CN212193242U - Chassis structure of sliding block type wheel set track robot - Google Patents
Chassis structure of sliding block type wheel set track robot Download PDFInfo
- Publication number
- CN212193242U CN212193242U CN202020650719.0U CN202020650719U CN212193242U CN 212193242 U CN212193242 U CN 212193242U CN 202020650719 U CN202020650719 U CN 202020650719U CN 212193242 U CN212193242 U CN 212193242U
- Authority
- CN
- China
- Prior art keywords
- wheel
- track
- sliding block
- linear
- linear motion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a slider formula wheelset track robot's chassis structure, it includes: the bottom plate is horizontally arranged below the track, and the axis of the bottom plate is consistent with the axis direction of the track; the linear motion wheel sets are hung on the track and are in contact with the outer side surface and the upper surface of the track, the two pairs of linear motion wheel sets are arranged, and each pair of linear motion wheel sets is arranged by taking the axial direction of the track as a symmetrical shaft; every the linear motion wheelset including be located the below linear sliding mechanism, with linear sliding mechanism's fixed carry mechanism and setting are in linear sliding mechanism top is located the rotation wheel mechanism of carry mechanism below utility model provides a slider formula wheelset track robot's chassis structure has solved current wheelset, the problem big to the motor impact nature when track robot turns the card pause and turns.
Description
Technical Field
The utility model belongs to carry formula track robot field, especially involve a take-up block formula wheelset track robot's chassis structure.
Background
Inspection work is typically tedious, repetitive, mechanical, time consuming, labor intensive, and labor intensive, such as in substations, underground galleries, mines, and prisons. Or some places with moist air, heavy peculiar smell, poisonous and harmful gas, high dust concentration, strong noise and the like, the inspection quality is low, the safety degree is low, the manual labor intensity and the unit labor cost are high.
Most of chassis structures of existing wheel type rail robots are driven by placing wheel sets on the upper surfaces of rails, the method is simple and direct, but the wheels are seriously abraded due to the fact that the wheel sets are attached to the upper surfaces of the rails through differential speed during turning and gravity, and the abrasion is obvious when the speed is high.
Disclosure of Invention
An object of the utility model is to provide a slider formula wheelset track robot's chassis structure to provide at least advantage that will explain later.
Another object of the utility model is to provide a slider formula wheelset track robot's chassis structure has solved the big problem of motor impact nature when current wheelset track robot turns the card pause and turns.
The technical scheme of the utility model as follows:
the chassis structure of slider formula wheelset track robot, it includes:
the bottom plate is horizontally arranged below the track, and the axis of the bottom plate is consistent with the axis direction of the track;
the linear motion wheel sets are hung on the track and are in contact with the outer side surface and the upper surface of the track, the two pairs of linear motion wheel sets are arranged, and each pair of linear motion wheel sets is arranged by taking the axial direction of the track as a symmetrical shaft;
wherein;
each linear motion wheel set comprises a linear sliding mechanism positioned below, a mounting mechanism fixed with the linear sliding mechanism and a rotating wheel mechanism arranged above the linear sliding mechanism and positioned below the mounting mechanism;
the linear sliding mechanism comprises a linear sliding rail fixed on the bottom plate through a stroke fixing seat, a sliding block matched with the linear sliding rail and a compression spring arranged between the bottom plate and the sliding block;
the hanging mechanism comprises a vertical supporting arm fixedly connected with the sliding block, a horizontal hanging arm hinged with the vertical supporting arm and a universal ball arranged on the lower surface of the free end of the horizontal hanging arm, and the universal ball is in contact with the upper surface of the track when the horizontal hanging arm rotates to a vertical position;
the rotating wheel mechanisms of the pair of linear motion wheel sets comprise direct-current brushless motors fixed on the vertical supporting arms and first polyurethane rubber-coated wheels fixed on the sliding blocks through first vertical rotating shafts, the direct-current brushless motors are connected with the first vertical rotating shafts through first synchronous belts, and the rotating directions of the two direct-current brushless motors are opposite;
the rotating wheel mechanism of the other linear motion wheel set comprises an encoder and a second polyurethane rubber-coated wheel fixed on the sliding block through a second vertical rotating shaft, and the encoder is connected with the second vertical rotating shaft through a second synchronous belt;
the rotating wheel mechanism of the other linear motion wheel set is a third polyurethane rubber covered wheel fixed on the sliding block through a third vertical rotating shaft;
the first polyurethane rubber-coated wheel, the second polyurethane rubber-coated wheel and the third polyurethane rubber-coated wheel are in contact with the outer side face of the track.
Preferably, in the chassis structure of the sliding block type wheel set rail robot, two infrared sensors are arranged on the bottom plate along the axis of the bottom plate.
Preferably, in the chassis structure of the sliding block type wheel set rail robot,
the first polyurethane rubber-coated wheel, the second polyurethane rubber-coated wheel and the third polyurethane rubber-coated wheel are positioned on the same horizontal plane;
the error between the center distance between the brushless DC motor and the first polyurethane rubber-coated wheel and the error between the center distance between the encoder and the second polyurethane rubber-coated wheel are not more than 0.4 mm.
Preferably, in the chassis structure of the sliding block type wheel set rail robot, mounting holes for mounting the stroke fixing seat are formed in the bottom plate, and the mounting holes are distributed in a linear array.
Preferably, in the chassis structure of the sliding block type wheel set rail robot, the bottom plate is provided with square lightening holes and groove type lightening holes.
Preferably, in the chassis structure of the sliding block type wheel set rail robot, notches are formed in the vertical supporting arm and the horizontal hanging arm, a self-locking shaft is arranged in each notch, and the size of each notch is 0.2mm larger than the diameter of each self-locking shaft.
The utility model discloses following beneficial effect has:
the utility model realizes the power transmission of the DC brushless motor and the polyurethane rubber-coated wheel through the synchronous belt, avoids the direct stress of the motor and the encoder, reduces the impact on the motor and the encoder during the turning, thereby improving the reliability of the product;
the utility model ensures that the distance between each wheel set can be automatically adjusted to ensure the feasibility of the mechanism when a large error occurs during the track processing or the robot assembly through four independent linear motion wheel sets, thereby increasing the fault-tolerant rate of the product;
the utility model can change the installation position of the stroke fixing seat to change the distance between the two radial wheel sets through the installation hole sites which are linearly distributed on the stroke fixing seat and the bottom plate, thereby adjusting the installation position of the stroke fixing seat to adapt to the tracks with different widths and increasing the practicability of the product;
the utility model fully utilizes the space of the side edge of the track to reduce the size of the chassis in the vertical direction of the track by inverting the motor and the encoder, thereby increasing the compactness of the product;
the utility model discloses a position that uses the encoder to calculate the robot and go on the track uses infrared sensor auxiliary control, realizes the location on the track of robot jointly, has improved the accuracy of product;
the utility model discloses a compression spring has guaranteed the laminating on wheelset and track surface, has avoided the wheelset to skid the positioning error on the track when the robot that causes.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of a chassis structure of a sliding block type wheel set track robot provided by the present invention;
fig. 2 is a schematic view of the expansion mounting of an embodiment of the chassis structure of the sliding block type wheel set track robot provided by the present invention;
fig. 3 is a schematic structural diagram of a linear motion wheel set in an embodiment of a chassis structure of a sliding block type wheel set track robot provided by the present invention;
fig. 4 is a schematic structural diagram of another linear motion wheel set in an embodiment of the chassis structure of the sliding block type wheel set rail robot provided by the present invention;
fig. 5 is a schematic structural diagram of another linear motion wheel set in an embodiment of the chassis structure of the sliding block type wheel set rail robot provided by the present invention.
Detailed Description
The present invention is further described in detail below with reference to the drawings so that those skilled in the art can implement the invention with reference to the description.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1, the utility model provides a slider formula wheelset track robot's chassis structure, it includes:
the base plate 1 is horizontally arranged below the track, and the axis of the base plate 1 is consistent with the axis direction of the track;
the linear motion wheel sets are arranged above the bottom plate 1, the linear motion wheel sets are hung on the track and are in contact with the outer side surface and the upper surface of the track, the number of the linear motion wheel sets is two, and each pair of the linear motion wheel sets is arranged by taking the axial direction of the track as a symmetrical axis;
wherein;
each linear motion wheel set comprises a linear sliding mechanism positioned below, a mounting mechanism fixed with the linear sliding mechanism and a rotating wheel mechanism arranged above the linear sliding mechanism and positioned below the mounting mechanism;
the linear sliding mechanism comprises a linear sliding rail 402 fixed on the bottom plate 1 through a stroke fixing seat 401, a sliding block 403 matched with the linear sliding rail 402, and a compression spring 404 arranged between the bottom plate 1 and the sliding block 403, the linear sliding rails 402 are arranged in parallel, the stroke fixing seat 401 is installed at the front end and the rear end of each linear sliding rail 402, and the compression spring 404 moves on the linear sliding rail 402 along with the sliding block 403 when turning so as to change the included angle between the compression spring and the linear sliding rail 402;
the hanging mechanism comprises a vertical supporting arm 501 fixedly connected with the sliding block 403, a horizontal hanging arm 502 hinged with the vertical supporting arm 501, and a universal ball 503 arranged on the lower surface of the free end of the horizontal hanging arm 502, wherein the universal ball 503 is in contact with the upper surface of the track when the horizontal hanging arm 502 rotates to a vertical position, so that the chassis structure supporting the whole sliding block type wheel set track robot is realized, and meanwhile, the friction force in all directions when the sliding block type wheel set track robot moves on the upper surface of the track is reduced;
as shown in fig. 3, the rotating wheel mechanisms of one pair of the linear motion wheel sets 201 include a dc brushless motor 601 fixed on the vertical support arm 501 and a first polyurethane rubber covered wheel 602 fixed on the sliding block 403 through a first vertical rotating shaft, the dc brushless motor 601 and the first vertical rotating shaft are connected through a first synchronous belt, the rotating directions of the two dc brushless motors 601 are opposite, and the motion of the whole chassis structure is affected by over-loosening and over-tightening of the synchronous belt;
as shown in fig. 4, the rotating wheel mechanism of another linear motion wheel set 202 includes an encoder 603 and a second polyurethane rubber-covered wheel 604 fixed on the sliding block 403 through a second vertical rotating shaft, the encoder 603 and the second vertical rotating shaft are connected through a second synchronous belt, the second polyurethane rubber-covered wheel 604 drives the encoder 603 to rotate through the second synchronous belt, and the encoder 603 calculates the path of the sliding block type wheel set track robot walking on the track through the number of rotating turns, thereby realizing positioning;
as shown in fig. 5, the rotating wheel mechanism of the other linear motion wheel set 203 is a third polyurethane rubber-coated wheel 605 fixed on the sliding block 403 through a third vertical rotating shaft, and is an idle wheel set, so that the contact area with the rail in the motion process is increased, and the running stability is ensured;
the first polyurethane rubber-covered wheel 602, the second polyurethane rubber-covered wheel 604 and the third polyurethane rubber-covered wheel 605 are in contact with the outer side surface of the track.
The utility model provides an in an embodiment of chassis structure of slider formula wheelset track robot, be provided with two infrared ray sensor 3 along its axis on the bottom plate 1, can the position on the track of auxiliary computation slider formula wheelset track robot.
In one embodiment of the chassis structure of the sliding block type wheel set track robot provided by the utility model,
the first polyurethane rubber-covered wheel 602, the second polyurethane rubber-covered wheel 604 and the third polyurethane rubber-covered wheel 605 are positioned on the same horizontal plane;
the error between the center distance between the brushless DC motor 601 and the first polyurethane rubber-covered wheel 602 and the center distance between the encoder 603 and the second polyurethane rubber-covered wheel 604 is not more than 0.4 mm.
The utility model provides an in one embodiment of chassis structure of slider formula wheelset track robot, be provided with on the bottom plate 1 and be used for the mounting hole of stroke fixing base 401 installation, the mounting hole is linear array and distributes, can be through changing distance between the linear motion wheelset is adjusted to stroke fixing base 401's position, and then is adapted to the track of different widths.
The utility model provides an in one embodiment of the chassis structure of slider formula wheelset track robot, square lightening hole and cell type lightening hole have been seted up on the bottom plate 1.
The utility model provides an in one embodiment of chassis structure of slider formula wheelset track robot, vertical support arm 501 with the notch has been seted up on the horizontal string year arm 502, be provided with a auto-lock axle in the notch, the size of notch is compared the diameter of auto-lock axle is 0.2mm big, has guaranteed that loading and unloading convenience's colleague has reduced the play of auto-lock axle with horizontal string year arm. The self-locking shaft is a bolt, a rotational degree of freedom is reserved between the vertical supporting arm 501 and the horizontal hanging arm 502, the horizontal hanging arm rotates during hanging, so that the horizontal hanging arm and the notch on the vertical supporting arm are overlapped, and then the self-locking shaft is pushed backwards along the notch and self-locking after hanging is realized by means of gravity.
The utility model provides a slide block formula wheelset track robot's chassis structure work flow as follows: pushing the self-locking shaft out along the notch, then rotating the horizontal hanging arm 502 to unfold, attaching the polyurethane rubber-coated wheels in the four linear motion wheel groups to the outer side surface of the track, then rotating the hanging arm and pushing the self-locking shaft into the notch for self-locking; after the robot is started, the direct-current brushless motor 601 transmits power to the polyurethane rubber covered wheel through the synchronous belt, and the compression spring 404 ensures that the polyurethane rubber covered wheel is attached to the outer side surface of the track; when entering a curve, the two wheel set compression springs 404 with small turning radius are compressed, the two wheel set compression springs 404 with large turning radius are relaxed, and the positions of the wheel sets on the linear slide rail are continuously adjusted until the wheel sets enter the straight track through the curve.
While the embodiments of the invention have been described above, it is not intended to be limited to the details shown, or described, but rather to cover all modifications, which would come within the scope of the appended claims, and all changes which come within the meaning and range of equivalency of the art are therefore intended to be embraced therein.
Claims (6)
1. The chassis structure of slider formula wheelset track robot, its characterized in that includes:
the bottom plate is horizontally arranged below the track, and the axis of the bottom plate is consistent with the axis direction of the track;
the linear motion wheel sets are hung on the track and are in contact with the outer side surface and the upper surface of the track, the two pairs of linear motion wheel sets are arranged, and each pair of linear motion wheel sets is arranged by taking the axial direction of the track as a symmetrical shaft;
wherein;
each linear motion wheel set comprises a linear sliding mechanism positioned below, a mounting mechanism fixed with the linear sliding mechanism and a rotating wheel mechanism arranged above the linear sliding mechanism and positioned below the mounting mechanism;
the linear sliding mechanism comprises a linear sliding rail fixed on the bottom plate through a stroke fixing seat, a sliding block matched with the linear sliding rail and a compression spring arranged between the bottom plate and the sliding block;
the hanging mechanism comprises a vertical supporting arm fixedly connected with the sliding block, a horizontal hanging arm hinged with the vertical supporting arm and a universal ball arranged on the lower surface of the free end of the horizontal hanging arm, and the universal ball is in contact with the upper surface of the track when the horizontal hanging arm rotates to a vertical position;
the rotating wheel mechanisms of the pair of linear motion wheel sets comprise direct-current brushless motors fixed on the vertical supporting arms and first polyurethane rubber-coated wheels fixed on the sliding blocks through first vertical rotating shafts, the direct-current brushless motors are connected with the first vertical rotating shafts through first synchronous belts, and the rotating directions of the two direct-current brushless motors are opposite;
the rotating wheel mechanism of the other linear motion wheel set comprises an encoder and a second polyurethane rubber-coated wheel fixed on the sliding block through a second vertical rotating shaft, and the encoder is connected with the second vertical rotating shaft through a second synchronous belt;
the rotating wheel mechanism of the other linear motion wheel set is a third polyurethane rubber covered wheel fixed on the sliding block through a third vertical rotating shaft;
the first polyurethane rubber-coated wheel, the second polyurethane rubber-coated wheel and the third polyurethane rubber-coated wheel are in contact with the outer side face of the track.
2. The chassis structure of a sliding block type wheel set rail robot as claimed in claim 1, wherein two infrared sensors are provided on the base plate along its axis.
3. The chassis structure of a slipper-type wheel-set rail robot as claimed in claim 1, wherein the first polyurethane-coated wheel, the second polyurethane-coated wheel and the third polyurethane-coated wheel are on a same horizontal plane; the error between the center distance between the brushless DC motor and the first polyurethane rubber-coated wheel and the error between the center distance between the encoder and the second polyurethane rubber-coated wheel are not more than 0.4 mm.
4. The chassis structure of sliding block type wheel set rail robot as claimed in claim 1, wherein the bottom plate is provided with mounting holes for mounting the stroke fixing seats, and the mounting holes are distributed in a linear array.
5. The chassis structure of a sliding block type wheel set rail robot as claimed in claim 1, wherein the bottom plate is provided with square lightening holes and groove type lightening holes.
6. The chassis structure of a sliding block type wheel set rail robot as claimed in claim 1, wherein the vertical supporting arm and the horizontal hanging arm are formed with notches, a self-locking shaft is disposed in the notches, and the size of the notches is 0.2mm larger than the diameter of the self-locking shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020650719.0U CN212193242U (en) | 2020-04-26 | 2020-04-26 | Chassis structure of sliding block type wheel set track robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020650719.0U CN212193242U (en) | 2020-04-26 | 2020-04-26 | Chassis structure of sliding block type wheel set track robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212193242U true CN212193242U (en) | 2020-12-22 |
Family
ID=73827763
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020650719.0U Expired - Fee Related CN212193242U (en) | 2020-04-26 | 2020-04-26 | Chassis structure of sliding block type wheel set track robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212193242U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113021304A (en) * | 2021-03-06 | 2021-06-25 | 常州大学 | But quick assembly disassembly mobile device suitable for track |
| CN113183749A (en) * | 2021-04-20 | 2021-07-30 | 和杰 | Power fortune comes wheel |
-
2020
- 2020-04-26 CN CN202020650719.0U patent/CN212193242U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113021304A (en) * | 2021-03-06 | 2021-06-25 | 常州大学 | But quick assembly disassembly mobile device suitable for track |
| CN113183749A (en) * | 2021-04-20 | 2021-07-30 | 和杰 | Power fortune comes wheel |
| CN113183749B (en) * | 2021-04-20 | 2023-08-25 | 和杰 | Power Fulai wheel |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111300488A (en) | Chassis structure of sliding block type wheel set track robot | |
| CN212193242U (en) | Chassis structure of sliding block type wheel set track robot | |
| CN110159894B (en) | Track inspection robot | |
| CN111878688A (en) | Double-track guide gear inspection system | |
| CN110631848A (en) | Wheel and axle bending fatigue test device | |
| CN220593216U (en) | Rail hanging driving mechanism of rail robot | |
| CN209113055U (en) | A kind of automatic compensation spin friction drive assembly and the heavy rotating platform containing the assembly | |
| CN218052601U (en) | Adjustable enclasping walking mechanism of rail-hanging robot | |
| CN112787259B (en) | Vehicle-mounted switch cabinet detection rotary positioning device based on servo drive | |
| CN213502306U (en) | Anti-tipping device and double-track type steel rail detection vehicle with same | |
| CN211178998U (en) | Wheel and axle bending fatigue test device | |
| CN209699904U (en) | A kind of tire-mold supply line | |
| CN112936297A (en) | Robot system for automatically detecting vehicle-mounted switch cabinet | |
| CN220925273U (en) | Rotary pneumatic lifting rolling machine | |
| CN112870729A (en) | Eight-seat six-degree-of-freedom riding dynamic vehicle and method | |
| CN111751129A (en) | Multifunctional wheel testing mechanism | |
| CN216462543U (en) | Gantry type traveling mechanism for laser paint removing device | |
| CN212798347U (en) | Track extends transport mechanism | |
| CN113561161B (en) | Angle-adjustable lining changing manipulator and using method thereof | |
| CN215097916U (en) | Stair climbing device | |
| CN215811565U (en) | Device for analyzing damage degree and safety of tank body | |
| JP7212809B2 (en) | Road self-propelled vehicle | |
| CN110940478B (en) | New energy automobile coordinated type bidirectional vibration fender comprehensive testing equipment | |
| CN218907267U (en) | Reversing combined rolling device for intermittent moving of equipment | |
| CN216955177U (en) | Rail vehicle movement detection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201222 |