CN209229299U - Go on patrol the walking mechanism and patrol early warning robot of early warning robot - Google Patents
Go on patrol the walking mechanism and patrol early warning robot of early warning robot Download PDFInfo
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- CN209229299U CN209229299U CN201821429913.5U CN201821429913U CN209229299U CN 209229299 U CN209229299 U CN 209229299U CN 201821429913 U CN201821429913 U CN 201821429913U CN 209229299 U CN209229299 U CN 209229299U
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Abstract
The utility model relates to a kind of patrol sources of early warning, and disclose the walking mechanism and patrol early warning robot of a kind of patrol early warning robot, the walking mechanism is for driving the patrol early warning robot to walk in the guide track system, the walking mechanism includes motor, it is connected to the driving wheel of the motor output shaft, driven wheel, and it is set around the synchronous belt for forming toothed belt transmission on the driving wheel and driven wheel therewith, the guide wheel for rotating and driving guide track system walking described in the patrol early warning Robot with the driven wheel is coaxially arranged on the driven wheel, the walking mechanism is while movement needs in tunnel for satisfaction patrol early warning robot, reduce the vibration of patrol early warning robot, to promote the readability of monitoring and shooting picture.
Description
Technical field
The utility model relates to a kind of patrol sources of early warning, more particularly to a kind of walking mechanism for going on patrol early warning robot
And patrol early warning robot.
Background technique
In recent years, with the continuous development of urban construction, the continuous expansion of city size, traffic pressure is continuously increased.?
In Municipal engineering project, the quantity of urban transportation tunnel is continuously increased, and the operation security in tunnel also increasingly causes people
Attention.Different from open environments such as highway, bridges, tunnel has certain closure, and low visibility in tunnel.It is existing
Some highways are difficult in tunnel directly apply with fixed point monitoring device.When accident occurs in tunnel, fitted since tunnel lacks
When monitoring device, be easy to cause the congestion of large area, on-site law-enforcing is difficult.
Setting patrol source of early warning is as the real-time monitoring equipment in tunnel in tunnel, so that related personnel grasps in real time
Situations such as traffic ability to bear, vehicle flowrate in tunnel, location environment, and traffic patrolling law enfrocement official can be replaced in tunnel
It inside enforces the law, becomes the common wish of regulatory authorities.
In order to meet to pavement behavior, the real time monitoring of vehicle flowrate in tunnel, goes on patrol in early warning robot and need to be arranged tool
There are the equipment of shooting and video monitoring function, such as holder, capture machine.And it is different from conventional fixed point monitoring device, patrol is pre-
Alert robot needs the extending direction along tunnel to move in tunnel, to carry out overall monitor to traffic condition in tunnel.Patrol
The vibration in the process of walking of early warning robot and vibration caused by being influenced by the other factors in tunnel, will lead to shooting
The picture captured with video monitoring equipment is unintelligible.
Utility model content
Based on this, it is necessary to be directed to above-mentioned at least partly problem, provide it is a kind of go on patrol early warning robot walking mechanism and
Early warning robot is gone on patrol, which reduces patrol while movement needs in tunnel for satisfaction patrol early warning robot
The vibration of early warning robot, to promote the readability of monitoring and shooting picture.
A kind of walking mechanism for going on patrol early warning robot, for driving the patrol early warning robot to walk in guide track system
On, the walking mechanism includes motor, the driving wheel for being connected to the motor output shaft, driven wheel, and is set around the master
The synchronous belt of toothed belt transmission is formed on driving wheel and driven wheel therewith, is coaxially arranged on the driven wheel with the driven rotation
Guide wheel that is dynamic and driving guide track system walking described in the patrol early warning Robot.
Preferably, the driven wheel includes the identical synchronous pulley of two wheel footpaths, along the transmission direction of the synchronous belt, two
A driven wheel is located at the two sides of the driving wheel.
Preferably, the guide wheel is set as two and wheel footpath is identical, and is coaxially disposed respectively on two driven wheels.
Preferably, the walking mechanism further includes idle pulley, and the idle pulley is set to the outside of synchronous belt and towards the master
The direction of driving wheel and/or the driven wheel pushes the synchronous belt.
Preferably, the two sides of the driving wheel are respectively arranged with the idle pulley, so that the synchronous belt and the active
The wrap angle α of wheel is not more than 90 °.
Preferably, the walking mechanism further includes auxiliary wheel, and the auxiliary wheel is respectively arranged at described lead with the guide wheel
The patrol early warning robot is positioned on the guide track system by the upper and lower two sides of rail system.
Preferably, the circumferential surface contacted on the guide wheel with the guide track system is arranged in indent, so that the guide rail system
System is at least partly coated by the guide wheel.
On the other hand the utility model provides a kind of patrol early warning robot, the patrol early warning robot includes above-mentioned
Walking mechanism.
In above-mentioned walking mechanism, toothed belt transmission is formed between driving wheel and driven wheel, this driving form has both gear
The smooth performance of the accurate and V belt translation of transmission can accurately control walking speed of the patrol early warning robot on guide track system
Degree, while the vibration in patrol early warning robot walking process is reduced, the picture for avoiding shooting and video monitoring equipment from capturing is not
Clearly.
Detailed description of the invention
Fig. 1 is the operating status schematic diagram for going on patrol early warning robot on rail system；
Fig. 2 is a multi-angled view for going on patrol early warning robot, and which show the running gears of patrol early warning robot；
Fig. 3 is that patrol early warning robot removes the topology view after shell, and which show each of patrol early warning robot
A kind of preferred placement position of a component on bottom plate；
Fig. 4 is another multi-angled view of structure in Fig. 3, wherein removed door-plate for display charging docking facilities；
Fig. 5 is a multi-angled view of door-opening mechanism, wherein removed a side door plate；
Fig. 6 is another multi-angled view of structure in Fig. 5；
Fig. 7 is the partial view of guide track system；
Fig. 8 is the partial perspective view of guide rail；
Fig. 9 is the guide track system local structure view after removing one end guide rail；
Figure 10 is the local structure view of damping cage walls；
Figure 11 is the structure chart of positioning column；
Figure 12 is the view of display charging docking facilities and charging system opposite joining relation；
Figure 13 is the detonation configuration view of charging docking facilities；
Figure 14 is the detonation configuration view of charging system；
Figure 15 is the location diagram after charging docking facilities dock in place with charging system.
Description of symbols
1, guide track system；
10, guide rail；100, foreboard；101, backboard is installed；102, upper protective plate；103, lower protective plate；104, upper operation
Track；105, lower running track；106, the first connecting hole；107, the second connecting hole；108, post holes is positioned；109, transverse slat；
11, damping cage walls；110, bayonet；
12, pressing plate；120, pressing plate connecting hole；
13, positioning column；130, the first positioning section；131, the second positioning section；132, soft gasket；
2, early warning robot is gone on patrol；
20, shell；
200, loudspeaker；201, velocity radar；202, capture machine；203, light compensating lamp；204, electric-controlled box；205, battery；
206, driver；207, Switching Power Supply；208, bridge；209, holder；
21, bottom plate；22, synchronous pulley；22a, driving wheel；22b, driven wheel；23, guide wheel；24, idle pulley；25, auxiliary wheel；
26, synchronous belt；27, motor；
28, door-opening mechanism；280, door-plate；2800, it is rotatablely connected seat；281, door-hinge；282, upper backup pad；283, lower support
Plate；2830, motor support base；2831, gear support；284, pillar；285, enabling motor；286, driving gear；287, driven tooth
Wheel；288, limit switch；289, connecting rod；
29, charge docking facilities；290, lock hole seat；2900, lockhole；2901, magnet is perforated；291, the first sensing device；
292, the second sensing device；293, curved public component；294, electromagnet；295, telescopic head；
3, charging unit；
30, locking bar support；300, locking bar mounting hole；31, straight female component；32, locking bar；320, it is oriented to tapering；321, it is attracted
Annular groove；322, sensing post；323, limited post is installed；33, adjusting gasket.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
It should be noted that it, which can be, is set up directly on when a component is considered as " being set to " another component
On another component or it may be simultaneously present component placed in the middle.When a component is considered as " being fixed on " another component, it
It can be and be directly anchored on another component or may be simultaneously present component placed in the middle.
Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model
The normally understood meaning of the technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term as used herein " and/or " include
Any and all combinations of one or more related listed items.
Equipment is gone on patrol in a kind of tunnel early warning, as shown in fig. 1, include at least patrol early warning robot 2, guide track system 1 with
And charging system.Wherein: the side that guide track system 1 is arranged in tunnel is suitably highly located, and along the direction in vehicle shuttle tunnel
Extend, patrol early warning robot 2 is run on guide track system 1, to carry out real time monitoring licence plate, early warning to the vehicle in tunnel
Deng, charging system for charging if necessary to patrol early warning robot 2.
As shown in Fig. 1 to Fig. 6, patrol early warning robot 2 includes shell 20, bottom plate 21 and is installed on bottom plate 21
Walking mechanism, wherein walking mechanism and guide track system 1 cooperate, for driving patrol early warning robot 2 whole in guide track system 1
Upper operation.It is additionally provided on bottom plate 21:
Loudspeaker 200 can play pre-stored voice or be played real-time voice by Remote Device Control, due to guide rail system
System 1 is installed on the side wall in tunnel at higher position, in order to which the vehicular traffic guaranteed in tunnel can clearly hear loudspeaking
The horn mouth of the voice that device 200 plays, loudspeaker 200 is arranged towards the bottom surface in tunnel；
Velocity radar 201, effect is tested the speed to the contact vehicle in tunnel；
Capture machine 202 and light compensating lamp 203, wherein capture machine 202 is responsible for capturing illegal vehicle, can also cooperate and test the speed
Radar 201, when velocity radar 201 detects overspeed of vehicle, capture machine 202 takes over-speed vehicles, and light compensating lamp 203 is used in light
Light filling when line is weaker, so that the image that capture machine 202 is shot is more clear；
Electric-controlled box 204 is internally provided with main program master control borad, for controlling the whole of entire patrol early warning robot 2
Activity；
Battery 205 and Switching Power Supply 207, wherein 205 memory storage of battery can and export alternating current outward, switch
Power supply 207 is responsible for the alternating current that battery 205 exports being converted to direct current, with whole electricity consumptions to patrol early warning robot 2
Equipment power supply；
Driver 206 is responsible for receiving the signal that the master control borad in electric-controlled box 204 issues and signal is converted and is transmitted to
Each controlled component (such as loudspeaker 200, velocity radar 201 etc.), meanwhile, the information feedback of each component also passes through first
Device 206 of overdriving carries out signal conversion, is transmitted in electric-controlled box 204 again later；
Motor 27, effect are the kinetic energy that the electric energy for inputting Switching Power Supply 207 is converted to walking mechanism；
Bridge 208, effect are will to go on patrol the network connection of early warning robot 2 to network backbone；And
Holder 209, effect is monitored in real time to the road surface in tunnel.
Since patrol early warning robot 2 is run on the guide track system 1 of tunnel-side, and the space in tunnel is more narrow
It is narrow, in order to reduce space hold, and make the overall weight balance for going on patrol early warning robot 2, each component is excellent on bottom plate 21
The length direction along tunnel is selected to arrange.
As shown in Figures 3 and 4: in view of holder 209 needs to monitor in real time road surface, and bridge 208 is easy by metal
Influence, therefore, bridge 208 and holder 209 are arranged in the head of patrol early warning robot 2, it is to be understood that shell 20
It is made of non-metallic material, such as the hard non-metallic materials such as glass reinforced plastic, in this way, both can be to avoid shell 20 for internal member
Device interferes, and can carry out reliably protecting to the element on bottom plate 21；Driver 206 can make the component closed on
At Conduction Interference and radiation interference, therefore, the length direction along tunnel, driver 206 is arranged in battery 205 and Switching Power Supply
Between 207, driver 206 to be isolated with other elements using battery 205 and Switching Power Supply 207, driver 206 is avoided
Conduction Interference and radiation interference are caused to other；Velocity radar 201 needs to be aligned road surface, therefore, oblique patrol early warning machine
The tail portion of people 2 is arranged and is arranged towards road surface；Capture machine 202 and the equidirectional arrangement of velocity radar 201 are simultaneously located at velocity radar 201
Side, accurately to be captured to over-speed vehicles；In order to carry out light filling to capture machine 202, light compensating lamp 203 is arranged in capture machine
Between 202 working position and bottom plate 21；In order to avoid the electromagnetic interference that motor 27 generates impacts electric-controlled box 204, electricity
Machine 27 is arranged in the top of velocity radar 201；Loudspeaker 200 is arranged in the tail portion of patrol early warning robot 2, so that robot is whole
Body weight balance.
As shown in Fig. 1 to Fig. 2, in one embodiment, walking mechanism includes that above-mentioned motor 27 and three are same
Step belt wheel 22 and the synchronous belt 26 being wound around on synchronous pulley 22.Motor 27 is arranged on bottom plate 21 towards the one of shell 20
Side, output shaft are pierced by from bottom plate 21, and rotary motion is exported to the other side of bottom plate 21.It is main in three synchronous pulleys 22
Driving wheel 22a is connected on the output shaft of motor 27, so that the rotary motion of the output of motor 27 is passed in walking mechanism.Other two
A synchronous pulley 22 is driven wheel 22b, and the rotate driving synchronous belt 26 of driving wheel 22a is driven, to drive two driven wheel 22b to turn
It is dynamic.
In a preferred embodiment, three synchronous pulleys 22 are arranged along tunnel extending direction, and driving wheel 22a is located at
Position between two driven wheel 22b, also, two driven wheel 22b wheel footpaths having the same, in this way, two driven wheel 22b tools
There is identical revolving speed.It is coaxially arranged with guide wheel 23 on driven wheel 22b, guide wheel 23 can be with two driven synchronous pulleys 22
It rotates and does synchronized rotation, so set, component two driven wheel 22b mobile as drive patrol early warning robot simultaneously,
It is compared compared to single wheel drive, the energy of consumption is smaller.Especially, as driving link, movement thereon passes through same driving wheel 22a
Step band 26 is transferred to two driven wheel 22b after buffering shock-absorbing, in this way, the movement of guide wheel 23 being connected with two driven wheel 22b is more
Steadily, it shakes smaller.It should be understood that a driven wheel 22b, driving wheel 22a and driven wheel can also be only arranged in walking mechanism
Be driven between 22b by synchronous belt 26, guide wheel 23 can be only arranged on driven wheel 22b, can also on driving wheel 22a and from
Each arrangement one on driving wheel 22b.
Preferably, several idle pulleys 24 are additionally provided in walking mechanism, the idle pulley 24 is preferably disposed at driving wheel 22a's
Two sides, also, idle pulley 24 is arranged in the outside of synchronous belt 26, for increasing the wrap angle α of synchronous belt 26 Yu driving wheel 22a, with
It is set to be no more than 90 °, it is preferable that the wrap angle α of synchronous belt and driving wheel 22a are set as between 35 ° to 60 °, so that driving wheel
The rotation of 22a is reliably transmitted on synchronous belt 26.In addition, idle pulley 24 can also be arranged in the outside of any synchronous belt 26, with
The tension of synchronous belt 26 is played, e.g., one idle pulley 24 is respectively set close to each driven wheel 22b, to improve synchronous belt
The reliable transmission of 26 and driven wheel 22b.
Toothed belt transmission has the advantages of gear drive and V belt translation concurrently, due between synchronous belt 26 and synchronous pulley 22 with
Tooth contact, therefore, the transmission accuracy of this kind of drive are higher, and the movement that motor 27 exports can be accurately transferred to by same
It walks in the synchronous belt transmission device that belt wheel 22 and synchronous belt 26 form, so that the movement velocity of patrol early warning robot can be with
It is accurately controlled；And on the other hand, synchronous belt 26, as a kind of flexible belt with certain elasticity, not only have preferable slow
Vibration-absorbing function is rushed, and is adapted to move transmitting at a distance, therefore, when the length of bottom plate 21 is longer, two driven same
Walking belt wheel 22 can be according to the entire length and center arrangement of patrol early warning robot 2, and movement can be from the synchronization of active
Belt wheel 22 is stably and reliably transferred to two driven synchronous pulleys 22.This movement transmitting form can also be to avoid patrol early warning
Robot 2 jolts vibration in the process of walking, and capture machine 202, holder 209 is caused to be difficult to capture clearly image.
In addition, walking mechanism further preferably includes two or more auxiliary wheels 25, unpowered input in auxiliary wheel 25 is only played
The effect of the movement of auxiliary patrol early warning robot 2.When patrol early warning robot 2 is run on guide track system 1, auxiliary wheel 25
It is passed through in arrangement, guide track system 1 up and down between auxiliary wheel 25 and guide wheel 23 with guide wheel 23.
As shown in Fig. 7 to Figure 11, include to go on patrol the guide track system 1 that the walking process of early warning robot 2 is oriented to
The guide rail 10 that multistage mutually splices passes through pressing plate 12, positioning column 13 and an appropriate number of connection between adjacent rails body 10
Part (not shown) is spliced to form an entirety.Guide rail 10 includes foreboard 100, installation backboard 101 and is connected to foreboard
Two pieces of transverse slats 109 up and down between 100 and installation backboard 101.When the side wall of the installation of guide track system 1 to tunnel, backboard is installed
101 recline tunnel side wall and fixation.
104 He of upper running track of the extending direction arrangement along guide rail 10 is respectively arranged on upper and lower two pieces of transverse slats 109
Lower running track 105, guide wheel 23 walk in running track 104, and correspondingly, auxiliary wheel 25 walks in lower running track 105
On.In order to increase the fitting area of guide wheel 23 and auxiliary wheel 25 and upper and lower running track, make the walking of patrol early warning robot 2 more
Add steadily, upper running track 104 and lower running track 105 are in approximate cylindrical body setting, correspondingly, guide wheel 23 and/or auxiliary
Wheel 25 in indent be arranged so that the inner concave on guide wheel 23 and/or auxiliary wheel 25 conform to running track 104 and/or under
In running track 105.Further, since the relative positional relationship between auxiliary wheel 25 and guide wheel 23 determines, upper running track 104
Spacing between lower running track 105 also determines that can making patrol early warning robot 2, reliably edge is led on guide track system 1
The arranged direction of rail body 10 is run.
It falls off to further avoid patrol early warning robot 2 from guide rail 10, is additionally provided with protective plate on foreboard 100
102 and lower protective plate 103.Upper protective plate 102 exceeds the distance of the about 2cm of transverse slat 109, when patrol early warning robot 2 shakes
When, when guide wheel 23 will be disengaged from running track 104, guide wheel 23 collides upper protective plate 102, and upper protective plate 102 at this moment can
One reaction force is applied to guide wheel 23, guide wheel 23 is pushed back in upper running track 104.It is understood that upper protective plate
102 protrusion height should at least over the height of upper running track 104, therefore, upper protective plate 102 beyond transverse slat 109 away from
It is that parameter is specifically set in one embodiment, and is not the vertical restriction to upper 102 height of protective plate from about 2cm.
Further, the direction of upper protective plate 102 towards installation backboard 101 tilts 5 ° to 45 °, so that upper protective plate 102
Upper end and backboard 101 is installed upper end between it is close to each other, in this way, when guide wheel 23 is detached from upper running track 104, upper protection
Guide wheel 23 can be pushed back to upper running track 104 more in time by plate 102.When the protrusion height of upper protective plate 102 is set as
When 2cm, the tilt angle towards installation backboard 101 is preferably 10 °.It should be understood that the protrusion height of upper protective plate 102 with
Tilt angle be to a certain extent it is relevant, above-mentioned parameter is not fixed value, the numerical value also with the wheel footpath of guide wheel 23, guide wheel 23
Inner concave radian and upper running track 104 sectional dimension it is related, the tilt angle of upper protective plate 102 can be understood as leaning on
It is close that backboard 101 is installed but not is contacted with the side of the guide wheel of normal operation 23.
Similarly with upper protective plate 102, lower protective plate 103 is also obliquely installed towards installation backboard 101, and effect is to reduce
Auxiliary wheel 25 is detached from lower running track 105.
On guide rail 10, installation backboard 101 plays the role of being side wall of the fixed guide track system 1 to tunnel, and stress is not
Greatly；And foreboard 100 needs to bear the gravity of patrol early warning robot 2, and the gravity for going on patrol early warning robot 2 is most of by preceding
Plate 100 is born.Therefore, in order to adapt to the stress conditions of two plate bodys, the plate thickness of foreboard 100 is greater than the plate thickness of installation backboard 101.
In addition, upper protective plate 102 and/or lower protective plate 103 are directly contacted when guide wheel 23 and/or auxiliary wheel 25 derail, in order to
The thickness of proof strength, upper protective plate 102 and/or lower protective plate 103 is greater than the thickness of foreboard 100.In a kind of embodiment
In, installation backboard 101 using the plate body with a thickness of 3cm, foreboard 100 using the plate body with a thickness of 4cm, upper protective plate 102 and/
Or lower protective plate 103 is using the plate body with a thickness of 4.1.
So set, the relationship of plate thickness not only makes the stress of the plate thickness adaptation corresponding position of each position on guide rail 10
Situation, also, when patrol early warning robot 2 is installed between supreme running track 104 and lower running track 105, go on patrol early warning
At the gravity of robot 2 is substantially applied on transverse slat 109 where two running tracks, and work as foreboard 100 and upper protective plate
102 and lower protective plate 103 thickness be greater than foreboard 100 plate thickness when, can also to patrol early warning robot 2 gravity position
It sets and compensates.
Further, as shown in figs. 9 and 10, in order to reduce patrol early warning robot 2 and upper running track 104 and/
Or frictional dissipation between lower running track 105, while the vibration that patrol early warning robot 2 is run in guide track system 1 is reduced, on
Damping cage walls 11 are provided with outside running track 104 and/or lower running track 105, the damping cage walls 11 have along axial direction
Bayonet 110, damping cage walls 11 are coated outside supreme running track 104 and/or lower running track 105 by the bayonet 110.
The damping cage walls 11 are preferably using high resilience polyurethane material or 100% high physical plastic polyurethane
Elastomer (TPU) is made, and can also be made of other soft, wear-resisting materials.Its processing method can with but be not limited to
The mode for forming bayonet 110 on whole PU pipe along axially open, in this way, since there are certain journeys after opening for PU pipe
The elastical retraction of degree can be such that damping cage walls 11 fit closely with upper running track 104 and/or lower running track 105.
By preceding described, guide track system 1 is spliced to form by several guide rails 10, when damping cage walls 11 are also spelled using multistage pipe
When connecing, in order to avoid the gap of 10 stitching portion of guide rail is superimposed with the splicing gap of damping cage walls 11, adjacent two sections of damping packets
The stitching position for covering pipe 11 is preferably staggered the stitching position of adjacent rails body 10.Specifically, one section of damping cage walls 11 is preferred
Seam crossing of the ground across adjacent rails body 10, and splicing on any one guide rail 10 with adjacent damping cage walls 11.
Referring to shown in Fig. 8, Fig. 9 and Figure 11, towards offering positioning post holes on the face of adjacent rails body 10 on guide rail 10
108, also, in some embodiments, positioning post holes 108 is set as two and is set to foreboard 100 and two friendships of transverse slats 109
Meet place.The positioning post holes 108 is preferably made of nylon material for positioning column 13 shown in plugboard chart 11, so that
10 stitching portion of guide rail has preferable damping effect.Positioning column 13 includes being plugged on two neighboring guide rail 10 to determine respectively
The first positioning section 130 and the second positioning section 131 in the post holes 108 of position, are preferably provided with soft gasket 132 between the two, described
Soft gasket 132 is made of the preferable soft material (such as rubber, silica gel) of elasticity, soft when adjacent rails body 10 splices
Matter gasket 132 is located between the splicing side of two guide rails 10.So set, when hot weather causes guide rail 10 to occur
When thermal expansion, the swell increment of guide rail 10 can be compensated by the flexible deformation of soft gasket 132, to avoid between guide rail 10
Mutual extrusion.
Positioning column 13 can be a continuous nylon rod, and be arranged soft gasket 132 at an arbitrary position, positioning column 13
Effect is to make the alignment splicing of adjacent rails body 10, the neat degree of splicing to improve guide track system 1.
Pressing plate 12 is installed in the cavity that foreboard 100, installation backboard 101 and upper and lower two pieces of transverse slats 109 enclose.Pressing plate 12
On offer pressing plate connecting hole 120, the pressing plate connecting hole 120 is arranged along upper and lower direction in waist-shaped hole, correspondingly, preceding
The first connecting hole 106 and the second connecting hole 107 are offered respectively on plate 100 and installation backboard 101.Herein it should be pointed out that individually
First connecting hole 106 and second connecting hole 107 on one guide rail 10 are only one of the hole of conventional meaning
Point, a complete circular hole is formed after the first connecting hole 106 docking on adjacent rails body 10, similarly, on adjacent rails body 10
The second connecting hole 107 docking after also form a complete circular hole, the two circular holes are corresponding with pressing plate connecting hole 120.
When splicing adjacent rails body 10, first by positioning column 13 the first positioning section 130 or the second positioning section 131 insert
Enter one of guide rail 10, and makes soft gasket 132 against the end face of positioning post holes 108；By pressing plate 12 and one of those
Guide rail 10 is fixed, and keeps pressing plate connecting hole 120 and the first connecting hole 106 and the second connecting hole 107 concentric；It is led another
Positioning post holes 108 on rail body 10 is directed at positioning column 13, and then the axis direction along positioning column 13 moves the guide rail 10, until
On the end face of soft gasket 132；Connector is passed through into 120 He of pressing plate connecting hole from the first connecting hole 106 on foreboard 100
After second connecting hole 107, it is fixed on tunnel inner wall.
As shown in Figure 3, the tail portion for going on patrol early warning robot 2 is additionally provided with charging docking facilities 29, with charging system
In charging unit 3 cooperate, for being docked if necessary with charging unit 3, to be filled to the battery 205 on bottom plate 21
Electricity.
Patrol early warning robot 2 is run in tunnel, and when not enough power supply in battery 205, patrol early warning robot 2 can
It can be in any position in tunnel, remaining capacity is difficult to that patrol early warning robot 2 is supported to be moved to charge position to electric power storage
Pond 205 is charged, and therefore, charging system includes at least a fixed charging pile and is movable to and patrol early warning robot 2
The charging trolley of position, charging trolley are often connected on fixed charging pile, with the electricity abundance for small car of keeping charging, when patrolling
When patrolling 205 not enough power supply of battery of early warning robot 2, electric-controlled box 204 issues not enough power supply signal, starting to charging system
The trolley that charges is mobile towards patrol early warning robot 2, to charge to battery 205.It goes on patrol automatically controlled in early warning robot 2
Box 204 issues the signal for needing to charge and patrol 2 present bit of early warning robot in 205 short of electricity of battery, to charging system
The information set, at this point, the charging trolley in charging system is mobile towards patrol early warning robot 2.It is understood that herein
So-called charging trolley is mobile towards patrol early warning robot 2, refers to there is relative motion between the two, so that charging trolley energy
Enough close to patrol early warning robot 2, for example, patrol early warning robot 2 still has centainly when not enough power supply occurs for a certain position
Movement velocity, it is mobile toward and away from charging trolley.At this point, in the current location information that electric-controlled box 204 issues, it is also possible to
The information such as present speed, moving direction including patrol early warning robot 2, in order to instruct the movement of charging trolley, this
In the case of, charging trolley with patrol early warning robot 2 is docked in relative movement；In another example patrol early warning plane
Device people 2 is out of service immediately after issuing not enough power supply signal, at this point, the current location information that electric-controlled box 204 issues then should
Including at least the position that patrol early warning robot 2 currently stops, so that charging trolley is moved to the position at the appropriate speed, and
It is docked in the state of going on patrol early warning robot 2 and stopping.
Although this is not precluded it should be noted that being described below is described by taking contact charging modes as an example
Charging system can charge to battery 205 in a manner of wireless charging.
As shown in Figure 12 to Figure 15, the charging docking facilities 29 of patrol 2 tail portion of early warning robot include lock hole seat 290,
It is fixed on bottom plate 21 shown in Fig. 3, and is located at the tail portion of patrol early warning robot 2.First is provided on lock hole seat 290
Sensing device 291, the second sensing device 292, curved public component 293 and electromagnet 294, and lock is offered on lock hole seat 290
Hole 2900 and magnet perforation 2901, wherein electromagnet 294 is movably set in magnet perforation 2901.
Charging unit 3 is provided on charging trolley in charging system comprising locking bar support 30 is provided with straight mother
Component 31 and locking bar 32, in which: straight female component 31 cooperates with the curved public component 293 on charging docking facilities 29, when the two is right
When connecing, charging trolley can be charged by the battery 205 in 29 pairs of docking facilities patrol early warning robots 2 of charging.
Further, the locking bar 32 on locking bar support 30 can penetrate in the lockhole 2900 on lock hole seat 290, utilize locking bar
32 with the same shaft assignment of lockhole 2900, dock curved public component 293 accurately with straight female component 31.Specifically, when charging trolley leans on
When nearly patrol early warning robot 2, locking bar 32 with charging trolley alignment and penetrate in lockhole 2900, in this way, lock hole seat 290 with
The relative position of locking bar support 30 determines.Preferably, locking bar 32 is being locked with after 2900 centering of lockhole in order to adjust straight female component 31
Position on rod bearing 30, allows it to penetrate lockhole 2900 in locking bar 32 and is in alignment with curved public component 293, locking bar support 30 with
Adjusting gasket 33 is additionally provided between straight female component 31.
In some embodiments, it is additionally provided with locking device between locking bar support 30 and lock hole seat 290, the locking device energy
It is enough to lock the position of locking bar support 30 and lock hole seat 290 after curved public component 293 is correctly docked with straight female component 31, so that
Charging unit 3 can be mobile with patrol early warning robot 2, and charges in moving process to patrol early warning robot 2.Especially
It is that, when patrol early warning robot 2 docks on the move with charging trolley, patrol early warning robot 2 may be implemented free of discontinuities
Work.
In one embodiment, locking bar 32 has guiding tapering 320, is attracted annular groove 321, sensing post 322 and installation
Limited post 323, in which: installation limited post 323 and locking bar support 30 are fixed, for limiting the integral position of locking bar 32；Guide cone
Portion 320 forms a centrum in the free end of locking bar 32, is oriented to the process for penetrating lockhole 2900 to locking bar 32；Induction
Column 322 is located on the small end end face in guiding tapering 320, for cooperating with the first sensing device 291, when the sensing post 322 is stretched
Enter to the detectable range of the first sensing device 291, the first sensing device 291 sends out signal, and mark locking bar 32 penetrates
In place；It is attracted annular groove 321 and electromagnet 294 cooperates, when locking bar 32 penetrates in place, electromagnet 294 is in magnet perforation 2901
It moves and is attracted to the actuation annular groove 321 on locking bar 32, at this point, the second sensing device 292 detects that the actuation of electromagnet 294 is arrived
The case where position, charging system charge to patrol early warning robot 2.
Grafting relationship before 3 pairs of patrol early warning robots 2 of charging unit charge, between locking bar 32 and lockhole 2900
Guarantee that straight female component 31 is aligned with curved public component 293.Later, the first sensing device 291 detection locking bar 32 whether grafting in place, with
Guarantee that straight female component 31 docks in place with curved public component 293.Electromagnet 294 is acted in response to the first sensing device 291, works as inspection
When measuring 32 grafting of locking bar in place, electromagnet 294 is attracted to the actuation annular groove 321 on locking bar 32, the grafting of fixed locking bar 32
Position, to keep the opposite joining relation of straight female component 31 with curved public component 293.When the second sensing device 292 detects electromagnet 294
After being attracted in place, process is just started to charge.Charge fault caused by charge contact not only can be avoided bad, it is more important
, after electromagnet 294, which is pulled on, is attracted annular groove 321, the opposite joining relation between charging unit 3 and charging docking facilities 29 is firm
Gu at this point, the charging trolley where charging unit 3 can move together with patrol early warning robot, so that patrol early warning
Robot can be run in tunnel without interruption.
It is understood that above-mentioned electromagnet 294, which is attracted to locking bar 32, is only locked out charging unit 3 and patrol early warning
A kind of specific implementation form of charging docking facilities in robot 2, arbitrarily other can be after locking bar 32 be docked with lockhole 2900
It locks charging unit 3 and goes on patrol the locking device of early warning robot 2, the electromagnetic actuation shape that should all be considered as in the utility model
The simple deformation of formula.
It is provided with telescopic head 295 on lock hole seat 290 and/or locking bar support 30, as shown in Figure 12, energy on lock hole seat 290
It enough conforms on the end face of locking bar support 30 and is provided with telescopic head 295, in the filling towards patrol early warning robot 2 of charging unit 3
During electricity charging docking facilities 29 are mobile, when locking bar support 30 conforms to the telescopic head 295, telescopic head 295 can be limited
The further grafting of curved public affairs component 293 and straight female component 31, avoids the two grafting from excessively leading to curved public component 293 or straight female component
31 damage, at the same time, impact when telescopic head 295 can be contacted with latching buffer rod bearing 30 and lock hole seat 29.
So set, in charging unit 3 and charging 29 automatic docking process of docking facilities, curved male component 293 and straight mother
Component 31 both will not grafting it is excessive, will not engage not in place and influence charge efficiency.
With reference to shown in Fig. 3, Fig. 5 and Fig. 6, in order to avoid dust, the steam etc. in tunnel cause charging docking facilities 29
It influences, door-opening mechanism 28 is additionally provided on bottom plate 21, door-opening mechanism 28 includes a pair can be on bottom plate 21 around the axis of door-hinge 281
The door-plate 280 that line pivots, when patrol early warning robot 2 does not charge, two 280 pairings of door-plate will together with shell 20 charge
Docking facilities 29 are enclosed in inside patrol early warning robot 2, and are docked in locking bar 32 with charging docking facilities 29 and started front opening.
Door-opening mechanism 28 further includes the lower supporting plate 283 being fixed on bottom plate 21, by pillar 284 is supported in lower supporting plate
The upper backup pad 282 of 283 tops, and the motor support base 2830 being fixed on lower supporting plate 283.Motor support base 2830
Upper setting enabling motor 285, is equipped with driving gear 286 on the output shaft of the enabling motor 285, on lower supporting plate 283 also
It is provided with gear support 2831,2831 upper rotary of gear support is supported by a pair of intermeshing driven gear 287.In this way, opening
The output rotary motion outward of door motor 285, driving driving gear 286 rotate, and driving gear 286 is nibbled with any driven gear 287
It closes, to drive a pair of of 287 engagement in rotation of driven gear.Transmission ratio between driving gear 286 and driven gear 287 can be according to
According to needing to set, the velocity of rotation too fast vibration for causing patrol early warning robot 2 when opening and be closed in order to avoid door-plate 280,
The transmission ratio (or gear ratio) of driving gear 286 and driven gear 287 is less than 1.The number of teeth of two driven gears 287 is consistent,
So that an end of door plate 280 is with the unlatching of identical velocity of rotation.Connecting rod is respectively connected at the rotating shaft of each driven gear 287
289, connecting rod 289 does the rotary oscillation in horizontal plane with the rotation of driven gear 287.Rotation is additionally provided on door-plate 280 to connect
Joint chair 2800, connecting rod 289 are rotatablely connected to the rotation connection seat 2800, in this way, when connecting rod 289 is in driven gear 287
Drive under when rotating, push door-plate 280 to rotate.
Door-hinge 281 is rotatablely arranged at upper backup pad 282, and door-plate 280 is connected on door-hinge 281 and returns with door-hinge 281
Turn, in addition, limit switch 288 is additionally provided on lower supporting plate 283, for limiting the rotational angle of connecting rod 289, to limit
That determines door-plate 280 turns on angle.
When going on patrol the normal operation of early warning robot 2 in guide track system 1, an end of door plate 280 closure.It is sent out in electric-controlled box 204
Fall vacant electric signal when, door-opening mechanism 28 acts, and enabling motor 285 exports rotary motion, makes driving gear 286 and a pair of of driven tooth
287 rotation of wheel exposes the charging docking facilities 29 on bottom plate 21 so that connecting rod 289 be driven to push an end of door plate 280 open, with
It is mated with convenient for the charging unit 3 on charging trolley.And when enabling motor 285 does not work, driving gear 286 is static, with
The driven gear 287 of engagement can not rotate, in this case, door-plate 280 is able to maintain reliable closed state, avoids patrolling
Early warning robot 2 is patrolled surprisingly to open in moving process middle door-plate 280 because the reasons such as jolting, shaking.This form can be better
Protection charging docking facilities 29, while it is outer to avoid dust, water mist etc. in tunnel from entering from the tail portion of patrol early warning robot 2
Inside shell 20, preferably to protect other components on bottom plate 21.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.
Claims (8)
1. a kind of walking mechanism for going on patrol early warning robot, for driving the patrol early warning robot (2) to walk in guide rail system
It unites on (1), which is characterized in that the walking mechanism includes motor (27), the driving wheel for being connected to the motor (27) output shaft
(22a), driven wheel (22b), and be set around on the driving wheel (22a) and driven wheel (22b) and form toothed belt transmission therewith
Synchronous belt (26), be coaxially arranged on the driven wheel (22b) and rotate with the driven wheel (22b) and drive the patrol pre-
The guide wheel (23) that alert robot (2) walk along the guide track system (1).
2. the walking mechanism of patrol early warning robot according to claim 1, which is characterized in that the driven wheel (22b)
Including the identical synchronous pulley (22) of two wheel footpaths, transmission direction along the synchronous belt (26), two driven wheels (22b)
Positioned at the two sides of the driving wheel (22a).
3. the walking mechanism of patrol early warning robot according to claim 2, which is characterized in that guide wheel (23) setting
For two and wheel footpath it is identical, and be coaxially disposed respectively on two driven wheels (22b).
4. the walking mechanism of patrol early warning robot according to claim 1, which is characterized in that the walking mechanism is also wrapped
Include idle pulley (24), the idle pulley (24) be set to the outside of synchronous belt (26) and towards the driving wheel (22a) and/or it is described from
The direction of driving wheel (22b) pushes the synchronous belt (26).
5. the walking mechanism of patrol early warning robot according to claim 4, which is characterized in that the driving wheel (22a)
Two sides be respectively arranged with the idle pulley (24) so that the wrap angle α of the synchronous belt (26) and the driving wheel (22a) are not
Greater than 90 °.
6. the walking mechanism of patrol early warning robot according to claim 1, which is characterized in that the walking mechanism is also wrapped
It includes auxiliary wheel (25), the auxiliary wheel (25) and the guide wheel (23) are respectively arranged at upper and lower the two of the guide track system (1)
The patrol early warning robot (2) is positioned on the guide track system (1) by side.
7. it is according to claim 1 patrol early warning robot walking mechanism, which is characterized in that on the guide wheel (23) with
The circumferential surface of the guide track system (1) contact in indent setting so that the guide track system (1) at least partly by the guide wheel
(23) it coats.
8. a kind of patrol early warning robot, which is characterized in that the patrol early warning robot includes as any in claim 1-7
Walking mechanism described in one.
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| CN201821429913.5U CN209229299U (en) | 2018-08-31 | 2018-08-31 | Go on patrol the walking mechanism and patrol early warning robot of early warning robot |
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| CN201821429913.5U CN209229299U (en) | 2018-08-31 | 2018-08-31 | Go on patrol the walking mechanism and patrol early warning robot of early warning robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110873271A (en) * | 2018-08-31 | 2020-03-10 | 宁波诠航机械科技有限公司 | Walking mechanism of patrol early-warning robot and patrol early-warning robot |
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2018
- 2018-08-31 CN CN201821429913.5U patent/CN209229299U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110873271A (en) * | 2018-08-31 | 2020-03-10 | 宁波诠航机械科技有限公司 | Walking mechanism of patrol early-warning robot and patrol early-warning robot |
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