CN209999180U - modularized rail-hanging type travelling mechanism capable of approaching right-angle turning - Google Patents
modularized rail-hanging type travelling mechanism capable of approaching right-angle turning Download PDFInfo
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- CN209999180U CN209999180U CN201822081729.2U CN201822081729U CN209999180U CN 209999180 U CN209999180 U CN 209999180U CN 201822081729 U CN201822081729 U CN 201822081729U CN 209999180 U CN209999180 U CN 209999180U
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Abstract
The utility model discloses an modularization string rail formula running gear that can realize approaching quarter turn, including the modularization unit drive unit, carriage unit and link unit, drive unit and carriage unit are provided with quick interface, and the carriage unit is connected with drive unit through linking the unit, this novel owing to adopted modular structural design, with actuating system and functional system modularization split, drive unit provides drive power, and the carriage unit bears modularization function equipment, has realized power module and function module's high liberty collocation, and in the time of forming diversified modularization expression, the design of quick pin-connected panel nature has also promoted the convenience of quick dismantlement and maintenance.
Description
Technical Field
The utility model relates to a kinds of rail formula running gear hangs rail formula running gear, especially kinds of modularization that can realize approaching quarter turn.
Background
The inspection work of links such as city utility tunnel, underground gallery, power distribution room, belt conveyor line has the characteristics of single nature and repeatability, often accompanies the harsh working environment, and the manpower inspection has potential safety hazard, simultaneously, a large amount of simple repeatability inspection work also comes into being the important problem of labor and capital contradiction, aspect, the inspector provides higher salary to a large amount of physical inspection work every day, aspect in addition, factory enterprises are reluctant to increase the expenditure to simple inspection work, under this kind of condition, the appeal of inspection robot takes place.
The current rail-mounted inspection robot can be divided into two types, wherein types are wheel type driving, types are gear driving, the wheel type driving depends on the friction force between a driving wheel and a rail as traction force, the gear driving depends on the acting force of a gear and a rack as the traction force, and the rack is fixed on the rail in the same way.
The invention is driven by wheels, and provides power by the friction force between the driving wheels and the track, and the track can be made of national standard I-shaped steel and H-shaped steel, and can also be made of similar customized sections. Compare market rail formula robot of patrolling and examining simultaneously, modular innovation on overall structure has carried out on the running gear with orbital point contact formula design, mutually independent between bearing wheel and the drive wheel, does not form the straight line segmentation contact that leads to independently turning along the track. The guide wheels and the bearing wheels are vertically distributed, and the wheel part is limited within the height range of the track by the small and compact structural design, so that the installation and erection above the track are not influenced, or other equipment is additionally arranged. Compared with other rail-hanging type inspection robots, the rail-hanging type inspection robot can achieve the performance of almost right-angle turning, and meets the requirement of minimum turning space in indoor and narrow space.
Disclosure of Invention
In order to overcome not enough among the background art, the utility model discloses an kind can realize approaching quarter turn's modularization string rail formula running gear.
In order to realize the purpose, the invention adopts the following technical scheme:
modularized rail-hanging type travelling mechanism capable of approaching right-angle turning comprises modularized units, a driving unit, a carriage unit and a linking unit, wherein the driving unit and the carriage unit are provided with quick-insertion interfaces, and the carriage unit is connected with the driving unit through the linking unit.
The top of the driving unit is provided with a driving wheel which is connected with a driving shaft sleeve supporting system and an adjustable system; the driving shaft sleeve supporting system comprises a bearing, a coupler, a motor connecting structure, a locking nut and a driving shaft; the adjustable system comprises a spring and a pressure stabilizing nut; the lower part is a storage box.
The top of the carriage unit is provided with two groups of bearing wheels, two groups of guide wheels are arranged below the bearing wheels, the bearing wheels and the guide wheels are fixed on two wheel part fixing mechanisms, and the wheel part fixing mechanisms are provided with support structures and slewing bearings; the lower part is a carriage a.
groups of load-bearing wheels are arranged at the top of the carriage unit, groups of guide wheels are arranged below the load-bearing wheels, the load-bearing wheels and the guide wheels are fixed on wheel part fixing mechanisms, each wheel part fixing mechanism is provided with a support structure and a slewing bearing, tension wheels are arranged on two sides of each wheel part fixing mechanism, the tops of the tension wheels are in contact with the bottom surface of the track, and a carriage b is arranged at the lower part of the carriage unit.
The carriage a and the carriage b of the carriage unit can be internally provided with a camera, a battery, a controller, a driver, a singlechip, a frequency converter, communication equipment, a sound pick-up, a warning lamp and other elements.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
utility model adopts modular structural design, with actuating system and functional system modularization split. The drive unit provides drive power, and the carriage unit bears modularization functional equipment, has realized power module and functional module's high freedom collocation, when forming diversified modularization expression, the design of quick assembly nature has also promoted the convenience of quick dismantlement and maintenance. The modularized functional unit can more quickly and conveniently overhaul a specific unit when the machine fails, and meanwhile, the modularized functional unit can continue to work only by replacing a unit carriage, so that the inspection work of a production line is not delayed while the maintenance is ensured.
Description of the drawings:
fig. 1.a shows a modular track-hanging type traveling mechanism capable of realizing an approach right-angle turn.
Fig. 1 and B show a modular track-hanging type traveling mechanism capable of approaching a quarter turn.
Fig. 1.C shows a modular track-hanging type traveling mechanism capable of approaching a quarter turn.
Fig. 2 shows the drive unit of the running gear.
Fig. 3 shows kinds of car units of the running gear.
Fig. 4 shows another car units of the running gear.
In the figure: the device comprises a track 1, a drive unit 2, a carriage unit 3, a link unit 4, a drive wheel 5, a drive shaft sleeve supporting system 6, an adjustable system 7, a storage box 8, a bearing wheel 9, a guide wheel 10, a wheel part fixing mechanism 11, a carriage a, a bearing wheel 13, a guide wheel 14, a wheel part fixing mechanism 15, a tension wheel 16 and a carriage b.
Detailed Description
The present invention is explained in detail by the following examples, which are disclosed for the purpose of protecting technical improvements within the scope of the present invention.
As shown in fig. 1.a, the modular track-mounted running gear capable of realizing approach to quarter turn comprises driving units 2, car units 3, link units 4 (not shown in the figure), and the robot can run along the i-beam track 1.
As shown in fig. 1.B, the modular track-mounted traveling mechanism capable of realizing an approach quarter turn may include driving units and two car units, the two car units are connected with the driving units through the link unit 4, the link unit 4 includes components required by a slewing bearing, a rotation limiter and the like, and the link unit 4 includes a function of connecting the two units and a function of supporting the gravity of the driving units.
Fig. 1C shows the state of modularized rail-hanging type traveling mechanisms capable of approaching quarter turn in the quarter turn of i-steel, and the rail in the figure can be formed by splicing two sections of straight line i-steel and arc-cutting curved rails.
Fig. 2 shows a driving unit of a traveling mechanism, the driving unit includes storage boxes 8, groups of adjustable systems 7, groups of driving shaft sleeve supporting systems 6, groups of driving wheels 5, groups of motors (not shown in the figure, installed in the storage box 8), groups of speed reducers (not shown in the figure, installed in the storage box 8), groups of encoders (not shown in the figure, installed in the storage box 8), groups of motor band-locks (not shown in the figure, installed in the storage box 8), and other necessary components, the adjustable systems 7 may include necessary components such as springs, pressure stabilizing nuts, etc., to achieve manual adjustment of the degree of engagement of the driving wheels with the rails, the driving shaft sleeve supporting systems 6 includes components such as bearings, couplings, motor connecting structures, lock nuts, transmission shafts, etc., to transmit the torque and rotation speed of the motor, while maintaining smooth concentric rotation of the driving wheels 5 and the output shafts of the motor, and further steps to restrain the driving wheels, thereby ensuring that undesirable motions such as deviation, shaking, etc., do not occur during.
The carriage units of the traveling mechanism are shown in fig. 3 and comprise carriages a12, two wheel part fixing mechanisms 11, two groups of guide wheels 10 and two groups of bearing wheels 9, any needed components such as a camera, a battery, a controller, a driver, a single chip microcomputer, a frequency converter, communication equipment, a sound pick-up, a warning lamp and the like can be installed in the carriages a12, the wheel part fixing mechanisms 11 can comprise parts such as a support structure and a rotary bearing, the wheel part fixing mechanisms 11 can freely rotate in a fixed angle range of relative to the carriages a12, and the guide wheels 10 play a role in guiding and limiting, so that the bearing wheels 9 can keep ideal running tracks on the tracks.
Fig. 4 shows another carriage units of the traveling mechanism, which includes carriage b17, two tension wheels 16, wheel portion fixing mechanisms 15, guide wheels 14 and bearing wheels 13. any necessary components such as a camera, a battery, a controller, a driver, a single chip microcomputer, a frequency converter, communication equipment, a sound pickup, a warning light and the like can be installed in the carriage b 17. the top of each tension wheel 16 contacts with the bottom surface of the rail 1 and plays a role of bearing wheels 13 to form a triangle limit principle, so that the carriage can stably run on the rail 1. the wheel portion fixing mechanism 15 can include parts such as a bracket structure and a slewing bearing, the wheel portion fixing mechanism 15 can freely rotate in a range of fixed angle relative to the carriage b17, and the guide wheels 14 play a role of guiding and limiting, so that the bearing wheels 13 can keep an ideal running track on the rail.
Fig. 3 and 4 show two expressions of the carriage unit, and the carriage unit can adopt the pattern of fig. 3 or the pattern of fig. 4 completely, or adopt the patterns of fig. 3 and 4 simultaneously (for example)
E.g., car units are in the fig. 3 style and car units are in the fig. 4 style).
The traveling mechanism is divided into modular units, driving units and carriage units with different performances are selected and additionally installed according to requirements, wherein the carriage units can be divided into various carriage units with different functional modules according to different loaded modular components, steps are further performed, the driving units and the carriage units are provided with quick insertion ports, according to actual use environments, users can freely select and arrange different carriage units, functions can be upgraded or replaced as required in the later-stage operation process, the functions can be replaced freely and quickly, multiple environments of sets of systems are realized, the modularization compatibility under scenes is realized, and the performance parameters of high flexibility and freedom are automatically selected and arranged.
For example, a user purchases sets of 300W power modular track-mounted robot inspection system capable of approaching right-angle turning and having infrared temperature measurement and image recognition functions, after the system is used and upgraded on site in the later period, the abnormal noise recognition function needs to be added, emergency fire extinguishers and gas mask transportation functions are required, then the user can select to add carriages with the sound recognition function and the small storage space, and meanwhile, according to the load requirement, a driving unit with higher power can be selected and replaced.
The embodiments selected for the purpose of disclosing the invention, herein are presently considered to be suitable, however, the invention is intended to encompass all variations and modifications of the embodiments falling within the spirit and scope of the present inventive concept and invention.
Claims (5)
- The modular rail-hanging type travelling mechanism capable of approaching a right-angle turn is characterized by comprising modular units, namely a driving unit (2), a carriage unit (3) and a linking unit (4), wherein the driving unit (2) and the carriage unit (3) are provided with quick-insertion interfaces, and the carriage unit (3) is connected with the driving unit (2) through the linking unit (4).
- 2. Modular rail-mounted travelling mechanism capable of approaching quarter turn according to claim 1, wherein the driving wheel (5) is arranged on the top of the driving unit (2), the driving wheel (5) is connected with the driving shaft sleeve supporting system (6) and the adjustable system (7), the driving shaft sleeve supporting system (6) comprises a bearing, a coupling, a motor connecting structure, a locking nut and a transmission shaft, the adjustable system (7) comprises a spring and a pressure stabilizing nut, and the lower part is a storage box (8).
- 3. Modular hitching rail type walking mechanism capable of approaching quarter turn according to claim 1, characterized in that there are two sets of bearing wheels (9) on top of the car unit (3), there are two sets of guiding wheels (10) under the bearing wheels (9), the bearing wheels (9) and the guiding wheels (10) are fixed on two wheel part fixing mechanisms (11), the wheel part fixing mechanisms (11) are provided with supporting structure and revolving bearing, the lower part is the car a (12).
- 4. The modularized rail-mounted travelling mechanism capable of approaching quarter turn according to claim 1, wherein sets of bearing wheels (13) are arranged at the top of the carriage unit (3), sets of guide wheels (14) are arranged below the bearing wheels (13), the bearing wheels (13) and the guide wheels (14) are fixed on wheel part fixing mechanisms (15), the wheel part fixing mechanisms (15) are provided with a support structure and a slewing bearing, tension wheels (16) are respectively arranged at two sides of the wheel part fixing mechanisms (15), the tops of the tension wheels (16) are in contact with the bottom surface of the rail (1), and the lower part is a carriage b (17).
- 5. The modularized hitching rail type running gear capable of approaching right-angle turn according to claim 1, characterized in that the carriage a (12) and the carriage b (17) of the carriage unit (3) are internally provided with elements such as cameras, batteries, controllers, drivers, single chip microcomputers, frequency converters, communication equipment, sound pick-up devices, warning lights and the like.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822081729.2U CN209999180U (en) | 2018-12-12 | 2018-12-12 | modularized rail-hanging type travelling mechanism capable of approaching right-angle turning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822081729.2U CN209999180U (en) | 2018-12-12 | 2018-12-12 | modularized rail-hanging type travelling mechanism capable of approaching right-angle turning |
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| CN209999180U true CN209999180U (en) | 2020-01-31 |
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| CN201822081729.2U Active CN209999180U (en) | 2018-12-12 | 2018-12-12 | modularized rail-hanging type travelling mechanism capable of approaching right-angle turning |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113815655A (en) * | 2021-01-08 | 2021-12-21 | 京东科技信息技术有限公司 | Rail-mounted driving device and driving system, rail-mounted robot and robot system |
| KR102672515B1 (en) * | 2022-04-07 | 2024-06-04 | 한양대학교 에리카산학협력단 | Rail robot and system including the same |
-
2018
- 2018-12-12 CN CN201822081729.2U patent/CN209999180U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113815655A (en) * | 2021-01-08 | 2021-12-21 | 京东科技信息技术有限公司 | Rail-mounted driving device and driving system, rail-mounted robot and robot system |
| KR102672515B1 (en) * | 2022-04-07 | 2024-06-04 | 한양대학교 에리카산학협력단 | Rail robot and system including the same |
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