WO2023284180A1 - 巡检机器人行走装置及其巡检机器人系统 - Google Patents

巡检机器人行走装置及其巡检机器人系统 Download PDF

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Publication number
WO2023284180A1
WO2023284180A1 PCT/CN2021/128498 CN2021128498W WO2023284180A1 WO 2023284180 A1 WO2023284180 A1 WO 2023284180A1 CN 2021128498 W CN2021128498 W CN 2021128498W WO 2023284180 A1 WO2023284180 A1 WO 2023284180A1
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WIPO (PCT)
Prior art keywords
wheel
inspection robot
walking device
rod
connecting member
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PCT/CN2021/128498
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English (en)
French (fr)
Inventor
苗可彬
李泽芳
张子良
彭然
张维振
朱文硕
赵云龙
龙秉政
张德胜
黄增波
丰颖
Original Assignee
煤炭科学技术研究院有限公司
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Publication of WO2023284180A1 publication Critical patent/WO2023284180A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Definitions

  • the embodiments of the present application relate to the field of robots, and in particular, relate to a walking device of an inspection robot and an inspection robot system thereof.
  • the inspection robot is used to detect the transportation of the coal conveyor belt and the belt in the transfer link to prevent major production accidents caused by belt tearing, deviation, coal scattering, and coal accumulation.
  • the mine environment is complex, and the walking mechanism of the inspection robot needs to flexibly adjust the walking angle according to the track wires, which cannot be adaptively adjusted according to the actual situation, resulting in poor use of the inspection robot.
  • This application aims to solve one of the technical problems in the related art at least to a certain extent.
  • the embodiment of the present application proposes a walking device of an inspection robot that has high flexibility and can be adjusted according to actual conditions.
  • the embodiment of the present application proposes an inspection robot system with simple structure, low cost and convenient use.
  • the walking device of the inspection robot includes: a housing, the housing includes a mounting plate; a first clamping assembly, the first clamping assembly includes a first wheel, a second wheel, a first connection part, a first elastic part and a second connecting part, the first wheel is rotatably fitted on the first end of the first connecting part, and the second end of the first connecting part is rotatable with the second connecting part
  • the middle part of the first connecting piece is rotatably connected with the mounting plate, the second connecting piece guides and fits with the mounting plate, and the first elastic piece is sleeved on the second connecting piece and one end of the first elastic member abuts against the mounting plate, the second wheel is rotatably assembled on the housing, and the first elastic member is used to connect the first wheel and the second wheel When the two wheels clamp the guide rail, an elastic force is applied to the second end of the first connecting member.
  • the walking device of the inspection robot in the embodiment of the present application is provided with the first clamping component, so that the operation of the inspection robot is more stable, adaptive adjustment can be made according to the actual situation, and the battery life of the inspection robot is improved.
  • the second connecting member at least partially passes through the mounting plate, the other end of the first elastic member is in contact with the free end of the second connecting member, and the first elastic member There is an elastic force for driving the free end of the second connecting member away from the connecting plate, so as to drive the first wheel close to the guide rail.
  • the other end of the first elastic member is in abutting fit with the second end of the first connecting member, and the first elastic member has the first connecting member that drives the first connecting member. Two ends are close to the elastic force of the connecting plate so as to drive the first wheel close to the guide rail.
  • the first clamping assembly further includes a third connecting piece, one end of the third connecting piece is rotatably connected to the middle of the first connecting piece, and the other end of the third connecting piece One end is connected with the mounting plate.
  • the first clamping assembly further includes: a first rod, the first rod is rotatably arranged at the first end of the first connecting member, and the first wheel passes through On the first rod; a second rod, the second rod is rotatably arranged at the second end of the first connecting member, and one end of the second connecting member is connected with the second rod ; the third rod, the third rod is rotatably arranged on the first connecting member, and the third rod is located between the first rod and the second rod, the third connecting member One end is connected with the third rod.
  • the first clamping assembly further includes a reinforcing plate, the reinforcing plate is arranged on the first connecting member through fasteners, one end of the reinforcing plate is connected to the first wheel, The other end of the reinforcing plate is connected to the third connecting piece.
  • the distance between the projection of the central axis of the first wheel in the first connecting part and the middle part of the first connecting part The distance is L1
  • the distance between the projection of the second connecting part in the first connecting part and the middle part of the first connecting part is L2
  • the first wheel and the second wheel are arranged at intervals along the length direction of the housing.
  • the end surface of the first wheel is provided with a first through hole passing through the first wheel along its axial direction, and/or the end surface of the second wheel is provided with a The direction runs through the second through hole of the second wheel.
  • the inspection robot system includes the inspection robot walking device, the inspection robot walking device is the inspection robot walking device described in any one of the above embodiments, and the inspection robot The walking device is arranged at the bottom of the inspection robot; the second clamping assembly is arranged on the housing of the inspection robot walking device, and the second clamping assembly is arranged on the housing , the second clamping assembly includes a third wheel and a fourth wheel, the third wheel and the fourth wheel are arranged in parallel and spaced apart, and a hole for track insertion is formed between the third wheel and the fourth wheel In the clamping position, at least one of the third wheel and the fourth wheel can be elastically moved to elastically clamp part of the track in the clamping position, and the first wheel of the walking device of the inspection robot
  • the rotation axis forms an included angle with the rotation axis of the third wheel.
  • FIG. 1 is a schematic structural diagram of an inspection robot system according to an embodiment of the present application.
  • Fig. 2 is a schematic structural view of the first wheel of the walking device of the inspection robot according to the embodiment of the present application.
  • FIG. 3 is a top view of FIG. 2 .
  • Fig. 4 is a schematic diagram of the installation of the third wheel of the inspection robot system according to the embodiment of the present application.
  • Fig. 5 is a front sectional view of Fig. 4 .
  • Fig. 6 is a schematic structural diagram of an inspection robot system according to an embodiment of the present application.
  • first clamping assembly 2 first wheel 21; second wheel 22; first connecting piece 23; second connecting piece 24; third connecting piece 25; first elastic piece 26; first rod 27; The second rod 28; the third rod 29; the reinforcing plate 201; the second clamping assembly 3; the third wheel 31; the fourth wheel 32; the base 33; the base 34; the second elastic member 35; the motor 4; the track 6; The first board 61 ; the second board 62 ; the mounting board 7 .
  • the walking device of the inspection robot includes a walking device of the inspection robot, which includes a housing 1 and a first clamping assembly 2 .
  • the housing 1 includes a mounting plate 7 .
  • the mounting plate 7 is fixed on the housing 1 by screws or bolts.
  • the first clamping assembly 2 includes a first wheel 21, a second wheel 22, a first connecting member 23, a first elastic member 26 and a second connecting member 24, and the first wheel 21 is rotatably fitted on the first connecting member 23. end (as shown in Figure 2-3, the right end of the first connector 23), the second end of the first connector 23 (as shown in Figure 2-3, the left end of the first connector 23) and the second connector 24 is rotatably connected, the middle part of the first connecting part 23 is rotatably connected with the mounting plate 7, the second connecting part 24 is guided and fitted with the mounting plate 7, the first elastic part 26 is sleeved on the second connecting part 24 and the second One end of an elastic member 26 abuts against the mounting plate 7, and the second wheel 22 is rotatably assembled on the housing 1.
  • the first elastic member 26 is used to connect to the first wheel 21 and the second wheel 22 when clamping the guide rail.
  • the second end of the member 23 exerts an elastic force.
  • the first connecting piece 23 is a connecting plate
  • the first wheel 21 is rotatably arranged on the right end of the first connecting piece 23
  • the second connecting piece 24 is rotatably arranged on the first connecting piece.
  • the left end of the piece 23 and the middle part of the first connecting piece 23 are rotatably connected with the mounting plate 7
  • the first elastic piece 26 is passed through the second connecting piece 24
  • the first elastic piece 26 cooperates with the first connecting piece 23 .
  • the first connecting member 23 rotates around the third connecting member 25 driven by the first elastic member 26, so that the rear end of the first connecting member 23 always has an elastic force close to the mounting plate 7, thereby driving the first wheel 21 Close to the track 6 away from the mounting plate 7 , so that the first wheel 21 and the second wheel 22 cooperate to clamp the track 6 .
  • the first clamping assembly 2 clamps the track 6 by elastic force, which not only ensures the smooth operation of the inspection robot, but also can adapt Adjustment to ensure the stability of the inspection robot when it is cornering or walking up and down, and has the function of preventing loosening and falling.
  • the second connecting member 24 passes through the mounting plate 7 at least partially, and the other end of the first elastic member 26 is engaged with the free end of the second connecting member 24, and the first elastic member 26 has a function of driving the second connecting member.
  • the free end of the member 24 is away from the elastic force of the connecting plate, so as to drive the first wheel 21 close to the guide rail.
  • the second connecting piece 24 is installed on the mounting plate 7, the front end of the second connecting piece 24 is provided with a flange, and the first elastic member 26 is arranged between the mounting plate 7 and the flange.
  • the other end of the first elastic member 26 is in contact with the second end of the first connecting member 23, and the first elastic member 26 has an elastic force to drive the second end of the first connecting member 23 close to the connecting plate. , so as to drive the first wheel 21 close to the guide rail.
  • one end of the first elastic member 26 abuts against the mounting plate 7, and the other end of the first elastic member 26 abuts against the front end of the second connecting member 24, and the first elastic member 26 is in a stretched state, thereby driving the second
  • the front ends of the two connecting parts 24 are close to the mounting plate 7 , thereby driving the first wheel 21 to move towards the track 6 , so that the first wheel 21 and the second wheel 22 clamp the track 6 .
  • the first clamping assembly 2 further includes a third connecting piece 25, one end of the third connecting piece 25 is rotatably connected to the middle of the first connecting piece 23, and the other end of the third connecting piece 25 is connected to the mounting Board 7 is connected.
  • the third link 25 is rotatably connected to the first link 23 and the third link 25 is located between the second link 24 and the first wheel 21 .
  • the first connecting piece 23 and the second connecting piece 24 are fixed on the housing 1 through the third connecting piece 25 .
  • the first clamping assembly 2 further includes a first rod 27 , a second rod 28 and a third rod 29 .
  • the first bar 27 is rotatably arranged on the first end (as shown in Figure 3, the right end of the first link 23) of the first connecting piece 23, and the first wheel 21 is worn on the first bar 27, and the second bar 28 is rotatably located at the second end of the first link 23 (as shown in Figure 3, the left end of the first link 23), an end of the second link 24 links to each other with the second bar 28, and the third bar 29 can It is rotatably arranged on the first connecting member 23 , and the third rod 29 is located between the first rod 27 and the second rod 28 , and one end of the third connecting member 25 is connected with the third rod 29 .
  • first connecting pieces 23 there are two first connecting pieces 23 , and the two first connecting pieces 23 are arranged at intervals along the front-to-back direction.
  • the first wheel 21 is fixed on the first rod 27, so that the first wheel 21 is rotatably arranged between the two first connectors 23, and the two ends of the second rod 28 are respectively passed through the second bearing.
  • one end of the second connecting piece 24 is fixed on the rod body of the second rod 28, and the two ends of the third rod 29 pass through the two third connecting pieces through the third bearing respectively.
  • 25 one end of the third connecting piece 25 is fixed on the rod body of the third rod 29 , and the other end of the third connecting piece 25 is fixed on the mounting plate 7 .
  • the first connecting piece 23 is a connecting plate
  • the second connecting piece 24 is a connecting rod
  • the third connecting piece 25 includes two H-shaped connecting plates, two H-shaped The connecting plates are arranged in parallel at intervals, the front end of the H-shaped connecting plate is provided with a positioning part, and the positioning part is fixed on the mounting plate 7 by screws or screws, and the third rod 29 is clamped at the rear ends of the two H-shaped connecting plates, and passed Screw installs the third bar 29 and the H-shaped connecting plate.
  • the arrangement of the first connecting member 23 , the second connecting member 24 and the third connecting member 25 is more reasonable.
  • the distance between the projection of the central axis of the first wheel 21 in the first connecting member 23 and the middle part of the first connecting member 23 is L1
  • the second The distance between the projection of the connecting part 24 in the first connecting part 23 and the middle part of the first connecting part 23 is L2, and L1 ⁇ L2.
  • the distance between the first wheel 21 and the third connecting member 25 is greater than the distance between the second connecting member 24 and the third connecting member 25, according to the principle of leverage:
  • the first clamping assembly 2 further includes a reinforcing plate 201, the reinforcing plate 201 is arranged on the first connecting member 23 through fasteners, and one end of the reinforcing plate 201 is connected to the first The wheels 21 are connected, and the other end of the reinforcing plate 201 is connected with the third connecting piece 25 .
  • the first connecting member 23 located between the first wheel 21 and the third connecting member 25 is subject to relatively large bending stress.
  • a reinforcing plate 201 is installed between the first wheel 21 and the third connecting member 25, thereby increasing the compressive capacity of the first connecting member 23 between the first wheel 21 and the third connecting member 25, preventing the first The connecting piece 23 breaks, prolonging the service life of the first clamping assembly 2 .
  • the second wheel 22 is rotatably provided on the casing 1 , and the first wheel 21 and the second wheel 22 are arranged at intervals along the length direction of the casing 1 (left-right direction as shown in FIG. 1 ).
  • the second wheel 22 and the first wheel 21 are spaced along the left-right direction, so that the first wheel 21 and the second wheel 22 are staggered in the front-rear direction, reducing the distance between the first wheel 21 and the second wheel.
  • Wheel 22 is difficult to install and manufacture.
  • the staggering of the front and rear directions of the first wheel 21 and the second wheel 22 can increase the frictional force between the first wheel 21 and the second wheel 22 and the track 6, so that the running device of the inspection robot is more stable.
  • the end surface of the first wheel 21 is provided with a first through hole passing through the first wheel 21 along its axial direction (front and rear direction as shown in FIG. 1 ), and/or the end surface of the second wheel 22 is provided with a The direction runs through the second through hole of the second wheel 22 .
  • the first wheel 21 and the second wheel 22 are provided with through holes on the wheel bodies, thus, on the basis of ensuring the strength of the first wheel 21 and the second wheel 22, the The weight of the first wheel 21 and the second wheel 22 is reduced, and materials are saved.
  • the inspection robot system 100 includes an inspection robot, a walking device of the inspection robot and a second clamping assembly 3 .
  • the inspection robot walking device is any one of the inspection robot walking devices in the above-mentioned embodiments, and the inspection robot walking device is arranged at the bottom of the inspection robot;
  • the second clamping assembly 3 is arranged on the housing 1 of the inspection robot walking device, the second clamping assembly 3 is arranged on the housing 1, the second clamping assembly 3 includes a third wheel 31 and a fourth wheel 32, and the second clamping assembly 3 includes a third wheel 31 and a fourth wheel 32.
  • Three wheels 31 and fourth wheels 32 are arranged at intervals in parallel and between the third wheels 31 and the fourth wheels 32 a clamping position for rail 6 insertion is formed, at least one of the third wheels 31 and the fourth wheels 32 can move elastically to Part of the track 6 is elastically clamped at the clamping position, and the rotation axis of the first wheel 21 and the rotation axis of the third wheel 31 of the walking device of the inspection robot form an included angle.
  • the third wheel 31 and the fourth wheel 32 are arranged at intervals along the up and down direction to form a clamping position, so that the track 6 can be inserted into the clamping position, and the third wheel 31 or the fourth wheel 32 It has an elastic force that can move toward the track 6, so that the third wheel 31 and the fourth wheel 32 clamp the track 6 under the action of the elastic force.
  • the inspection robot system 100 of the embodiment of the present application through the setting of the inspection robot walking device and the second clamping assembly 3, the stability of the inspection robot's operation is further ensured, and the inspection robot is further ensured when cornering or up and down. Stability when traveling on slopes.
  • the second clamping assembly 3 further includes a base 33 , a base 34 and a second elastic member 35 .
  • Base 33 is installed on the housing 11, and base 34 is located in base 33, and base 34 can move along the height direction (up and down direction as shown in Figure 1) of base 33 in base 33, and the third wheel 31 can Rotationally arranged in the base 34, one end of the second elastic member 35 is abutted against the base 33, and the other end of the second elastic member 35 is abutted against the base 34, and the second elastic member 35 is used to connect the third wheel 31 and the second wheel When the four wheels 32 clamp the guide rail, an elastic force is applied to the third wheel 31 .
  • a plurality of connecting rods are provided in the base 33, the base 34 is threaded on the connecting rods, the base 34 can move up and down, and the second elastic member 35 is threaded on the connecting rods.
  • the second elastic member 35 On, one end of the second elastic member 35 abuts on the base 33, the other end of the second elastic member 35 abuts on the base 34, and the second elastic member 35 is in a compressed state, so that the base 34 moves toward the track 6,
  • the third wheel 31 and the fourth wheel 32 clamp the track 6 .
  • the inspection robot system 100 needs to climb a slope, and the running slope is generally 30°-45°.
  • the projection of the central axis of the third wheel 31 in the projection plane is point A
  • the projection of the central axis of the fourth wheel 32 in the projection plane is Point B
  • the connection line between point A and point B is the first connection line
  • the angle between the first connection line and the horizontal line is 30°-45°.
  • the third wheel 31 and the fourth wheel 32 are arranged at intervals along the vertical direction, and the third wheel 31 and the fourth wheel 32 are arranged at intervals in the left-right direction.
  • the angle between the horizontal lines is between 30°-45°, which will improve the biting force of the third wheel 31 and the fourth wheel 32 on the track 6, and improve the increased friction between the second clamping assembly 3 and the track 6, Prevent the inspection robot from slipping when climbing.
  • the inspection robot has a maximum climbing angle of 35°, and the angle between the first connecting line and the horizontal line can be set at 35°.
  • Track 6 has the largest bite force, which can ensure that the inspection robot does not slip when climbing.
  • two first clamping assemblies 2 and two second clamping assemblies 3 are arranged on the housing 1, and one first clamping assembly 2 and one second clamping assembly 3 forming the first clamping mechanism is arranged on the right half of the housing 1, another first clamping assembly 2 and another second clamping assembly 3 form the second clamping mechanism is arranged on the left half of the housing 1, And the first clamping mechanism and the second clamping mechanism are arranged symmetrically on the housing 1 .
  • the smooth operation of the inspection robot is ensured.
  • the inspection robot system 100 further includes a motor 4 , the output shaft of the motor 4 is connected with the fourth wheel 32 for driving the fourth wheel 32 to rotate.
  • the motor 4 drives the fourth wheel 32 to rotate through the belt transmission, so that the rotation of the fourth wheel 32 drives the inspection robot to run on the track 6.
  • the inspection robot system 100 also includes a rail 6, the rail 6 includes a first board 61 and a second board 62, the first board 61 and the second board 62 are connected, and the first board 61 is inserted in the first Between the wheel 21 and the second wheel 22 , the second plate 62 is interposed between the third wheel 31 and the fourth wheel 32 .
  • the upper end of the first plate 61 is connected to the right end of the second plate 62 , and the angle between the first and second plates 62 is 90°.
  • the fixed track 6 generally adopts H-shaped steel or I-beam, the track 6 is heavy and expensive, and the hoisting construction is difficult.
  • the running mechanism that adopts this kind of track 6 often needs to be specially provided with an anti-loosening and anti-drop mechanism, and the structure is complex.
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features.
  • the features defined as “first” and “second” may explicitly or implicitly include at least one of these features.
  • “plurality” means at least two, such as two, three, etc., unless otherwise specifically defined.
  • a first feature being "on” or “under” a second feature may mean that the first and second features are in direct contact, or that the first and second features are indirect through an intermediary. touch.
  • “above”, “above” and “above” the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.
  • “Below”, “beneath” and “beneath” the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.
  • the terms “one embodiment,” “some embodiments,” “example,” “specific examples,” or “some examples” mean specific features, structures, materials, or features described in connection with the embodiment or examples. Features are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

Abstract

本申请的实施例公开一种巡检机器人行走装置及其巡检机器人系统，所述巡检机器人行走装置包括壳体和第一夹紧组件，壳体包括安装板，第一夹紧组件包括第一轮、第二轮、第一连接件、第一弹性件和第二连接件，第一轮转动配合在第一连接件的第一端，第一连接件的第二端与第二连接件可转动地相连，第一连接件的中部与安装板可转动地相连，第二连接件与安装板导向配合，第一弹性件套设在第二连接件上且第一弹性件的一端与安装板止抵，第二轮转动装配在壳体上，第一弹性件用于在第一轮和第二轮夹紧导轨时向第一连接件的第二端施加弹性作用力。本申请实施例的巡检机器人行走装置具有结构简单、使用方便、成本低等优点。

Description

巡检机器人行走装置及其巡检机器人系统
相关申请的交叉引用
本申请要求申请号为202110807328.4、申请日为2021年7月16日的中国专利申请的优先权和权益，上述中国专利申请的全部内容在此通过引用并入本申请。
技术领域
本申请的实施例涉及机器人领域，具体地，涉及一种巡检机器人行走装置及其巡检机器人系统。
背景技术
巡检机器人用于检测以输煤皮带、转运环节皮带的运输，防止皮带撕裂、跑偏、撒煤、积煤等造成重大生产事故。
相关技术中，矿井环境复杂，需要巡检机器人的行走机构根据轨道导线灵活调整行走角度，无法根据实际情境进行自适应调节，导致巡检机器人使用效果较差。
发明内容
本申请旨在至少在一定程度上解决相关技术中的技术问题之一。
为此，本申请的实施例提出一种灵活性高、能够根据实际情况进行调节的巡检机器人行走装置。
本申请的实施例提出一种结构简单、成本低廉、使用方便的巡检机器人系统。
根据本申请实施例的巡检机器人行走装置，包括：壳体，所述壳体包括安装板；第一夹紧组件，所述第一夹紧组件包括第一轮、第二轮、第一连接件、第一弹性件和第二连接件，所述第一轮转动配合在所述第一连接件的第一端，所述第一连接件的第二端与所述第二连接件可转动地相连，所述第一连接件的中部与所述安装板可转动地相连，所述第二连接件与所述安装板导向配合，所述第一弹性件套设在所述第二连接件上且所述第一弹性件的一端与所述安装板止抵，所述第二轮转动装配在所述壳体上，所述第一弹性件用于在所述第一轮和所述第二轮夹紧导轨时向所述第一连接件的第二端施加弹性作用力。
本申请实施例的巡检机器人行走装置，通过第一夹紧组件设置，使得巡检机器人运行更加稳定，能够根据实际情境进行自适应调节，提高了巡检机器人的续航能力。
在一些实施例中，所述第二连接件至少部分穿过所述安装板，所述第一弹性件的另一端与所述第二连接件的自由端止抵配合，所述第一弹性件具有驱动所述第二连接件的所述自由端远离所述连接板的弹性力，以便驱动所述第一轮靠近所述导轨。
在一些实施例中，所述第一弹性件的另一端与所述第一连接件的所述第二端止抵配合， 所述第一弹性件具有驱动所述第一连接件的所述第二端靠近所述连接板的弹性力，以便驱动所述第一轮靠近所述导轨。
在一些实施例中，所述第一夹紧组件还包括第三连接件，所述第三连接件的一端可转动地与所述第一连接件的中部连接，所述第三连接件的另一端与所述安装板相连。
在一些实施例中，所述第一夹紧组件还包括；第一杆，所述第一杆可转动地设在所述第一连接件的所述第一端，所述第一轮穿设在所述第一杆上；第二杆，所述第二杆可转动地设在所述第一连接件的所述第二端，所述第二连接件的一端与所述第二杆相连；第三杆，所述第三杆可转动地设在所述第一连接件上，且所述第三杆位于所述第一杆和所述第二杆之间，所述第三连接件的一端与所述第三杆相连。
在一些实施例中，所述第一夹紧组件还包括加强板，所述加强板通过紧固件设在所述第一连接件上，所述加强板的一端与所述第一轮相连，所述加强板的另一端与所述第三连接件相连。
在一些实施例中，在所述第一连接件的投影面内，所述第一轮的中心轴线在所述第一连接件内的投影与所述第一连接件的所述中部之间的距离为L1,所述第二连接件在所述第一连接件内的投影与所述第一连接件的所述中部之间的距离为L2，且L1<L2。
在一些实施例中，所述第一轮和所述第二轮沿所述壳体的长度方向间隔设置。
在一些实施例中，所述第一轮的端面上设有沿其轴向方向贯穿所述第一轮的第一通孔，和/或所述第二轮的端面上设有沿其轴向方向贯穿所述第二轮的第二通孔。
根据本申请实施例的巡检机器人系统，包括，巡检机器人巡检机器人行走装置，所述巡检机器人行走装置为上述实施例中任一项所述巡检机器人行走装置，所述巡检机器人行走装置设在所述巡检机器人底部；第二夹紧组件，第二夹紧组件设在所述巡检机器人行走装置的壳体上，所述第二夹紧组件设在所述壳体上，所述第二夹紧组件包括第三轮和第四轮，所述第三轮和所述第四轮并行间隔布置且所述第三轮和所述第四轮之间形成供轨道插入的夹紧位，所述第三轮和所述第四轮的至少一者可弹性移动以将部分所述轨道弹性夹紧在所述夹紧位，所述巡检机器人行走装置的第一轮的转动轴线和所述第三轮的转动轴线成夹角。
附图说明
图1是本申请实施例的巡检机器人系统的结构示意图。
图2是本申请实施例的巡检机器人行走装置的第一轮的结构示意图。
图3是图2的俯视图。
图4是本申请实施例的巡检机器人系统的第三轮的安装示意图。
图5是图4的主剖视图。
图6是本申请实施例的巡检机器人系统的结构示意图。
附图标记：
巡检机器人系统100；
壳体1；第一夹紧组件2；第一轮21；第二轮22；第一连接件23；第二连接件24；第三连接件25；第一弹性件26；第一杆27；第二杆28；第三杆29；加强板201；第二夹紧组件3；第三轮31；第四轮32；底座33；基座34；第二弹性件35；电机4；轨道6；第一板61；第二板62；安装板7。
具体实施方式
下面详细描述本申请的实施例，所述实施例的示例在附图中示出。下面通过参考附图描述的实施例是示例性的，旨在用于解释本申请，而不能理解为对本申请的限制。
下面参考附图描述根据本申请实施例的巡检机器人行走装置。
如图1-3所示，根据本申请实施例的巡检机器人行走装置，包括一种巡检机器人行走装置，包括壳体1和第一夹紧组件2。
壳体1包括安装板7。具体地，安装板7通过螺钉或螺栓固定在壳体1上。
第一夹紧组件2包括第一轮21、第二轮22、第一连接件23、第一弹性件26和第二连接件24，第一轮21转动配合在第一连接件23的第一端(如图2-3所示，第一连接件23的右端)，第一连接件23的第二端(如图2-3所示，第一连接件23的左端)与第二连接件24可转动地相连，第一连接件23的中部与安装板7可转动地相连，第二连接件24与安装板7导向配合，第一弹性件26套设在第二连接件24上且第一弹性件26的一端与安装板7止抵，第二轮22转动装配在壳体1上，第一弹性件26用于在第一轮21和第二轮22夹紧导轨时向第一连接件23的第二端施加弹性作用力。
具体的，如图2-3所示，第一连接件23为连接板，第一轮21可转动地设在第一连接件23的右端，第二连接件24可转动地设在第一连接件23的左端，第一连接件23的中部与安装板7可转动地相连，第一弹性件26穿设在第二连接件24上，第一弹性件26与第一连接件23配合。由此，第一连接件23在第一弹性件26的驱动下绕第三连接件25转动，使得第一连接件23的后端始终具有靠近安装板7的弹性力，从而带动第一轮21远离安装板7靠近轨道6，使得第一轮21和第二轮22配合夹紧轨道6。
根据本申请实施例的巡检机器人行走装置，通过第一夹紧组件2的设置，使得第一夹紧组件2通过弹性力夹紧轨道6，不仅保证了巡检机器人运行平稳，而且可以自适应调节，保证巡检机器人在过弯或上下坡行走时的平稳性，具有防松防跌落的作用。
在一些实施例中，第二连接件24至少部分穿过安装板7，第一弹性件26的另一端与第二连接件24的自由端止抵配合，第一弹性件26具有驱动第二连接件24的自由端远离连接 板的弹性力，以便驱动第一轮21靠近导轨。具体地，如图2-3所示，第二连接件24穿设在安装板7上，第二连接件24的前端设有凸缘，第一弹性件26设在安装板7和凸缘之间，第一弹性件26的一端抵在所述安装板7上，第一弹性件26的另一端抵在凸缘上，第一弹性件26处于压缩状态。由此，使得凸缘向远离安装板7的方向运动，从而带动第一轮21靠近轨道6的方向移动，使得第一轮21和第二轮22夹紧轨道6。
在一些实施例中，第一弹性件26的另一端与第一连接件23的第二端止抵配合，第一弹性件26具有驱动第一连接件23的第二端靠近连接板的弹性力，以便驱动第一轮21靠近导轨。具体地，第一弹性件26的一端抵在安装板7上，第一弹性件26的另一端抵在第二连接件24的前端，第一弹性件26处于拉伸状态，由此，带动第二连接件24的前端靠近安装板7，从而带动第一轮21向靠近轨道6的方向移动，使得第一轮21和第二轮22夹紧轨道6。
在一些实施例中，第一夹紧组件2还包括第三连接件25，第三连接件25的一端可转动地与第一连接件23的中部连接，第三连接件25的另一端与安装板7相连。具体地，如图2-3所示，第三连接件25可转动地与第一连接件23相连且第三连接件25位于第二连接件24和第一轮21之间。由此，将第一连接件23和第二连接件24通过第三连接件25固定在壳体1上。
在一些实施例中，第一夹紧组件2还包括第一杆27、第二杆28和第三杆29。
第一杆27可转动地设在第一连接件23的第一端(如图3所示，第一连接件23的右端)，第一轮21穿设在第一杆27上，第二杆28可转动地设在第一连接件23的第二端(如图3所示，第一连接件23的左端)，第二连接件24的一端与第二杆28相连，第三杆29可转动地设在第一连接件23上，且第三杆29位于第一杆27和第二杆28之间，第三连接件25的一端与第三杆29相连。
具体地，如图3所示，第一连接件23为两个，且两个第一连接件23沿前后方向间隔设置，第一杆27的两端通过第一轴承分别穿设在两个第一连接件23上，第一轮21固定在第一杆27上，使得第一轮21可转动的设在两个第一连接件23之间，第二杆28的两端通过第二轴承分别穿设在两个第一连接件23上，第二连接件24的一端固定在第二杆28的杆体上，第三杆29的两端通过第三轴承分别穿设在两个第三连接件25上，第三连接件25的一端固定在第三杆29的杆体上，第三连接件25的另一端固定在安装板7上。由此，使得简化了第一夹紧组件2的装配，使得第一夹紧组件2设置的更加合理。
在一些实施例中，如图2-3所示，第一连接件23为连接板，第二连接件24为连接杆，第三连接件25包括两个呈H状连接板，两个H状连接板并行间隔设置，H状连接板的前端设有定位部，定位部通过螺钉或螺旋固定在安装板7上，第三杆29加夹设在两个H状连接 板的后端，且通过螺钉将第三杆29和H状连接板安装起来。由此，使得第一连接件23、第二连接件24和第三连接件25设置的更加合理。
在一些实施例中，在第一连接件23的投影面内，第一轮21的中心轴线在第一连接件23内的投影与第一连接件23的中部之间的距离为L1,第二连接件24在第一连接件23内的投影与第一连接件23的中部之间的距离为L2，且L1<L2。具体地，如图2-3所示，第一轮21与第三连接件25之间的距离大于第二连接件24与第三连接件25之间的距离，根据杠杆原理可知：动力(第一弹性件26的弹力)×动力臂(第一弹性件26到第二连接件24的距离)＝阻力(第一轮21对轨道6的压力)×阻力臂(第一轮21到第二连接件24的距离)，从而可通过缩小第一轮21与第二连接件24之间的距离，提高第一轮21对轨道6的压力。
在一些实施例中，如图2-3所示，第一夹紧组件2还包括加强板201，加强板201通过紧固件设在第一连接件23上，加强板201的一端与第一轮21相连，加强板201的另一端与第三连接件25相连。根据杠杆原理可知，位于第一轮21和第三连接件25之间的第一连接件23所受到的弯曲应力较大。由此，在第一轮21和第三连接件25之间加装加强板201，从而增大第一连接件23在第一轮21和第三连接件25之间抗压能力，防止第一连接件23断裂，延长了第一夹紧组件2的使用寿命。
在一些实施例中，第二轮22可转动地设在壳体1上，第一轮21和第二轮22沿壳体1的长度方向(如图1所示的左右方向)间隔设置。具体地，如图1所示，第二轮22和第一轮21沿左右方向间隔设置，从而第一轮21和第二轮22在前后方向上错开，减小了第一轮21和第二轮22的安装制造难度。另外，第一轮21和第二轮22前后方向错开能够增大第一轮21和第二轮22与轨道6的摩擦力，使得巡检机器人行走装置运行更加稳定。
第一轮21的端面上设有沿其轴向方向(如图1所示前后方向)贯穿第一轮21的第一通孔，和/或第二轮22的端面上设有沿其轴向方向贯穿第二轮22的第二通孔。具体地，如图1-3所示，第一轮21和第二轮22的轮体上均设有通孔，由此，在保证第一轮21和第二轮22的强度基础上，减轻了第一轮21和第二轮22的重量，节省材料。
根据本申请实施例的巡检机器人系统100，包括巡检机器人、巡检机器人行走装置和第二夹紧组件3。
巡检机器人行走装置为上述实施例中任一项巡检机器人行走装置，巡检机器人行走装置设在巡检机器人底部；
第二夹紧组件3设在巡检机器人行走装置的壳体1上，第二夹紧组件3设在壳体1上，第二夹紧组件3包括第三轮31和第四轮32，第三轮31和第四轮32并行间隔布置且第三轮31和第四轮32之间形成供轨道6插入的夹紧位，第三轮31和第四轮32的至少一者可弹性移动以将部分轨道6弹性夹紧在夹紧位，巡检机器人行走装置的第一轮21的转动轴线 和第三轮31的转动轴线成夹角。具体地，如图1所示，第三轮31和第四轮32沿上下方向间隔设置以形成夹紧位，使得轨道6可插在夹紧位上，第三轮31或第四轮32上具有可朝向轨道6移动的弹性力，以便第三轮31和第四轮32在弹性力的作用下夹紧轨道6。
根据本申请实施例的巡检机器人系统100，通过巡检机器人行走装置和第二夹紧组件3的设置，进一步保证了巡检机器人运行的稳定性，进一步保证了巡检机器人在过弯或上下坡行走时的平稳性。
在一些实施例中，第二夹紧组件3还包括底座33、基座34和第二弹性件35。
底座33安装在壳体11上，基座34设在底座33内，且基座34可在底座33内沿底座33的高度方向(如图1所示的上下方向)移动，第三轮31可转动地设在基座34内，第二弹性件35一端与底座33止抵，第二弹性件35的另一端与基座34止抵，第二弹性件35用于在第三轮31和第四轮32夹紧导轨时对第三轮31施加弹性作用力。具体地，如图4-5所示，底座33内设有多个连接杆，基座34穿设在连接杆上，基座34可沿上下方向移动，第二弹性件35穿设在连接杆上，第二弹性件35的一端抵在底座33上，第二弹性件35的另一端抵在基座34上，且第二弹性件35处于压缩状态，以使基座34朝向轨道6移动，从而使得第三轮31和第四轮32夹紧轨道6。
在实际应用中，巡检机器人系统100需要进行爬坡，而运行的坡度一般为30°-45°。在一些实施例中，在第三轮31的轴向投影面内，第三轮31的中心轴线在投影面内的投影为点A，第四轮32的中心轴线的在投影面内的投影为点B，点A与点B之间的连线为第一连线，第一连线与水平线之间的夹角为30°-45°。
具体地，第三轮31和第四轮32沿上下方向间隔设置，且第三轮31和第四轮32在左右方向上间隔设置，过第三轮31和第四轮32中心轴线的直线与水平线之间的夹角为30°-45°之间，将提高了第三轮31和第四轮32对轨道6的咬合力，提高了第二夹紧组件3与轨道6的增大摩擦，防止巡检机器人在攀爬时打滑，例如：巡检机器人最大爬坡角度为35°，可将第一连线和水平线之间的夹角设置在35°，此时第二夹紧组件3对轨道6的咬合力最大，可以保证巡检机器人在攀爬时不打滑。
在一些实施例中，如图1所示，壳体1上设置两个第一夹紧组件2和两个第二夹紧组件3，且一个第一夹紧组件2和一个第二夹紧组件3形成第一夹紧机构设置在壳体1的右半段，另一个第一夹紧组件2和另一个第二夹紧组件3形成第二夹紧机构设置在壳体1的左半段，且第一夹紧机构和第二夹紧机构在壳体1上对称设置。由此，使得保证巡检机器人运行平稳。
在一些实施例中，巡检机器人系统100还包括电机4，电机4的输出轴与第四轮32相连，用于带动第四轮32转动。具体地，如图1或6所示，电机4通过带传送带动第四轮 32转动，从而使得第四轮32的转动带动巡检机器人在轨道6上运行。
在一些实施例中，巡检机器人系统100还包括轨道6，轨道6包括第一板61和第二板62，第一板61和第二板62相连，第一板61插设在的第一轮21和第二轮22之间，第二板62插设在第三轮31和第四轮32之间。具体地，如图所示，在轨道6的横向截面内，第一板61的上端和第二板62的右端相连，且第一和第二板62之间的夹角为90°。由于，固定式轨道6一般采用H型钢或工字钢，轨道6笨重且成本较高，吊装施工难度较大，采用此种轨道6的行走机构往往需要专门设置防松防跌落机构，结构复杂。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接或彼此可通讯；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本申请中，术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施 例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (10)

  1. 一种巡检机器人行走装置，其特征在于，包括：
    壳体，所述壳体包括安装板；
    第一夹紧组件，所述第一夹紧组件包括第一轮、第二轮、第一连接件、第一弹性件和第二连接件，所述第一轮转动配合在所述第一连接件的第一端，所述第一连接件的第二端与所述第二连接件可转动地相连，所述第一连接件的中部与所述安装板可转动地相连，所述第二连接件与所述安装板导向配合，所述第一弹性件套设在所述第二连接件上且所述第一弹性件的一端与所述安装板止抵，所述第二轮转动装配在所述壳体上，所述第一弹性件用于在所述第一轮和所述第二轮夹紧导轨时向所述第一连接件的第二端施加弹性作用力。
  2. 根据权利要求1所述的巡检机器人行走装置，其特征在于，所述第二连接件至少部分穿过所述安装板，所述第一弹性件的另一端与所述第二连接件的自由端止抵配合，所述第一弹性件具有驱动所述第二连接件的所述自由端远离所述连接板的弹性力，以便驱动所述第一轮靠近所述导轨。
  3. 根据权利要求1或2所述的巡检机器人行走装置，其特征在于，所述第一弹性件的另一端与所述第一连接件的所述第二端止抵配合，所述第一弹性件具有驱动所述第一连接件的所述第二端靠近所述连接板的弹性力，以便驱动所述第一轮靠近所述导轨。
  4. 根据权利要求1-3中任一项所述的巡检机器人行走装置，其特征在于，所述第一夹紧组件还包括第三连接件，所述第三连接件的一端可转动地与所述第一连接件的中部连接，所述第三连接件的另一端与所述安装板相连。
  5. 根据权利要求4所述的巡检机器人行走装置，其特征在于，所述第一夹紧组件还包括；
    第一杆，所述第一杆可转动地设在所述第一连接件的所述第一端，所述第一轮穿设在所述第一杆上；
    第二杆，所述第二杆可转动地设在所述第一连接件的所述第二端，所述第二连接件的一端与所述第二杆相连；
    第三杆，所述第三杆可转动地设在所述第一连接件上，且所述第三杆位于所述第一杆和所述第二杆之间，所述第三连接件的一端与所述第三杆相连。
  6. 根据权利要求4所述的巡检机器人行走装置，其特征在于，所述第一夹紧组件还包括加强板，所述加强板通过紧固件设在所述第一连接件上，所述加强板的一端与所述第一轮相连，所述加强板的另一端与所述第三连接件相连。
  7. 根据权利要求1-6中任一项所述的巡检机器人行走装置，其特征在于，在所述第一 连接件的投影面内，所述第一轮的中心轴线在所述第一连接件内的投影与所述第一连接件的所述中部之间的距离为L1,所述第二连接件在所述第一连接件内的投影与所述第一连接件的所述中部之间的距离为L2，且L1<L2。
  8. 根据权利要求1-7中任一项所述的巡检机器人行走装置，其特征在于，所述第一轮和所述第二轮沿所述壳体的长度方向间隔设置。
  9. 根据权利要求1-8中任一项所述的巡检机器人行走装置，其特征在于，所述第一轮的端面上设有沿其轴向方向贯穿所述第一轮的第一通孔，和/或所述第二轮的端面上设有沿其轴向方向贯穿所述第二轮的第二通孔。
  10. 一种巡检机器人系统，其特征在于，包括，
    巡检机器人；
    巡检机器人行走装置，所述巡检机器人行走装置为上述权利要求1-9中任一项所述巡检机器人行走装置，所述巡检机器人行走装置设在所述巡检机器人底部；
    第二夹紧组件，第二夹紧组件设在所述巡检机器人行走装置的壳体上，所述第二夹紧组件设在所述壳体上，所述第二夹紧组件包括第三轮和第四轮，所述第三轮和所述第四轮并行间隔布置且所述第三轮和所述第四轮之间形成供轨道插入的夹紧位，所述第三轮和所述第四轮的至少一者可弹性移动以将部分所述轨道弹性夹紧在所述夹紧位，所述巡检机器人行走装置的第一轮的转动轴线和所述第三轮的转动轴线成夹角。
PCT/CN2021/128498 2021-07-16 2021-11-03 巡检机器人行走装置及其巡检机器人系统 WO2023284180A1 (zh)

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