free extension stroke of follower pushrod, when the end face of push rod 4 touch with
Thrust is transmitted on follower pushrod 8 when dynamic push rod 8, follower pushrod 8 and push rod 4 push forward under the driving that band-type brake pushes away cylinder 3
The train support plate 11 of forward mounting guidance system 12 rotates；Push rod 4 continues to extend under the driving that band-type brake pushes away cylinder 3, and band-type brake pushes away cylinder 3
The train support plate 11 that guidance system 14 is hung after pushing backward rotates, forward mounting guidance system 12 and rear suspension guidance system 14
It is mobile to two sides respectively in the curved hole 18 of arc under the external force of push rod drive system, the distance of two suspension guiding systems
Increase, two suspension guiding systems deflect locked track 1 jointly, to realize band-type brake.Two suspension guiding systems are under band-type brake state
There are a pair of of supporting guide wheel 5 and a pair of of auxiliary support wheel 6 to be in contact with track 1, realizes 4 band-type brakes along rail profile.It embraces
Lock rear support directive wheel 5 and auxiliary support wheel 6 and respective carter face dieback, and 4 points of locks are realized on perpendicular to orbital direction
Tightly.Using supporting guide wheel 5 and rail contact face as fulcrum, the distance between supporting guide wheel 5 and auxiliary support wheel 6 are stress
Arm inhibits lateral beat by the arm of force and 4 points of locking realizations by above-mentioned in locking state.
Walking states are as Figure 4-Figure 6.The track that walking states are run includes straight rail and bending track.Band-type brake pushes away the driving of cylinder 3
Push rod 4 is retracted at minimum stroke, and band-type brake pushes away cylinder 3 and do not implement driving effect to push rod 4 later, and push rod 4 remains retracted state, with
Dynamic push rod 8 can in a certain range relative to 4 free extension of push rod, two suspension guiding systems with the variation of 1 shape of track and
Servo-actuated deflection.The structure ensure that two suspension guiding systems can follow rail type face to be walked or deflected completion turning.
When robot passes through bending track, two suspension guiding systems are servo-actuated deflects, supporting guide wheel 5 and auxiliary in two suspension guiding systems
Support wheel 6 is tangent with track 1 always.
The adaptive robot ambulation track internal contracting brake mechanism of the utility model can be realized to the adaptive of bending track, walking
Under state, internal contracting brake mechanism is to the no inhibition of the operation of robot, without limitation on passing through for robot.
Structure as Figure 8-9 can be used in suspension guiding system and the connection structure for pushing away cylinder drive system, i.e. band-type brake pushes away
Cylinder 3 is equipped with band-type brake and pushes away cylinder holes 15, and the train support long axis 7 of forward mounting guidance system 12 passes through curved hole 18 and pushes away cylinder holes 15 with band-type brake
Rotation connection；Follower pushrod 8 is equipped with follower pushrod hole 16, and the rear train support long axis 7 for hanging guidance system 14 passes through curved hole
18 are rotatablely connected with follower pushrod hole 8.
As a kind of preferred embodiment of the utility model, the structure of above-mentioned traveling wheel is as Figure 8-9, including support guide
Wheel 5 and the auxiliary support wheel 6 for being set to 5 top of supporting guide wheel.Supporting guide wheel 5 and auxiliary support wheel 6 always with 1 face of track
It is tangent.Track 1 passes through among suspension guiding system, two supporting guide wheels 5 and two auxiliary that suspension guiding system includes
Support wheel 6 is tangent with rail type face always, deflects suspension guiding system with rail type face, completes turning for Gua Gui robot
Curved operation.
As a kind of preferred embodiment of the utility model, the fit structure of suspension guiding system and track be can be such as figure
Structure shown in 10-11, wherein positional relationship of the fit structure under walking states is shown in Figure 10, what Figure 11 was shown
It is positional relationship of the fit structure under band-type brake state.The first supporting surface cooperated with supporting guide wheel 5 is provided on track 1
23 and with auxiliary support wheel 6 cooperate the second supporting surface 24.First supporting surface 23 is the inclined-plane tilted down outside by interior, accordingly
Ground is provided with conical camber on supporting guide wheel 5, and the second supporting surface 24 is the level table outwardly protruded.In order to limit support
Limiting groove can be arranged in the lower end of the conical camber of supporting guide wheel in the moving distance of directive wheel.
The adaptive robot ambulation track internal contracting brake mechanism of the utility model can be realized multiple spot band-type brake, under band-type brake state
The lateral beat of robot can effectively be inhibited.
Although the utility model has been described by way of example and in terms of the preferred embodiments, embodiment is not for limiting the utility model
's.In the spirit and scope for not departing from the utility model, it is practical new to also belong to this for any equivalent change or retouch done
The protection scope of type.Therefore the protection scope of the utility model should be mark with the content that claims hereof is defined
It is quasi-.
Claims (8)
1. a kind of adaptive robot ambulation track internal contracting brake mechanism, internal contracting brake mechanism walk on track, which is characterized in that described
Internal contracting brake mechanism includes:
It walks plate, is provided with curved hole and fixation hole on the walking plate；
Suspension guiding system, including forward mounting guidance system and rear suspension guidance system, the forward mounting guidance system and rear overhang
Hanging guidance system includes train support plate, train support long axis, train short supporting axle, main shaft, traveling wheel, and the main shaft passes through wheel
It is that support plate is installed on walking plate, rotates train support plate can along main shaft, the train support long axis and train support is short
Axis is respectively arranged in the train support plate of main shaft two sides, and the traveling wheel can support long axis or the rotation of train short supporting axle along train
Turn, the track is passed through between two traveling wheels, and the traveling wheel to the suspension strut of robot and is led with track cooperation realization
To the curved hole that the train support long axis passes through on walking plate is rotatably connect with follower pushrod；
Cylinder drive system is pushed away, including band-type brake pushes away cylinder, push rod and follower pushrod, the push rod can stretch under the driving that band-type brake pushes away cylinder
Movement, the follower pushrod are sheathed in push rod, and follower pushrod can be relative to push rod free extension, the follower pushrod and front overhang
The train support long axis for hanging guidance system is rotatably attached, and the band-type brake pushes away cylinder and the train support of rear suspension guidance system is grown
Axis is rotatably attached.
2. the adaptive robot ambulation track internal contracting brake mechanism of one kind according to claim 1, it is characterised in that: the row
The auxiliary support wheel that suitcase with wheels includes supporting guide wheel and is set to above supporting guide wheel, the supporting guide wheel and Auxiliary support
It takes turns tangent with orbital plane always.
3. the adaptive robot ambulation track internal contracting brake mechanism of one kind according to claim 1, it is characterised in that: described armful
The working condition of brake mechanism includes band-type brake state and walking states.
4. the adaptive robot ambulation track internal contracting brake mechanism of one kind according to claim 3, it is characterised in that: band-type brake shape
Under state, the push rod gradually extends under the driving that band-type brake pushes away cylinder, after reaching the position abutted against with follower pushrod, follower pushrod
The train support plate of forward mounting guidance system is pushed to rotate to locked track, institute forward under the driving that band-type brake pushes away cylinder with push rod
It states push rod to continue to extend under the driving that band-type brake pushes away cylinder, band-type brake pushes away the train support plate rotation for hanging guidance system after cylinder pushes backward
Turn to locked track, two suspension guiding systems deflect locked track jointly and realize band-type brake.
5. the adaptive robot ambulation track internal contracting brake mechanism of one kind according to claim 3, it is characterised in that: walking shape
Under state, the band-type brake pushes away cylinder and does not drive to push rod, and push rod remains retracted state, follower pushrod can relative to push rod free extension,
The servo-actuated deflection with the variation of trade shape of two suspension guiding systems.
6. the adaptive robot ambulation track internal contracting brake mechanism of one kind according to claim 1, it is characterised in that: described armful
Lock pushes away cylinder and pushes away cylinder holes equipped with band-type brake, and the train support long axis of the forward mounting guidance system passes through curved hole and band-type brake pushes away cylinder holes and turns
Dynamic connection；The follower pushrod is equipped with follower pushrod hole, and the train support long axis that guidance system is hung after described passes through curved hole
It is rotatablely connected with follower pushrod hole.
7. the adaptive robot ambulation track internal contracting brake mechanism of one kind according to claim 2, it is characterised in that: the rail
The second supporting surface for being provided with the first supporting surface cooperated with supporting guide wheel on road and cooperating with auxiliary support wheel, described first
Supporting surface is the inclined-plane tilted down outside by interior, correspondingly, is provided with conical camber on the supporting guide wheel, described second
Supporting surface is the level table outwardly protruded.
8. the adaptive robot ambulation track internal contracting brake mechanism of one kind according to claim 2, it is characterised in that: the branch
The lower end for supportting the conical camber of directive wheel is provided with limiting groove.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821879281.2U CN209063084U (en) | 2018-11-15 | 2018-11-15 | A kind of adaptive robot ambulation track internal contracting brake mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821879281.2U CN209063084U (en) | 2018-11-15 | 2018-11-15 | A kind of adaptive robot ambulation track internal contracting brake mechanism |
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| CN201821879281.2U Active CN209063084U (en) | 2018-11-15 | 2018-11-15 | A kind of adaptive robot ambulation track internal contracting brake mechanism |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176462A (en) * | 2018-11-15 | 2019-01-11 | 国网江苏省电力有限公司 | A kind of adaptive robot ambulation track internal contracting brake mechanism |
| CN112643689A (en) * | 2020-12-10 | 2021-04-13 | 哈工大（张家口）工业技术研究院 | Track type inspection robot |
| CN114576488A (en) * | 2022-03-02 | 2022-06-03 | 江西省自然资源事业发展中心 | Digital intelligent distribution network operation and maintenance cloud platform system |
-
2018
- 2018-11-15 CN CN201821879281.2U patent/CN209063084U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176462A (en) * | 2018-11-15 | 2019-01-11 | 国网江苏省电力有限公司 | A kind of adaptive robot ambulation track internal contracting brake mechanism |
| CN109176462B (en) * | 2018-11-15 | 2024-02-06 | 国网江苏省电力有限公司 | Self-adaptive band-type brake mechanism for walking track of robot |
| CN112643689A (en) * | 2020-12-10 | 2021-04-13 | 哈工大（张家口）工业技术研究院 | Track type inspection robot |
| CN114576488A (en) * | 2022-03-02 | 2022-06-03 | 江西省自然资源事业发展中心 | Digital intelligent distribution network operation and maintenance cloud platform system |
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