CN209887580U - Rail-mounted robot, rail-mounted walking device and system thereof, and flexible guide mechanism - Google Patents
Rail-mounted robot, rail-mounted walking device and system thereof, and flexible guide mechanism Download PDFInfo
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- CN209887580U CN209887580U CN201920363660.4U CN201920363660U CN209887580U CN 209887580 U CN209887580 U CN 209887580U CN 201920363660 U CN201920363660 U CN 201920363660U CN 209887580 U CN209887580 U CN 209887580U
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- flexible guide
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Abstract
The utility model discloses a rail-mounted robot and rail-mounted running gear, system and flexible guiding mechanism thereof, the flexible guiding mechanism of the utility model comprises a mounting seat and a rocker arm hinged on the mounting seat, a first flexible element is connected between the two ends of the rocker arm and the mounting seat, one end of the rocker arm far away from the mounting seat is provided with a hanging wheel, and the two sides of the rocker arm, which are positioned on the hanging wheel, are provided with telescopic arms, and the end parts of the telescopic arms are provided with side guide wheels; at least one pair of the flexible guide mechanism and the rail-mounted driving assembly are arranged on the body of the rail-mounted robot, the rail-mounted traveling device of the rail-mounted robot and the system. The utility model discloses can realize that rail mounted robot is steady, turn to fast under minimum turning radius's the condition, can be steady, quick through minimum guide rail bend, turn process carry wheel can adjust to required angle by oneself in real time under flexible component's effect according to the bend radius, and the side guide wheel carries out real-time self-adaptation adjustment along the guide rail curved surface under flexible component's effect.
Description
Technical Field
The utility model relates to a motion guiding mechanism, concretely relates to rail mounted robot and rail mounted running gear, system and flexible guiding mechanism thereof.
Background
The rail-mounted walking device or the rail-mounted inspection robot is widely applied to the fields of security protection, factory equipment inspection, comprehensive pipe gallery inspection, cable tunnel inspection, hospital material conveying and the like. In order to adapt to various complex environments, the running track of the robot also shows more complex changes, particularly for narrow space areas, the track is required to have a smaller turning radius, and therefore, the inspection robot needs to be capable of passing through the smaller turning radius safely and smoothly. As described in chinese patent publication No. CN 107639622 a, the conventional rail-type robot guiding mechanism in the industry mainly uses the hitching wheels to turn integrally and adds a flexible side guiding mechanism to pass through a curve with a smaller radius, but has the problem that the hitching wheels on the inner side and the outer side of the robot cannot turn freely but can only turn integrally when the robot turns, so that the robot does not turn freely when passing through the curve, and there are significant vibration, noise and jamming.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem who solves: aiming at the problems in the prior art, the rail-mounted robot, the rail-mounted running gear and the rail-mounted flexible guide mechanism thereof are provided, and the rail-mounted robot can stably and quickly turn under the condition of extremely small turning radius.
In order to solve the technical problem, the utility model discloses a technical scheme be:
the utility model provides a flexible guiding mechanism, include the mount pad and articulate the rocking arm on the mount pad, be equipped with first flexible component between at least one side of rocking arm and the mount pad, the one end of keeping away from the mount pad on the rocking arm is equipped with carry and elastic telescopic arm, the side guide wheel is installed to elastic telescopic arm's tip.
Preferably, the first flexible element is a resilient metal sheet or a spring.
Preferably, the axes of the carriage wheels and the side guide wheels are perpendicular to each other.
Preferably, the rocker arm is hinged to the mounting seat through a hinge shaft.
Preferably, mounting holes are formed in two sides of the rocker arm, and the elastic telescopic arm is inserted into the mounting holes and penetrates through the mounting holes and is connected with a second flexible element between the elastic telescopic arm and the rocker arm.
Preferably, the second flexible element is a spring.
Preferably, the spring is sleeved on the second flexible element, one end of the spring is connected with the elastic telescopic arm, and the other end of the spring is connected with the rocker arm.
The utility model also provides a rail mounted running gear, this rail mounted running gear's body facial make-up is equipped with at least a pair of aforementioned flexible guiding mechanism and is used for the rail running drive subassembly of walking on the track.
The utility model also provides a rail mounted traveling system, including rail mounted running gear and track, this rail mounted running gear's body facial make-up is equipped with at least a pair of aforementioned flexible guiding mechanism and is used for the rail mounted drive subassembly of walking on the track.
The utility model also provides a rail mounted robot, this rail mounted robot's body facial make-up are equipped with at least a pair of aforementioned flexible guiding mechanism and are used for the rail running drive subassembly of walking on the track.
Compared with the prior art, the utility model has the advantages of as follows: the utility model discloses a rocking arm articulates in mount pad relative motion, it all has elasticity to make the both sides of rocking arm through first flexible component, it has scalable characteristic to make the side guide wheel to make through elastic telescopic arm, it has two flexible self-adaptation adjustment functions to make the side guide wheel through above-mentioned dual function, can realize that rail mounted robot is steady under minimum turning radius's the condition, turn to fast, can be steady, quick through minimum guide rail bend, turn process carry wheel can adjust to required angle in real time by oneself under flexible component's effect according to the bend radius, the side guide wheel carries out real-time self-adaptation adjustment along the guide rail curved surface under flexible component's effect.
Drawings
Fig. 1 is a schematic perspective view of a flexible guiding mechanism according to an embodiment of the present invention.
Fig. 2 is a schematic view of the flexible guiding mechanism according to the embodiment of the present invention.
FIG. 3 is a schematic sectional view A-A of FIG. 2.
Fig. 4 is a schematic top view of the track-type traveling system according to the embodiment of the present invention.
Fig. 5 is a schematic side view of the rail-mounted traveling system according to the embodiment of the present invention.
Illustration of the drawings: 1. a mounting seat; 2. a rocker arm; 21. hinging a shaft; 22. mounting holes; 3. a first flexible element; 4. a hanging wheel; 5. an elastic telescopic arm; 51. a second flexible element; 6. side guide wheels.
Detailed Description
As shown in fig. 1 and 2, the flexible guide mechanism of this embodiment includes a mounting base 1 and a rocker arm 2 hinged on the mounting base 1, a first flexible element 3 is disposed between both sides of the rocker arm 2 and the mounting base 1, a hanging wheel 4 and an elastic telescopic arm 5 are disposed at one end of the rocker arm 2 far away from the mounting base 1, and a side guide wheel 6 is mounted at an end of the elastic telescopic arm 5. The rocker arm 2 of the flexible guide mechanism of the embodiment is hinged on the mounting seat 1 and can move relatively, both sides of the rocker arm 2 are provided with elasticity through the first flexible element 3, the side guide wheels 6 have the telescopic characteristic through the elastic telescopic arms 5, the side guide wheels 6 have the double-flexibility self-adaptive adjustment function through the two functions, the rail-mounted robot can stably and quickly turn under the condition of a minimum turning radius and stably and quickly pass through a minimum guide rail curve with the radius of 0.2m or less, the requirement for using the field space is greatly reduced (the minimum turning radius of the urban underground comprehensive pipe gallery inspection robot applied to the market at present is more than or equal to 500 MM), the hanging wheels can automatically adjust to a required angle in real time under the action of the flexible elements according to the radius of the curve, and the side guide wheels perform real-time self-adaptive adjustment along the bending surface of the guide rail under the action of the flexible elements. It should be noted that the rocker arm 2 may also be provided with a first flexible element 3 between one side thereof and the mounting base 1, and the function of automatically restoring the relative displacement between the rocker arm 2 and the mounting base 1 may also be achieved.
As shown in fig. 1 and 2, the first flexible element 3 is an elastic metal sheet, the elastic metal sheet is bent into an arc shape, one end of the elastic metal sheet is fixed on the mounting base 1, the other end of the elastic metal sheet is fixed on the rocker arm 2, and the first flexible element 3 is compressed or released under the condition that the mounting base 1 and the rocker arm 2 rotate relatively, so that the first flexible element 3 has a telescopic characteristic, and the flexible self-adaptive adjustment function of the rocker arm 2 can be realized through the two first flexible elements 3. In addition, the first flexible element 3 may also be made of a spring, a torsion spring or a polymer flexible material as required, and may also realize a telescopic elastic function.
As shown in fig. 1 and 2, the axes of the carrier wheels 4 and the side guide wheels 6 are perpendicular to each other to improve the side guide performance.
As shown in fig. 1 and 2, the swing arm 2 is hinged to the mounting base 1 through a hinge shaft 21, so that the relative displacement between the swing arm 2 and the mounting base 1 is only rotational, and the relative displacement between the swing arm 2 and the mounting base 1 may also be in a non-rotational hinged manner, such as a universal joint or a ball joint, and the like, and the relative displacement between the swing arm 2 and the mounting base 1 may also be achieved.
As shown in fig. 3, mounting holes 22 are formed at both sides of the swing arm 2, the elastic telescopic arm 5 is inserted and penetratingly disposed in the mounting holes 22 and a second flexible element 51 is connected with the swing arm 2, and the second flexible element 51 is compressed or released during the relative movement of the elastic telescopic arm 5 and the swing arm 2, so that the side guide 6 has a telescopic characteristic.
As shown in fig. 3, the second flexible element 51 in this embodiment is a spring, and may also be a spring plate, a torsion spring, or a polymer flexible material as required, and may also achieve a flexible elastic function.
As shown in fig. 3, in this embodiment, the spring is sleeved on the second flexible element 51, one end of the spring is connected to the elastic telescopic arm 5, and the other end of the spring is connected to the rocker arm 2, so that the movement of the elastic telescopic arm 5 is more stable, the stability of the side guide wheel 6 can be improved, and the spring is added to make the elastic telescopic arm 5 have damping during the sliding process, thereby ensuring that the side guide wheel 6 can be attached to the curved surface of the guide rail in real time. In the embodiment, the rocker arm 2 is provided with two elastic telescopic arms 5, the two elastic telescopic arms 5 are symmetrically arranged relative to the hanging wheel 4, and the two elastic telescopic arms 5 have the advantage of better side guide function when moving in the positive and negative directions on the track; further, the number of elastically extendable arms 5 can be reduced or increased as necessary.
As shown in fig. 4 and 5, the present embodiment further provides a rail-type traveling device, wherein at least one pair of the flexible guide mechanisms and a rail-type traveling driving assembly for traveling on the rail are installed on the body of the rail-type traveling device.
As shown in fig. 4 and fig. 5, the present embodiment further provides a rail-type traveling system, which includes a rail-type traveling device and a rail, wherein at least one pair (specifically, two pairs in the present embodiment, and one or more pairs may be adopted as needed) of the flexible guide mechanism and a rail traveling driving assembly for traveling on the rail are installed on the body of the rail-type traveling device.
The embodiment also provides a rail-mounted robot, wherein the body of the rail-mounted robot is provided with at least one pair of the flexible guide mechanisms and a rail-walking driving assembly for walking on the rail.
As shown in fig. 4 and 5, the operation of the rail type traveling apparatus is as follows:
1. when four groups of flexible guide mechanisms are combined to be used for passing through a curved track, the hanging wheels 4 on the inner side and the outer side of the curve can automatically rotate at different angles due to friction force according to the characteristic of stable turning.
2. The rocker arm 2 can automatically rotate in a self-adaptive way at different angles relative to the mounting seat 1 according to the radius of the curve, finally an inner corner b and an outer corner a required by the curve are formed, and the first flexible element 3 is compressed or relaxed in a self-adaptive way under the action of the mounting seat 1 and the rocker arm 2 and forms a certain hold for the current corners a and b.
3. At the same time, the elastically telescopic arm 5 slides with respect to the rocker arm 2, forming different amounts of extension or compression of L1, L2, L3, L4 at different positions inside and outside the curve, the side guide wheel 6 rolls against the side of the guide rail at all times, at which time the second flexible element 51 is compressed or relaxed during the relative sliding of the elastically telescopic arm 5 and the rocker arm 2.
4. After passing through the curved position of the guide rail, the components are restored to the initial position under the action of the first flexible element 3 and the second flexible element 51, and the straight guide driving is satisfied.
It is above only the utility model discloses a preferred embodiment, the utility model discloses a scope of protection does not only confine above-mentioned embodiment, the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A flexible guide mechanism is characterized in that: including mount pad (1) and articulate rocking arm (2) on mount pad (1), be equipped with first flexible component (3) between at least one side of rocking arm (2) and mount pad (1), the one end of keeping away from mount pad (1) on rocking arm (2) is equipped with carry on gear (4) and elastic telescopic arm (5), side guide wheel (6) are installed to the tip of elastic telescopic arm (5).
2. The flexible guide mechanism of claim 1, wherein: the first flexible element (3) is an elastic metal sheet or a spring.
3. The flexible guide mechanism of claim 1, wherein: the axes of the hanging wheel (4) and the side guide wheel (6) are vertical to each other.
4. The flexible guide mechanism of claim 1, wherein: the rocker arm (2) is hinged to the mounting base (1) through a hinge shaft (21).
5. The flexible guide mechanism according to any one of claims 1 to 4, wherein: the two sides of the rocker arm (2) are provided with mounting holes (22), and the elastic telescopic arm (5) is inserted into the mounting holes (22) and connected with a second flexible element (51) between the elastic telescopic arm and the rocker arm (2).
6. The flexible guide mechanism of claim 5, wherein: the second flexible element (51) is a spring.
7. The flexible guide mechanism of claim 6, wherein: the spring is sleeved on the second flexible element (51), one end of the spring is connected with the elastic telescopic arm (5), and the other end of the spring is connected with the rocker arm (2).
8. A rail-mounted traveling device is characterized in that: the body of the rail type walking device is provided with at least one pair of flexible guide mechanisms according to any one of claims 1 to 7 and a rail walking driving assembly for walking on the rail.
9. The utility model provides a rail mounted traveling system, includes rail mounted running gear and track, its characterized in that: the body of the rail type walking device is provided with at least one pair of flexible guide mechanisms according to any one of claims 1 to 7 and a rail walking driving assembly for walking on the rail.
10. A rail-mounted robot, characterized in that: the body of the rail-type robot is provided with at least one pair of flexible guide mechanisms according to any one of claims 1 to 7 and a rail walking driving assembly for walking on the rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920363660.4U CN209887580U (en) | 2019-03-21 | 2019-03-21 | Rail-mounted robot, rail-mounted walking device and system thereof, and flexible guide mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920363660.4U CN209887580U (en) | 2019-03-21 | 2019-03-21 | Rail-mounted robot, rail-mounted walking device and system thereof, and flexible guide mechanism |
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| CN209887580U true CN209887580U (en) | 2020-01-03 |
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| CN201920363660.4U Active CN209887580U (en) | 2019-03-21 | 2019-03-21 | Rail-mounted robot, rail-mounted walking device and system thereof, and flexible guide mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109773746A (en) * | 2019-03-21 | 2019-05-21 | 深圳昱拓智能有限公司 | Rail mounted robot and its rail mounted running gear, system and flexible guiding mechanism |
| CN113696165A (en) * | 2021-08-26 | 2021-11-26 | 万勋科技(深圳)有限公司 | Method for designing driving mechanism of track robot, driving mechanism and track robot |
-
2019
- 2019-03-21 CN CN201920363660.4U patent/CN209887580U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109773746A (en) * | 2019-03-21 | 2019-05-21 | 深圳昱拓智能有限公司 | Rail mounted robot and its rail mounted running gear, system and flexible guiding mechanism |
| CN113696165A (en) * | 2021-08-26 | 2021-11-26 | 万勋科技(深圳)有限公司 | Method for designing driving mechanism of track robot, driving mechanism and track robot |
| CN113696165B (en) * | 2021-08-26 | 2023-01-17 | 万勋科技(深圳)有限公司 | Method for designing driving mechanism of track robot, driving mechanism and track robot |
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