CN215037427U

CN215037427U - I-shaped track robot and universal guide structure thereof

Info

Publication number: CN215037427U
Application number: CN202120766481.2U
Authority: CN
Inventors: 王凯; 李成龙; 李磊磊; 张宏帆
Original assignee: Tianjin Boyt Science & Technology Co ltd
Current assignee: Tianjin Boyt Science & Technology Co ltd
Priority date: 2021-04-15
Filing date: 2021-04-15
Publication date: 2021-12-07
Anticipated expiration: 2031-04-15

Abstract

The utility model provides a I-shaped rail robot and universal guide structure thereof, install four bearing wheel units on I-shaped rail robot's the chassis, still be equipped with front side guide unit on the chassis, it includes the rotor plate, two front side guide wheels and direction bearing frame, direction bearing frame and chassis looks rigid coupling, the rotor plate middle part is rotated through pivot and direction bearing frame and is connected, a rectangular through-hole has been seted up respectively to the rotor plate both ends, the length direction collineation of two rectangular through-holes just intersects perpendicularly with the rotation axis of rotor plate, every front side guide wheel rotates the upper portion of connecting in a front side guide wheel axle, the rectangular through-hole that the rotor plate corresponds is passed perpendicularly to the lower part of guide wheel axle, and can be fixed mutually with the lower part of guide wheel axle and rotor plate through the fastener. The utility model discloses ensure that the robot can advance smoothly in orbital turn of I-shaped, and can be suitable for the less application scene of turning radius, the structure is succinct, the dependable performance.

Description

I-shaped track robot and universal guide structure thereof

Technical Field

The utility model belongs to the robot field of patrolling and examining especially relates to a I track robot and universal formula guide structure 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. The running gear usually needs to realize functions of driving, guiding, bearing and the like, and also usually comprises a driving mechanism, a bearing mechanism and a guiding mechanism, so how to design the running gear to be ultra-thin, namely, how to perform corresponding ultra-thinning improvement on the mechanisms. In addition, for convenient maintenance, a fast-assembly and fast-separation structural design which can quickly mount and separate the robot from the I-shaped hoisting track is also needed, and how to deal with the arc-shaped turning of the I-shaped track is also needed.

Chinese patent CN209904753U discloses a quick-mounting and quick-dismounting ultra-thin type robot for lifting rails and a traveling device thereof, which is suitable for i-shaped lifting rails, wherein four bearing wheels at corners are respectively contacted with the lower rail beam of the lifting rail at two sides of the rail vertical beam to bear the weight of the whole robot. On solving the problem of how to deal with the I-shaped rail's turn, the leading wheel of this patent sets up between front and back two sets of bearing wheels, and the leading wheel is with the track vertical beam contact, and this kind of structure main problem lies in that leading wheel structure occupation space is great to the turn radius of I-shaped rail turn can not be too little, and the application scope receives certain limitation.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides an I-shaped track robot and universal formula guide structure thereof specifically is:

universal formula guide structure, be applied to I-shaped rail robot, install four bearing wheel units on I-shaped rail robot's the chassis, still be equipped with the direction unit on the chassis, the direction unit includes the rotor plate, two leading wheels and direction bearing frame, direction bearing frame and chassis looks rigid coupling, the rotor plate middle part is rotated through pivot and direction bearing frame and is connected, a rectangular through-hole has been seted up respectively to the rotor plate both ends, the length direction collineation of two rectangular through-holes just intersects perpendicularly with the rotation axis of rotor plate, every leading wheel rotates the upper portion of connecting in a direction shaft, the rectangular through-hole that the rotor plate corresponds is passed perpendicularly to the lower part of direction shaft, and can fix the lower part of direction shaft and rotor plate mutually through the fastener.

The bearing wheel of the bearing wheel unit is rotatably connected to one end of the bearing wheel shaft, and the other end of the bearing wheel shaft is vertically fixed to the middle of the vertical plate body of the supporting plate through the wheel shaft seat.

Each bearing wheel unit positioned at the rear side in the advancing direction is also correspondingly provided with a rear guide wheel, each rear guide wheel is rotatably arranged at the lower part of a rear guide wheel shaft, the upper part of the rear guide wheel shaft is fixedly connected to the bearing wheel shaft between the bearing wheel and the wheel shaft seat through a fastener, and the rear guide wheel shaft is vertical to the bearing wheel shaft.

The upper portion of the vertical plate body is further hinged with a pitching frame, the axis of the hinged shaft is perpendicular to the bearing wheel shaft, a tensioning wheel is connected to the pitching frame in a rotating mode, an elastic device capable of providing elastic force for the pitching frame to ascend upwards around the hinged shaft is further arranged between the pitching frame and the vertical plate body, and in the pitching process of the pitching frame, the axis of rotation of the tensioning wheel and the bearing wheel shaft are always located in the same vertical plane.

The upper part of the vertical plate body of the supporting plate is fixedly connected with a hinged lug seat, the pitching frame comprises an Contraband-type main frame consisting of two side plates and a middle plate, the top ends of the two side plates are hinged with the hinged lug seat through a hinged shaft, and one end of a wheel shaft of the tension wheel is vertically and fixedly connected with the middle plate of the pitching frame.

The top propping plate is further fixedly arranged between the two side plates, the elastic device is a torsion spring, the torsion spring is sleeved on the hinge shaft, and the two elastic parts respectively prop against the top propping plate and the hinge lug seat.

The tension wheel and the elastic device are respectively positioned on two sides of the middle plate of the pitching frame.

The vertical plate body of the supporting plate is vertical to the chassis.

The I-shaped rail robot comprises the universal guide structure.

The utility model discloses ensure that the robot can advance smoothly in orbital turn of I-shaped, and can be suitable for the less application scene of turning radius, the structure is succinct, the dependable performance.

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 perspective view of an i-shaped rail robot in a state of adopting the traveling device of the present invention to be combined with an i-shaped rail;

fig. 2 is a schematic perspective view of the front guide unit of the present invention;

FIG. 3 is a schematic view of an improved structure of a bearing wheel unit for enhancing the combination stability of the front and rear guide wheels and the I-shaped rail;

FIG. 4 is an exploded view of FIG. 3;

fig. 5 is a schematic view of the structure of fig. 3 in combination with an i-rail.

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 robot, i.e. the extending direction of the i-shaped track, "left-right direction" is perpendicular to the traveling direction of the robot, "left-right direction" is also the "transverse direction" of the robot, and "up-down direction" is the up-down direction of the conventional concept; additionally, the utility model discloses an I-shaped track 100, the track that includes track upper and lower crossbeam and connect two crossbeams erects the roof beam, "inboard" indicates the direction that is close to the track and erects the roof beam, "outside" indicates the direction of keeping away from the track and erecting the roof beam.

The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Fig. 1 is a perspective view of an i-shaped rail robot adopting the combination state of the traveling device and the i-shaped rail 10 of the present invention, and compared with the chinese patent CN209904753U, the bearing wheel unit of the present invention does not need to be installed on a bracket, but is directly installed on a chassis 20; the mechanism responsible for the traveling of the traveling device on the i-shaped rail 10 can adopt a driving tensioning mechanism of Chinese patent CN209904753U, and detailed description of the mechanism is omitted;

the utility model discloses detailed description is as follows:

referring to fig. 1, a pair of front bearing wheel units 30 and a pair of rear bearing wheel units 30' are mounted on the chassis 20 and located at the front and rear sides of the traveling direction, respectively, and are responsible for load coupling of the entire traveling device on the i-shaped rail 10;

taking the front side bearing wheel unit 30 as an example, the bearing wheel 31 of each bearing wheel unit 30 is rotatably connected to one end of a bearing wheel shaft 32, the other end of the bearing wheel shaft 32 is vertically fixed in the middle of a vertical plate body of a supporting plate 34 through a wheel shaft seat 33, and the vertical plate body of the supporting plate 34 is relatively vertical to the chassis 20; the bearing wheel 31 has a rotation axis parallel to the chassis 20.

A front guide unit 40 is further provided on the chassis 20 at a front center portion of the pair of front carrier wheel units, as shown in fig. 2, the front guide unit 40 includes a rotating plate 42, the two front guide wheels 41 and the guide bearing seats 44, the guide bearing seats 44 are fixedly connected with the chassis 20, the middle part of the rotating plate 42 is rotatably connected with the guide bearing seats 44 through a rotating shaft, two ends of the rotating plate 42 are respectively provided with a strip through hole 43, the length directions of the two strip through holes 43 are collinear and are vertically intersected with the rotating axis of the rotating plate 42, each front guide wheel 41 is rotatably connected to the upper part of one front guide wheel shaft, the lower part of the front guide wheel shaft vertically penetrates through the strip through hole 43 corresponding to the rotating plate 42, the positions of the strip through holes 43 are adjusted to ensure that the two front guide wheels 41 are respectively abutted against the two sides of the lower track beam of the I-shaped track 10, and the lower part of the front guide wheel shaft is fixed with the rotating plate 42 through a fastener. If the robot is detached from the I-shaped rail, the fastening piece is loosened, so that the front side guide wheel shaft moves outwards along the length direction of the strip-shaped through hole 43, and the clamping state of the two front side guide wheels 41 on the lower rail beam can be released.

Because the front side guide units are positioned at the periphery of the area enclosed by the four groups of bearing wheel units, the space of the enclosed area is not occupied, and the volume of the front side guide wheels in the structure is relatively small, which is beneficial to reducing the whole volume of the robot; the rotating plates 42 supporting the two front guide wheels 41 are rotatable, so that the robot can be adapted to a use scene with a small turning radius.

Each rear bearing wheel unit 30 'is also correspondingly provided with a rear guide wheel 5 matched with the front guide unit, specifically, each rear guide wheel 5 is rotatably arranged at the lower part of a rear guide wheel shaft, the upper part of the rear guide wheel shaft is fixedly connected to a bearing wheel shaft between the bearing wheel and the wheel shaft seat of the rear bearing wheel unit 30' through a fastener, and the rear guide wheel shaft is vertical to the bearing wheel shaft. The two rear guide wheels 5 cooperate with the front guide unit to facilitate the guiding of the running gear when the i-rail 10 is retracted.

Produce when having laying dust or large granule barrier for preventing the leading wheel on meetting down the track crossbeam and jolt by a wide margin and lead to breaking away from the contact with the corresponding side of track crossbeam down, the utility model discloses still design the structure of preventing jolting at bearing wheel unit 30, specifically as follows:

a pitching frame 37 is hinged to the upper portion of the vertical plate body of the supporting plate 34, the axis of the hinge shaft is perpendicular to the bearing wheel shaft 32, a tension wheel 38 is rotatably connected to the pitching frame 37, an elastic device is further arranged between the pitching frame 37 and the vertical plate body to provide an elastic force for the pitching frame 37 to ascend upwards around the hinge shaft, and in the pitching stroke of the pitching frame 37, the axis of rotation of the tension wheel 38 and the bearing wheel shaft 32 are always in the same vertical plane.

Specifically, as shown in fig. 3 to 4, a hinge lug 35 is fixedly connected to the upper portion of the vertical plate body of the supporting plate 34, the pitching frame 37 includes an Contraband-shaped main frame composed of two side plates 371 and a middle plate 372, the top ends of the two side plates 371 of the pitching frame 37 are hinged to the hinge lug 35 through a hinge shaft 351, and one end of the axle of the tension wheel 38 is vertically fixedly connected to the middle plate 372; the top abutting plate 373 is located between the two side plates 371, the elastic device is a torsion spring, the torsion spring is sleeved on the hinge shaft 351, and the two elastic parts respectively abut against the top abutting plate 373 and the hinge lug 35. The tension roller 38 and the elastic device are respectively located on both sides of the middle plate 372.

When the structure is installed, the pitching frame 37 is pressed down firstly, so that the bearing wheel 31 is abutted to the lower track cross beam of the I-shaped track 10, then the pitching frame 37 is loosened, and the tension wheel 38 is abutted to the upper track cross beam above under the action of the elasticity of the torsion spring.

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

1. A universal guide structure is applied to an I-shaped rail robot, four bearing wheel units are installed on a chassis (20) of the I-shaped rail robot, and the universal guide structure is characterized in that a front guide unit is also arranged in the middle of the front side of a pair of bearing wheel units positioned on the front side of the advancing direction on the chassis (20), the front guide unit comprises a rotating plate (42), two front guide wheels (41) and a guide bearing seat (44), the guide bearing seat (44) is fixedly connected with the chassis (20), the middle of the rotating plate (42) is rotatably connected with the guide bearing seat (44) through a rotating shaft, two ends of the rotating plate (42) are respectively provided with a long through hole (43), the length directions of the two long through holes (43) are collinear and are vertically crossed with the rotating shaft center of the rotating plate (42), each front guide wheel (41) is rotatably connected to the upper part of a front guide wheel shaft, the lower part of the front guide wheel shaft vertically penetrates through the long through hole (43) corresponding to the rotating plate (42), and the lower part of the front side guide wheel shaft can be fixed with the rotating plate (2) through a fastener.

2. The universal guide structure according to claim 1, wherein the bearing wheel (31) of the bearing wheel unit is rotatably connected to one end of a bearing wheel shaft (32), and the other end of the bearing wheel shaft (32) is vertically fixed to the middle of the vertical plate body of the support plate (34) through a wheel shaft seat (33).

3. The universal guide structure according to claim 2, wherein each of the bearing wheel units located at the rear side in the traveling direction is further provided with a rear guide wheel, each of the rear guide wheels is rotatably mounted on a lower portion of a rear guide wheel shaft, an upper portion of the rear guide wheel shaft is fixedly connected to the bearing wheel shaft between the bearing wheel and the wheel shaft seat through a fastener, and the rear guide wheel shaft is perpendicular to the bearing wheel shaft.

4. The universal guiding structure as claimed in claim 2, wherein the upper portion of the vertical plate is further hinged with a pitching frame (37), the axis of the hinged shaft is perpendicular to the bearing wheel shaft (32), a tension wheel (38) is rotatably connected to the pitching frame (37), an elastic device capable of providing an upward lifting elastic force around the hinged shaft for the pitching frame (37) is further disposed between the pitching frame (37) and the vertical plate, and during the pitching stroke of the pitching frame (37), the axis of rotation of the tension wheel (38) and the bearing wheel shaft (32) are always in the same vertical plane.

5. The universal guiding structure according to claim 4, wherein a hinged ear seat (35) is fixedly connected to the upper portion of the vertical plate body of the supporting plate (34), the pitching frame (37) comprises an Contraband-type main frame consisting of two side plates (371) and a middle plate (372), the top ends of the two side plates (371) are hinged to the hinged ear seat (35) through a hinged shaft (351), and one end of the axle of the tension wheel (38) is fixedly connected to the middle plate (372) of the pitching frame (37) vertically.

6. The universal guiding structure according to claim 5, wherein a top abutting plate (373) is further fixed between the two side plates (371), the resilient device is a torsion spring, the torsion spring is sleeved on the hinge shaft (351) and the two resilient portions respectively abut against the top abutting plate (373) and the hinge ear seat (35).

7. The gimbal-type guide structure of claim 6, wherein the tension roller (38) and the elastic means are located on both sides of the middle plate (372) of the pitching frame (37).

8. The gimbal-type guide structure of claim 2, characterized in that the vertical plate body of the support plate (34) is relatively perpendicular to the chassis (20).

9. An i-rail robot comprising the universal guide structure according to claim 1.