CN209737594U - Wheel type movement structure of time-sharing four-wheel drive type inspection robot - Google Patents
Wheel type movement structure of time-sharing four-wheel drive type inspection robot Download PDFInfo
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- CN209737594U CN209737594U CN201920314752.3U CN201920314752U CN209737594U CN 209737594 U CN209737594 U CN 209737594U CN 201920314752 U CN201920314752 U CN 201920314752U CN 209737594 U CN209737594 U CN 209737594U
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Abstract
The utility model discloses a time-sharing four-wheel drive type patrols and examines wheeled motion structure of robot, the on-line screen storage device comprises a base, the both ends of base all are fixed with the fixed plate, and the both ends of two fixed plates all are fixed with the connecting block, and just are a set of with two connecting blocks of one side, and the pivot has been cup jointed in common rotating on two connecting blocks in the same set of, the both ends of pivot all are fixed with the gyro wheel, the upper end of connecting block is equipped with damping device, the both sides of base all are equipped with first limiting plate and second limiting plate. The utility model discloses simple structure, adjustable drive mode is forerunner's, rear-guard or four-wheel drive, can be applicable to various highway sections, and the flexibility is higher, and traction force is great, and power loss is little, the effectual mobility that patrols and examines the robot that has improved, and the effectual life who patrols and examines the robot that has prolonged of good damping performance, the reliability is high, is worth promoting.
Description
Technical Field
The utility model relates to an inspection robot technical field especially relates to a time-sharing four-wheel drive type inspection robot's wheeled motion structure.
background
Along with the rapid development of the society, the application of intelligent inspection also drives the new development opportunities of industries such as unmanned aerial vehicles, robots and the like, and the inspection robots also come into development spring, the inspection robots play an increasingly important role in the aspect of intelligent inspection, as the places needing to be managed by managers are more and more, key equipment is difficult to inspect one by one according to the traditional mode, and as the key equipment needs to be inspected in time to effectively ensure the use safety of the equipment, the operators on duty managed before are replaced by a plurality of inspection robots in order to improve the quality of the key equipment.
the existing inspection robot is mainly driven in a front driving mode or a rear driving mode, when some uneven or smooth road sections move, the inspection robot can easily rotate front wheels or rear wheels in situ, so that the robot cannot advance or retreat, when the inspection robot moves on the uneven road sections, the loss of the inspection robot is large due to poor damping performance, the ground grabbing force during turning is reduced, the steering is excessive, the power loss is large, the traction force is insufficient, and the inspection robot cannot be suitable for various road sections.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the defects existing in the prior art and providing a wheel type motion structure of a time-sharing four-wheel drive inspection robot.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
The utility model provides a time sharing four-wheel drive type patrols and examines wheeled motion structure of robot, includes the base, the both ends of base all are fixed with the fixed plate, and the both ends of two fixed plates all are fixed with the connecting block, and are a set of with two connecting blocks of one side, and rotate jointly on two connecting blocks in the same group and cup jointed the pivot, the both ends of pivot all are fixed with the gyro wheel, the upper end of connecting block is equipped with damping device, the both sides of base all are equipped with first limiting plate and second limiting plate, and just are a set of with the first limiting plate and the second limiting plate of one side, and the both ends of two sets of first limiting plates and second limiting plate are all fixed in one side that two fixed plates are relative, and the first limiting plate and the second limiting plate of same group rotate jointly and have cup.
Preferably, damping device is including fixing the first sleeve in the connecting block upper end, the upper end of first sleeve is equipped with the second sleeve, the telescopic lower extreme of second runs through first sleeve and extends to in the first sleeve, the telescopic lower extreme of second is fixed with the stopper, be equipped with the spring in the first sleeve, the lower extreme at the stopper is fixed to the upper end of spring, the bottom in first sleeve is fixed to the lower extreme of spring.
Preferably, drive arrangement is including fixing two servo motor in the base upper end, servo motor's output shaft end is fixed with first gear, the one end of dwang is fixed with the second gear, and second gear and first gear mesh mutually, the other end of dwang is fixed with second bevel gear, the cover is equipped with first bevel gear in the pivot, and first bevel gear and second bevel gear mesh mutually.
Preferably, the base, the fixing plate, the first limiting plate and the second limiting plate are all made of aluminum plate materials.
Preferably, one side of two connecting blocks in the same group is jointly detachably connected with a fixed block.
preferably, a mounting plate is fixed to the upper end of the shock absorber, and four bolts are screwed to one end of the mounting plate.
Preferably, the first limiting plate, the second limiting plate and the fixing plate are integrally formed through welding.
Preferably, the roller is coated with a rubber layer.
Preferably, a rubber pad is fixed at the upper end of the mounting plate.
Preferably, the fixing block is made of a galvanized steel plate material.
Compared with the prior art, the beneficial effects of the utility model are that:
1. Through the matching of the base, the fixing plate, the first limiting plate, the second limiting plate and the driving device, the inspection robot can adjust the driving mode to be a front driving mode, a rear driving mode or a four-driving mode according to a used road section, the application method is flexible, the problems that the existing inspection robot is easy to rotate in situ and cannot advance or retreat, the power loss is large, the insufficient traction force easily causes excessive steering and cannot be applied to various road sections are solved, and the maneuverability of the inspection robot is effectively improved;
2. Through the matching of the connecting block, the mounting plate and the damping device, the damping performance of the inspection robot is improved, the problem that the existing inspection robot has relatively high loss due to poor damping performance is solved, and the service life of the inspection robot is effectively prolonged;
To sum up, the utility model discloses simple structure, adjustable drive mode is forerunner, rear-guard or four-wheel drive, can be applicable to various highway sections, and the flexibility is higher, and traction force is great, and power loss is little, the effectual mobility that patrols and examines the robot that has improved, and the effectual life who patrols and examines the robot that has prolonged of good damping performance, the reliability is high, is worth promoting.
drawings
Fig. 1 is an external structural schematic view of a wheel type motion structure of a time-sharing four-wheel-drive inspection robot provided by the utility model;
fig. 2 is a top view of a wheel type motion structure of a time-sharing four-wheel-drive inspection robot provided by the utility model;
Fig. 3 is the utility model provides a time-sharing four-wheel drive type patrols and examines second sleeve structure schematic diagram of robot's wheeled motion structure.
In the figure: the device comprises a base 1, a fixing plate 2, a first limiting plate 3, a second limiting plate 4, a rotating rod 5, a roller 6, a bolt 7, an installation plate 8, a connecting block 9, a servo motor 10, a first gear 11, a second gear 12, a first bevel gear 13, a second bevel gear 14, a first sleeve 15, a second sleeve 16, a limiting block 17, a rotating shaft 18, a spring 19 and a fixing block 20.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
Example 1
Referring to fig. 1, 2 and 3, a wheel type motion structure of a time-sharing four-wheel-drive inspection robot comprises a base 1, wherein two ends of the base 1 are respectively fixed with a fixed plate 2, two ends of the two fixed plates 2 are respectively fixed with a connecting block 9, the two connecting blocks 9 on the same side form a group, one side of each of the two connecting blocks 9 in the same group is jointly detachably connected with a fixed block 20 to prevent the inspection robot from being damaged due to collision, the inspection robot is effectively protected, a rotating shaft 18 is jointly and rotatably sleeved on the two connecting blocks 9 in the same group, rollers 6 are respectively fixed at two ends of the rotating shaft 18 to facilitate the movement of the inspection robot, a damping device is arranged at the upper end of each connecting block 9 to improve the damping performance of the inspection robot and effectively prolong the service life of the inspection robot, a mounting plate 8 is fixed at the upper end of each damping device, and four bolts 7, the inspection robot body is convenient to fix through the four bolts 7 at one end of the mounting plate 8;
Base 1's both sides all are equipped with first limiting plate 3 and second limiting plate 4, and be a set of with first limiting plate 3 and second limiting plate 4 of one side, two sets of first limiting plate 3 and second limiting plate 4's both ends are all fixed in the relative one side of two fixed plates 2, the first limiting plate 3 of same group and second limiting plate 4 rotate jointly and have cup jointed dwang 5, base 1's upper end is fixed with drive arrangement, can be convenient for control through drive arrangement and patrol and examine the advancing and retreating of robot, base 1, fixed plate 2, first limiting plate 3 and second limiting plate 4 all adopt the aluminium sheet material to make, it is with low costs to have, the rigidity is good, high strength, the advantage of shock-resistant, the effectual life who patrols and examines the robot that has prolonged.
The utility model discloses in, damping device is including fixing first sleeve 15 in connecting block 9 upper end, the upper end of first sleeve 15 is equipped with second sleeve 16, the lower extreme of second sleeve 16 runs through first sleeve 15 and extends to in first sleeve 15, the lower extreme of second sleeve 16 is fixed with stopper 17, be equipped with spring 19 in the first sleeve 15, the lower extreme at stopper 17 is fixed to spring 19's upper end, the bottom in first sleeve 15 is fixed to spring 19's lower extreme, under spring 19's elastic force effect, the effectual cushioning effect that has played.
the utility model discloses in, drive arrangement is including fixing two servo motor 10 in base 1 upper end, servo motor 10's output shaft end is fixed with first gear 11, the one end of dwang 5 is fixed with second gear 12, and second gear 12 meshes with first gear 11 mutually, the other end of dwang 5 is fixed with second bevel gear 14, the cover is equipped with first bevel gear 13 in the pivot 18, and first bevel gear 13 meshes with second bevel gear 14 mutually, be convenient for patrol and examine advancing and retreating of robot through servo motor 10 control, when two servo motor 10 simultaneous workings, will keep two servo motor 10 synchronous operation, install the encoder on a servo motor 10, go another servo motor 10 of control through the feedback of encoder, reach synchronous operation's effect.
Example 2
Referring to fig. 1, 2 and 3, a wheel type motion structure of a time-sharing four-wheel-drive inspection robot comprises a base 1, wherein two ends of the base 1 are respectively fixed with a fixed plate 2, two ends of the two fixed plates 2 are respectively fixed with a connecting block 9, the two connecting blocks 9 on the same side form a group, one side of each of the two connecting blocks 9 in the same group is jointly detachably connected with a fixed block 20 to prevent the inspection robot from being damaged due to collision, the inspection robot is effectively protected, a rotating shaft 18 is jointly and rotatably sleeved on the two connecting blocks 9 in the same group, rollers 6 are respectively fixed at two ends of the rotating shaft 18 to facilitate the movement of the inspection robot, a damping device is arranged at the upper end of each connecting block 9 to improve the damping performance of the inspection robot and effectively prolong the service life of the inspection robot, a mounting plate 8 is fixed at the upper end of each damping device, and four bolts 7, the inspection robot body is convenient to fix through the four bolts 7 at one end of the mounting plate 8;
Base 1's both sides all are equipped with first limiting plate 3 and second limiting plate 4, and be a set of with first limiting plate 3 and second limiting plate 4 of one side, two sets of first limiting plate 3 and second limiting plate 4's both ends are all fixed in the relative one side of two fixed plates 2, the first limiting plate 3 of same group and second limiting plate 4 rotate jointly and have cup jointed dwang 5, base 1's upper end is fixed with drive arrangement, can be convenient for control through drive arrangement and patrol and examine the advancing and retreating of robot, base 1, fixed plate 2, first limiting plate 3 and second limiting plate 4 all adopt the aluminium sheet material to make, it is with low costs to have, the rigidity is good, high strength, the advantage of shock-resistant, the effectual life who patrols and examines the robot that has prolonged.
The utility model discloses in, damping device is including fixing first sleeve 15 in connecting block 9 upper end, the upper end of first sleeve 15 is equipped with second sleeve 16, the lower extreme of second sleeve 16 runs through first sleeve 15 and extends to in first sleeve 15, the lower extreme of second sleeve 16 is fixed with stopper 17, be equipped with spring 19 in the first sleeve 15, the lower extreme at stopper 17 is fixed to spring 19's upper end, the bottom in first sleeve 15 is fixed to spring 19's lower extreme, under spring 19's elastic force effect, the effectual cushioning effect that has played.
The utility model discloses in, drive arrangement is including fixing two servo motor 10 in base 1 upper end, servo motor 10's output shaft end is fixed with first gear 11, the one end of dwang 5 is fixed with second gear 12, and second gear 12 meshes with first gear 11 mutually, the other end of dwang 5 is fixed with second bevel gear 14, the cover is equipped with first bevel gear 13 in the pivot 18, and first bevel gear 13 meshes with second bevel gear 14 mutually, be convenient for patrol and examine advancing and retreating of robot through servo motor 10 control, when two servo motor 10 simultaneous workings, will keep two servo motor 10 synchronous operation, install the encoder on a servo motor 10, go another servo motor 10 of control through the feedback of encoder, reach synchronous operation's effect.
the utility model discloses in, the upper end of mounting panel 8 is fixed with the rubber pad, and the cladding has the rubber layer on gyro wheel 6, compares with embodiment 1, and this embodiment makes the loss that patrols and examines the robot and can avoid making the organism receive because of jolting, the effectual organism of having protected, and strengthened the land fertility of grabbing of gyro wheel, makes to patrol and examine the robot and remove more steadily.
Example 3
referring to fig. 1, 2 and 3, a wheel type motion structure of a time-sharing four-wheel-drive inspection robot comprises a base 1, wherein two ends of the base 1 are respectively fixed with a fixed plate 2, two ends of the two fixed plates 2 are respectively fixed with a connecting block 9, the two connecting blocks 9 on the same side form a group, one side of each of the two connecting blocks 9 in the same group is jointly detachably connected with a fixed block 20 to prevent the inspection robot from being damaged due to collision, the inspection robot is effectively protected, a rotating shaft 18 is jointly and rotatably sleeved on the two connecting blocks 9 in the same group, rollers 6 are respectively fixed at two ends of the rotating shaft 18 to facilitate the movement of the inspection robot, a damping device is arranged at the upper end of each connecting block 9 to improve the damping performance of the inspection robot and effectively prolong the service life of the inspection robot, a mounting plate 8 is fixed at the upper end of each damping device, and four bolts 7, the inspection robot body is convenient to fix through the four bolts 7 at one end of the mounting plate 8;
Base 1's both sides all are equipped with first limiting plate 3 and second limiting plate 4, and be a set of with first limiting plate 3 and second limiting plate 4 of one side, two sets of first limiting plate 3 and second limiting plate 4's both ends are all fixed in the relative one side of two fixed plates 2, the first limiting plate 3 of same group and second limiting plate 4 rotate jointly and have cup jointed dwang 5, base 1's upper end is fixed with drive arrangement, can be convenient for control through drive arrangement and patrol and examine the advancing and retreating of robot, base 1, fixed plate 2, first limiting plate 3 and second limiting plate 4 all adopt the aluminium sheet material to make, it is with low costs to have, the rigidity is good, high strength, the advantage of shock-resistant, the effectual life who patrols and examines the robot that has prolonged.
The utility model discloses in, damping device is including fixing first sleeve 15 in connecting block 9 upper end, the upper end of first sleeve 15 is equipped with second sleeve 16, the lower extreme of second sleeve 16 runs through first sleeve 15 and extends to in first sleeve 15, the lower extreme of second sleeve 16 is fixed with stopper 17, be equipped with spring 19 in the first sleeve 15, the lower extreme at stopper 17 is fixed to spring 19's upper end, the bottom in first sleeve 15 is fixed to spring 19's lower extreme, under spring 19's elastic force effect, the effectual cushioning effect that has played.
The utility model discloses in, drive arrangement is including fixing two servo motor 10 in base 1 upper end, servo motor 10's output shaft end is fixed with first gear 11, the one end of dwang 5 is fixed with second gear 12, and second gear 12 meshes with first gear 11 mutually, the other end of dwang 5 is fixed with second bevel gear 14, the cover is equipped with first bevel gear 13 in the pivot 18, and first bevel gear 13 meshes with second bevel gear 14 mutually, be convenient for patrol and examine advancing and retreating of robot through servo motor 10 control, when two servo motor 10 simultaneous workings, will keep two servo motor 10 synchronous operation, install the encoder on a servo motor 10, go another servo motor 10 of control through the feedback of encoder, reach synchronous operation's effect.
The utility model discloses in, first limiting plate 3, second limiting plate 4 and fixed plate 2 are all through welding integrated into one piece, and fixed block 20 adopts galvanized steel sheet material to make, and have with low costs, toughness is strong, durable advantage lasting, compare with embodiment 2, the robot is patrolled and examined in this embodiment can effectual protection, prevent to patrol and examine the robot inner structure and receive destruction because of the collision messenger, and has improved firm nature through welding integrated into one piece, avoided causing the fracture because of jolting, prolonged life
In the utility model, when in use, the output shaft of the servo motor 10 drives the first gear 11 to rotate, the first gear 11 drives the second gear 12 to rotate, the second gear 12 drives the rotating rod 5 to rotate, the rotating rod 5 drives the second bevel gear 14 to rotate, so that the second bevel gear 14 drives the first bevel gear 13 to rotate, and further the first bevel gear 13 drives the rollers 6 at the two ends of the rotating shaft 18 to rotate through the rotating shaft 18, so that the inspection robot moves, the forward and backward movement of the inspection robot is controlled through the forward or reverse rotation of the output shaft of the servo motor 10, the mounting plate 8 can fix the body of the inspection robot through the four bolts 7, when the inspection robot moves on a bumpy road section, the body extrudes the mounting plate 8 to move the second sleeve 16 downwards, the second sleeve 16 moves to drive the stopper 17 to move, so that the stopper 17 extrudes the spring 19, under the elastic action of the spring, the damping effect is effectively achieved, the loss of the inspection robot is reduced, and the service life is prolonged.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (10)
1. The utility model provides a time-sharing four-wheel drive type patrols and examines wheeled motion structure of robot, includes base (1), its characterized in that: the two ends of the base (1) are both fixed with the fixed plates (2), the two ends of the two fixed plates (2) are both fixed with the connecting blocks (9), two connecting blocks (9) on the same side are in a group, a rotating shaft (18) is sleeved on the two connecting blocks (9) in the same group in a rotating way, both ends of the rotating shaft (18) are fixed with rollers (6), the upper end of the connecting block (9) is provided with a damping device, a first limit plate (3) and a second limit plate (4) are arranged on both sides of the base (1), and be a set of with first limiting plate (3) and second limiting plate (4) of one side, the both ends of two sets of first limiting plate (3) and second limiting plate (4) are all fixed in one side that two fixed plates (2) are relative, and dwang (5) have been cup jointed in the common rotation of first limiting plate (3) and second limiting plate (4) of same group, the upper end of base (1) is fixed with drive arrangement.
2. A wheel type movement structure of a time-sharing four-wheel drive inspection robot according to claim 1, wherein the damping device comprises a first sleeve (15) fixed at the upper end of the connecting block (9), a second sleeve (16) is arranged at the upper end of the first sleeve (15), the lower end of the second sleeve (16) penetrates through the first sleeve (15) and extends into the first sleeve (15), a limiting block (17) is fixed at the lower end of the second sleeve (16), a spring (19) is arranged in the first sleeve (15), the upper end of the spring (19) is fixed at the lower end of the limiting block (17), and the lower end of the spring (19) is fixed at the bottom of the first sleeve (15).
3. The wheel type motion structure of robot is patrolled and examined to time sharing four-wheel drive type according to claim 1, characterized in that, drive arrangement is including fixing two servo motor (10) in base (1) upper end, the output shaft end of servo motor (10) is fixed with first gear (11), the one end of dwang (5) is fixed with second gear (12), and second gear (12) and first gear (11) mesh mutually, the other end of dwang (5) is fixed with second bevel gear (14), the cover is equipped with first bevel gear (13) on pivot (18), and first bevel gear (13) and second bevel gear (14) mesh mutually.
4. The wheel type motion structure of the time-sharing four-wheel-drive inspection robot according to claim 1, wherein the base (1), the fixing plate (2), the first limiting plate (3) and the second limiting plate (4) are all made of aluminum plate materials.
5. the wheel type movement structure of the time-sharing four-wheel drive inspection robot according to claim 1, wherein one side of two connecting blocks (9) in the same group is detachably connected with a fixed block (20) together.
6. A wheel type movement structure of a time-sharing four-wheel driving type inspection robot according to claim 1, wherein a mounting plate (8) is fixed to an upper end of the shock absorbing device, and one end of the mounting plate (8) is screwed with four bolts (7).
7. The wheel type motion structure of the time-sharing four-wheel-drive inspection robot according to claim 1, wherein the first limiting plate (3), the second limiting plate (4) and the fixing plate (2) are integrally formed by welding.
8. A wheel type movement structure of a time-sharing four-wheel drive inspection robot according to claim 1, wherein the roller (6) is coated with a rubber layer.
9. The wheel type movement structure of the time-sharing four-wheel drive inspection robot according to claim 6, wherein a rubber pad is fixed to the upper end of the mounting plate (8).
10. The wheel type movement structure of the time-sharing four-wheel drive inspection robot according to claim 5, wherein the fixing block (20) is made of galvanized steel plate material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920314752.3U CN209737594U (en) | 2019-03-13 | 2019-03-13 | Wheel type movement structure of time-sharing four-wheel drive type inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920314752.3U CN209737594U (en) | 2019-03-13 | 2019-03-13 | Wheel type movement structure of time-sharing four-wheel drive type inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209737594U true CN209737594U (en) | 2019-12-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920314752.3U Active CN209737594U (en) | 2019-03-13 | 2019-03-13 | Wheel type movement structure of time-sharing four-wheel drive type inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209737594U (en) |
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2019
- 2019-03-13 CN CN201920314752.3U patent/CN209737594U/en active Active
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