CN209904754U - Ultra-thin type hoisting track robot and walking device thereof - Google Patents
Ultra-thin type hoisting track robot and walking device thereof Download PDFInfo
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- CN209904754U CN209904754U CN201920678847.3U CN201920678847U CN209904754U CN 209904754 U CN209904754 U CN 209904754U CN 201920678847 U CN201920678847 U CN 201920678847U CN 209904754 U CN209904754 U CN 209904754U
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Abstract
The utility model provides an ultra-thin type hoisting track robot and a walking device thereof, which comprises a bearing platform and four bearing wheels which are rotatably supported on the bearing platform; the driving wheel is positioned between the front bearing wheel and the rear bearing wheel on one side, the bearing of the driving wheel is fixed, and the axle center of the wheel axle is vertical to the axle center of the bearing wheel; the tensioning wheel is positioned between the front and the rear bearing wheels on the other side, and the axle center of the wheel axle of the tensioning wheel is also vertical to the axle center of the bearing wheel; and a tension unit is arranged between the tension wheel and the bearing platform, and the tension unit is applied with a horizontal tension force towards the driving wheel so as to drive the tension wheel to be applied with a horizontal tension force towards the driving wheel, and the tension wheel can move towards or away from the driving wheel. The utility model discloses a running gear has adopted a compact structural layout to make its shared height very reduce, the casing can develop the design towards the flattening direction, and the space occupies for a short time, and it is convenient to maintain.
Description
Technical Field
The utility model belongs to the field of patrol and examine the robot, especially, relate to an use orbital robot of patrolling and examining of hoist and mount and running gear thereof.
Background
The existing inspection robot has a complex structure, so that the cost is high; and because the walking device usually occupies a higher space, even if the whole height of the inspection robot is higher, the inspection robot is very thick, and the adopted track usually needs to be specially manufactured to accommodate the walking device, so that the cost of the whole inspection system is further increased.
SUMMERY OF THE UTILITY MODEL
In view of this, the present invention provides an ultra-thin inspection robot and a traveling device thereof. The method comprises the following specific steps:
a walking device of a hoisting track inspection robot comprises
The four bearing wheels are rotatably supported on the bearing platform and are respectively positioned at four corners of the square, the axle centers of the wheel shafts of the four bearing wheels are positioned on the same horizontal plane, and the axle center of each bearing wheel is vertical to the advancing direction of the walking device; the driving wheel is positioned between the front bearing wheel and the rear bearing wheel on one side, a bearing of the driving wheel is fixedly connected to the bearing platform, and the axle center of the wheel axle is vertical to the axle center of the bearing wheel; the tensioning wheel is positioned between the front and the rear bearing wheels on the other side, and the axle center of the wheel axle of the tensioning wheel is also vertical to the axle center of the bearing wheel; and a tension unit is arranged between the tension wheel and the bearing platform, and the tension unit is applied with a horizontal tension force towards the driving wheel so as to drive the tension wheel to be applied with a horizontal tension force towards the driving wheel, and the tension wheel can move towards or away from the driving wheel.
Furthermore, the axle seat correspondingly matched with each bearing wheel is positioned on the outer side of the bearing wheel.
Furthermore, a concave bracket is fixedly arranged on the upper surface of the bearing platform respectively at the front and the back, wheel axle seats of the bearing wheels are respectively arranged on the inner sides of one of the two vertical side edges of the concave bracket, and a bottom plate of the concave bracket is fixed with the bearing platform through bolts.
Furthermore, the four bearing wheels are respectively abutted against the upper surface of the lower rail beam of the I-shaped hoisting rail; the driving wheel and the tension wheel are respectively abutted to the left side and the right side of the vertical beam of the track.
Further, the tensioning unit comprises a tensioning arm, a guide rod and a tensioning spring,
the tensioning arm comprises a rotating shaft part and a guide part which are arranged at two ends, the rotating shaft part is provided with a rotating shaft through hole, and a pin shaft penetrates through the rotating shaft through hole and is vertically installed on the bearing platform; the guide part is provided with a guide through hole which is vertical to the pin shaft, the guide rod horizontally penetrates through the guide through hole, the right end of the guide rod is fixedly connected with a vertical plate thread of an L-shaped plate, the left end of the guide rod is provided with an abutting part, the tensioning spring is sleeved outside the guide rod, and two ends of the tensioning spring respectively abut against the abutting part and the guide part;
the tensioning arm is also provided with a wheel seat part, the wheel seat part is positioned between the rotating shaft part and the guide part, and the tensioning wheel is arranged on the wheel seat part through a bearing.
Furthermore, the guide rod is a screw rod with a head, the head of the guide rod is additionally provided with a gasket to serve as an abutting part, and one end of the tension spring abuts against the gasket.
Furthermore, the tensioning arm forms an avoiding recess between the rotating shaft part and the wheel seat part, and the avoiding recess avoids and accommodates the corresponding bearing wheel axle seat.
Furthermore, the driving wheel is driven by a motor, the motor is fixedly arranged below the bearing platform, a motor shaft of the motor and a wheel shaft of the driving wheel transmit power through a reduction gear set, and a gap is reserved between the shaft center of the motor shaft of the motor and the shaft center of the wheel shaft of the driving wheel.
Furthermore, the axle of each bearing wheel also horizontally extends an extension section towards the inner side, each extension section is vertically and fixedly connected with a guide wheel axle, and a guide wheel is rotatably arranged on each guide wheel axle.
The utility model also provides a hoist and mount track inspection robot, it has adopted foretell running gear.
The utility model provides a hoist and mount track inspection robot, its core characteristics are that its running gear has adopted a compact structural layout to make its shared highly very reduce, the casing can develop the design towards the platyzization direction, makes and patrols and examines that the whole occupation space of robot is little, compact structure, and it is convenient to maintain.
Drawings
The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:
FIG. 1 is a schematic perspective view of an I-shaped hoisting track;
FIG. 2 is a schematic perspective view of the walking device;
FIG. 3 is a front view of the running gear mounted in combination with an I-shaped lifting rail;
FIG. 4 is a schematic top view of the walking device;
fig. 5 is a schematic view of fig. 4 with the driving wheel 4 and the tension wheel 5 removed to reveal a structure covered by two wheels;
fig. 6 is a schematic perspective view of the tensioning arm 6;
fig. 7 is a top view of the tension arm and a part of the components in a combined state.
Detailed Description
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it should be understood that "front-back direction" and "longitudinal direction" are the traveling direction of the inspection robot, i.e. the extending direction of the track, "left-right direction" is perpendicular to the traveling direction of the inspection robot, "left-right direction" is also the "transverse direction" of the inspection robot, and "up-down direction" is the up-down direction of the conventional concept; in addition, as shown in fig. 1, the hoisting track used by the inspection robot of the present invention is an "i" track, which includes upper and lower rails (300, 302) and a vertical rail beam (301) connecting the two rails, the "inner side" refers to the direction close to the vertical rail beam (301), and the "outer side" refers to the direction away from the vertical rail beam (301); a plurality of mounting holes (303) near the two ends of the upper cross beam of the rail are used for hoisting and fixing the hoisting rail.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. In order to clearly show the structural composition of the walking device, a shell part, a monitoring component such as a camera and the like, a battery component and the like are hidden.
As shown in fig. 2 to 7, the traveling device of the hoisting track inspection robot includes a bearing platform 1, on the bearing platform 1, four bearing wheels (21, 22, 23, 24) located at four corners of a square are rotatably supported, axle centers of the four bearing wheels are located on the same horizontal plane, and the axle center of each bearing wheel is perpendicular to the traveling direction of the traveling device, and the axle seat (211, 221, 231, 241) of each bearing wheel (21, 22, 23, 24) corresponding to the matching wheel axle seat is located on the outer side of the bearing wheel (mentioned above, "outer side" refers to the direction away from the track vertical beam (301), and will not be described any further below); in this embodiment, a concave bracket is fixedly mounted on the upper surface of the supporting platform 1 at the front and the back, the axle seats of the bearing wheels are respectively mounted on the inner side of one of the two vertical sides of the concave bracket (as mentioned above, "inner side" refers to the direction close to the vertical rail beam (301), which is not described in detail below), and the bottom plate of the concave bracket is fixed with the supporting platform through bolts.
A driving wheel 4 is rotatably mounted between the front and rear load-bearing wheels (the right side in this embodiment, as shown in fig. 2 to fig. 5 as 21 and 23) on one side through a bearing 41, the bearing 41 of the driving wheel 4 is fixedly connected to the bearing platform, and the axle center of the driving wheel 4 is perpendicular to the axle center of the load-bearing wheel, so that the wheel body of the driving wheel 4 is horizontally arranged above the bearing platform;
a tension wheel 5 is rotatably mounted between the front and rear load-bearing wheels (the left side in this embodiment, as shown in fig. 2 to fig. 5, 22 and 24) on the other side through a bearing 51, and the axle center of the tension wheel 5 is perpendicular to the axle center of the load-bearing wheel, so that the wheel body of the tension wheel 5 is also horizontally arranged above the load-bearing platform;
in addition, a tension unit is further disposed between the bearing 51 of the tension wheel 5 and the bearing platform, the bearing 51 of the tension wheel 5 is mounted on the tension unit, and the tension unit is applied with a horizontal tension force (i.e., an elastic force) of the bearing 41 facing the driving wheel, so as to drive the tension wheel 5 to be applied with a horizontal tension force facing the driving wheel 4, and the tension wheel 5 can move toward or away from the driving wheel 4.
As shown in fig. 3, the combination state of the walking device of the inspection robot mounted on the i-shaped hoisting track is shown, and the four bearing wheels are respectively abutted against the upper surface of the lower rail beam 302 of the i-shaped hoisting track to bear the load of the whole inspection robot; the driving wheel 4 and the tension wheel 5 are respectively abutted against the left side and the right side of the vertical rail beam 301, and under the driving of the tension force of the tension unit, the driving wheel 4 and the tension wheel 5 clamp the vertical rail beam 301, so that the driving wheel 4 obtains enough driving friction force, and the inspection robot is driven to move along the rail;
in this embodiment, the tension unit includes a tension arm 6, a guide rod 7 and a tension spring 8, as shown in fig. 6, the tension arm 6 includes a rotating shaft portion 601 and a guide portion 603 which are arranged at two ends of the row, the rotating shaft portion 601 is provided with a rotating shaft through hole 6011, and a pin shaft 9 is vertically installed on the bearing platform through the rotating shaft through hole 6011; the guide part 603 is provided with a guide through hole 6031 vertical to the pin shaft 9, the guide rod 7 horizontally penetrates through the guide through hole 6031, the right end of the guide rod 7 is fixedly connected with a vertical plate thread of an L-shaped plate 13, and a transverse plate of the L-shaped plate 13 is fixed on a bearing platform beside a wheel axle seat 221 of the left front bearing wheel 22 through a bolt; the left end of the guide rod 7 is provided with a butting part, the tensioning spring 8 is sleeved outside the guide rod 7, the two ends of the tensioning spring respectively butt against the butting part and the guide part 603, and the tensioning spring 8 provides tensioning force; in the embodiment, the abutting part is in a simple specific form, the guide rod 7 is a screw rod with a head part, the head part of the guide rod is additionally provided with a gasket to serve as the abutting part, and one end of the tension spring 8 abuts against the gasket;
the tensioning arm 6 is further provided with a wheel seat portion 602, the wheel seat portion 602 is located between the rotating shaft portion 601 and the guide portion 603, a shaft hole 6021 is formed in the wheel seat portion, and the tensioning wheel 5 is mounted on the wheel seat portion 602 through the bearing 51.
In order to make the structure more compact and make full use of the space, as shown in fig. 6, the tension arm 6 between the rotating shaft 601 and the wheel seat 602 forms an avoiding recess 604 to avoid and accommodate the bearing axle seat 241.
The driving wheel 4 is driven by a motor 12, the motor 12 is fixedly arranged below the bearing platform 1, the space above the bearing platform is not occupied, power can be transmitted between a motor shaft and a wheel shaft of the driving wheel 4 through a reduction gear set, and meanwhile, a part of space for installing other components can be avoided from the installation position of the motor 12.
This embodiment still includes the guide element, and its structural design also very cleverly utilizes the space, specifically is: as shown in the figure, an extension section (232 in fig. 3 for example) is further extended horizontally from the axle of each bearing wheel towards the inside, each extension section is fixedly connected with a guide wheel axle vertically, and a guide wheel (31, 32, 33, 34) is rotatably mounted on each guide wheel axle to play a role in guiding when turning.
Owing to the platyzing structural design who adopts makes the utility model discloses an it is very little to patrol and examine shared space height of robot's running gear, so also very reduce hoisting orbital altitude requirement, just also can adopt ordinary I shape section bar steel can satisfy the requirement, and the track material need not special customization, has further reduced the cost of system of patrolling and examining.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. Ultra-thin type hoist and mount track robot's running gear, its characterized in that: comprises that
The bearing platform is arranged on the base plate,
the four bearing wheels are rotatably supported on the bearing platform and are respectively positioned at four corners of the square, the axle centers of the wheel shafts of the four bearing wheels are positioned on the same horizontal plane, and the axle center of each bearing wheel is vertical to the advancing direction of the walking device;
the driving wheel is positioned between the front bearing wheel and the rear bearing wheel on one side, a bearing of the driving wheel is fixedly connected to the bearing platform, and the axle center of the wheel axle is vertical to the axle center of the bearing wheel;
the tensioning wheel is positioned between the front and the rear bearing wheels on the other side, and the axle center of the wheel axle of the tensioning wheel is also vertical to the axle center of the bearing wheel;
and a tension unit is arranged between the tension wheel and the bearing platform, and the tension unit is applied with a horizontal tension force towards the driving wheel so as to drive the tension wheel to be applied with a horizontal tension force towards the driving wheel, and the tension wheel can move towards or away from the driving wheel.
2. The walking device of the ultra-thin type lifting rail robot according to claim 1, wherein: the wheel axle seat correspondingly matched with each bearing wheel is positioned on the outer side of the bearing wheel.
3. The walking device of the ultra-thin type lifting rail robot according to claim 2, wherein: a concave bracket is fixedly arranged on the upper surface of the bearing platform in the front and the back respectively, wheel axle seats of the bearing wheels are respectively arranged on the inner sides of one of the two vertical side edges of the concave bracket, and a bottom plate of the concave bracket is fixed with the bearing platform through bolts.
4. The walking device of the ultra-thin type lifting rail robot according to claim 1, wherein: the four bearing wheels are respectively abutted against the upper surface of the lower rail beam of the I-shaped hoisting rail; the driving wheel and the tension wheel are respectively abutted to the left side and the right side of the vertical beam of the track.
5. The walking device of the ultra-thin type lifting rail robot according to claim 1, wherein: the tensioning unit comprises a tensioning arm, a guide rod and a tensioning spring,
the tensioning arm comprises a rotating shaft part and a guide part which are arranged at two ends, the rotating shaft part is provided with a rotating shaft through hole, and a pin shaft penetrates through the rotating shaft through hole and is vertically installed on the bearing platform; the guide part is provided with a guide through hole which is vertical to the pin shaft, the guide rod horizontally penetrates through the guide through hole, the right end of the guide rod is fixedly connected with a vertical plate thread of an L-shaped plate, the left end of the guide rod is provided with an abutting part, the tensioning spring is sleeved outside the guide rod, and two ends of the tensioning spring respectively abut against the abutting part and the guide part;
the tensioning arm is also provided with a wheel seat part, the wheel seat part is positioned between the rotating shaft part and the guide part, and the tensioning wheel is arranged on the wheel seat part through a bearing.
6. The walking device of the ultra-thin type lifting rail robot according to claim 5, wherein: the guide rod is a screw rod with a head, a washer is added on the head of the guide rod to serve as a butting part, and one end of the tension spring butts against the washer.
7. The walking device of the ultra-thin type lifting rail robot according to claim 5, wherein: the tensioning arm forms an avoiding recess between the rotating shaft part and the wheel seat part, and avoids and accommodates the corresponding bearing wheel axle seat.
8. The walking device of the ultra-thin type lifting rail robot according to claim 1, wherein: the driving wheel is driven by a motor, the motor is fixedly arranged below the bearing platform, a motor shaft of the motor and a wheel shaft of the driving wheel transmit power through a reduction gear set, and a gap is reserved between the shaft center of the motor shaft of the motor and the shaft center of the wheel shaft of the driving wheel.
9. The walking device of the ultra-thin type lifting rail robot according to claim 1, wherein: and the wheel shaft of each bearing wheel further horizontally extends an extension section towards the inner side respectively, each extension section is fixedly connected with a guide wheel shaft vertically, and a guide wheel is rotatably arranged on each guide wheel shaft.
10. An ultra-thin type lifting rail robot, comprising the walking means of the ultra-thin type lifting rail robot as claimed in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920678847.3U CN209904754U (en) | 2019-05-13 | 2019-05-13 | Ultra-thin type hoisting track robot and walking device thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920678847.3U CN209904754U (en) | 2019-05-13 | 2019-05-13 | Ultra-thin type hoisting track robot and walking device thereof |
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| CN209904754U true CN209904754U (en) | 2020-01-07 |
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| CN201920678847.3U Active CN209904754U (en) | 2019-05-13 | 2019-05-13 | Ultra-thin type hoisting track robot and walking device thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113910196A (en) * | 2021-10-15 | 2022-01-11 | 北京华能新锐控制技术有限公司 | Moving mechanism of heavy-load track robot |
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2019
- 2019-05-13 CN CN201920678847.3U patent/CN209904754U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113910196A (en) * | 2021-10-15 | 2022-01-11 | 北京华能新锐控制技术有限公司 | Moving mechanism of heavy-load track robot |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200729 Address after: Room 102, No. 6, Haitai development 1st Road, Huayuan Industrial Zone, hi tech Zone, Binhai New Area, Tianjin 300384 Patentee after: TIANJIN BOYT SCIENCE & TECHNOLOGY Co.,Ltd. Address before: 300384 Tianjin Binhai New Area New Industrial Park Huayuan Industrial Zone (Offshore) Haitai Development Road No. 6 Patentee before: TIANJIN CHENGKE MECHANICAL AND ELECTRICAL TRANSMISSION TECHNOLOGY Inc.,Ltd. |
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| TR01 | Transfer of patent right |