CN215511020U

CN215511020U - Novel running gear of robot is patrolled and examined to track

Info

Publication number: CN215511020U
Application number: CN202121386030.2U
Authority: CN
Inventors: 王聪; 徐晨鑫; 张志坚; 张冯; 时国柱
Original assignee: Nanjing Beixin Intelligent Technology Co ltd
Current assignee: Nanjing Beixin Intelligent Technology Co ltd
Priority date: 2021-06-21
Filing date: 2021-06-21
Publication date: 2022-01-14
Anticipated expiration: 2031-06-21

Abstract

The utility model discloses a novel traveling mechanism of a track inspection robot, relates to the technical field of track inspection robots, and aims to solve the problems that most of the existing track inspection robots are complex in structure, complex in installation and maintenance, too heavy in weight, low in transmission efficiency and incapable of realizing climbing and turning. The driving wheel bearing plate and the driven wheel connecting plate are symmetrically arranged at the upper end of the upper cover of the shell, the driving wheel support is arranged at the upper end of the upper cover of the shell, the motor fixing plate is arranged at the lower end of the upper cover of the shell, the driving shaft is arranged in the driving wheel support, the two driving wheels are arranged in the driving shaft, the two driven wheel bearing plates are symmetrically arranged in the driven wheel bearing plates, the two sides of the motor fixing plate and the two sides of the driving wheel support are respectively provided with a chain wheel, symmetrical chains are arranged between the four chain wheels, and a motor and a driver are arranged at the rear end of the motor fixing plate.

Description

Novel running gear of robot is patrolled and examined to track

Technical Field

The utility model relates to the technical field of track inspection robots, in particular to a novel traveling mechanism of a track inspection robot.

Background

The track inspection robot is mainly used for track inspection, and due to the basic characteristics of perception, decision, execution and the like of the robot, the robot can assist or even replace human beings to finish dangerous, heavy and complex track inspection, improve the working efficiency and quality, serve human life and expand or extend the range of activities and abilities of the human beings.

With the progress of science and technology, many places begin to continuously have the track to patrol and examine robot, office, mill, raising factory, intelligent farm, highway etc. but the track that has now patrolled and examined robot mostly all has complicated structure, installation maintenance loaded down with trivial details, and weight is overweight, and transmission efficiency is low, and climbing turning also can not realize.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a novel traveling mechanism of a track inspection robot, and aims to solve the problems that the track inspection robot is complex in structure, complex in installation and maintenance, heavy in weight, low in transmission efficiency and incapable of realizing climbing and turning in the background technology.

In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides a novel running gear of robot is patrolled and examined to track, includes the shell upper cover, the shell upper cover upper end is provided with the driven wheel bearing board of symmetry and follows the driving wheel connecting plate, the shell upper cover upper end is provided with the drive wheel support, shell upper cover lower extreme is provided with the motor fixed plate, be provided with the drive shaft in the drive wheel support, be provided with two drive wheels in the drive shaft, two the driven wheel shaft bearing seat of symmetry is provided with in the driven wheel shaft carrier plate, the motor fixed plate all is provided with sprocket, four with drive wheel support both sides be provided with the chain of symmetry between the sprocket, motor fixed plate rear end is provided with motor and driver.

Preferably, the rear ends of the motor and the driver are provided with right-angle reducers, two driven wheel set shafts are arranged in the driven wheel connecting plates, and symmetrical driving wheel set pinch plates are arranged at the front end and the rear end of the driving wheel support.

Preferably, two driving wheels are provided with driving shafts, two driving shaft sleeves are symmetrically arranged on the outer sides of the two driving wheels, symmetrical driving wheel bearing seats are arranged on the outer sides of the driving wheel supports, the two driving wheel bearing seats are in driving connection with chain wheels, the driving shafts penetrate through the chain wheels on the two sides, symmetrical middle limiting wheels are arranged on the inner sides of the driving wheel supports, and the middle limiting wheels are movably connected with the driving wheels.

Preferably, driven wheel assembly bearings are arranged in the two driven wheel set shafts.

Preferably, the front sections of the two driven wheel connecting plates are provided with driven top wheel sets, the inner sides of the two driven wheel bearing seats are provided with driven wheels, the inner sides of the driven wheels are provided with driven wheel shafts, one sides of the two driven wheel bearing plates are provided with driven wheel sealing covers, and the front ends and the rear ends of the two driven wheel bearing plates are provided with symmetrical driven limiting wheels.

Preferably, two driven wheel bearing plates are provided with walking encoders at the other sides, and a main fixing plate is arranged at the lower end of the upper cover of the shell.

Compared with the prior art, the utility model has the beneficial effects that:

1. this novel running gear of robot is patrolled and examined to track makes running gear of robot operate steadily and the reliability is higher through setting up drive wheelset and driven wheelset, reduces incident probability, simple structure and easy installation and debugging make things convenient for later maintenance, and the walking is efficient.

2. This novel running gear of robot is patrolled and examined to track directly drives the drive wheel through the gear motor who sets up, and installation, maintenance, change are also very convenient, can also realize the motion function of climbing, turn simultaneously. Generally, the running mechanism of the track inspection robot has high reliability, stability, safety, maintainability and popularization and application.

Drawings

FIG. 1 is a schematic view of the overall structure of the robot walking mechanism of the present invention;

FIG. 2 is a left side view of the robotic crawler of the present invention;

FIG. 3 is a lower view of the robot walking mechanism of the present invention;

FIG. 4 is a schematic view of a driving wheel set of the robot walking mechanism of the present invention;

fig. 5 is a schematic diagram of a driven wheel of the robot walking mechanism of the utility model.

In the figure: 1. a drive wheel; 2. a drive shaft; 3. a drive wheel support; 4. a drive shaft sleeve; 5. a drive wheel bearing seat; 6. a sprocket; 7. a middle limiting wheel; 9. a driven wheel assembly bearing; 12. a driven wheel bearing plate; 14. a driven wheel connecting plate; 19. a driven top wheel set; 21. a driven wheel; 22. a driven axle; 23. a driven wheel bearing seat; 24. sealing the driven wheel; 29. a driven limit wheel; 30. a walking encoder; 32. a motor fixing plate; 33. a total fixing plate; 34. an upper cover of the shell; 35. a motor and a driver; 36. a right-angle reducer; 37. a driven wheel set shaft; 38. driving wheel group buckle; 39. and a chain.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-5, an embodiment of the present invention is shown: the utility model provides a novel running gear of robot is patrolled and examined to track, including shell

upper cover

34, 34 upper ends of shell upper cover are provided with the trailing axle carrier plate 12 and the driven wheel connecting plate 14 of symmetry, 34 upper ends of shell upper cover are provided with

drive wheel support

3, 34 lower extremes of shell upper cover are provided with motor fixing plate 32, be provided with drive shaft 2 in the drive wheel support 3, be provided with two drive wheels 1 in the drive shaft 2, be provided with the trailing axle bearing 23 of symmetry in two trailing axle carrier plates 12, motor fixing plate 32 all is provided with sprocket 6 with 3 both sides of drive wheel support, be provided with the chain 39 of symmetry between four sprocket 6, motor fixing plate 32 rear end is provided with motor and driver 35.

Further, motor and driver 35 rear end is provided with right angle reduction gear 36, all be provided with from driving wheel group axle 37 in two driven wheel connecting plates 14, driving wheel support 3 front and back both ends all are provided with the drive wheelset buckle 38 of symmetry, through by drive wheel 1, drive shaft 2, the drive wheelset that drive wheel support 3 and drive shaft sleeve 4 and drive wheel bearing frame 5 formed provides power output for the mechanism, and the drive wheelset divide into two-layer folding formula from top to bottom, sprocket 6 passes through chain 39 and right angle reduction gear 36 and connects, two piece upper and lower drive wheelsets can be fixed on upper housing upper cover 34 through the intermediate junction board buckle, guarantee that drive efficiency can reach.

Further, be provided with drive shaft 2 in two drive wheels 1, the 1 outside of two drive wheels is provided with the drive shaft sleeve 4 of symmetry, the 3 outside of drive wheel support is provided with the drive wheel shaft bearing 5 of symmetry, two drive wheel shaft bearings 5 are connected with the drive of sprocket 6, drive shaft 2 runs through the sprocket 6 of both sides, 3 inboard of drive wheel support is provided with spacing wheels 7 in the middle of the symmetry, spacing wheels 7 and the 1 swing joint of drive wheel in the middle of two, zonulae occludens through drive wheel shaft bearing 5 and sprocket 6 can provide drive power, and spacing wheels 7 in the middle of can play the driven wheelset and guarantee that whole robot does not derail when crossing the turn.

Further, driven wheel assembly bearings 9 are arranged in the two driven wheel set shafts 37, and the robot can swing left and right through the arranged driven wheel assembly bearings 9 when turning, so that the robot is provided with enough freedom degree.

Further, two driven wheel connecting plates 14 anterior segments all are provided with driven top wheelset 19, two driven wheel bearing blocks 23 inboard all are provided with from driving wheel 21, two are provided with driven wheel shaft 22 from driving wheel 21 inboard, two driven wheel shaft carrier plates 12 one side are provided with from driving wheel closing cap 24, two all are provided with the driven spacing wheel 29 of symmetry from both ends around driven wheel bearing plate 12, through by middle spacing wheel 7, from driving wheel connecting plate 14, driven top wheelset 19 and driven wheel shaft 22 form can provide driven power for the robot, driven top wheelset 19 also guarantees at downhill path and uphill in-process, driven wheelset closely laminates with the track all the time, can not appear acutely rocking, the condition of vibrations, make whole equipment be in the state of steadily traveling. The driven wheel set is connected with the lower integral device through a driven wheel set connecting main shaft, and the driven wheel set is fixed at the bottom through a large nut.

Further, two driven wheel bearing board 12 opposite sides all are provided with walking encoder 30, and shell upper cover 34 lower extreme is provided with total fixed plate 33, can control the walking route of robot through walking encoder 30, and the total fixed plate 33 that sets up can play the effect of fixed structure.

The working principle is as follows: firstly, a driving wheel set mechanism and a motor mechanism are linked through a chain 39, a speed reducer is fixed on a 32 motor fixing plate, a chain wheel 6 is installed on an output shaft, kinetic energy is output to the chain wheel 6 on the driving wheel set through the chain 39, the chain wheel 6 and a driving shaft 2 are fixed through a jackscrew, and a driving wheel 1 and the driving shaft 2 are also relatively fixed, so that the whole driving device is formed, the driving shaft 2 is transversely fixed under the connection of a bearing, a driving wheel bearing 5 and a driving wheel sleeve, so as to ensure the normal operation of the driving shaft 2, as can be seen in figure 3, the driving wheel set mechanism is formed by stacking an upper driving wheel set buckle 38 and a lower driving wheel set buckle and a bolt, is fixed and clamped above a shell upper cover 34, and is clamped at the lower end of a main track under the action of a left middle limiting wheel 7 and a right limiting wheel 7, as shown in figure 3, a driven wheel is divided into a front part and a rear part, and a belt walking encoder 30, the other one is not provided with the driven wheel set, the other one is the same in structure, the driven wheel set mainly comprises a main body consisting of a driven limiting wheel 29, a driven wheel bearing plate 12 and a driven wheel connecting plate 14, a driven wheel 21, a driven top wheel set 19, a driven wheel shaft 22, a driven wheel bearing seat 23, a driven wheel cover 24 or a walking encoder 30, the whole driven wheel set mechanism can swing left and right under the action of the driven wheel assembly bearing 9 through the driven wheel assembly bearing 9 and a driven wheel set shaft 37 fixed above a shell upper cover 34, meanwhile, as shown in fig. 5, the front and the rear of the mechanism are respectively provided with the driven top wheel set 19, the two driven top wheel sets 19 are abutted against the lower end of the rail, and the robot can counteract partial gravity of the robot no matter whether the whole walking mechanism is in a straight way, an ascending slope or a descending slope, so that the robot can be more attached to the rail. 4 driven spacing wheels 29 are for the driven wheelset guarantees when the turn-round that whole robot does not derail, can calculate a minimum radius of turning round in addition, the robot is as long as the radius that sets up is more than or equal to this minimum radius when turning round like this can, about the swing of propping rail device and whole driven wheelset mechanism of driven top wheelset 19 and returning the normal position device, torsional spring and extension spring have been used respectively, the torsional spring lets from the top wheelset 19 can closely laminate the track very, the extension spring is fixed on driven wheel bearing 23, each about, no matter how the swing of driven wheelset mechanism, can all return original perpendicular track state like this.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a novel running gear of robot is patrolled and examined to track, includes shell upper cover (34), its characterized in that: the utility model discloses a driving wheel bearing plate, including shell upper cover (34), drive wheel bearing plate (23), motor fixing plate (32), drive wheel support (2), shell upper cover (34) upper end is provided with driven wheel bearing board (12) and driven wheel connecting plate (14) of symmetry, shell upper cover (34) upper end is provided with drive wheel support (3), shell upper cover (34) lower extreme is provided with motor fixing plate (32), be provided with drive shaft (2) in drive wheel support (3), be provided with two drive wheels (1) in drive shaft (2), two be provided with symmetrical driven wheel bearing frame (23) in driven wheel bearing plate (12), motor fixing plate (32) and drive wheel support (3) both sides all are provided with sprocket (6), four be provided with symmetrical chain (39) between sprocket (6), motor fixing plate (32) rear end is provided with motor and driver (35).

2. The novel walking mechanism of track inspection robot according to claim 1, characterized in that: the rear ends of the motor and the driver (35) are provided with right-angle reducers (36), two driven wheel set shafts (37) are arranged in the driven wheel connecting plates (14), and symmetrical driving wheel set buckling plates (38) are arranged at the front end and the rear end of the driving wheel support (3).

3. The novel walking mechanism of track inspection robot according to claim 1, characterized in that: two be provided with drive shaft (2) in drive wheel (1), two the drive shaft sleeve (4) of symmetry is provided with in drive wheel (1) outside, drive wheel support (3) outside is provided with drive wheel bearing frame (5) of symmetry, two drive wheel bearing frame (5) and sprocket (6) drive connection, drive shaft (2) run through sprocket (6) of both sides, drive wheel support (3) inboard is provided with spacing wheel (7) in the middle of the symmetry, two spacing wheel (7) in the middle of and drive wheel (1) swing joint.

4. The novel walking mechanism of track inspection robot according to claim 2, characterized in that: driven wheel assembly bearings (9) are arranged in the two driven wheel assembly shafts (37).

5. The novel walking mechanism of track inspection robot according to claim 1, characterized in that: driven top wheel sets (19) are arranged on the front sections of the two driven wheel connecting plates (14), driven wheels (21) are arranged on the inner sides of the two driven wheel bearing seats (23), driven wheel shafts (22) are arranged on the inner sides of the two driven wheels (21), driven wheel sealing covers (24) are arranged on one sides of the two driven wheel bearing plates (12), and symmetrical driven limiting wheels (29) are arranged at the front ends and the rear ends of the two driven wheel bearing plates (12).

6. The novel walking mechanism of track inspection robot according to claim 1, characterized in that: two driven wheel bearing board (12) opposite side all is provided with walking encoder (30), shell upper cover (34) lower extreme is provided with total fixed plate (33).