CN106741258A - A kind of damping chassis and the wheel shoe formula barrier-surpassing robot of the transformer station with damping chassis - Google Patents
A kind of damping chassis and the wheel shoe formula barrier-surpassing robot of the transformer station with damping chassis Download PDFInfo
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- CN106741258A CN106741258A CN201611056164.1A CN201611056164A CN106741258A CN 106741258 A CN106741258 A CN 106741258A CN 201611056164 A CN201611056164 A CN 201611056164A CN 106741258 A CN106741258 A CN 106741258A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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Abstract
The invention discloses a kind of damping chassis and the transformer station with damping chassis wheel shoe formula barrier-surpassing robot, damping chassis include lower supporting plate, hanging left support plate and right support plate is provided with the top of lower supporting plate, it is vertical between left and right supporting plate and lower supporting plate to be provided with damping device.Transformer station's wheel shoe formula barrier-surpassing robot includes damping chassis, movable motor mechanism is provided with damping chassis, movable motor mechanism is rotated by left and right two road wheels of actuator drives, left and right two road wheels rotate each via a track drive follower, while two followers and two driving wheels each form two back arm structures and two front arm structures with an Athey wheel respectively；The structure can adapt to transformer station's complex environment operation, can both be walked in flat cement pavement, it is also possible in the complex road surfaces such as rough cement pavement, meadow, sandstone, wilderness traveling, can also cross kerb and be patrolled and examined.
Description
Technical field
The present invention relates to a kind of robot, and in particular to a kind of damping chassis and the wheel shoe formula of the transformer station with damping chassis
Barrier-surpassing robot.
Background technology
Transformer station is the hinge of electric power transmission network, and the security of its equipment running status is most important, has to equipment
It is to ensure that transformer station well runs and to the important guarantee of users' power supply reliability that effect is patrolled and examined.With Power Robot skill
The development of art, robot is patrolled and examined and gradually replaces manual inspection, greatly reduces labour.Current mobile crusing robot master
Wanting structure has：Wheeled, crawler type, leg-foot formula, creeping motion type etc., wherein being most widely used with wheeled and crawler type.Wheeled tool
Have the advantages that simple structure, the speed of service be fast, efficiency high, but be typically only applicable to relatively flat and hard road environment, more
Barrier ability, on soft and muddy ground, ability to act is poor.Leg-foot formula divides creeping-type and legged again, and creeping-type is to imitate to climb
A kind of bionic movement pattern of row class insect motion, is typically in static-stability state, is suitable for discrete complex environment, but row
Walk speed typically slow, and internal structure design gets up more complicated；Legged is to imitate mammal quick walk
A kind of bionic movement pattern, non-static-stability state, control system are in when being suitable for discrete complex environment, but walking at a high speed
System and mechanical structure are extremely complex, there is presently no practical.
At present, the mobile robot in substation inspection is mainly greatly wheeled robot, speed, but environmental suitability
It is poor, it is impossible to cross kerb and can not be in the complex environment downward driving such as meadow；Another kind is the crawler-type mobile with support arm
Robot, it can utilize support arm crossing over blockage, it is also possible to be walked under the complex environments such as meadow, sandstone by crawler belt, but carry out
The drawbacks of belt robot is that under common flat cement road surface, movement is slow, inefficient.So wheel carries out combined type machine
The appearance of people solves problem above, in the wheeled normal walking of common flat pavement usage；When running into the obstacles such as kerb, use
Support arm assist people's crossing over blockage.But the wheel-pedrail robot body that presently, there are does not have shock mitigation system, internal drive mode
By sprocket wheel chain drive, sprocket wheel chain drive has unstability, so also unstable during wheel-pedrail robot is patrolled and examined
It is fixed.Plus when robot is in the poor road traveling of road conditions, robot body can produce larger vibration, therewith installed in mobile flat
Testing equipment above platform is also produced and rocked, and larger vibration damages or even have influence on detection knot to testing equipment body
Really.
The content of the invention
To solve the variety of problems that above-mentioned mobile robot runs into substation inspection, with reference to the carrying out practically of transformer station
Environment, the present invention proposes a kind of transformer station's wheel shoe formula barrier-surpassing robot with shock mitigation system.The structure can adapt to power transformation
Complex environment of standing runs, and can both be walked in flat cement pavement, it is also possible in rough cement pavement, meadow, sand
The complex road surfaces such as stone, wilderness are travelled, and can also be crossed kerb and be patrolled and examined.
To achieve these goals, the technical scheme of present invention design is as follows：
A kind of damping chassis, including lower supporting plate, be provided with the top of described lower supporting plate hanging left support plate and
Right support plate, it is vertical between described left and right supporting plate and lower supporting plate to be provided with a guide pillar, the top of described guide pillar with
Left support plate or right support plate are fixedly connected, and the bottom of guide pillar is fixedly connected with lower supporting plate, and pressure is set with the outer ring of guide pillar
The free height of the distance between spring, the left and right supporting plate and lower supporting plate less than stage clip.
Further, screw thread is provided with the top of described guide pillar, it passes through left support plate or right support plate to pass through nut group
Part is fixedly connected with left support plate or right support plate；The bottom of described guide pillar is provided with slit-like through-holes, is passed through by screw assembly
Guide pillar inside is fixedly connected with lower supporting plate.
Shoe formula barrier-surpassing robot is taken turns by a kind of transformer station, and its chassis uses foregoing damping chassis.
Further, described transformer station's wheel shoe formula barrier-surpassing robot, is provided with movable motor mechanism on described chassis,
Described movable motor mechanism is rotated by left and right two road wheels of actuator drives, and described left and right two road wheels are each
Rotated from by track drive follower, at the same two followers and two driving wheels respectively each with a crawler belt wheel shape
Into two back arm structures and two front arm structures.
Further, described movable motor mechanism includes a support baseboard, and two are provided with described support baseboard
The individual front support seat and rear support seat be arrangeding in parallel, power supply machine I, motor II are equipped with described front support seat, rear support seat
The hole that front and back ends are passed through, while be each additionally provided with adjustment motor rear end in back and front supporting seat being filled with the regulation of front end axiality
Put.
Further, the adjusting means includes upper regulating block, the lower regulating block of setting symmetrical above and below, described upper regulation
Block, lower regulating block are connected by attachment means with rear support seat or front support seat.
Further, described transformer station's wheel shoe formula barrier-surpassing robot also includes track tension device.
Further, described track tension device includes supporting plate, and big tensioning is provided with the top of described supporting plate
Wheel mechanism, bottom is provided with small tension pulley mechanism；And described big tension pulley mechanism can adjust it highly by screw assembly.
Further, a carrier frame is provided with described chassis, a detection is provided with described carrier frame
Equipment, described testing equipment is connected with a controller, described controller control movable motor mechanism, two back arm knots
Structure and two front arm structures.
Further, described testing equipment is fixed on carrier frame by a vertical vertical rod, and testing equipment
It is higher than in the height direction whole barrier-surpassing robot.
Beneficial effects of the present invention：
1st, when shoe formula barrier-surpassing robot is taken turns in substation inspection by the transformer station with shock mitigation system, can be used wheeled general
Logical flat road surface, uneven road surface are normally walked, it is ensured that normal speed of travel when robot is patrolled and examined；When running into certain height
During the obstacles such as the kerb of degree, by front and rear support arm, the smooth crossing over blockage of robot is propped up, when robot is on the road surface of road conditions difference
During traveling, robot body can produce larger vibration, and the testing equipment above mobile platform is also produced and rocked therewith, compared with
Big vibration damages or even has influence on testing result to testing equipment body.It is designed with transformer station's wheel of shock mitigation system
Shoe formula barrier-surpassing robot can more adapt to the development of future robot technology.
2nd, wheel type traveling mechanism and Caterpillar transmission mechanism are both designed as belt wheel and toothed belt transmission mode, in transmission process,
Operate steadily, improve the operational efficiency of robot, reduce robot vibration in itself；
3rd, in the damping chassis structure of robot, design left support plate is separate structure with right support plate, robot
Front-wheel is separately mounted in left support plate and right support plate with trailing wheel assembly, changes monolithic construction, improves damping effect；
4th, servomotor is installed using adjustable bi-motor fixing device, installing space has been effectively saved, for small
Type machine man-based development has impetus.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are the present invention
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
These accompanying drawings obtain other accompanying drawings.
Fig. 1 is that shoe formula barrier-surpassing robot is taken turns in flat cement road traveling sketch by the transformer station with shock mitigation system；
Fig. 2 is sketch of the transformer station's wheel shoe formula barrier-surpassing robot with shock mitigation system before step road surface；
Fig. 3 is that the transformer station's wheel shoe formula barrier-surpassing robot with shock mitigation system travels sketch in complex road surface；
Fig. 4 is that the wheel with shock mitigation system carries out formula barrier-surpassing robot sketch；
Fig. 5 is chassis shock mitigation system sketch；
Fig. 6 is damping scheme of installation；
Fig. 7 is robot running gear sketch；
Fig. 8 is adjustable bi-motor scheme of installation；
Fig. 9 is robot Caterpillar transmission mechanism sketch；
Figure 10 is robot track tension device sketch；
Figure 11 is track tension device and damping chassis installation diagram；
Sketch when Figure 12 is robot normally travel；
Figure 13 runs into kerb obstacle sketch for robot；
Front arm lifts sketch when Figure 14 is robot obstacle detouring；
Forward and backward support arm lifts sketch when Figure 15 is robot obstacle detouring；
Figure 16 is that robot completes sketch during obstacle detouring；
Figure 17 is sketch when robot runs into protrusion road surface；
Sketch when Figure 18 is robot front-wheel contact protrusion road surface；
Figure 19 is sketch when robot track tension device is contacted with protrusion road surface；
Sketch when Figure 20 is robot trailing wheel contact protrusion road surface；
Figure 21 is robot across sketch during protrusion road surface.
In figure：1st, the transformer station's wheel shoe formula barrier-surpassing robot with shock mitigation system；2nd, common flat road surface；3rd, kerb road
Face, 4, uneven road surface；5th, front arm mechanism；6th, wheel type traveling mechanism；7th, crawler belt；8th, Caterpillar transmission mechanism；9th, back arm
Mechanism；10th, damping chassis；11st, carrier frame；12nd, track tension device；13rd, lower supporting plate；14th, left support plate；15th, damping
Mechanism；16th, right support plate；17th, nut assembly；18th, stage clip；19th, guide pillar；20th, screw assembly；21st, adpting flange；22nd, walk
Wheel；23rd, live axle；24th, bearing block；25th, big belt wheel；26th, tension pulley；27th, Timing Belt；28th, small pulley；29th, walk
Motor mechanism；30th, preceding movable motor mounting seat；31st, lower regulating block；32nd, upper regulating block；33rd, upper movable motor；34th, rear walking
Motor mount；35th, driving pulley；36th, passive belt wheel；37th, passive wheel shaft；38th, screw assembly；39th, screw assembly；40th, it is big
Tension pulley mechanism；41st, supporting plate；42nd, small tension pulley mechanism；43rd, testing equipment.
Specific embodiment
The present invention is described in detail below in conjunction with the accompanying drawings：
Robot is patrolled and examined by running on wheels in the present invention, can both be walked in flat cement pavement, it is also possible to
The complex road surfaces such as rough cement pavement, meadow, sandstone, wilderness traveling, but barrier height not above machine
People chassis apart from road surface height, if when barrier height higher than robot chassis apart from road surface apart from when, it is necessary to borrow
Help its front and rear support arm assist human body's throwing over barrier.Wheel-pedrail robot determined according to the height of barrier how
Patrol and examine, the method for disturbance in judgement thing height is not specifically addressed herein.
Intelligent Mobile Robot mobile platform top need to typically install some testing equipments, such as infrared camera, work as machine
In the road traveling of road conditions difference, robot body can produce larger vibration to device people, therewith the inspection above mobile platform
Measurement equipment is also produced and rocked, and larger vibration damages or even have influence on testing result, of the present invention to testing equipment body
A kind of shock mitigation system is applied in wheel-pedrail robot, solves problem above, not only protects robot body and detection to set
Standby security, the reliability of testing result when also ensure that robot is patrolled and examined.
Shown in specific accompanying drawing 1, accompanying drawing 2 and accompanying drawing 3, the transformer station's wheel shoe formula obstacle detouring machine with shock mitigation system is represented respectively
People can travel on common flat road surface 2, kerb road surface 3, uneven road surface 4；Transformer station's wheel shoe formula with shock mitigation system
Barrier-surpassing robot 1 it is main by front arm mechanism 5, wheel type traveling mechanism 6, crawler belt 7, Caterpillar transmission mechanism 8, back arm mechanism 9, subtract
Shake chassis 10, carrier frame 11 and track tension device 12 are constituted.
Main movement principle is：
Forward and backward two groups of supporting arm mechanisms respectively by DC speed-reducing by worm reduction box, gear transmitting torque and
Power, and then drive support arm to be rotated upwardly and downwardly, by the swing of support arm, it is possible to achieve robot moving platform crosses over kerb
With the road surface step of certain altitude etc..(the forward and backward two groups of supporting arm mechanisms in the present invention are existing structure, are not carried out herein
Describe in detail).Driven by belt wheel, Timing Belt by two servomotors during robot ambulation, realize the rotation of road wheel, and then
Driven machine people turns and movable.
A kind of damping chassis 10 (as shown in Figure 5) it is main by lower supporting plate 13, left support plate 14, damping 15 and
Right support plate 16 is constituted, and left support plate 14 and right support plate are 16 to be designed to separate structure, front-wheel and the trailing wheel dress of robot
Part is separately mounted in left support plate and right support plate, so when uneven road surface 4 is crossed over by robot, front-wheel and trailing wheel
It is non-interference, improve damping effect.
Damping 15 (as shown in Figure 6) is mainly made up of stage clip 18, guide pillar 19.Damping 15 passes through left support plate
14, the top of guide pillar 19 design screw thread is simultaneously fixedly connected, the envisaged underneath flute profile of guide pillar 19 by nut assembly 17 with left support plate 14
Through hole, so that screw assembly 20 is fixedly connected through the inside of guide pillar 19 with lower supporting plate 13, in order that stage clip 18 plays its damping
Function, at the end of damping 15 is installed, need to ensure the distance between left support plate 14 and lower supporting plate 13 less than stage clip 18
Free height, specific distance is analyzed again according to actual conditions.Damping 15 and right support plate 16 and lower supporting plate 13
Connection method is as above.
A kind of transformer station's wheel shoe formula barrier-surpassing robot including above-mentioned damping chassis 10, is provided with movable motor machine on chassis
Structure, described movable motor mechanism is rotated by left and right two road wheels of actuator drives, and left and right two road wheels are each
Rotated by a track drive follower, while two followers and two driving wheels are each formed with an Athey wheel respectively
Two back arm structures and two front arm structures, the concrete structure of each several part are as follows：
Wheel type traveling mechanism 6 (as shown in Figure 7) is main by road wheel 22, adpting flange 21, live axle 23, big belt wheel
25th, tension pulley 26, Timing Belt 27, small pulley 28, movable motor mechanism 29 constitute.
It is fixed (as shown in Figure 8) that movable motor mechanism 29 is designed as bi-motor, greatlys save installing space；
Movable motor mechanism 29 is main by preceding movable motor mounting seat 30, lower regulating block 31, upper regulating block 32, the up leakage of electricity
Machine 33 and rear movable motor mounting seat 34 are constituted, and specific installation fixed form is as follows：The front end of upper movable motor 33 by screw with
Movable motor mounting seat 34 is fixedly connected afterwards, and the rear end of upper movable motor 33 is with preceding movable motor mounting seat 30 by lower regulating block
31 are fixedly connected with upper regulating block 32, upper regulating block 32 be connected by screw with lower regulating block 31 and control between the two away from
From, it is to be adjusted go up movable motor 33 well back-end location when, tighten screw on regulating block 32 and lower regulating block 31 and move ahead
Motor mount 30 is walked to be fastenedly connected.Axiality before and after upper regulating block 32 and the lower class of regulating block 31 adjustment motor.Upper movable motor
The installation method of another motor of 33 lower sections is ibid.
Small pulley 28 is arranged on the connection by key on the output shaft of upper movable motor 33, and movable motor 33 drives in realization
Small pulley 28 is rotated, and is fitted to each other by Timing Belt 27 between small pulley 28 and big belt wheel 25, and motor is realized by Timing Belt 27
The moment of torsion of output is transmitted step by step, and big belt wheel 25 is arranged on live axle 23, and the one end of live axle 23 is arranged in bearing block 24,
The other end is fixedly connected by adpting flange 21 with road wheel 22, and reality is connect by being bonded between big belt wheel 25 and live axle 23
The rotation of existing live axle 23, the rotation of live axle 23 drives adpting flange 21 to rotate, adpting flange 21 and road wheel 22 it
Between be fitted close together by screw, and then realize the rotation of road wheel 22.Timing Belt 27 is HTD type arc tooth synchronous belts, greatly
Belt wheel 25 is HTD type synchronizing wheels with small pulley 28.
Caterpillar transmission mechanism (as shown in Figure 9) is by live axle 23, driving pulley 35, track tension device 12, crawler belt
7th, passive belt wheel 36, passive wheel shaft 37, big belt wheel 25, tension pulley 26, Timing Belt 27, small pulley 28, movable motor mechanism
29 compositions.Driving pulley 35 is separately mounted on live axle 23 and passive wheel shaft 37 with passive belt wheel 36, upper movable motor 33
Drive small pulley 28 to rotate, drive big belt wheel 25 to rotate by Timing Belt 27, by key between big belt wheel 25 and live axle 23
Transmission, drive live axle 23 to rotate, and then drive driving pulley 35 with rotation, the company that passive belt wheel 36 passes through crawler belt 7
Connect and transmit, and then realize passive belt wheel 36 with rotation, it is real by track tension device 12 in the transmission process of crawler belt 7
Now it is tensioned, prevents from producing bending and leading to not complete the functions such as obstacle detouring, walking during caterpillar drive.
Track tension device 12 is main by screw assembly 39, big tension pulley mechanism 40, supporting plate 41 and small tension pulley mechanism
42 compositions, big tension pulley mechanism 40 is installed in supporting plate 41 with small tension pulley mechanism 42, is fixedly connected by nut assembly,
Screw assembly 39 can adjust the height of big tension pulley mechanism 40, and then control the rate of tension of crawler belt 7.Track tension device 12 is installed
In lower support 13, it is fixedly connected by screw assembly 38.
A carrier frame 11 is provided with chassis, a testing equipment 43 is provided with described carrier frame, it is described
Testing equipment 43 is connected with a controller, controller control movable motor mechanism, two back arm structures and two front arms
Structure.
Further, testing equipment 43 is fixed on carrier frame by a vertical vertical rod, and testing equipment is in height
It is higher than whole barrier-surpassing robot on degree direction, testing equipment 43 is used to detect road conditions.
Transformer station's wheel shoe formula barrier-surpassing robot specific work process with shock mitigation system is as follows：
Transformer station's wheel shoe formula barrier-surpassing robot 1 with shock mitigation system when common flat road surface 2 is normally walked, front arm
Mechanism 5 lifts with back arm mechanism 9, and by running on wheels, its walking states is as shown in Figure 12.
When the transformer station's wheel shoe formula barrier-surpassing robot with shock mitigation system runs into 3 obstacle of kerb road surface, then need to pass through
Following steps complete obstacle detouring process：Front arm mechanism 5 is lifted on the upper surface for riding over kerb road surface 3, afterwards back arm mechanism 9
Toward lower swing, the transformer station's wheel shoe formula barrier-surpassing robot with shock mitigation system is propped up proper height, then by wheeled row
Walk mechanism 6 order about with shock mitigation system transformer station wheel shoe formula barrier-surpassing robot be moved along, until the change with shock mitigation system
Power station wheel shoe formula barrier-surpassing robot trailing wheel touches the upper surface on kerb road surface 3, i.e., the transformer station's wheel with shock mitigation system is carried out
When formula barrier-surpassing robot can normally walk, front arm mechanism 5 lifts with back arm mechanism 9, and then completes obstacle detouring task.Tool
As shown in accompanying drawing 13, accompanying drawing 14, accompanying drawing 15, accompanying drawing 16, the height on the above kerb road surface 3 is higher than band to the obstacle detouring process of body
Height of the shoe formula barrier-surpassing robot damping chassis 13 apart from road surface is taken turns by the transformer station for having shock mitigation system.
It is concavo-convex when running into uneven road surface 4 when the transformer station's wheel shoe formula barrier-surpassing robot with shock mitigation system is walked
The height of the starting point of uneven road surface 4 will be less than height of the damping chassis 10 apart from road surface, can now rely on wheeled normal, due to
Wheel type traveling mechanism of the invention 6 and Caterpillar transmission mechanism 8 are both designed as belt wheel and toothed belt transmission mode, in transmission process,
Operate steadily, the chassis along with present invention design is shock-damping structure formula, so robot has when uneven road surface 4 is walked
The testing equipment 43 protected above robot of effect.When shoe formula barrier-surpassing robot is taken turns by the transformer station with shock mitigation system
When passing by uneven road surface 4, road wheel 22 first touches uneven road surface 4, afterwards Caterpillar transmission mechanism 12 with it is concavo-convex not
Flat road surface 4 is contacted, and last robot trailing wheel is contacted with uneven road surface 4, finally across uneven road surface 4.When crawler belt is passed
When motivation structure 12 is contacted with uneven road surface 4, this way of contact is rigid contact, due to Caterpillar transmission mechanism 12 and lower support
Plate 13 is fixed together, so Caterpillar transmission mechanism 12 can eliminate this firm with lower supporting plate 13 in the presence of damping 15
Property vibration, reach damping effect, due to testing equipment 43 be arranged on carrier frame 11 on, carrier frame 11 is in turn mounted at lower support
On plate 13, so when robot is across uneven road surface 4, reaching damping effect.Robot is specifically across concave-convex road surface 4
Process is as shown in accompanying drawing 17, accompanying drawing 18, accompanying drawing 19, accompanying drawing 20, accompanying drawing 21.
Although above-mentioned be described with reference to accompanying drawing to specific embodiment of the invention, not to present invention protection model
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need the various modifications made by paying creative work or deformation still within protection scope of the present invention.
Claims (10)
1. a kind of damping chassis, it is characterised in that including lower supporting plate, a hanging left side is provided with the top of described lower supporting plate
Supporting plate and right support plate, it is vertical between described left and right supporting plate and lower supporting plate to be provided with a guide pillar, in described guide pillar
Top be fixedly connected with left support plate or right support plate, the bottom of guide pillar is fixedly connected with lower supporting plate, in the outer ring of guide pillar
It is set with stage clip, the free height of the distance between the left and right supporting plate and lower supporting plate less than stage clip.
2. damping chassis as claimed in claim 1, it is characterised in that be provided with screw thread at the top of described guide pillar, it passes through a left side
Supporting plate or right support plate are fixedly connected by nut assembly with left support plate or right support plate；The bottom of described guide pillar is provided with
Slit-like through-holes, are fixedly connected through guide pillar inside by screw assembly with lower supporting plate.
3. shoe formula barrier-surpassing robot is taken turns by a kind of transformer station, it is characterised in that its chassis is used as described in claim 1-2 is any
Damping chassis.
4. shoe formula barrier-surpassing robot is taken turns by transformer station as claimed in claim 3, it is characterised in that be provided with row on described chassis
Motor mechanism is walked, described movable motor mechanism is rotated by left and right two road wheels of actuator drives, and described is left and right
Two road wheels rotate each via a track drive follower, at the same two followers and two driving wheels respectively each with
One Athey wheel forms two back arm structures and two front arm structures.
5. shoe formula barrier-surpassing robot is taken turns by transformer station as claimed in claim 4, it is characterised in that described movable motor mechanism bag
A support baseboard is included, the two front support seats and rear support seat be arrangeding in parallel are provided with described support baseboard, it is described
Front support seat, rear support seat on be equipped with power supply machine I, the hole that motor II front and back ends are passed through, while back and front supporting seat each
It is additionally provided with the adjusting means of adjustment motor rear end and front end axiality.
6. shoe formula barrier-surpassing robot is taken turns by transformer station as claimed in claim 5, it is characterised in that the adjusting means includes upper and lower
Symmetrically arranged upper regulating block, lower regulating block, described upper regulating block, lower regulating block is by attachment means and rear support seat or preceding
Support base is connected.
7. shoe formula barrier-surpassing robot is taken turns by the transformer station as described in claim 3 or 4, it is characterised in that also include crawler tensioning
Mechanism.
8. shoe formula barrier-surpassing robot is taken turns by transformer station as claimed in claim 7, it is characterised in that described track tension device bag
Supporting plate is included, big tension pulley mechanism is provided with the top of described supporting plate, bottom is provided with small tension pulley mechanism；And it is described big
Tension pulley mechanism can adjust it highly by screw assembly.
9. shoe formula barrier-surpassing robot is taken turns by transformer station as claimed in claim 4, it is characterised in that be provided with one on described chassis
Carrier frame, is provided with a testing equipment on described carrier frame, and described testing equipment is connected with a controller, institute
Controller control movable motor mechanism, two back arm structures and the two front arm structures stated.
10. the control method of transformer station's wheel shoe formula barrier-surpassing robot as claimed in claim 9 is as follows, it is characterised in that described
Testing equipment be fixed on carrier frame by a vertical vertical rod, and testing equipment in the height direction higher than it is whole more
Barrier robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611056164.1A CN106741258B (en) | 2016-11-21 | 2016-11-21 | Shoe formula barrier-surpassing robot is taken turns by a kind of damping chassis and the substation with damping chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611056164.1A CN106741258B (en) | 2016-11-21 | 2016-11-21 | Shoe formula barrier-surpassing robot is taken turns by a kind of damping chassis and the substation with damping chassis |
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| Publication Number | Publication Date |
|---|---|
| CN106741258A true CN106741258A (en) | 2017-05-31 |
| CN106741258B CN106741258B (en) | 2019-07-12 |
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| CN201611056164.1A Active CN106741258B (en) | 2016-11-21 | 2016-11-21 | Shoe formula barrier-surpassing robot is taken turns by a kind of damping chassis and the substation with damping chassis |
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| CN107640234A (en) * | 2017-09-15 | 2018-01-30 | 北京华信智航科技有限公司 | It is a kind of that compound ground robot is carried out based on wheel |
| CN108482503A (en) * | 2018-04-28 | 2018-09-04 | 李晓 | A kind of magnetic wheel shoe formula climbing robot barrier getting over mechanism |
| CN108706050A (en) * | 2018-05-11 | 2018-10-26 | 福建三龙新能源汽车有限公司 | A kind of protection high safety damping shared electric vehicle by force |
| CN110481667A (en) * | 2019-08-29 | 2019-11-22 | 哈尔滨工程大学 | A kind of compound walking polar region robot of crawler belt sled |
| WO2021000900A1 (en) * | 2019-07-03 | 2021-01-07 | 浙江大学 | Multifunctional universal robot chassis |
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| CN114104134A (en) * | 2021-10-28 | 2022-03-01 | 贵州大学 | Novel mobile vision robot for complex environment |
| CN115191869A (en) * | 2021-04-14 | 2022-10-18 | 追创科技(苏州)有限公司 | Robot chassis and intelligent cleaning robot |
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| CN107284541A (en) * | 2017-07-17 | 2017-10-24 | 安徽工业大学 | A kind of right angle legs rotate barrier-crossing traveling mechanism |
| CN107284541B (en) * | 2017-07-17 | 2019-01-29 | 安徽工业大学 | A kind of right angle legs rotation barrier-crossing traveling mechanism |
| CN107640234A (en) * | 2017-09-15 | 2018-01-30 | 北京华信智航科技有限公司 | It is a kind of that compound ground robot is carried out based on wheel |
| CN108482503B (en) * | 2018-04-28 | 2020-07-24 | 北京海科智机器人科技有限公司 | Magnetic wheel-track type obstacle crossing mechanism of wall climbing robot |
| CN108482503A (en) * | 2018-04-28 | 2018-09-04 | 李晓 | A kind of magnetic wheel shoe formula climbing robot barrier getting over mechanism |
| CN108706050A (en) * | 2018-05-11 | 2018-10-26 | 福建三龙新能源汽车有限公司 | A kind of protection high safety damping shared electric vehicle by force |
| WO2021000900A1 (en) * | 2019-07-03 | 2021-01-07 | 浙江大学 | Multifunctional universal robot chassis |
| CN110481667A (en) * | 2019-08-29 | 2019-11-22 | 哈尔滨工程大学 | A kind of compound walking polar region robot of crawler belt sled |
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| CN112776912A (en) * | 2021-02-03 | 2021-05-11 | 徐州利创智能科技有限公司 | Intelligent inspection device for power distribution room |
| CN112776912B (en) * | 2021-02-03 | 2023-09-15 | 国网江苏省电力有限公司苏州供电分公司 | Intelligent inspection device for power distribution machine room |
| CN115191869A (en) * | 2021-04-14 | 2022-10-18 | 追创科技(苏州)有限公司 | Robot chassis and intelligent cleaning robot |
| CN114104134A (en) * | 2021-10-28 | 2022-03-01 | 贵州大学 | Novel mobile vision robot for complex environment |
| CN115384257A (en) * | 2022-08-19 | 2022-11-25 | 山东大学 | Front-back type tunnel monitoring robot suspension chassis, robot and method |
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Address after: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee after: National Network Intelligent Technology Co., Ltd. Patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee after: State Grid Corporation of China Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. Patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee before: State Grid Corporation of China |
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Effective date of registration: 20201029 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. Patentee before: STATE GRID CORPORATION OF CHINA |
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