CN217372336U - Track robot - Google Patents

Abstract

The utility model provides a track robot, including positioner, turn to device, drive arrangement, a plurality of preceding risers and a plurality of back risers, turn to the device and include preceding steering arm and back steering arm, preceding riser symmetry is installed in the front and is turned to the arm upper surface, and back riser symmetry is installed at the back and is turned to the arm upper surface, and drive arrangement installs in the front on riser and back riser, and positioner installs on turning to the device. The utility model relates to a track robot, through the spring tensioning encoder roof make the encoder wheel hug closely the track, keep unanimous with the track linear velocity through the encoder wheel, confirm track robot position through the encoder, the design is simple and practical, good to complicated indoor environment adaptability; the utility model discloses a cooperation of horizontal guide pulley and vertical guide pulley makes the robot can adapt to the orbital motion of turn and height peak patrolling and examining the in-process, and stability is good, simple structure, and the required precision is not high.

Description

Track robot

Technical Field

The utility model belongs to the technical field of the robot that patrols and examines, in particular to track robot.

Background

In some indoor operation environments, the environment is severe, the space is generally narrow and small, and the characteristics of high ambient temperature, high humidity and the like can exist, so that the inspection and the maintenance of the indoor operation are difficult, and certain danger also exists for the personal safety of inspection personnel under extreme conditions. Therefore, the inspection robot is necessary to realize auxiliary inspection.

There are the supplementary indoor work of patrolling and examining of multiple robot at present, include: wheeled inspection robots, foot-type inspection robots, orbital robots, and the like. The foot type robot has good obstacle crossing capability and can adapt to complex terrain environment, but the required control precision is high and the manufacturing cost is high; the wheeled robot is stable, but has limited obstacle-crossing capability and cannot adapt to terrain environments such as steps, doorsills and the like; the track robot can walk on comparatively level and smooth wall, has avoided complicated topography environment, and the cost is not high, and stability is good, is adapted to the multiple scene of patrolling and examining. The existing track robot has complex design and higher control precision, or cannot adapt to curved or up-and-down fluctuating tracks.

SUMMERY OF THE UTILITY MODEL

To the problem, the utility model provides a track robot.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a track robot comprises a positioning device, a steering device, a driving device, a plurality of front vertical plates and a plurality of rear vertical plates;

the steering device comprises a front steering arm and a rear steering arm;

the front vertical plates are symmetrically arranged on the upper surface of the front steering arm, and the rear vertical plates are symmetrically arranged on the upper surface of the rear steering arm;

the driving device is arranged on the front vertical plate and the rear vertical plate;

the positioning device is mounted on the steering device.

Preferably, the steering device further comprises an upper steering arm support and a lower steering arm support which are of rectangular structures, and the upper steering arm support is arranged on the upper side of the lower steering arm support.

Preferably, preceding steering arm and back steering arm rotate to be installed at last steering arm support under and between the steering arm support, preceding steering arm and back steering arm all are the rectangular plate structure, and one end all is provided with the opening.

Preferably, the steering device further comprises a plurality of transverse guide wheels, a plurality of longitudinal guide wheels and a plurality of connecting rods, the longitudinal guide wheels are rotatably connected with the connecting rods, the connecting rods are mounted at one ends of the openings of the front steering arm and the rear steering arm, and the transverse guide wheels are rotatably mounted on the inner sides of the front vertical plate and the rear vertical plate and are located on the lower side of the driving device.

Preferably, the driving device comprises a plurality of driven wheels, a plurality of driving wheels, a plurality of motors and bearings, the motors are mounted on the outer side of the rear vertical plate, output shafts of the motors extend to the inner side of the rear vertical plate, the driving wheels are mounted on the output shafts of the motors, the bearings are mounted on the front vertical plate, and the driven wheels are rotatably connected with the bearings through shafts and located on the inner side of the front vertical plate.

Preferably, positioner includes roof, encoder wheel, roof and last steering arm support and lower steering arm support sliding connection, the encoder is installed in the roof upper end, the encoder wheel rotates and installs in the roof upper end.

Preferably, a plurality of springs are further connected between the top plate and the lower steering arm support, and the springs are uniformly distributed on two sides of the top plate.

Preferably, the diameters of the driving wheel and the driven wheel are the same.

Preferably, the driving wheel and the driven wheel are in sliding fit with a track, and the section of the track is in an I shape.

Preferably, the encoder wheel abuts the bottom of the track.

The utility model has the advantages that:

1. the utility model relates to a track robot makes the encoder wheel hug closely the track through the taut encoder roof of spring, keeps unanimous with track linear velocity through the encoder wheel, confirms track robot position through the encoder, and the design is simple and practical, and is good to complicated indoor environment adaptability, and the cost is relatively lower, and the control accuracy of requirement is not high, can extensively use in the indoor field of patrolling and examining.

2. The utility model discloses created a brand-new mechanical structure, adopted the cooperation of horizontal guide pulley and vertical guide pulley, made the robot can adapt to the orbital motion of turn and height peak patrolling and examining the in-process, stability is good, and mechanical structure is simple, and the required precision is not high, especially in the indoor field of patrolling and examining, can adapt to comparatively complicated wall structure, uses extensively.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 shows a schematic structural diagram of a track robot of the present invention;

fig. 2 shows a front view of a rail robot of the present invention;

fig. 3 shows a real application diagram of the track robot of the present invention.

In the figure: 1. a driven wheel; 2. a front vertical plate; 3. a rear vertical plate; 4. a driving wheel; 5. a transverse guide wheel; 6. A motor; 7. a longitudinal guide wheel; 8. a connecting rod; 9. a rear steering arm; 10. a lower steering arm bracket; 11. An upper steering arm bracket; 12. a front steering arm; 13. a spring; 14. a top plate; 15. an encoder; 16. an encoder wheel; 17. a bearing; 18. a track.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention are 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 some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

A track robot is shown in figure 1 and comprises a positioning device, a steering device, a driving device, a plurality of front vertical plates 2 and a plurality of rear vertical plates 3;

the steering device comprises a front steering arm 12 and a rear steering arm 9;

the front vertical plates 2 are symmetrically arranged on the upper surface of the front steering arm 12, and the rear vertical plates 3 are symmetrically arranged on the upper surface of the rear steering arm 9;

the driving device is arranged on the front vertical plate 2 and the rear vertical plate 3;

the positioning device is arranged on the steering device.

Further, the steering device further comprises an upper steering arm support 11 and a lower steering arm support 10 which are of rectangular structures, wherein the upper steering arm support 11 is arranged on the upper side of the lower steering arm support 10.

Further, as shown in fig. 2, the front steering arm 12 and the rear steering arm 9 are rotatably mounted between the upper steering arm support 11 and the lower steering arm support 10, the front steering arm 12 and the rear steering arm 9 are both rectangular plate structures, and one end of each is provided with an opening.

In the steering apparatus, both the front steering arm 12 and the rear steering arm 9 can be rotated left and right, so that the track robot can adjust the direction in the horizontal plane, and the front steering arm 12 and the rear steering arm 9 are respectively located at both ends of the upper steering arm support 11.

Further, turn to the device and still include a plurality of transverse guide 5, a plurality of vertical guide 7 and a plurality of connecting rod 8, vertical guide 7 rotates with connecting rod 8 to be connected, and connecting rod 8 installs the open end on preceding steering arm 12 and back steering arm 9, and transverse guide 5 rotates the inboard of installing in preceding riser 2 and back riser 3, and is located the drive arrangement downside.

As shown in fig. 3, the track robot moves along the track 18, and when the track robot travels to a turn of the track 18, the longitudinal guide wheel 7 drives the front steering arm 12 and the rear steering arm 9 to rotate, and the front steering arm and the rear steering arm are tightly attached to the side surface of the track 18, so that the track robot can turn left and right, and the traveling track can be changed. The transverse guide wheel 5 is arranged below the I-shaped track 18, and when the robot travels to the peak valley of the track 18, the transverse guide wheel 5 drives the track robot to move up and down to adapt to the change of the track 18.

It should be further noted that the number of the lateral guide wheels 5 is preferably two, and the number of the longitudinal guide wheels 7 is preferably four, and the lateral guide wheels are respectively mounted at the top corners of the open ends of the front steering arm 12 and the rear steering arm 9.

Further, the driving device comprises a plurality of driven wheels 1, a plurality of driving wheels 4, a plurality of motors 6 and bearings 17, the motors 6 are installed on the outer side of the rear vertical plate 3, output shafts of the motors 6 extend to the inner side of the rear vertical plate 3, the driving wheels 4 are installed on the output shafts of the motors 6, the bearings 17 are installed on the front vertical plate 2, and the driven wheels 4 and the bearings 17 are rotatably connected through shafts and located on the inner side of the front vertical plate 2.

It should be noted that the motor 6 drives the driving wheel 4 to rotate, so as to realize the forward and backward movement of the robot. Two driven wheels 1 are connected with the robot bracket through a flange bearing 17, in addition, the driven wheels 1 are arranged on a shaft, and then the shaft is matched with the bearing 17.

Further, the positioning device comprises a top plate 14, an encoder 15 and an encoder wheel 16, wherein the top plate 14 is connected with the upper steering arm support 11 and the lower steering arm support 10 in a sliding mode, the encoder 15 is installed at the upper end of the top plate 14, and the encoder wheel 16 is installed at the upper end of the top plate 14 in a rotating mode.

Further, a plurality of springs 13 are connected between the top plate 14 and the lower steering arm support 10, and the springs 13 are uniformly distributed on two sides of the top plate 14.

It should be noted that, two springs 13 are connected with the lower steering arm support 10 and the top plate 14, and jack up the encoder wheel 16 to be tightly attached to the track 18, so as to ensure that the linear speed of rotation of the encoder wheel 16 is consistent with the advancing speed of the robot, and the encoder 15 measures the displacement to position the robot.

Further, the diameters of the driving pulley 4 and the driven pulley 1 are the same.

It should be noted that, the size of the driving wheel 4 is consistent with that of the driven wheel 1, which is convenient for the track robot to operate stably.

Further, the driving wheel 4 and the driven wheel 1 are in sliding fit with a track 18, and the section of the track 18 is in an I shape.

It should be noted that the driving wheel 4 and the driven wheel 1 both move in the middle of the drum track 18.

Further, the encoder wheel 16 abuts the bottom of the track 18.

It should be noted that the track robot can assist the vision monitoring system and the like to achieve the inspection effect.

Although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims (10)

1. An orbital robot, characterized by: comprises a positioning device, a steering device, a driving device, a plurality of front vertical plates (2) and a plurality of rear vertical plates (3);

the steering device comprises a front steering arm (12) and a rear steering arm (9);

the front vertical plates (2) are symmetrically arranged on the upper surface of the front steering arm (12), and the rear vertical plates (3) are symmetrically arranged on the upper surface of the rear steering arm (9);

the driving device is arranged on the front vertical plate (2) and the rear vertical plate (3);

the positioning device is mounted on the steering device.

2. The orbital robot as claimed in claim 1, wherein said steering means further comprises an upper steering arm support (11) and a lower steering arm support (10) in a rectangular configuration, said upper steering arm support (11) being disposed on the upper side of said lower steering arm support (10).

3. The orbital robot as claimed in claim 2, wherein the front steering arm (12) and the rear steering arm (9) are rotatably mounted between an upper steering arm support (11) and a lower steering arm support (10), and the front steering arm (12) and the rear steering arm (9) are each in the form of a rectangular plate having an opening at one end.

4. The rail robot as claimed in any one of claims 1-3, wherein the steering device further comprises a plurality of lateral guide wheels (5), a plurality of longitudinal guide wheels (7) and a plurality of connecting rods (8), the longitudinal guide wheels (7) are rotatably connected with the connecting rods (8), the connecting rods (8) are mounted at one ends of the openings of the front steering arm (12) and the rear steering arm (9), and the lateral guide wheels (5) are rotatably mounted at the inner sides of the front vertical plate (2) and the rear vertical plate (3) and are located at the lower side of the driving device.

5. The track robot according to claim 2, wherein the driving device comprises a plurality of driven wheels (1), a plurality of driving wheels (4), a plurality of motors (6) and bearings (17), the motors (6) are mounted on the outer side of the rear vertical plate (3), output shafts of the motors (6) extend to the inner side of the rear vertical plate (3), the driving wheels (4) are mounted on the output shafts of the motors (6), the bearings (17) are mounted on the front vertical plate (2), and the driven wheels (1) are rotatably connected with the bearings (17) through shafts and are located on the inner side of the front vertical plate (2).

6. A track robot as claimed in claim 5, characterized in that, the positioning device comprises a top plate (14), an encoder (15), and an encoder wheel (16), the top plate (14) is slidably connected with the upper steering arm support (11) and the lower steering arm support (10), the encoder (15) is installed on the top plate (14), and the encoder wheel (16) is rotatably installed on the top plate (14).

7. The orbital robot as claimed in claim 6, wherein springs (13) are connected between the top plate (14) and the lower steering arm support (10), and the springs (13) are uniformly distributed on both sides of the top plate (14).

8. The orbital robot as claimed in claim 5, wherein the driving wheels (4) and the driven wheels (1) have the same diameter.

9. The orbital robot as claimed in claim 6, wherein the driving wheel (4) and the driven wheel (1) are slidably fitted with a track (18), and the section of the track (18) is in an I shape.

10. A track robot as claimed in claim 9, characterised in that the encoder wheel (16) abuts the bottom of the track (18).

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