CN105798876A - Route inspection robot walking mechanism - Google Patents
Route inspection robot walking mechanism Download PDFInfo
- Publication number
- CN105798876A CN105798876A CN201610365493.8A CN201610365493A CN105798876A CN 105798876 A CN105798876 A CN 105798876A CN 201610365493 A CN201610365493 A CN 201610365493A CN 105798876 A CN105798876 A CN 105798876A
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- China
- Prior art keywords
- walking mechanism
- robot walking
- wheels
- leading arm
- crusing robot
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a route inspection robot walking mechanism. The route inspection robot walking mechanism comprises a driving mechanism and a guide mechanism; the driving mechanism includes a bearing plate; the bearing plate is provided with a gear driven by a driving device; the guide mechanism is positioned above the bearing plate, and includes an upper connecting block and front and back guide wheel sets; the front and back guide wheel sets are the same in structure, and include wheel set connecting pieces and left and right guide arms; the left and right guide arms are movably mounted at the left and right ends of the wheel set connecting pieces; and the wheel set connecting pieces of the front and back guide wheel sets are respectively mounted at the front and back ends of the upper connecting block in a horizontal rotating manner. The route inspection robot walking mechanism needs no additional auxiliary device during turning, is stable in operation when going upwards and downwards a slope with a higher gradient, and is convenient for installation and unloading and easy to maintain.
Description
Technical field
The present invention relates to a kind of crusing robot walking mechanism.
Background technology
A kind of cable tunnel inspection robot walking mechanism disclosed in Chinese invention patent document CN201510159496.1 " a kind of cable tunnel inspection robot walking mechanism ", including guide rail and driving guiding mechanism, described guide rail has the chamber of hollow, described driving guiding mechanism includes the vehicle frame being arranged in the hollow chamber of guide rail, vehicle frame is provided with horizontally-guided wheels, horizontally-guided wheels play horizontally-guided effect in the hollow chamber of guide rail, robot is suspended on below vehicle frame, vehicle frame is provided with load-bearing wheels, Load-bearing rail it is provided with for supporting load-bearing wheels in the hollow chamber of guide rail, vehicle frame is connected with driving wheels, drive wheels to roll with the lower surface of guide rail in the lower section of guide rail to coordinate.
Guiding mechanism upper front end is driven to have magnetic sensor, the magnet steel anchor point of rail crown it is arranged on for perception in walking process, a front end directive wheel is installed in magnetic sensor bottom, magnetic sensor horizontal axis position once arranges three horizontal guide sheaves, a pair load-bearing directive wheel is respectively set under former and later two horizontal guide sheaves, two horizontal guide sheaves is installed immediately below load-bearing directive wheel and forms forward and backward horizontally-guided wheels by two horizontal guide sheaves above bearing and load-bearing guiding wheels；Master and slave driving wheel is respectively arranged in below the horizontally-guided wheels of front and back end, is robot hitch point between principal and subordinate's driving wheel, encoder be connected to a horizontal line from driving wheel by bearing.
Driving wheel relies on and rail base friction realization drives, and after the time of running is longer, coefficient of friction reduces easily skidding.This walking mechanism has load-bearing wheels, be suitable for heavier loads robot, but type leading wheel framework car heavy take turns with type leading wheel framework cannot horizontally rotate can only craspedodrome track up walk, it is necessary to auxiliary device realize turn.This patent documentation invention disclosed scheme is suitable for the relatively good tunnel applications environment of environment, adopts and installs the mode driving guider in track, and walking mechanism itself does not possess climb and fall and drives and sharp turn turning function, it has not been convenient to maintenance.
Summary of the invention
For solving prior art Problems existing, the present invention provides a kind of crusing robot walking mechanism, without extra auxiliary device during turning, when the ramp climb and fall that the gradient is bigger, stable, installs and unloads carried convenient, it is easy to safeguards.
Crusing robot walking mechanism provided by the invention, including driving mechanism and guiding mechanism；Described driving mechanism includes loading plate, and described loading plate is provided with the gear driven by driving device；Described guiding mechanism is positioned at the top of described loading plate, including upper contiguous block and forward and backward guiding wheels；Described forward and backward guiding wheel group structure is identical, including wheels connector and left and right leading arm, described left and right leading arm is movably mounted to the left and right end of described wheels connector respectively, and the wheels connector of described forward and backward guiding wheels can be arranged on the front and back ends of described upper contiguous block respectively with horizontally rotating.
Crusing robot walking mechanism provided by the invention is installed in orbit, track includes backbone, backbone is installed below tooth bar, backbone passes between the left and right leading arm of the wheels of forward and backward guiding wheels, the left and right leading arm clamping backbone of forward and backward guiding wheels, the gear of driving mechanism is meshing with the tooth bar of track.For making the clamping to track more stable, the left and right leading arm of forward and backward guiding wheels is suitable with described backbone contact site and described backbone.Driving device drives pinion rotation so that crusing robot walking mechanism moves on backbone, and when running into bend, forward and backward guiding wheels can horizontally rotate certain angle to adapt to bend, it is not necessary to other auxiliary device auxiliary is turned；When running into ramp, owing to the left and right leading arm of forward and backward guiding wheels is moveably mounted, left and right leading arm is adapted to ramp and moves up and down, and left and right leading arm is lifted or put down to appropriateness so that walking mechanism self adaptation ramp, carries out climb and fall.The mode that the present invention adopts travelling mechanism gear and track tooth bar meshing realizes walking, pinion rotation and along tooth bar forward-reverse to provide driving force, do not have skidding under External force interference.
Described left and right leading arm structure is identical, and including directive wheel and guide wheel shaft, described directive wheel is installed in rotation on the lower end of guide wheel shaft, and the upper end of described guide wheel shaft is movably mounted on described wheels connector.When walking mechanism moves, directive wheel rolls with track and coordinates, and reduces moving resistance, and guide wheel shaft is moveably mounted, and when entering ramp, guide wheel shaft is lifted up and down along with ramp and put to adapt to ramp.Directive wheel is suitable with track, and if track backbone is circular, then guide rail has the radian suitable with circular backbone.
For guaranteeing the effectively meshing of track tooth bar and driving mechanism gear, avoiding rack and pinion to depart from during particularly in bend, ramp, described driving mechanism also includes track fitting part, and this track fitting part is installed in rotation on described loading plate；The middle part of contiguous block on described, the side of described upper contiguous block has been moveably mounted outer leading arm, and this outer leading arm is relative with described track fitting part.Track fitting part coordinates with outer leading arm, play the effect of gripper rail, when entering bend, ramp, no matter how walking mechanism rocks, track fitting part, outer leading arm are executed either or both of which and are imposed the rightabout stop rocking direction to walking mechanism simultaneously, make wheel and rack closely meshing, it is prevented that wheel and rack separates, it is to avoid walking mechanism runs out of steam；Rotating track fitting part and track Structure deformation, reduce moving resistance.
Outer leading arm structure is identical with left and right leading arm, and including directive wheel and guide wheel shaft, described directive wheel is installed in rotation on the lower end of guide wheel shaft, and the upper end of described guide wheel shaft is movably mounted on described upper contiguous block.Directive wheel rolls with track and coordinates, and reduces moving resistance, and guide wheel shaft is moveably mounted, and when entering ramp, guide wheel shaft is lifted up and down along with ramp and put to adapt to ramp.Directive wheel is suitable with track, and if track backbone is circular, then guide rail has the radian suitable with circular backbone.
For realizing driving mechanism rational deployment, described track fitting part is positioned at the top of described gear, described driving device is also connected with described track fitting part, track fitting part is driven to rotate, driving device is generally located on below loading plate, driving device output shaft is sequentially connected with gear, track fitting part, synchronizes to drive gear, track fitting part to rotate so that walking mechanism moves more stable.
Preferably, described track fitting part is circular platform type, has indent radian, and indent radian is suitable with circuit orbit, is conducive to both to fit tightly.
The wheels connector of described forward and backward guiding wheels is connected with the front and back ends of described upper contiguous block by horizontally rotating parts, horizontally rotate parts and can adopt the parts such as bearing, when walking mechanism enters bend, owing to horizontally rotating the connection of parts, forward and backward guiding wheels turn an angle to adapt to bend.
Described upper contiguous block is fixed on described loading plate by carrying on the back contiguous block, the connected mode of upper contiguous block and loading plate will not interfere with driving mechanism, guiding mechanism work is advisable.
The method have the advantages that the division of labor of (1) all parts clearly, can select according to different tunnel environments and process without material, to adapt to some harsh tunnel environment.(2) there is turning and up and down ramp ability, it is not necessary to extra auxiliary device.When the ramp climb and fall that the gradient is bigger, there is stabilized driving and stopping power.Type of drive is simple and reliable, it is simple to install and uninstall maintenance.(3) the guiding wheels that two groups, front and back are symmetrical are set, the every pair of guiding wheels have certain can gripper rail to inner bevel.(4) driving mechanism arranges gear, there is below track tooth bar, pinion rotation and along tooth bar forward-reverse to occur without skidding under providing driving force and ensureing External force interference.(5) guiding wheels top arranges the parts that can horizontally rotate, and front and back walking corner can realize stable guiding.(6) leading arm is moveably mounted, and has and lifts the adaptivity put down, to adapt to the stable guiding of climb and fall.(7) arrange outer leading arm to coordinate with the track fitting part of driving mechanism, it is ensured that the effective laminating of wheel and rack.
Accompanying drawing explanation
Fig. 1 is track schematic diagram of the present invention；
Fig. 2 is driving mechanism schematic diagram of the present invention；
Fig. 3 is guiding mechanism schematic diagram of the present invention.
In figure: 101-track；110-backbone；111-tooth bar；102-driving mechanism；120-track fitting part；121-gear；122-loading plate；123-drive motor；103-guiding mechanism；131-directive wheel；132-guide wheel shaft；134-horizontally rotates parts；135-wheels connector；The upper contiguous block of 136-；137-carries on the back contiguous block；The outer leading arm of 138-.
Detailed description of the invention
The specific embodiment of the present invention is set forth below in conjunction with accompanying drawing 1～accompanying drawing 3:
Crusing robot walking mechanism provided by the invention, has slope stability walking and sharp turn turning function, including driving mechanism 102, guiding mechanism 103.
As it is shown in figure 1, aluminum alloy rail 101 is circular backbone 110 by cross section and is arranged on the tooth bar 111 below backbone 110 and constitutes, track can have ramp and curved segment part according to tunnel trend.
As shown in Figure 2, driving mechanism 102 includes loading plate 122, drive motor 123, gear 121, track fitting part 120, drive motor 123 is arranged on the lower section of loading plate 122, the top of loading plate 122 installs gear 121, track fitting part 120 successively, the motor shaft of drive motor 123 by bearing through coaxially connected with gear 121, track fitting part 120 after loading plate 122, drive motor 123 Timing Belt moving gear 121, the forward and reverse rotation of track fitting part 120；Track fitting part 120 is in circular platform type, and side indent certain radian, with circuit orbit adaptation.Track fitting part 120 can adopt plastic production, gear, loading plate to be stainless steel.
As it is shown on figure 3, guiding mechanism 103 includes forward and backward guiding wheels, outer leading arm 138, upper contiguous block 136, back of the body contiguous block 137；Upper contiguous block 136 is positioned at directly over loading plate 122 and is fixed to the side of loading plate 122 by carrying on the back contiguous block 137, not interfere guiding mechanism itself and driving mechanism etc. to be advisable；Forward and backward guiding wheel group structure is identical and is symmetrically mounted at the front and back ends of contiguous block 136.For front jockey wheel group, describe the structure of forward and backward guiding wheels in detail: front jockey wheel group includes left and right leading arm, wheels connector 135, horizontally rotates parts 134, horizontally rotate parts 134 and bearing can be adopted to realize；Left and right leading arm structure is identical and is symmetrically mounted at the left and right side of wheels connector 135, wheels connector 135 top be arranged on upper connector 136 front end horizontally rotate parts 134.Right leading arm for front jockey wheel group, describe the structure of each leading arm in detail, right leading arm includes directive wheel 131, guide wheel shaft 132, directive wheel 131 side is arc, suitable with track backbone, directive wheel 131 top is connected with bottom guide wheel shaft 132, directive wheel 131 can rotate, adopt plastic production, guide wheel shaft 132 top is flexibly connected with wheels connector 135, when entering ramp, directive wheel, guide wheel shaft can carry out lifting the action put down around junction point, spinning movement can also be designed for, when namely running into ramp, turn an angle up or down to adapt to ramp；Guide wheel shaft can not be excessively loose with being flexibly connected of wheels connector, it is ensured that the left and right leading arm chucking power to track backbone.The structure of outer leading arm 138 is identical with left and right leading arm, outer leading arm 138 is movably mounted to outside the middle part of contiguous block 136, similar with left and right leading arm, when entering ramp, outer leading arm 138 can carry out lifting the action put down around junction point, spinning movement can also be designed for, when namely running into ramp, turn an angle up or down to adapt to ramp；Outer leading arm can not be excessively loose with being flexibly connected of upper contiguous block.Outer leading arm 138 also includes directive wheel and guide wheel shaft, the upper end of guide wheel shaft is flexibly connected with upper contiguous block, and the lower end of guide wheel shaft is connected with directive wheel, and directive wheel can rotate on guide wheel shaft, directive wheel adopts plastic production, has indent radian with adaptive circuit orbit backbone.Be positioned at the gear of loading plate upper surface, track fitting part is positioned at the lower section of contiguous block, and track fitting part is just right with the directive wheel of outer leading arm, and the directive wheel of track fitting part and outer leading arm forms a track clamping device being similar to forward and backward guiding wheels.
In conjunction with Fig. 1,2,3, when crusing robot walking mechanism provided by the invention is installed, the backbone 110 of track 101 is from traverse between the left and right leading arm and track fitting part 120, outer leading arm 138 of forward and backward guiding wheels, and circular backbone 110 fits tightly with left and right leading arm, track fitting part 120；The gear 121 of driving mechanism is meshing with the tooth bar 111 of track, and the gear of driving mechanism moves forward and backward to provide power along tooth bar, and plays the effect of anti-sliding stop.Walking mechanism along backbone advance to bend need turn time, forward and backward guiding wheels can horizontally rotate with self adaptation track, and then adjustment direction；Excessive if turned, track fitting part plays, with outer leading arm, the effect preventing rack and pinion from separating；When entering ramp and needing along backbone climb and fall, guide wheel shaft drives directive wheel to carry out lifting and put down action with self adaptation track, and then adjustment direction.
Claims (10)
1. a crusing robot walking mechanism, including driving mechanism and guiding mechanism, it is characterised in that: described driving mechanism includes loading plate, and described loading plate is provided with the gear driven by driving device；Described guiding mechanism is positioned at the top of described loading plate, including upper contiguous block and forward and backward guiding wheels；Described forward and backward guiding wheel group structure is identical, including wheels connector and left and right leading arm, described left and right leading arm is movably mounted to the left and right end of described wheels connector respectively, and the wheels connector of described forward and backward guiding wheels can be arranged on the front and back ends of described upper contiguous block respectively with horizontally rotating.
2. crusing robot walking mechanism as claimed in claim 1, it is characterized in that: described left and right leading arm structure is identical, including directive wheel and guide wheel shaft, described directive wheel is installed in rotation on the lower end of guide wheel shaft, and the upper end of described guide wheel shaft is movably mounted on described wheels connector.
3. crusing robot walking mechanism as claimed in claim 1, it is characterised in that: described driving mechanism also includes track fitting part, and this track fitting part is installed in rotation on described loading plate；The middle part of contiguous block on described, the side of described upper contiguous block has been moveably mounted outer leading arm, and this outer leading arm is relative with described track fitting part.
4. crusing robot walking mechanism as claimed in claim 3, it is characterized in that: described outer leading arm includes directive wheel and guide wheel shaft, described directive wheel is installed in rotation on the lower end of guide wheel shaft, and the upper end of described guide wheel shaft is movably mounted on described upper contiguous block.
5. the crusing robot walking mechanism as described in claim 3 or 4, it is characterised in that: described track fitting part is positioned at the top of described gear, and described driving device is also connected with described track fitting part, drives track fitting part to rotate.
6. the crusing robot walking mechanism as described in claim 3 or 4, it is characterised in that: described track fitting part is circular platform type, has indent radian.
7. the crusing robot walking mechanism as described in claim 1-4 any claim, it is characterised in that: the wheels connector of described forward and backward guiding wheels is connected with the front and back ends of described upper contiguous block by horizontally rotating parts.
8. the crusing robot walking mechanism as described in claim 1-4 any claim, it is characterised in that: described crusing robot walking mechanism is installed in orbit, and described track includes backbone, and this backbone is installed below tooth bar；The left and right leading arm gripper rail of described forward and backward guiding wheels, described gear is meshing with the tooth bar of described track.
9. crusing robot walking mechanism as claimed in claim 8, it is characterised in that: the left and right leading arm of described forward and backward guiding wheels is suitable with described backbone contact site and described backbone.
10. the crusing robot walking mechanism as described in claim 1-4 any claim, it is characterised in that: described upper contiguous block is fixed on described loading plate by carrying on the back contiguous block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610365493.8A CN105798876B (en) | 2016-05-27 | 2016-05-27 | A kind of crusing robot walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610365493.8A CN105798876B (en) | 2016-05-27 | 2016-05-27 | A kind of crusing robot walking mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105798876A true CN105798876A (en) | 2016-07-27 |
| CN105798876B CN105798876B (en) | 2017-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610365493.8A Active CN105798876B (en) | 2016-05-27 | 2016-05-27 | A kind of crusing robot walking mechanism |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3119349A (en) * | 1959-05-13 | 1964-01-28 | Pneuways Dev Company Private L | Track-mounted transport means or systems |
| JP2008302446A (en) * | 2007-06-05 | 2008-12-18 | Daiwa House Ind Co Ltd | Dust removing mechanism for mobile robot |
| CN102730010A (en) * | 2011-04-12 | 2012-10-17 | 中国科学院沈阳自动化研究所 | Straddle type monorail travelling mechanism |
| CN103802086A (en) * | 2014-02-17 | 2014-05-21 | 广州供电局有限公司 | Inspection robot |
| CN105397795A (en) * | 2015-12-10 | 2016-03-16 | 深圳市施罗德工业测控设备有限公司 | Rail type polling robot |
| CN105598944A (en) * | 2016-03-29 | 2016-05-25 | 亿嘉和科技股份有限公司 | Robot walking mechanism |
| CN205660705U (en) * | 2016-05-27 | 2016-10-26 | 亿嘉和科技股份有限公司 | Running gear of robot patrols and examines |
-
2016
- 2016-05-27 CN CN201610365493.8A patent/CN105798876B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3119349A (en) * | 1959-05-13 | 1964-01-28 | Pneuways Dev Company Private L | Track-mounted transport means or systems |
| JP2008302446A (en) * | 2007-06-05 | 2008-12-18 | Daiwa House Ind Co Ltd | Dust removing mechanism for mobile robot |
| CN102730010A (en) * | 2011-04-12 | 2012-10-17 | 中国科学院沈阳自动化研究所 | Straddle type monorail travelling mechanism |
| CN103802086A (en) * | 2014-02-17 | 2014-05-21 | 广州供电局有限公司 | Inspection robot |
| CN105397795A (en) * | 2015-12-10 | 2016-03-16 | 深圳市施罗德工业测控设备有限公司 | Rail type polling robot |
| CN105598944A (en) * | 2016-03-29 | 2016-05-25 | 亿嘉和科技股份有限公司 | Robot walking mechanism |
| CN205660705U (en) * | 2016-05-27 | 2016-10-26 | 亿嘉和科技股份有限公司 | Running gear of robot patrols and examines |
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| Publication number | Publication date |
|---|---|
| CN105798876B (en) | 2017-03-29 |
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