CN213165376U - Light-load rapid-disassembly type moving device for track robot - Google Patents
Light-load rapid-disassembly type moving device for track robot Download PDFInfo
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- CN213165376U CN213165376U CN201921395355.XU CN201921395355U CN213165376U CN 213165376 U CN213165376 U CN 213165376U CN 201921395355 U CN201921395355 U CN 201921395355U CN 213165376 U CN213165376 U CN 213165376U
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Abstract
The utility model discloses a track robot quick detach formula telecontrol equipment of underloading, include: a chassis main body; four sets of quick-release mounting mechanisms are oppositely arranged on the left side and the right side of the chassis main body in pairs, and each quick-release mounting mechanism keeps rolling contact with or is separated from the upper surface of the track by changing the elevation angle of the front end; the at least two driving mechanisms are respectively in driving connection with the two quick-release mounting mechanisms oppositely arranged on the two sides of the chassis main body and used for providing driving force; and the two guide mechanisms are respectively and rotatably arranged at the front end and the rear end of the chassis main body, and each guide mechanism is in rolling contact with the left side surface and the right side surface of the track. The utility model discloses the structure is ingenious, and motion, turn are steady, and the dismouting is quick, be convenient for transportation and maintenance.
Description
Technical Field
The utility model relates to a track robot field, concretely relates to track robot quick detach formula telecontrol equipment of light load.
Background
Nowadays, various inspection robots have begun to partially replace manual work in a plurality of tasks which are highly repetitive, time-consuming, labor-consuming and labor-intensive. Compared with a ground robot, the track robot can run at various heights along the track, works in a space with low utilization rate in the environment, can realize high-speed operation under a preset track, and has extremely high value in the aspects of routing inspection, transportation and the like. However, the existing track robot mostly adopts a suspension-free wheel type mounting mechanism matched with the track in shape, and is troublesome to disassemble, assemble and maintain. And the small-radius turning is not easy to realize. In some occasions such as power rooms with dense equipment, actual requirements are difficult to meet. Under the working condition of partial light load, the moving mechanism of partial large-scale track robot is reliable but not flexible enough, and the bearing wheel is seriously abraded when frequent over-bending or high speed is carried out. Therefore, under the condition of low load requirement, a track robot chassis with a special mounting and moving device needs to be developed to realize the functions of small-radius turning, quick assembly and disassembly and quick movement.
SUMMERY OF THE UTILITY MODEL
To the demand under the above-mentioned background, the utility model aims to provide a walking is reliable, can turn, portable easy dismouting's light-load track robot quick detach formula telecontrol equipment, it is big to solve current industry track robot turning radius, difficult dismouting, the inconvenient problem of maintenance.
The purpose of the utility model is realized through one of following technical scheme at least:
a quick-release type moving device of a light-load rail robot comprises:
a chassis main body;
four sets of quick-release mounting mechanisms are oppositely arranged on the left side and the right side of the chassis main body in pairs, and each quick-release mounting mechanism keeps rolling contact with or is separated from the upper surface of the track by changing the elevation angle of the front end;
the at least two driving mechanisms are respectively in driving connection with the two quick-release mounting mechanisms oppositely arranged on the two sides of the chassis main body and used for providing driving force;
and the two guide mechanisms are respectively and rotatably arranged at the front end and the rear end of the chassis main body, and each guide mechanism is in rolling contact with the left side surface and the right side surface of the track.
Further, the mount driving mechanism includes:
a fixed bracket fixedly mounted on the chassis main body);
the rotating bracket is rotatably hinged on the fixed bracket;
the roller mechanism is rotatably arranged at the front end of the rotating bracket and is in rolling contact with the upper surface of the track;
and the positioning device is arranged on the fixed support and the movable support and used for adjusting and fixing the current rotating position of the rotating support.
Furthermore, the fixed support comprises two outer plates which are vertically and parallelly fixedly arranged on the chassis main body, the middle parts of the two outer plates are connected and provided with a U-shaped angle connecting piece, the upper parts of the two outer plates are provided with a hinge hole and a hook-shaped limiting groove in a penetrating manner, and a pin shaft is arranged in the hinge hole in a penetrating manner; the hook-shaped limiting groove is matched with the positioning device and comprises an arc section concentric with the hinge hole and a straight line section positioned at one end of the arc section.
Further, the rotating support comprises two inner plates arranged in parallel, the rear ends of the two inner plates are provided with linear long round holes and can penetrate into the hinge holes of the pin shafts, and the front ends of the two inner plates are fixedly provided with rectangular frame-shaped shaft fixing parts in a clamping mode.
Furthermore, the positioning device comprises a positioning pin penetrating into the hook-shaped limiting groove and the linear long round hole.
Further, the roller mechanism includes:
the roller wheel is provided with a wheel shaft, and the wheel shaft is rotatably arranged on the shaft fixing piece through a first rolling bearing and a coupler.
Further, the roller is a friction wheel or an omnidirectional wheel.
Furthermore, the driving mechanism comprises a driving motor, a shell of the driving motor is fixed on the shaft fixing piece, and a motor shaft is in driving connection with the wheel shaft through a coupler.
Further, the guide mechanism includes:
the stepped shaft is vertically and rotatably arranged on the chassis main body through a second rolling bearing;
the shaft support is fixedly arranged on the stepped shaft and rotates synchronously with the stepped shaft;
one ends of the two plates are symmetrically and fixedly connected to the shaft support through bolts;
the two U-shaped pieces are respectively and vertically connected with the other ends of the two plates through bolts;
and the two guide wheels are respectively and rotatably arranged on the two U-shaped pieces, and the rotating axis of the two guide wheels is vertical to the chassis main body.
Further, the two plates are provided with linear long round holes used for installing the two U-shaped parts along the length direction, so that the distance between the two guide wheels can be conveniently adjusted.
The utility model discloses compare with current track robot structure, it is showing the advantage and lies in:
(1) the utility model discloses compare with current track robot structure, it is showing the advantage and lies in:
(2) the driving wheel is positioned above the track, and the gravity of the machine body naturally provides pressing force of the driving wheel, so that the driving wheel can be effectively prevented from slipping.
(3) The guide mechanism provides four-point restraint on the side surface of the track, and the four guide wheels are always in contact with the track, so that the swinging of the body caused by insufficient restraint during straight running and turning is prevented.
(4) The omnidirectional wheel is selected as the driving wheel and the driven wheel above the track, so that the resistance of the wheel in the direction vertical to the track during bending can be reduced, and the bending is smoother; meanwhile, the axial force borne by the wheel is reduced, and the looseness of the shaft coupling in the motion process is prevented.
(5) The quick-release mounting mechanism can rotate the omnidirectional wheel to the axial line upwards through the lifting pin, so that the chassis can be detached; when the chassis is installed, the pin is pressed down on the straight line section, and the pin has a limiting effect, so that the chassis is stably hung on the rail. Simple operation, rapid disassembly and assembly, and convenient maintenance and transportation.
Drawings
Fig. 1 is a view illustrating a working situation of a quick-release type moving device for a light-load track robot according to an embodiment of the present invention.
Fig. 2 is an isometric view of an axial exploded view of a drive assembly according to the present invention.
Fig. 3 is an exploded view of the guiding mechanism of the present invention for showing the installation relationship with the chassis main body.
Fig. 4 is a view showing the posture of the quick-release mounting mechanism during installation.
Fig. 5 is a view showing the posture of the quick-release mounting mechanism when it is detached.
Fig. 6 is a top view of the quick release type moving device for a light-load track robot of the present invention when it enters a forward bend.
Fig. 7 is a top view of the quick release type moving device for a light-load track robot according to the present invention when it enters a reverse bend.
In the figure: 1-a track; 2-a drive mechanism; 21-a drive motor; 22-a first axle mount; 23-a coupler; 24-a first rolling bearing; 25-axle; 3-a guiding mechanism; 31-a second rolling bearing; 32-stepped shaft; 33-shaft support; 34-a plate member; 35-U-shaped piece; 36-a guide wheel; 4-a quick-release mounting mechanism; 41-outer plate; 42-an inner plate; 43-a second axle mount; 44-pin shaft; 45-positioning pins; 46-U-shaped corner connectors; 5-an omni wheel; 6-chassis body.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in fig. 1, the rail 1 of the present invention is a rail with a rectangular cross section, and has a support column at both ends and a reinforcement beam above to prevent the rail from being deformed and bent. The whole track is S-shaped, and the turning radius is smaller.
As shown in fig. 1, a quick release type moving apparatus for a light-load rail robot includes:
a chassis main body 6;
four sets of quick-release mounting mechanisms 4 are oppositely arranged on the left side and the right side of the chassis main body 6 in pairs, and each quick-release mounting mechanism 4 keeps rolling contact with or is separated from the upper surface of the track 1 by changing the elevation angle of the front end;
the at least two driving mechanisms 2 are respectively in driving connection with the two quick-release mounting mechanisms 4 oppositely arranged on the two sides of the chassis main body 6 and used for providing driving force;
two guide mechanisms 3 are respectively and rotatably arranged at the front end and the rear end of the chassis main body 6, and each guide mechanism 3 is in rolling contact with the left side surface and the right side surface of the track 1.
As shown in fig. 1 and 4, the mounting drive mechanism 4 includes:
the fixing bracket is fixedly arranged on the chassis main body 6, and vertically and parallelly fixedly comprises two outer plates 41 arranged on the chassis main body 6, the middle parts of the two outer plates 41 are connected and provided with a U-shaped angle connector 46, the upper parts of the two outer plates are provided with a hinge hole and a hook-shaped limiting groove in a penetrating manner, and a pin shaft 44 is arranged in the hinge hole in a penetrating manner; the hook-shaped limiting groove is matched with the positioning device and comprises an arc section concentric with the hinge hole and a straight line section positioned at one end of the arc section.
The rotating support is rotatably hinged to the fixed support and comprises two inner plates 42 arranged in parallel, linear long round holes are formed in the rear ends of the two inner plates 42, the hinge holes of the pin shafts 44 can be penetrated into the linear long round holes, and a rectangular frame-shaped shaft fixing part is fixedly arranged between the front ends of the two inner plates 42 in a clamping mode.
Gyro wheel mechanism rotates the setting and is in the front end of rotating support 8, with track 1 upper surface rolling contact includes:
the roller is provided with a wheel shaft 25, the wheel shaft 25 is rotatably arranged on the shaft fixing part through a first rolling bearing 24 and a coupler 23, and the roller is a friction wheel or an omnidirectional wheel 5.
And the positioning device is arranged on the fixed support and the movable support, comprises a positioning pin 45 which penetrates into the hook-shaped limiting groove and the linear long round hole and is used for adjusting and fixing the current rotating position of the rotating support 8.
As shown in fig. 4, in the mounting driving mechanism 4 without the driving mechanism 2, the second wheel axle fixing member 43 is fixedly installed between a set of inner plate members 42, which is described in connection with fig. 1, that is, the four omni wheels 5 can be changed in position relative to the chassis main body 6. A U-shaped angle joint 46 is arranged between the outer plate pieces 41 to strengthen the structure, and the quick-release mounting mechanism 4 is fixedly connected with the chassis main body 6 through another U-shaped angle joint at the bottom.
It can be understood that the quick-release mounting mechanism 4 is matched with the positioning pin 45 penetrating through the slotted holes of the plate members through the design of special slotted hole shapes on two groups of plate members. The pin shaft 44 passes through the hinge holes of the inner and outer plate members, and the inner and outer plate members can rotate relatively along the axis of the pin shaft 44. The circle center of the arc section of the slot hole of the outer plate 41 is located on the rotation axis, and the straight line section is located at the end point of the arc section; the slots of the inner plate 3-2 have only straight line segments.
As shown in fig. 2, the driving mechanism 2 includes a driving motor 21, a housing of the driving motor 21 is fixed on a first shaft fixing member 22, and a motor shaft is drivingly connected with a wheel axle 25 through a coupling 23.
Referring to fig. 4 and 5, the inner plate 42 is fixedly connected to the second shaft fixing member 43, and the outer plate 41 is fixedly connected to the chassis main body 6. When the pin 45 is positioned in the arc section of the hook-shaped limiting groove as shown in fig. 5, the inner plate and the outer plate can relatively rotate around the axis of the pin shaft 44; when the pin 45 is located in the straight line section of the hook-shaped limiting groove as shown in fig. 4, the inner plate and the outer plate cannot move relatively, and the pin 45 plays a limiting role at this time. Therefore, by moving the pin 45 to the arc segment, the four omni wheels 5 can be rotated to be vertical to the axes thereof, and at the moment, the whole chassis can be detached from the track 1; the four omnidirectional wheels 5 can be fixed by pressing the pin 45 on the straight line section, and the pin 45 is used for limiting at the moment, so that the whole chassis can be stably hung on the track 1. According to the method, the purposes of quick assembly and disassembly and convenient maintenance are realized while the mounting is safe and reliable.
As shown in fig. 3, the guide mechanism 3 includes:
a stepped shaft 32 vertically rotatably provided on the chassis main body 6 through a second rolling bearing 31;
a shaft support 33 fixedly provided on the stepped shaft 32 to rotate in synchronization with the stepped shaft 32;
and one ends of the two plates 34 are symmetrically and fixedly connected to the shaft support 33 through bolts, wherein linear long round holes for mounting the two U-shaped members 35 are formed in the two plates 34 along the length direction, so that the distance between the two guide wheels can be conveniently adjusted.
Two U-shaped members 35 vertically connected to the other ends of the two plate members 34 by bolts, respectively;
two guide wheels 36 are respectively rotatably arranged on the two U-shaped members 35, and the rotation axis is perpendicular to the chassis main body 6.
Specifically, in the present embodiment, the chassis main body 6 is provided with a hole that interferes with the outer diameter dimension of the rolling bearing 31, and the rolling bearing 31 is mounted to the chassis main body 6 by interference fit. The size of the inner hole of the rolling bearing 31 is in interference fit with the large end of the stepped shaft 32; the small end of the stepped shaft 32 passes through the inner hole of the shaft support 33. The stepped shaft 32 is fastened to the shaft support 33 by bolts screwed into separate screw holes in the shaft support 33. Namely, the chassis body 6 and the guide mechanism 3 are fixedly connected with the outer ring and the inner ring of the rolling bearing 31 respectively, so that relative rotation is realized.
In connection with fig. 6 and 7, a four-point constraint is provided on the side of the rail 1 by the guiding mechanism 3, four guiding wheels 36 always remaining in contact with the rail 1. When the vehicle goes straight, the plate 34 of the guide mechanism 3 is vertical to the length direction of the track, when the vehicle goes into a curve, the guide mechanism 3 in front of the chassis main body 6 relative to the moving direction deflects relative to the chassis main body 6, and the rotating shaft receives a force along the normal direction of the curve while deflecting, so that the chassis main body 6 rotates by an angle to perform a turning action; when the chassis body 6 is bent, the front guide mechanism of the chassis body 6 guides the chassis body 6 to be aligned in the same process. At any time during the movement, the chassis body 6 has a determined position and angle. Therefore, the track robot chassis of the embodiment realizes the function of stably passing a curve at a small-angle curve in a guiding mode of the rotatable guide wheel set.
When the track robot chassis performs a turning action, since each roller above the track 1 is fixed relative to the chassis body 6, there is a movement in a direction perpendicular to the track. Using a common friction wheel, slippage in the wheel axial direction will occur at this time; and the small roller on the omnidirectional wheel 5 can change the original sliding friction into rolling friction when the wheel moves along the axial direction, thereby greatly reducing the movement resistance when turning.
The embodiment of the present invention is not limited by the above-mentioned embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which are not departed from the spirit and principle of the present invention should be equivalent replacement modes, and are all included in the protection scope of the present invention.
Claims (10)
1. A quick-release type moving device of a light-load railway robot is characterized by comprising:
a chassis main body (6);
four sets of quick-release mounting mechanisms (4) are oppositely arranged on the left side and the right side of the chassis main body (6) in pairs, and each quick-release mounting mechanism (4) keeps rolling contact with or is separated from the upper surface of the track (1) by changing the front end elevation;
the at least two driving mechanisms (2) are respectively in driving connection with the two quick-release mounting mechanisms (4) which are oppositely arranged on the two sides of the chassis main body (6) and used for providing driving force;
the two guide mechanisms (3) are respectively and rotatably arranged at the front end and the rear end of the chassis main body (6), and each guide mechanism (3) is in rolling contact with the left side surface and the right side surface of the track (1).
2. The quick release type moving apparatus of a light-load rail robot as claimed in claim 1, wherein said quick release mounting mechanism (4) comprises:
the fixed bracket is fixedly arranged on the chassis main body (6);
the rotating bracket is rotatably hinged on the fixed bracket;
the roller mechanism is rotatably arranged at the front end of the rotating bracket (8) and is in rolling contact with the upper surface of the track (1);
and the positioning devices are arranged on the fixed support and the movable support and are used for adjusting and fixing the current rotating position of the rotating support (8).
3. The quick-release type moving device for the light-load railway robot as claimed in claim 2, wherein the fixed bracket comprises two outer plates (41) vertically and parallelly fixed on the chassis body (6), the middle parts of the two outer plates (41) are connected and provided with a U-shaped corner connector (46), the upper parts of the two outer plates are provided with a hinge hole and a hook-shaped limiting groove in a penetrating manner, and a pin shaft (44) is arranged in the hinge hole in a penetrating manner; the hook-shaped limiting groove is matched with the positioning device and comprises an arc section concentric with the hinge hole and a straight line section positioned at one end of the arc section.
4. The quick release type moving apparatus for a light-load rail robot as claimed in claim 3, wherein said rotating frame comprises two inner plates (42) disposed in parallel, rear ends of said two inner plates (42) are provided with linear oblong holes and hinge holes capable of penetrating said pin shaft (44), and front ends of said two inner plates (42) are fixedly provided with a rectangular frame-shaped shaft fixing member in a sandwiched manner.
5. The quick release type moving device for a light-load railway robot as claimed in claim 4, wherein the positioning means comprises a positioning pin (45) inserted into the hook-shaped limiting groove and the linear long circular hole.
6. The quick release type moving apparatus for a light weight rail robot as claimed in claim 4, wherein said roller mechanism comprises:
the roller is provided with an axle (25), and the axle (25) is rotatably arranged on the axle fixing piece through a first rolling bearing (24) and a coupler (23).
7. The quick release type moving apparatus for a light weight rail robot as claimed in claim 6, wherein the roller is an omni-wheel.
8. The quick-release type moving device of light-load railway robot as claimed in claim 6, wherein the driving mechanism (2) comprises a driving motor (21), a housing of the driving motor (21) is fixed on the shaft fixing member, and a motor shaft is in driving connection with the wheel shaft (25) through a coupling (23).
9. The quick release type moving apparatus for a light weight rail robot as claimed in claim 1, wherein said guide means (3) comprises:
a stepped shaft (32) vertically rotatably provided on the chassis main body (6) by a second rolling bearing (31);
a shaft support (33) fixedly arranged on the stepped shaft (32) and synchronously rotating with the stepped shaft (32);
one ends of the two plates (34) are symmetrically and fixedly connected to the shaft support (33) through bolts;
two U-shaped parts (35) which are respectively and vertically connected with the other ends of the two plate parts (34) through bolts;
and the two guide wheels (36) are respectively arranged on the two U-shaped pieces (35) in a rotating way, and the rotating axis of the two guide wheels is vertical to the chassis main body (6).
10. The quick release type moving apparatus for a light-load railway robot as claimed in claim 9, wherein the two plates (34) are provided with linear oblong holes along the length direction for installing the two U-shaped members (35).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921395355.XU CN213165376U (en) | 2019-08-26 | 2019-08-26 | Light-load rapid-disassembly type moving device for track robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921395355.XU CN213165376U (en) | 2019-08-26 | 2019-08-26 | Light-load rapid-disassembly type moving device for track robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213165376U true CN213165376U (en) | 2021-05-11 |
Family
ID=75763627
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921395355.XU Expired - Fee Related CN213165376U (en) | 2019-08-26 | 2019-08-26 | Light-load rapid-disassembly type moving device for track robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213165376U (en) |
-
2019
- 2019-08-26 CN CN201921395355.XU patent/CN213165376U/en not_active Expired - Fee Related
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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: 20210511 Termination date: 20210826 |