CN219524011U - Electric universal wheel synchronization mechanism and pipeline lifting in-place robot - Google Patents
Electric universal wheel synchronization mechanism and pipeline lifting in-place robot Download PDFInfo
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- CN219524011U CN219524011U CN202321001369.5U CN202321001369U CN219524011U CN 219524011 U CN219524011 U CN 219524011U CN 202321001369 U CN202321001369 U CN 202321001369U CN 219524011 U CN219524011 U CN 219524011U
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Abstract
The utility model discloses an electric universal wheel synchronizing mechanism and a pipeline lifting and positioning robot, comprising: the electric universal wheel is provided with a driving motor and is used for controlling the electric universal wheel to roll; the synchronous frame is connected with the electric universal wheels; and the steering drive is in driving connection with the synchronous frame and is used for driving the synchronous frame to rotate so as to synchronously rotate the electric universal wheels on the synchronous frame. According to the utility model, the synchronous frame is used for synchronously driving and steering the steering wheels, so that the synchronous steering effect of the electric universal wheels is realized, the problem of large occupied space for steering can be solved, the rotating steering taking the self as the center is realized, and the steering space is greatly saved.
Description
Technical Field
The utility model relates to the technical field of transfer robots, in particular to an electric universal wheel synchronizing mechanism and a pipeline lifting and positioning robot.
Background
The existing electric universal wheel of the transportation robot generally comprises four drives or two drives, wherein in the two drives, the two driving wheels are synchronously turned, a larger turning space is required when the robot turns, and the electric universal wheel is difficult or impossible to finish when the robot turns in a narrow space or in-situ turning is required; in the four-wheel drive, the front wheel drive and the rear wheel drive are usually in opposite directions during rotation, so that a large steering space is still required for facilitating the turning of the whole robot, and the in-situ steering is difficult to realize.
Disclosure of Invention
In order to overcome at least one of the defects in the prior art, the utility model provides an electric universal wheel synchronizing mechanism and a pipeline lifting and positioning robot. The problem of large occupied space of steering can be solved, the self-centering rotary steering is realized, and the steering space is greatly saved.
The utility model adopts the technical proposal for solving the problems that:
an electric universal wheel synchronizing mechanism comprising: the electric universal wheel is provided with a driving motor and is used for controlling the electric universal wheel to roll; the synchronous frame is connected with the electric universal wheels; and the steering drive is in driving connection with the synchronous frame and is used for driving the synchronous frame to rotate so as to synchronously rotate the electric universal wheels on the synchronous frame.
Through adopting above-mentioned scheme, through synchronous frame with the synchronous drive steering of steering wheel, realize the synchronous steering effect of electronic universal wheel.
Further, the synchronization rack includes: the first connecting rod is used for connecting an electric universal wheel positioned at one side of steering driving; the second connecting rod is used for connecting an electric universal wheel positioned at the other side of the steering drive; one end of the driving rod is connected with the center of the first connecting rod, and the other end of the driving rod is connected with the center of the second connecting rod; the center of the driving rod is connected with the driving end of the steering driving, and when the steering driving works, the driving rod is driven to rotate clockwise or anticlockwise by taking the center of the driving rod as the center of a circle, so that the first connecting rod and the second connecting rod are driven to swing, and the electric universal wheels swing synchronously.
Through adopting above-mentioned scheme, drive head rod and second connecting rod through the actuating lever and take place to rotate to make the electronic universal wheel that is located on head rod and the second connecting rod take place the swing of the same direction, and then realize synchronous steering function.
Further, at least one limiting rod is further arranged between the first connecting rod and the second connecting rod and used for connecting the first connecting rod and the second connecting rod, so that the first connecting rod and the second connecting rod are always kept parallel.
Through adopting above-mentioned scheme, the gag lever post has promoted the stability between head rod and the second connecting rod, guarantees that the two swing in-process keeps parallel.
Further, the stop lever includes: one end of the first rod body is connected with the first connecting rod; one end of the second rod body is connected with the second connecting rod; the other end of the first rod body and the other end of the second rod body are provided with adjusting mechanisms for changing the integral length of the first rod body and the integral length of the second rod body.
Through adopting above-mentioned scheme, through setting up adjustment mechanism, but the not unidimensional robot appearance of adaptation realizes the synchronous steering of universal wheel.
Further, the adjusting mechanism includes: the first concave part is positioned at the other end of the first rod body; the second concave part is positioned at the other end of the second rod body; the first concave part is opposite to the second concave part, corresponding adjusting holes are formed in the first concave part and the second concave part, and fixing pieces are arranged in the adjusting holes in a penetrating mode and used for fixing the first concave part and the second concave part.
By adopting the scheme, the connection stability of the first rod body and the second rod body is improved.
Further, the adjusting holes are strip-shaped through holes or a plurality of circular through holes with linear drainage.
Through adopting above-mentioned scheme, realize a plurality of fixed hole sites that first body of rod and second body of rod can be adjusted, it is more convenient to adjust the length of whole gag lever post.
Further, the limit rod is parallel to the driving rod.
Through adopting above-mentioned scheme, can rotate along with the actuating lever rotates, guarantee same frequency effect.
Further, the number of the electric universal wheels on the first connecting rod is the same as the number of the electric universal wheels on the second connecting rod.
Through adopting above-mentioned scheme, guarantee the support of the electronic universal wheel of both sides and turn to stable effect.
Further, the electric universal wheel is provided with a damping mechanism.
By adopting the scheme, the buffer anti-seismic effect is realized.
The utility model provides a pipeline lifting robot of taking one's place, includes pipeline fixture, pipeline lifting mechanism, extension support frame, chassis structure and electronic universal wheel synchro mechanism, the chassis structure is including the control module that is located the bottom, control module and steering drive electric connection for control steering drive realizes the synchronous steering of electronic universal wheel.
Through adopting above-mentioned scheme, through the synchronous steering to electronic universal wheel, can realize that the robot turns to in situ in the in-process of transportation pipeline, be favorable to carrying out the steering effect of pipeline when pipeline assembly.
In summary, the electric universal wheel synchronizing mechanism and the pipeline lifting and positioning robot provided by the utility model have the following technical effects:
1. the synchronous frame is arranged to synchronously drive and steer the electric universal wheels, so that the electric universal wheels can rotate in situ, the electric universal wheels are friendly to the steering of a robot, and the steering effect can be realized without more steering spaces;
2. the limiting rod is split into the first rod body and the second rod body, and the adjusting mechanism is arranged between the first rod body and the second rod body, so that the length adjustment can be performed before the first rod body and the second rod body, and the size of robots of different models can be adapted;
3. through set up damper on electronic universal wheel, improved the shock resistance of robot self.
Drawings
FIG. 1 is a schematic perspective view of a pipeline lifting-in-place robot in accordance with an embodiment of the present utility model;
FIG. 2 is a schematic side view of a pipeline lifting-in-place robot according to an embodiment of the present utility model;
FIG. 3 is a schematic diagram of an electric universal wheel synchronizing mechanism according to an embodiment of the present utility model;
FIG. 4 is a schematic diagram of an electric universal wheel synchronizing mechanism according to an embodiment of the present utility model;
fig. 5 is an enlarged view of the area a in fig. 3.
Wherein the reference numerals have the following meanings: 1. an electric universal wheel; 11. a damping mechanism; 2. steering drive; 3. a synchronous frame; 31. a first connecting rod; 32. a second connecting rod; 33. a driving rod; 331. a connection hole; 4. a limit rod; 41. a first rod body; 42. a second rod body; 5. an adjusting mechanism; 51. a first concave portion; 52. a second concave portion; 53. an adjustment aperture; 6. a pipe clamping mechanism; 7. a pipeline lifting mechanism; 8. expanding the supporting frame; 9. chassis structure.
Detailed Description
For a better understanding and implementation, the technical solutions of the embodiments of the present utility model will be clearly and completely described and discussed below in conjunction with the accompanying drawings, and it is apparent that what is described herein is only a part, but not all, of the examples of the present utility model, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present utility model are within the scope of protection of the present utility model.
For the purpose of facilitating an understanding of the embodiments of the present utility model, reference will now be made to the drawings, by way of example, of specific embodiments, and the various embodiments should not be construed to limit the embodiments of the utility model.
In the description of the present utility model, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, only for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or elements to be referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model.
1-4, an embodiment 1 of the utility model discloses an electric universal wheel synchronizing mechanism, which comprises an electric universal wheel 1, a synchronizing frame 3 and a steering drive 2, wherein the electric universal wheel 1 is provided with a driving motor for controlling the rolling effect of the electric universal wheel 1, and the forward or backward function of a robot is realized by operating the electric universal wheel 1 to forward or overturn; the synchronous frame 3 is connected with the electric universal wheel 1; the steering drive 2 is in driving connection with the synchronous frame 3 and is used for driving the synchronous frame 3 to rotate, so that the electric universal wheels 1 on the synchronous frame 3 synchronously rotate, and the synchronous frame 3 is used for synchronously driving and steering the steering wheels, so that the synchronous steering effect of the electric universal wheels 1 is realized.
In the present embodiment, the number of the electric universal wheels 1 is not limited, and two or more electric universal wheels 1 may be selected according to actual situations, so that synchronous driving may be achieved.
Specifically, the synchronous frame 3 comprises a first connecting rod 31, a second connecting rod 32 and a driving rod 33, wherein the first connecting rod 31 is used for connecting the electric universal wheel 1 positioned at one side of the steering drive 2; the second connecting rod 32 is used for connecting the electric universal wheel 1 positioned at the other side of the steering drive 2; the connection mode between the electric universal wheel 1 and the synchronous frame 3 is not particularly limited, and the connection mode comprises, but is not limited to, welding, threading or clamping, and is only used for connecting the electric universal wheel 1 on the synchronous frame 3, and can swing along with the synchronous frame 3 to realize steering, and the driving effect of a driving motor of the electric universal wheel 1 is not affected.
One end of the driving rod 33 is connected with the center of the first connecting rod 31, the other end of the driving rod 33 is connected with the center of the second connecting rod 32, the two ends of the specific driving rod 33 are provided with connecting holes 331, the connecting holes 331 are strip-shaped through holes, round through holes, oval through holes or polygonal through holes, the number of the connecting holes can be one or more, the connecting holes can be linearly arranged when the connecting holes are multiple, bolts or screws penetrate through the connecting holes 331, after the bolts or screws are locked through nuts and bolts, the two ends of the driving rod 33 are respectively connected with the center of the first connecting rod 31 and the center of the second connecting rod 32, the center of the driving rod 33 is connected with the driving end of the steering driving rod 2, when the steering driving rod 2 works, the driving rod 33 is driven to rotate clockwise or anticlockwise by taking the center of the driving rod 33, so that the first connecting rod 31 and the second connecting rod 32 are driven to swing synchronously, the electric universal wheels 1 are driven by the driving rod 33 to rotate, the electric universal wheels 31 and the second connecting rod 32 are driven to swing synchronously, the electric universal wheels 1 are driven to swing in the same direction on the first connecting rod 31 and the second connecting rod 32, the two ends of the electric universal wheels are driven by the driving rod 33 to swing synchronously, the connecting rod 33 are connected with the second connecting rod 32, the two ends of the driving rod 33 are matched with the connecting rod 33, and the driving rod 33 can be used for realizing the specific driving rod 33, and the driving rod 32, and the driving mechanism to be different from the connecting rod.
Still be provided with at least one gag lever post 4 between head rod 31 and the second connecting rod 32, be used for connecting head rod 31 and second connecting rod 32 make head rod 31 and second connecting rod 32 remain parallel all the time, gag lever post 4 has promoted the stability between head rod 31 and the second connecting rod 32, guarantees that the two swing in-process remains parallel. In embodiment 1, the number of the limit rods 4 is two, and the limit rods are respectively located at two sides of the driving rod 33 and are parallel to the driving rod 33.
The limiting rod 4 comprises a first rod body 41 and a second rod body 42, and one end of the first rod body 41 is connected with the first connecting rod 31 through a bolt or a screw; the second rod body 42, one end of the second rod body 42 is connected with the second connecting rod 32 through a bolt or a screw; the other ends of the first rod 41 and the second rod 42 are provided with an adjusting mechanism 5 for changing the overall length of the first rod 41 and the second rod 42, and the adjusting mechanism 5 comprises a first concave part 51 positioned at the other end of the first rod 41 and a second concave part 52 positioned at the other end of the second rod 42; the first concave portion 51 is opposite to the second concave portion 52, and the first concave portion 51 and the second concave portion 52 are provided with corresponding adjusting holes 53, the adjusting holes 53 are in a shape of a bar, a circle, an ellipse or a polygon, the number of the adjusting holes can be one or more, when the adjusting holes are in a plurality of adjusting holes, the adjusting holes 53 are arranged linearly, and fixing pieces are arranged in the adjusting holes 53 in a penetrating manner and used for attaching and fixing the first concave portion 51 and the second concave portion 52, so that the connection stability of the first rod body 41 and the second rod body 42 is improved, and the fixing pieces are screws or bolts.
In one embodiment, the connection between the driving rod 33 and the first connecting rod 31 and the second connecting rod 32 is rotatable, the limiting rod 4 is rotatable at the connection between the first connecting rod 31 and the second connecting rod 32, when the steering driving 2 works, the limiting rod 4 and the driving rod 33 can be kept parallel, the limiting rod 4 rotates along with the rotation of the driving rod 33, the same-frequency effect is ensured, a parallelogram with changeable area is formed among the limiting rod 4, the driving rod 33, the first connecting rod 31 and the second connecting rod 32, and the driving rod 33 rotates, so that the first connecting rod 31 and the second connecting rod 32 on the left side and the right side of the driving rod 33 move back and forth, and accordingly the electric universal wheels 1 are driven to swing synchronously, and the synchronous steering effect is realized.
In an embodiment, the connection part between the driving rod 33 and the first connecting rod 31 and the second connecting rod 32 is not rotatable, the limiting rod 4 is not rotatable at the connection part between the first connecting rod 31 and the second connecting rod 32, when the steering drive 2 works, the limiting rod 4 and the driving rod 33 can be kept parallel, the limiting rod 4 rotates along with the rotation of the driving rod 33, the same-frequency effect is ensured, a rectangle with unchanged volume is formed among the limiting rod 4, the driving rod 33, the first connecting rod 31 and the second connecting rod 32, and the driving rod 33 rotates, so that the synchronous frame 3 integrally rotates, and the number of the electric universal wheels 1 is driven to synchronously swing, thereby realizing the synchronous steering effect.
In one embodiment, the number of the electric universal wheels 1 on the first connecting rod 31 is the same as the number of the electric universal wheels 1 on the second connecting rod 32, so as to ensure the supporting and steering stabilizing effects of the electric universal wheels 1 on both sides.
In one embodiment, the electric universal wheel 1 is provided with a damping mechanism 11 to achieve a damping and shock-resistant effect.
The utility model also relates to a pipeline lifting in-place robot which comprises a pipeline clamping mechanism 6, a pipeline lifting mechanism 7, an expansion supporting frame 8, a chassis structure 9 and an electric universal wheel 1 synchronous mechanism, wherein the chassis structure 9 comprises a control module positioned at the bottom, the control module is electrically connected with the steering drive 2 and used for controlling the steering drive 2 to realize synchronous steering of the electric universal wheel 1, and the robot can realize in-situ steering in the process of transporting a pipeline through synchronous steering of the electric universal wheel 1, so that the pipeline steering effect is facilitated when the pipeline is assembled.
In summary, the electric universal wheel synchronizing mechanism and the pipeline lifting and positioning robot provided by the utility model have the following technical effects:
1. the synchronous frame 3 is arranged to synchronously drive and steer the electric universal wheel 1, so that the electric universal wheel can rotate in situ, is friendly to the steering of a robot, and can realize the steering effect without more steering space;
2. the limiting rod 4 is split into the first rod body 41 and the second rod body 42, and the adjusting mechanism 5 is arranged between the first rod body 41 and the second rod body 42, so that the length adjustment can be performed before the first rod body 41 and the second rod body 42, and the size of robots of different models can be adapted;
3. by arranging the connecting holes 331 at the two ends of the driving rod 33, the distance between the driving rod 33 and the first connecting rod 31 and the second connecting rod 32 can be adjusted, and the robot can adapt to the sizes of robots of different models;
4. by providing the vibration reduction mechanism 11 on the electric universal wheel 1, the vibration resistance of the robot itself is improved.
The technical means disclosed by the scheme of the utility model is not limited to the technical means disclosed by the embodiment, and also comprises the technical scheme formed by any combination of the technical features. It should be noted that modifications and adaptations to the utility model may occur to one skilled in the art without departing from the principles of the present utility model and are intended to be within the scope of the present utility model.
Claims (10)
1. An electric universal wheel synchronizing mechanism, which is characterized in that: comprising the following steps:
the electric universal wheel (1) is provided with a driving motor and is used for controlling the electric universal wheel (1) to roll;
a synchronous frame (3), wherein the synchronous frame (3) is connected with the electric universal wheel (1);
and the steering drive (2) is in drive connection with the synchronous frame (3) and is used for driving the synchronous frame (3) to rotate so as to enable the electric universal wheels (1) on the synchronous frame (3) to synchronously rotate.
2. An electric universal wheel synchronizing mechanism according to claim 1, wherein: the synchronization rack (3) comprises:
the first connecting rod (31) is used for connecting an electric universal wheel (1) positioned at one side of the steering drive (2);
the second connecting rod (32), the said second connecting rod (32) is used for connecting the electric universal wheel (1) located at the other side of steering drive (2);
a driving rod (33), wherein one end of the driving rod (33) is connected with the center of the first connecting rod (31), and the other end of the driving rod (33) is connected with the center of the second connecting rod (32);
the center of the driving rod (33) is connected with the driving end of the steering driving rod (2), and when the steering driving rod (2) works, the driving rod (33) is driven to rotate clockwise or anticlockwise by taking the center of the driving rod as a circle center, so that the first connecting rod (31) and the second connecting rod (32) are driven to swing, and the electric universal wheel (1) is enabled to swing synchronously.
3. An electric universal wheel synchronizing mechanism according to claim 2, characterized in that: at least one limiting rod (4) is further arranged between the first connecting rod (31) and the second connecting rod (32) and used for connecting the first connecting rod (31) and the second connecting rod (32), so that the first connecting rod (31) and the second connecting rod (32) are always kept parallel.
4. An electric universal wheel synchronizing mechanism according to claim 3, characterized in that: the limit rod (4) comprises:
a first rod body (41), wherein one end of the first rod body (41) is connected with the first connecting rod (31);
the second rod body (42), one end of the second rod body (42) is connected with the second connecting rod (32);
the other end of the first rod body (41) and the other end of the second rod body (42) are provided with adjusting mechanisms (5) for changing the integral length of the first rod body (41) and the integral length of the second rod body (42).
5. The electric universal wheel synchronizing mechanism of claim 4, wherein: the adjusting mechanism (5) comprises:
a first concave part (51) positioned at the other end of the first rod body (41);
a second concave part (52) positioned at the other end of the second rod body (42);
the first concave part (51) is opposite to the second concave part (52), corresponding adjusting holes (53) are formed in the first concave part (51) and the second concave part (52), and fixing pieces are arranged in the adjusting holes (53) in a penetrating mode and used for fixing the first concave part (51) and the second concave part (52).
6. An electric universal wheel synchronizing mechanism according to claim 5, wherein: the adjusting holes (53) are strip-shaped through holes or a plurality of circular through holes with linear drainage.
7. The electric universal wheel synchronizing mechanism of any of claims 3-6, wherein: the limiting rod (4) is parallel to the driving rod (33).
8. The electric universal wheel synchronizing mechanism of any of claims 2-6, wherein: the number of the electric universal wheels (1) on the first connecting rod (31) is the same as the number of the electric universal wheels (1) on the second connecting rod (32).
9. The electric universal wheel synchronizing mechanism of any of claims 1-6, wherein: the electric universal wheel (1) is provided with a damping mechanism (11).
10. A pipeline lifting in-place robot comprising a pipeline clamping mechanism (6), a pipeline lifting mechanism (7), an expansion support frame (8), a chassis structure (9) and the electric universal wheel synchronizing mechanism according to any one of claims 1-9, characterized in that: the chassis structure (9) comprises a control module positioned at the bottom, and the control module is electrically connected with the steering drive (2) and is used for controlling the steering drive (2) to realize synchronous steering of the electric universal wheels (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321001369.5U CN219524011U (en) | 2023-04-28 | 2023-04-28 | Electric universal wheel synchronization mechanism and pipeline lifting in-place robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321001369.5U CN219524011U (en) | 2023-04-28 | 2023-04-28 | Electric universal wheel synchronization mechanism and pipeline lifting in-place robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219524011U true CN219524011U (en) | 2023-08-15 |
Family
ID=87632502
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321001369.5U Active CN219524011U (en) | 2023-04-28 | 2023-04-28 | Electric universal wheel synchronization mechanism and pipeline lifting in-place robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219524011U (en) |
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2023
- 2023-04-28 CN CN202321001369.5U patent/CN219524011U/en active Active
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