CN106740899B - Electric tunnel inspection robot walking structure, robot and its method - Google Patents
Electric tunnel inspection robot walking structure, robot and its method Download PDFInfo
- Publication number
- CN106740899B CN106740899B CN201611244805.6A CN201611244805A CN106740899B CN 106740899 B CN106740899 B CN 106740899B CN 201611244805 A CN201611244805 A CN 201611244805A CN 106740899 B CN106740899 B CN 106740899B
- Authority
- CN
- China
- Prior art keywords
- wheel
- directive wheel
- inspection robot
- tunnel inspection
- guide rail
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 88
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 238000007667 floating Methods 0.000 claims abstract description 14
- 239000000203 mixture Substances 0.000 claims abstract description 4
- 230000008878 coupling Effects 0.000 claims description 22
- 238000010168 coupling process Methods 0.000 claims description 22
- 238000005859 coupling reaction Methods 0.000 claims description 22
- 239000003638 chemical reducing agent Substances 0.000 claims description 15
- 238000005452 bending Methods 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 230000002146 bilateral effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000003245 working effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000007598 dipping method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C13/00—Locomotives or motor railcars characterised by their application to special systems or purposes
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses electric tunnel inspection robot walking structure, robot and its method, walking structure includes two wallboards, is located at guide rail two sides and is connected by wallboard connecting rod mutual conductance rail；One group of driving mechanism, one group of arrestment mechanism and two groups of guiding mechanisms are respectively symmetrically installed on two wallboards along guide rail；Two groups of guiding mechanisms are separately mounted to the both ends of corresponding wallboard；Every group of guiding mechanism includes directive wheel flotator and directive wheel piston, and directive wheel floating piston one end can be slided in directive wheel flotator, is equipped with spring in directive wheel flotator；The directive wheel floating piston other end is connected with guide wheel bracket A, and guide wheel bracket A is connected with the wheel shaft of directive wheel；Directive wheel flotator is fixed on a wallboard by guide wheel bracket C；Guide wheel bracket C is connect with guide wheel bracket B, guide wheel bracket B and guide wheel bracket A link together composition swing arm can limit guide wheel bracket A drive directive wheel stretch in a certain range.
Description
Technical field
The invention belongs to electric power tunnel inspection field more particularly to a kind of electric tunnel inspection robot walking structures, machine
Device people and its method.
Background technique
In urban electric power tunnel, the monitor and control facility of cable is particularly important for guarantee society's electricity consumption, wherein inspection machine
The application of people is that the situation of effective monitoring cable tunnel provides convenience.Crusing robot is usually to walk on suspended rail.
Cable tunnel is same as urban road, there is various bends and a dipping and heaving road surface, crusing robot track also with tunnel trend and
It builds, situations such as robot will encounter turn in walking, climbing.This for robot how in orbit carry out advance or
It retreats, turns to and braking proposes high requirement.Traditional robot there is guiding mechanisms not perfect, electric power tunnel inspection machine
The problem of people's stress is unreasonable, driving and braking invariance control.
Summary of the invention
In order to solve the disadvantage that the prior art, the first object of the present invention are to provide a kind of electric tunnel inspection robot row
Walk structure.
A kind of electric tunnel inspection robot walking structure of the invention, comprising:
Two wallboards, the two wallboards are located at guide rail two sides and are connected by wallboard connecting rod mutual conductance rail；Two walls
One group of driving mechanism, one group of arrestment mechanism and two groups of guiding mechanisms are respectively symmetrically installed on plate along guide rail；
The driving mechanism includes drive shaft, and one end of drive shaft is fixed with driving wheel, and the other end passes through shaft coupling and watches
Motor is taken to be connected；One end of drive shaft is fixed on a wallboard；
The arrestment mechanism includes brake axle, and one end of brake axle is fixed with driven wheel, and the other end is fixed with brake；System
One end of moving axis also is secured on a wallboard；
Two groups of guiding mechanisms are separately mounted to the both ends of corresponding wallboard；Every group of guiding mechanism includes directive wheel flotator and leads
To wheel piston, one end of directive wheel floating piston can be slided in directive wheel flotator, and installation is promising in directive wheel flotator leads
The spring of cushion effect is provided to wheel floating piston；The other end of directive wheel floating piston is connected with guide wheel bracket A, directive wheel branch
Frame A is connected with the wheel shaft of directive wheel；Directive wheel flotator is fixed on a wallboard by guide wheel bracket C；Guide wheel bracket C
It is connect with guide wheel bracket B, the link together swing arm of composition of guide wheel bracket B and guide wheel bracket A can limit directive wheel
Bracket A drives directive wheel to stretch in a certain range.
When driving wheel in orbit when driving, jolt due to existing, vibration when walking can be along driving wheel axial restraint
Servo motor transmitting on vehicle frame, increases the unstability of work, and to solve this problem, the present invention utilizes driving wheel
Drive shaft is connected by shaft coupling with servo motor, using the flexibility of shaft coupling, not only effectively delivers torque, but also digested drive
The vibration of driving wheel ensure that the steady operation of servo motor.
Simultaneously when walking on bend, since the guide wheel shaft to pressure is away from that can change, if directive wheel is rigidity, no
Can by bend, the present invention relates to flexible guiding mounting mechanism, be suitable for guide wheel shaft away from variation requirement, while by
Directive wheel can be made to be pressed in rail level always, make effective contact of the two, ensure that limit of the electric tunnel inspection robot on bend
Position.
Wherein, the guide rail is inverted T shaped guide rail.
The present invention is using driving wheel and driven wheel respectively in inverted T shaped guide rail bilateral movement, wherein driving wheel has driving to make
With；Existing driving effect of driven wheel, also there is braking action；Both driving wheel and driven wheel support each other, and each other
It is perfect, electric tunnel inspection robot not only stress equalization can be made, but also stable.
The drive shaft has reducer.
Drive shaft of the invention has reducer, can adapt to require the difference of drive shaft intensity in this way, be driven with reaching
The optimum state of moving axis working effect.Reducer is placed according to the different status requirement of installation part, have it is easy for installation,
The reliable feature of intensity.
Two bearings are installed, two bearings are located at the two sides of the reducer, one of axis in the drive shaft
It holds and is fixed on wallboard by bearing cap, another bearing is connected with driving wheel.
Drive shaft one end is fixed on wallboard by the present invention by bearing and bearing cap, for improving the stability of drive shaft
And intensity, the compact of entire electric tunnel inspection robot walking structure has been taken into account, installation space has been saved, has reduced simultaneously
The volume of electric tunnel inspection robot walking structure.
The brake axle has reducer.
Brake axle of the invention has reducer, can adapt to require the difference of brake axle intensity in this way, to reach system
The optimum state of moving axis working effect.
Two bearings are also installed, the two bearings are located at the two sides of the reducer, wherein one on the brake axle
A bearing is fixed on wallboard by bearing cap, another bearing is connected with driven wheel.
Drive shaft one end is fixed on wallboard by the present invention by brake axle, for improving the stability of brake axle and whole
The compact of a electric tunnel inspection robot walking structure, while reducing the body of electric tunnel inspection robot walking structure
Product.
The second object of the present invention is to provide a kind of working method of electric tunnel inspection robot walking structure.
A kind of working method of electric tunnel inspection robot walking structure of the invention, comprising:
When walking structure is in walking states, servo motor transmits torque to shaft coupling, and shaft coupling drives drive shaft, thus
Driving wheel rotation is driven, so that electric tunnel inspection robot is advanced by the frictional force of driving wheel and track, and can be avoided
Shake the impact to the motor shaft of servo motor；Brake axle is equivalent to driven shaft in non-brake state；
When walking structure is in on-position, when electric tunnel inspection robot needs to brake, brake holds braking tightly
Axis brakes electric tunnel inspection robot by the frictional force of driven wheel and guide rail to brake driven wheel.
This method further include:
When electric tunnel inspection robot is advanced on guide rail, when encountering bend, guide rail is directed laterally to wheel in bending one
Apply pressure, wallboard can be applied thrust to curved in tracks side by directive wheel, so that electric tunnel inspection robot be enable to follow
Rail bends direction is deviated, to realize guiding role, simultaneously as pressure of the directive wheel by spring, directive wheel begins
It keeps contacting with the force of guide rail side eventually, to have the function that limit directive wheel.
The third object of the present invention is to provide a kind of electric tunnel inspection robot.
A kind of electric tunnel inspection robot of the invention, comprising: electric tunnel inspection robot walking described above
Structure.
The fourth object of the present invention is to provide a kind of working method of electric tunnel inspection robot.
A kind of working method of electric tunnel inspection robot of the invention, comprising:
When electric tunnel inspection robot is in forward travel state, servo motor transmits torque to shaft coupling, and shaft coupling drives
Drive shaft makes electric tunnel inspection robot advance so that driving wheel be driven to rotate by the frictional force of driving wheel and track, and
And it can be avoided impact of the vibration to the motor shaft of servo motor；Brake axle is equivalent to driven shaft in non-brake state；
When electric tunnel inspection robot is in on-position, when electric tunnel inspection robot needs to brake, braking
Device, which holds brake axle tightly, brakes electric tunnel inspection robot by the frictional force of driven wheel and guide rail to brake driven wheel；
When electric tunnel inspection robot is advanced on guide rail, when encountering bend, guide rail is directed laterally to wheel in bending one
Apply pressure, wallboard can be applied thrust to curved in tracks side by directive wheel, so that electric tunnel inspection robot be enable to follow
Rail bends direction is deviated, to realize guiding role, simultaneously as pressure of the directive wheel by spring, directive wheel begins
It keeps contacting with the force of guide rail side eventually, to have the function that limit directive wheel.
The invention has the benefit that
(1) present invention provides one kind movement in orbit steadily, quickly, and drives and separates with braking, row in orbit
Be oriented to flexibility and reliability, performance stable electric tunnel inspection robot walking structure when walking, purpose be exactly be to improve robot to exist
It walks in tunnel, encounters turn, climb, when up-and-down surfaced road, also can voluntarily adjust motion morphology, keep the conjunction of stress
Reason configuration guarantees robot on gentle road surface, and Special Road can normally advance.
(2) present invention employs symmetric support, weight bearing is balanced, and drive shaft only carries out the transmitting of torque, each supporting point by
Power is more uniformly distributed reasonable, driving and braking separation, directive wheel impact resistance.
Detailed description of the invention
Fig. 1 is the schematic diagram of electric tunnel inspection robot walking structure；
Fig. 2 is the driving mechanism schematic diagram of electric tunnel inspection robot walking structure；
Fig. 3 is the guiding mechanism and arrestment mechanism schematic diagram of electric tunnel inspection robot walking structure.
Wherein: 1, the first wallboard；2, the second wallboard；3, driving wheel；4, driven wheel；5, directive wheel；6, drive shaft；7, axis
It holds；8, bearing cap；9, shaft coupling；10, locking nut A；11, locking nut B；12, servo motor；13, wallboard connecting rod；14,
Guide rail；15, brake；16, brake axle；17, washer；18, guide wheel bracket A；19, guide wheel bracket B；20, guide wheel bracket
C；21, directive wheel floating piston；22, directive wheel flotator；23, directive wheel flotator clamp nut；24, spring.
Specific embodiment
Technical solution of the present invention is clearly and completely described with embodiment with reference to the accompanying drawing, it is clear that described
Embodiment be a part of the embodiments of the present invention, instead of all the embodiments.
In the description of the present invention, it should be noted that term " on ", "lower", "vertical", "horizontal", "inner", "outside" etc.
The orientation or positional relationship of instruction is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and letter
Change description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construct and
Operation, therefore be not considered as limiting the invention.In addition, term " first ", " second " are used for description purposes only, and cannot
It is interpreted as indication or suggestion relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation " " connects
Connect " it shall be understood in a broad sense, for example, it may be being fixedly connected, it is also possible to dismantling connection, or be integrally connected；It can be machinery
Connection, is also possible to be electrically connected；It can be and be directly connected to, can also be indirectly connected with by intermediary, can be two elements
Internal connection.For the ordinary skill in the art, it can understand above-mentioned term in the present invention with concrete condition
Concrete meaning.
Guide rail of the invention is inverted T shaped guide rail.The present invention is transported in inverted T shaped guide rail bilateral respectively using driving wheel and driven wheel
It is dynamic, wherein driving wheel has driving effect；Existing driving effect of driven wheel, also there is braking action；Driving wheel and driven
Both wheels support each other, and perfect each other, can make electric tunnel inspection robot not only stress equalization, but also stable.
A kind of walking structure of electric tunnel inspection robot of the invention, the structure include driving mechanism, arrestment mechanism
And guiding mechanism is together with the first wallboard and the second wallboard.First wallboard and the second wallboard are located at guide rail two sides.First wallboard
And second every side of wallboard have one group of driving mechanism and arrestment mechanism and two groups of guiding mechanisms.Driving function and braking function
And guide function is individually separated, and is mounted on a wallboard with group, two wallboards use across the track company of wallboard connecting rod again
It connects, the balanced stress of electric tunnel inspection robot makes electric tunnel inspection robot driving stability.Guiding flexibly, is braked
Reliably.
One group of driving mechanism and one group of arrestment mechanism are installed on each wallboard.
Every group has a wheel, supports each other when advancing on guide rail.Every wallboard has two groups of guiding mechanisms, and two
Guiding mechanism between wallboard is opposite two-by-two.
Fig. 1 is the schematic diagram of electric tunnel inspection robot walking structure.Electric tunnel inspection robot row as shown in Figure 1
Walk structure, comprising:
Two wallboards, the first wallboard 1 and the second wallboard 2；First wallboard 1 and the second wallboard 2 are located at 14 two sides of guide rail
And it is connected by 13 mutual conductance rail 14 of wallboard connecting rod；One group of driving mechanism, one are respectively symmetrically installed along guide rail 14 on two wallboards
Group arrestment mechanism and two groups of guiding mechanisms.
Fig. 2 is the driving mechanism schematic diagram of electric tunnel inspection robot walking structure.
As shown in Fig. 2, driving mechanism includes drive shaft 6, one end of drive shaft 6 is fixed with driving wheel 3, drive shaft 6 it is another
One end is connected by shaft coupling 9 with servo motor 12, two bearings 7 of installation among drive shaft 6, and drive shaft 6 is with reducer, and two
A bearing 7 is located at the reducer two sides of drive shaft 6.Wherein, between a bearing 7 and driving wheel 3 with washer 17 by locking
Nut B11 is fixed；Another bearing 7 is fixed among bearing cap 8, and bearing cap 8 is fixed on wallboard using locking nut A10.
Servo motor 12 transmits torque to shaft coupling 9, and shaft coupling 9 drives drive shaft 6, so that driving wheel 3 be driven to rotate, leads to
Cross makes electric tunnel inspection robot advance with the frictional force of guide rail 14, meanwhile, driving wheel 3 is with 12 axis of servo motor due to being to make
With shaft coupling 9, shaft coupling 9 has flexibility, leads to vibration of jolting to bring the impact of motor shaft so as to mitigate wheel and jolt.
Fig. 3 is the guiding mechanism and arrestment mechanism schematic diagram of electric tunnel inspection robot walking structure.
As shown in figure 3, arrestment mechanism includes brake axle 16, one end of brake axle 16 is fixed with driven wheel 4, and the other end is fixed
There is brake 15, two bearings 7 are installed among brake axle 16, brake axle 16 has reducer, and two bearings 7 are located at braking
The reducer two sides of axis 16.
Wherein, separated between a bearing 7 and driven wheel 4 with washer 17；Another bearing 7 is fixed among bearing cap 8,
Bearing cap 8 is fixed on wallboard.
Brake axle 16 is equivalent to driven shaft in non-brake state, when electric tunnel inspection robot needs to brake, braking
Device 15 can hold brake axle 16 tightly, to brake driven wheel 4.Electric tunnel inspection robot is needed in brake in this way, so that it may
Driven wheel 4 is braked, by braking electric tunnel inspection robot with the frictional force of guide rail 14.
Guiding mechanism includes directive wheel 5, guide wheel bracket A18, guide wheel bracket B19, guide wheel bracket C20, directive wheel
Floating piston 21, directive wheel flotator 22, directive wheel flotator clamp nut 23, spring 24.
Wherein, directive wheel floating piston 21 can slide in directive wheel flotator 22, and spring 24 is set to directive wheel floating
In device 22, and cushion effect is provided for directive wheel floating piston 21.
One end of directive wheel floating piston 21 is installed by guide wheel bracket A18, the wheel shaft of guide wheel bracket A18 and directive wheel 5
It is connected；Directive wheel flotator 22 is fixed on a wallboard by guide wheel bracket C20；Guide wheel bracket C20 and directive wheel branch
Frame B19 connection, the link together swing arm of composition of guide wheel bracket B19 and guide wheel bracket A18 can limit guide wheel bracket
A18 drives directive wheel 5 to stretch in a certain range.
When electric tunnel inspection robot is advanced on guide rail 14, bend is encountered, guide rail 14 can be in bending side guide
Apply pressure to wheel 5, wallboard can be applied thrust to curved in tracks side by directive wheel 5, to make electric tunnel inspection robot
14 bending direction of guide rail can be followed to be deviated, to realize the guiding role of guiding mechanism, simultaneously as directive wheel 5 by
No matter the pressure of spring 24 is traveling in straight rail or bending track, can remain and contact with the force of 14 side of guide rail, guiding
Mechanism is to use in pairs again, is formed in another side of guide rail 14 to pressure, so again to electric tunnel inspection robot in guide rail
14 not only realize guide function, also play position-limiting action.
A kind of working principle of electric tunnel inspection robot walking structure of the invention are as follows:
When walking structure is in walking states, servo motor transmits torque to shaft coupling, and shaft coupling drives drive shaft, thus
Driving wheel rotation is driven, so that electric tunnel inspection robot is advanced by the frictional force of driving wheel and track, and can be avoided
Shake the impact to the motor shaft of servo motor；Brake axle is equivalent to driven shaft in non-brake state；
When walking structure is in on-position, when electric tunnel inspection robot needs to brake, brake holds braking tightly
Axis brakes electric tunnel inspection robot by the frictional force of driven wheel and guide rail to brake driven wheel.
In addition, when encountering bend, guide rail is in bending side guide when electric tunnel inspection robot is advanced on guide rail
Apply pressure to wheel, wallboard can be applied thrust to curved in tracks side by directive wheel, to enable electric tunnel inspection robot
Rail bends direction is followed to be deviated, so that guiding role is realized, simultaneously as pressure of the directive wheel by spring, guiding
Wheel is remained to be contacted with the force of guide rail side, to have the function that limit directive wheel.
Electric tunnel inspection robot walking structure of the invention, movement is steady in orbit, quickly, and drives and system
Dynamic separation, is oriented to flexibility and reliability when walking in orbit, and performance is stable, purpose be exactly be to improve robot row in tunnel
It walks, encounters turn, climb, when up-and-down surfaced road, also can voluntarily adjust motion morphology, keep the reasonable disposition of stress,
Guarantee robot on gentle road surface, Special Road can normally advance.
Present invention employs symmetric supports, and weight bearing is balanced, and drive shaft only carries out the transmitting of torque, and each supporting point stress is more
Become uniformly distributed reasonable, driving and braking separation, directive wheel impact resistance.
The present invention also provides a kind of electric tunnel inspection robots comprising electric power tunnel inspection machine shown in FIG. 1
People's walking structure.The other structures of electric tunnel inspection robot are the prior art, will be not repeated herein.
The working method of electric tunnel inspection robot of the invention, comprising:
When electric tunnel inspection robot is in forward travel state, servo motor transmits torque to shaft coupling, and shaft coupling drives
Drive shaft makes electric tunnel inspection robot advance so that driving wheel be driven to rotate by the frictional force of driving wheel and track, and
And it can be avoided impact of the vibration to the motor shaft of servo motor；Brake axle is equivalent to driven shaft in non-brake state；
When electric tunnel inspection robot is in on-position, when electric tunnel inspection robot needs to brake, braking
Device, which holds brake axle tightly, brakes electric tunnel inspection robot by the frictional force of driven wheel and guide rail to brake driven wheel；
When electric tunnel inspection robot is advanced on guide rail, when encountering bend, guide rail is directed laterally to wheel in bending one
Apply pressure, wallboard can be applied thrust to curved in tracks side by directive wheel, so that electric tunnel inspection robot be enable to follow
Rail bends direction is deviated, to realize guiding role, simultaneously as pressure of the directive wheel by spring, directive wheel begins
It keeps contacting with the force of guide rail side eventually, to have the function that limit directive wheel.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (5)
1. a kind of electric tunnel inspection robot walking structure characterized by comprising
Two wallboards, the two wallboards are located at guide rail two sides and are connected by wallboard connecting rod mutual conductance rail；On two wallboards
One group of driving mechanism, one group of arrestment mechanism and two groups of guiding mechanisms are respectively symmetrically installed along guide rail；
The driving mechanism includes drive shaft, and one end of drive shaft is fixed with driving wheel, and the other end passes through shaft coupling and servo electricity
Machine is connected；One end of drive shaft is fixed on a wallboard；
The arrestment mechanism includes brake axle, and one end of brake axle is fixed with driven wheel, and the other end is fixed with brake；Brake axle
One end also be secured on a wallboard；
Two groups of guiding mechanisms are separately mounted to the both ends of corresponding wallboard；Every group of guiding mechanism includes directive wheel flotator and directive wheel
One end of piston, directive wheel floating piston can be slided in directive wheel flotator, the promising directive wheel of installation in directive wheel flotator
The spring of floating piston offer cushion effect；The other end of directive wheel floating piston is connected with guide wheel bracket A, guide wheel bracket A
It is connected with the wheel shaft of directive wheel；Directive wheel flotator is fixed on a wallboard by guide wheel bracket C；Guide wheel bracket C with
Guide wheel bracket B connection, the link together swing arm of composition of guide wheel bracket B and guide wheel bracket A can limit directive wheel branch
Frame A drives directive wheel to stretch in a certain range；
The drive shaft has reducer；
Two bearings are installed, two bearings are located at the two sides of the reducer of the drive shaft, wherein one in the drive shaft
A bearing is fixed on wallboard by bearing cap, another bearing is connected with driving wheel；
The brake axle has reducer；
Two bearings are also installed on the brake axle, the two bearings are located at the two sides of the reducer of the brake axle,
In a bearing be fixed on wallboard by bearing cap, another bearing is connected with driven wheel；
The guide rail is inverted T shaped guide rail.
2. a kind of working method of electric tunnel inspection robot walking structure as described in any of claims 1, special
Sign is, comprising:
When walking structure is in walking states, servo motor transmits torque to shaft coupling, and shaft coupling drives drive shaft, to drive
Driving wheel rotation, makes electric tunnel inspection robot advance, and can be avoided vibration by the frictional force of driving wheel and track
Impact to the motor shaft of servo motor；Brake axle is equivalent to driven shaft in non-brake state；
When walking structure is in on-position, when electric tunnel inspection robot needs to brake, brake holds brake axle tightly, from
And driven wheel is braked, electric tunnel inspection robot is braked by the frictional force of driven wheel and guide rail.
3. the working method of electric tunnel inspection robot walking structure as described in claim 2, which is characterized in that the party
Method further include:
When electric tunnel inspection robot is advanced on guide rail, when encountering bend, guide rail is directed laterally to wheel in bending one and applies
Pressure, wallboard can be applied thrust to curved in tracks side by directive wheel, so that electric tunnel inspection robot be enable to follow guide rail
Bending direction is deviated, so that guiding role is realized, simultaneously as pressure of the directive wheel by spring, directive wheel are protected always
It holds and is contacted with the force of guide rail side, to have the function that limit directive wheel.
4. a kind of electric tunnel inspection robot characterized by comprising electric power tunnel as described in any of claims 1
Road crusing robot walking structure.
5. a kind of working method of electric tunnel inspection robot as claimed in claim 4 characterized by comprising
When electric tunnel inspection robot is in forward travel state, servo motor transmits torque to shaft coupling, and shaft coupling drives driving
Axis makes electric tunnel inspection robot advance, Er Qieneng so that driving wheel be driven to rotate by the frictional force of driving wheel and track
It enough avoids shaking the impact to the motor shaft of servo motor；Brake axle is equivalent to driven shaft in non-brake state；
When electric tunnel inspection robot is in on-position, when electric tunnel inspection robot needs to brake, brake is embraced
Tight brake axle brakes electric tunnel inspection robot by the frictional force of driven wheel and guide rail to brake driven wheel；
When electric tunnel inspection robot is advanced on guide rail, when encountering bend, guide rail is directed laterally to wheel in bending one and applies
Pressure, wallboard can be applied thrust to curved in tracks side by directive wheel, so that electric tunnel inspection robot be enable to follow guide rail
Bending direction is deviated, so that guiding role is realized, simultaneously as pressure of the directive wheel by spring, directive wheel are protected always
It holds and is contacted with the force of guide rail side, to have the function that limit directive wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611244805.6A CN106740899B (en) | 2016-12-29 | 2016-12-29 | Electric tunnel inspection robot walking structure, robot and its method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611244805.6A CN106740899B (en) | 2016-12-29 | 2016-12-29 | Electric tunnel inspection robot walking structure, robot and its method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106740899A CN106740899A (en) | 2017-05-31 |
| CN106740899B true CN106740899B (en) | 2019-05-17 |
Family
ID=58928648
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611244805.6A Active CN106740899B (en) | 2016-12-29 | 2016-12-29 | Electric tunnel inspection robot walking structure, robot and its method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106740899B (en) |
Families Citing this family (32)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139949A (en) * | 2017-06-10 | 2017-09-08 | 中信重工开诚智能装备有限公司 | A kind of pipe gallery crusing robot hoofing part mechanism |
| CN107215342A (en) * | 2017-07-14 | 2017-09-29 | 文安县朔翰塑料制品有限公司 | A kind of pipeline |
| CN108622118A (en) * | 2018-04-27 | 2018-10-09 | 深圳博通机器人有限公司 | A kind of robot for piping lane inspection |
| CN108482411A (en) * | 2018-06-15 | 2018-09-04 | 广东大仓机器人科技有限公司 | A kind of track guide car for realizing turning by feedback signal |
| CN109129407A (en) * | 2018-10-23 | 2019-01-04 | 广州赛特智能科技有限公司 | A kind of track machine people |
| CN109176462B (en) * | 2018-11-15 | 2024-02-06 | 国网江苏省电力有限公司 | Self-adaptive band-type brake mechanism for walking track of robot |
| CN109442178A (en) * | 2018-11-16 | 2019-03-08 | 国网浙江淳安县供电有限公司 | A kind of inspection management device of power equipment |
| CN109435972A (en) * | 2018-12-05 | 2019-03-08 | 云南电网有限责任公司红河供电局 | Monorail robot walking device |
| CN109531537A (en) * | 2018-12-29 | 2019-03-29 | 湖北凯瑞知行智能装备有限公司 | Disk coal crusing robot track running mechanism |
| CN109676580B (en) * | 2019-01-30 | 2024-03-01 | 合肥中盛水务发展有限公司 | Rail type inspection robot |
| CN109773746A (en) * | 2019-03-21 | 2019-05-21 | 深圳昱拓智能有限公司 | Rail mounted robot and its rail mounted running gear, system and flexible guiding mechanism |
| CN109774735A (en) * | 2019-03-25 | 2019-05-21 | 珠海平川智达科技有限公司 | Track detection device |
| CN110341745A (en) * | 2019-08-13 | 2019-10-18 | 株洲中车特种装备科技有限公司 | Safety wheel complemental brake system |
| CN110509251A (en) * | 2019-08-29 | 2019-11-29 | 韶关市德荣信息科技有限公司 | A kind of track machine people walking mechanism |
| CN110587574A (en) * | 2019-09-24 | 2019-12-20 | 山东科技大学 | Suspension type autonomous walking robot |
| CN113155979B (en) * | 2020-01-07 | 2023-01-03 | 山东大学 | Floating laminating device and method for nondestructive testing of tunnel lining |
| CN110789540A (en) * | 2019-10-14 | 2020-02-14 | 薛建仁 | Externally hung air rail and driving structure |
| CN110744524A (en) * | 2019-10-28 | 2020-02-04 | 北京海益同展信息科技有限公司 | Drive guiding mechanism and rail hanging robot |
| CN111730579B (en) * | 2020-07-03 | 2021-07-23 | 北京交跃通达检测科技有限公司 | Power system and highway tunnel monitoring system |
| CN111942416B (en) * | 2020-08-15 | 2023-04-25 | 徐州新南湖科技有限公司 | Auxiliary fixer for rail detection vehicle |
| CN112178421A (en) * | 2020-09-24 | 2021-01-05 | 安徽文香信息技术有限公司 | Movable camera for classroom |
| CN112589768B (en) * | 2020-12-11 | 2022-03-18 | 国网智能科技股份有限公司 | Elastic track pressing device, track robot and method |
| CN114633245A (en) * | 2020-12-16 | 2022-06-17 | 国网智能科技股份有限公司 | Overhead line whole-course inspection robot and method |
| CN113815655A (en) * | 2021-01-08 | 2021-12-21 | 京东科技信息技术有限公司 | Rail-mounted driving device and driving system, rail-mounted robot and robot system |
| CN114906175A (en) * | 2021-02-08 | 2022-08-16 | 京东科技信息技术有限公司 | Running gear and hang rail robot |
| CN113246093B (en) * | 2021-03-18 | 2022-11-08 | 中煤科工集团沈阳研究院有限公司 | Intrinsically safe hanging rail type flexible walking device of inspection robot for coal mine and use method |
| CN113043239B (en) * | 2021-03-18 | 2022-11-25 | 中煤科工集团沈阳研究院有限公司 | Double-motor driving type walking device for coal mine hanging rail type inspection robot and using method |
| CN114012696A (en) * | 2021-10-11 | 2022-02-08 | 北京华能新锐控制技术有限公司 | Running gear of track robot |
| CN114029925A (en) * | 2021-11-21 | 2022-02-11 | 北京华能新锐控制技术有限公司 | Explosion-proof type track inspection robot |
| CN114918893B (en) * | 2022-04-20 | 2023-05-30 | 中铁大桥局集团有限公司 | Suspension type beam bottom detection robot |
| CN114918892B (en) * | 2022-04-20 | 2023-05-30 | 中铁大桥局集团有限公司 | Rail mounted bridge inspection robot |
| CN116968056A (en) * | 2023-09-22 | 2023-10-31 | 山西华控伟业科技有限公司 | Intelligent track type inspection robot for power outage and transmission system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202624224U (en) * | 2012-06-11 | 2012-12-26 | 山东康威通信技术股份有限公司 | Walking structure of power tunnel inspection robot |
| CN103802086A (en) * | 2014-02-17 | 2014-05-21 | 广州供电局有限公司 | Inspection robot |
| CN104742111A (en) * | 2015-04-02 | 2015-07-01 | 江苏亿嘉和信息科技有限公司 | Traveling mechanism of cable tunnel inspection robot |
| CN205438531U (en) * | 2016-01-05 | 2016-08-10 | 山东康威通信技术股份有限公司 | Light -duty track robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3445963B2 (en) * | 2000-07-11 | 2003-09-16 | 新菱冷熱工業株式会社 | Patrol robot system that can run vertically |
| KR101131604B1 (en) * | 2010-10-12 | 2012-03-30 | 지에스건설 주식회사 | Power transmission line inspection system and inspection method |
-
2016
- 2016-12-29 CN CN201611244805.6A patent/CN106740899B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202624224U (en) * | 2012-06-11 | 2012-12-26 | 山东康威通信技术股份有限公司 | Walking structure of power tunnel inspection robot |
| CN103802086A (en) * | 2014-02-17 | 2014-05-21 | 广州供电局有限公司 | Inspection robot |
| CN104742111A (en) * | 2015-04-02 | 2015-07-01 | 江苏亿嘉和信息科技有限公司 | Traveling mechanism of cable tunnel inspection robot |
| CN205438531U (en) * | 2016-01-05 | 2016-08-10 | 山东康威通信技术股份有限公司 | Light -duty track robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106740899A (en) | 2017-05-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106740899B (en) | Electric tunnel inspection robot walking structure, robot and its method | |
| CN107639622A (en) | Rail polling robot running gear | |
| CN106828633B (en) | Electric crawler-type all-terrain chassis | |
| CN202879184U (en) | Floating base mechanism used for automatic guided vehicle (AGV) and AGV motor tractor | |
| CN108749946B (en) | Driving wheel system, mobile platform and robot | |
| CN101855414A (en) | Object moving apparatus | |
| CN103010248A (en) | Railway vehicle steering frame | |
| CN108163481B (en) | A kind of damping type automated guided vehicle | |
| CN203078622U (en) | All-round moving track and platform thereof | |
| CN108909877A (en) | A kind of Modularization combined type robot platform | |
| CN103010950A (en) | Constant-pressure friction driving trolley of hanging type hoisting equipment and method | |
| CN110949497A (en) | Unmanned platform car that all-wheel 360 degrees turned to | |
| CN110949498B (en) | Electric automobile and wheel hub structure of integrated steering and suspension | |
| CN111113363A (en) | Arm moving platform suitable for complicated road conditions | |
| CN204624994U (en) | A kind of rubber tired gantry crane and door frame thereof | |
| CN111497931A (en) | Guide vehicle | |
| US5381737A (en) | Rail truck suspended car transit vehicles | |
| CN204871261U (en) | Crawler -type electrodynamic balance car | |
| CN211252080U (en) | Automatic switch over directional and universal wheel and AGV carry thing car | |
| CN104340629B (en) | A kind of friction driving mechanisms | |
| CN101983889B (en) | Crawler pressing device and crawler-type robot | |
| CN115230842B (en) | Balance linkage driving wheel chassis and robot | |
| CN201148179Y (en) | Ice and snow surface mobile robot | |
| CN215037502U (en) | Hoisting mechanical arm flying device | |
| CN108675127A (en) | A kind of adaptive strain span turning crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Walking structure, robot and method of power tunnel inspection robot Effective date of registration: 20200803 Granted publication date: 20190517 Pledgee: Bank of Tai'an Limited by Share Ltd. Ji'nan branch Pledgor: SHANDONG KANGWEI COMMUNICATION TECHNOLOGY Co.,Ltd. Registration number: Y2020980004657 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| CP03 | Change of name, title or address |
Address after: 250101 A203, block F, entrepreneurship square, Qilu Software Park, No.1 Shunhua Road, high tech Development Zone, Jinan City, Shandong Province Patentee after: Conway Communication Technology Co.,Ltd. Address before: 250101 Qilu Software Park, No. 1 Shunhua Road, Jinan High-tech Development Zone, Shandong Province, A 203 Patentee before: SHANDONG KANGWEI COMMUNICATION TECHNOLOGY Co.,Ltd. |
|
| CP03 | Change of name, title or address | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20210906 Granted publication date: 20190517 Pledgee: Bank of Tai'an Limited by Share Ltd. Ji'nan branch Pledgor: SHANDONG KANGWEI COMMUNICATION TECHNOLOGY Co.,Ltd. Registration number: Y2020980004657 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Walking structure, robot and method of power tunnel inspection robot Effective date of registration: 20210908 Granted publication date: 20190517 Pledgee: Bank of Tai'an Limited by Share Ltd. Ji'nan branch Pledgor: Conway Communication Technology Co.,Ltd. Registration number: Y2021370000106 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20220905 Granted publication date: 20190517 Pledgee: Bank of Tai'an Limited by Share Ltd. Ji'nan branch Pledgor: Conway Communication Technology Co.,Ltd. Registration number: Y2021370000106 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right |