CN212193143U

CN212193143U - Torsional walking mechanism of track robot

Info

Publication number: CN212193143U
Application number: CN202020602136.0U
Authority: CN
Inventors: 李斌; 王宝
Original assignee: Jinan Jiaruijie Model Co ltd
Current assignee: Jinan Jiaruijie Model Co ltd
Priority date: 2020-04-21
Filing date: 2020-04-21
Publication date: 2020-12-22
Anticipated expiration: 2030-04-21

Abstract

The utility model discloses a torsional running gear of track robot, including actuating mechanism support, motor, drive wheel, buffer spring, auxiliary wheel, front frame, rear frame, pivot, long cylinder, upper and lower short cylinder, self-lubricating axle sleeve, nut, T type track and jib, the pivot is installed in the rotation between front frame and the rear frame, all install T type track on front frame and the rear frame, and the last running-type of T type track installs the actuating mechanism support; the driving mechanism support is characterized in that motors are arranged at two ends of the driving mechanism support, driving wheels are coaxially arranged on the motors, buffer springs are arranged at the positions, close to flanges of the motors, of the driving mechanism support, and auxiliary wheels are arranged at the tail ends of the buffer springs. The utility model discloses adapt to turn track and lift orbital torsional running gear, possess better climbing performance.

Description

Torsional walking mechanism of track robot

Technical Field

The utility model relates to a running gear technical field specifically is a torsional running gear of track robot.

Background

The existing hoisting track robot is widely applied to the fields of inspection, fire fighting and the like in the environments such as tunnel pipe galleries and the like. The structure of current track robot is comparatively complicated, and is with high costs, and the reliability is not high when crossing curved track and lift track, mechanical failure appears easily, and climbing performance is not good.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a torsional mode running gear of track robot has solved the technical problem that the background art provided.

In order to achieve the above object, the utility model provides a following technical scheme: a torsional walking mechanism of a track robot comprises a driving mechanism support, a motor, a driving wheel, a buffer spring, an auxiliary wheel, a front frame, a rear frame, a rotating shaft, a long cylinder, an upper short cylinder, a lower short cylinder, a self-lubricating shaft sleeve, a nut, a T-shaped track and a hanging rod, wherein the rotating shaft is rotatably arranged between the front frame and the rear frame;

the driving mechanism support is characterized in that motors are arranged at two ends of the driving mechanism support, driving wheels are coaxially arranged on the motors, buffer springs are arranged at the positions, close to flanges of the motors, of the driving mechanism support, and auxiliary wheels are arranged at the tail ends of the buffer springs.

Preferably, the T-shaped track is composed of a transverse section and a longitudinal section, the two driving wheels which are symmetrically distributed can walk on the transverse section of the T-shaped track, the two auxiliary wheels which are symmetrically distributed can walk on the longitudinal section of the T-shaped track, and the top end of the T-shaped track is provided with the suspension rod.

Preferably, the front frame is consistent with the rear frame in outer frame, and the connection part of the front frame and the rear frame is an A-shaped bulge.

Preferably, the protruding department of the A style of calligraphy of preceding frame is equipped with short cylinder from top to bottom, the protruding department of the A style of calligraphy of back frame is equipped with the long cylinder, and upper and lower short cylinder and long cylinder can the gomphosis realize coaxial coupling together, pivot top-down penetrates in upper and lower short cylinder and long cylinder after the gomphosis, realizes coaxial arrangement's purpose, and the bottom cooperation of pivot installs the nut, is equipped with the self-lubricating axle sleeve between pivot and upper and lower short cylinder and the long cylinder.

Preferably, the driving mechanism bracket is a U-shaped bracket.

Compared with the prior art, the beneficial effects of the utility model are as follows:

the utility model discloses a be equipped with the actuating mechanism support, the realization self-adaptation walking that drive wheel and the auxiliary wheel that is equipped with on it can be better can adapt to turning track and the orbital torsional running gear that goes up and down, possesses better climbing performance.

Drawings

Fig. 1 is a perspective view of the present invention;

fig. 2 is a top view of the present invention;

fig. 3 is a side view of the present invention;

FIG. 4 is a sectional view taken along line A-A of the present invention;

FIG. 5 is a sectional view of the present invention taken along line B-B;

FIG. 6 is a schematic view showing the front and rear frames separated from each other;

fig. 7 is a schematic view of the present invention when the rail is bent horizontally.

In the figure: 1. a drive mechanism support; 2. an electric motor; 3. a drive wheel; 4. a buffer spring; 5. an auxiliary wheel; 6. a front frame; 7. a rear frame; 8. a rotating shaft; 9. a long cylinder; 10. upper and lower short cylinders; 11. a self-lubricating shaft sleeve; 12. a nut; 13. a T-shaped track; 14. a boom.

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. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1 to 7, the present invention provides a torsional walking mechanism for a track robot, comprising: a torsional walking mechanism of a track robot comprises a driving mechanism support 1, a motor 2, a driving wheel 3, a buffer spring 4, an auxiliary wheel 5, a front frame 6, a rear frame 7, a rotating shaft 8, a long cylinder 9, an upper short cylinder 10, a lower short cylinder 10, a self-lubricating shaft sleeve 11, a nut 12, a T-shaped track 13 and a suspender 14, wherein the rotating shaft 8 is rotatably arranged between the front frame 6 and the rear frame 7, the T-shaped track 13 is respectively arranged on the front frame 6 and the rear frame 7, and the driving mechanism support 1 is arranged on the T-shaped track 13 in a walking manner;

the driving mechanism support 1 is a U-shaped support, the two ends of the driving mechanism support 1 are respectively provided with a motor 2, the motors 2 are coaxially provided with driving wheels 3, the driving mechanism support 1 is provided with a buffer spring 4 close to the flanging of the motors 2, and the tail end of the buffer spring 4 is provided with an auxiliary wheel 5.

The T-shaped track 13 is composed of a transverse section and a longitudinal section, two driving wheels 3 which are symmetrically distributed can walk on the transverse section of the T-shaped track 13, two auxiliary wheels 5 which are symmetrically distributed can walk on the longitudinal section of the T-shaped track 13, and a hanging rod 14 is installed at the top end of the T-shaped track 13.

The outer frames of the front frame 6 and the rear frame 7 are consistent, and the joint of the front frame 6 and the rear frame 7 is an A-shaped bulge; the front frame 6 is provided with upper and lower short cylinders 10 at the A-shaped bulge, the rear frame 7 is provided with a long cylinder 9 at the A-shaped bulge, the upper and lower short cylinders 10 and the long cylinder 9 can be embedded together to realize coaxial connection, the rotating shaft 8 penetrates into the upper and lower short cylinders 10 and the long cylinder 9 from top to bottom after embedding to realize the purpose of coaxial installation, the bottom of the rotating shaft 8 is provided with a nut 12 in a matched mode, and a self-lubricating shaft sleeve 11 is arranged between the rotating shaft 8 and the upper and lower short cylinders 10 and the long cylinder 9.

The working principle is as follows: the four driving wheels 3 can run on the T-shaped track 13, and in order to ensure that the driving mechanism is centered with respect to the T-shaped track 13, the four transverse auxiliary wheels 5 are in contact with the T-shaped track 13 to ensure that the four driving wheels 3 are adjusted to be always centered with respect to the T-shaped track 13; the robot walks on the track 13, the T-shaped track 13 consists of a transverse section and a longitudinal section, the walking wheels 3 walk on the transverse section of the T-shaped track 13, and the auxiliary wheels 5 are in contact with two sides of the longitudinal section.

The front end of the A-shaped protrusion of the front frame 6 is provided with an upper short cylinder 10 and a lower short cylinder 10, the front end of the A-shaped protrusion of the rear frame 7 is provided with a long cylinder 9, and the upper short cylinder 10 and the lower short cylinder 9 can be embedded together to form coaxial connection. The rotating shaft 8 penetrates from the top, the upper short cylinder 10 and the lower short cylinder 9 cannot be separated, namely, the front frame 6 and the rear frame 7 are rotatably connected together by the shaft 8; the bottom of the rotating shaft 8 is fixed by a nut 12 so that the rotating shaft cannot fall off, and a self-lubricating shaft sleeve 11 is arranged in the long cylinder 9 so as to reduce friction between the shaft 8 and the long cylinder 9.

When the robot walks on the horizontal bent track, the front frame and the rear frame form torsion pendulum to adapt to the turning requirement; when the robot enters the lifting curved track, the front frame and the rear frame are connected in a rotating mode through only one degree of freedom, when the robot tilts on the lifting curved track, the front frame and the rear frame are the same as the horizontal frame when seen from the side, the four driving wheels 3 can form a four-wheel driving mode, and the robot has good climbing performance.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a torsional mode running gear of track robot, includes actuating mechanism support (1), motor (2), drive wheel (3), buffer spring (4), auxiliary wheel (5), preceding frame (6), after-frame (7), pivot (8), long cylinder (9), upper and lower short cylinder (10), self-lubricating axle sleeve (11), nut (12), T type track (13) and jib (14), rotate between preceding frame (6) and after-frame (7) and install pivot (8), its characterized in that: the front frame (6) and the rear frame (7) are both provided with T-shaped rails (13), and the T-shaped rails (13) are provided with driving mechanism supports (1) in a walking manner;

the driving mechanism is characterized in that motors (2) are arranged at two ends of the driving mechanism support (1), driving wheels (3) are coaxially mounted on the motors (2), buffer springs (4) are mounted at the positions, close to the turnups of the motors (2), of the driving mechanism support (1), and auxiliary wheels (5) are mounted at the tail ends of the buffer springs (4).

2. The torsional walking mechanism of a track robot according to claim 1, wherein: the T-shaped track (13) is composed of a transverse section and a longitudinal section, the two driving wheels (3) which are symmetrically distributed can walk on the transverse section of the T-shaped track (13), the two auxiliary wheels (5) which are symmetrically distributed can walk on the longitudinal section of the T-shaped track (13), and the top end of the T-shaped track (13) is provided with a suspender (14).

3. The torsional walking mechanism of a track robot according to claim 1, wherein: the front frame (6) and the rear frame (7) are identical in outer frame, and the joint of the front frame (6) and the rear frame (7) is an A-shaped bulge.

4. The torsional walking mechanism of a track robot according to claim 1, wherein: short cylinder (10) about the protruding department of A style of calligraphy of preceding frame (6) is equipped with, the protruding department of back frame (7) A style of calligraphy is equipped with long cylinder (9), and upper and lower short cylinder (10) and long cylinder (9) can the gomphosis realize coaxial coupling together, pivot (8) top-down penetrates in upper and lower short cylinder (10) and long cylinder (9) after the gomphosis, realizes coaxial arrangement's purpose, and the bottom cooperation of pivot (8) installs nut (12), is equipped with self-lubricating axle sleeve (11) between pivot (8) and upper and lower short cylinder (10) and long cylinder (9).

5. The torsional walking mechanism of a track robot according to claim 1, wherein: the driving mechanism support (1) is a U-shaped support.