CN106741258B - Shoe formula barrier-surpassing robot is taken turns by a kind of damping chassis and the substation with damping chassis - Google Patents
Shoe formula barrier-surpassing robot is taken turns by a kind of damping chassis and the substation with damping chassis Download PDFInfo
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- CN106741258B CN106741258B CN201611056164.1A CN201611056164A CN106741258B CN 106741258 B CN106741258 B CN 106741258B CN 201611056164 A CN201611056164 A CN 201611056164A CN 106741258 B CN106741258 B CN 106741258B
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- 238000013016 damping Methods 0.000 title claims abstract description 38
- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 238000001514 detection method Methods 0.000 claims description 24
- 238000000034 method Methods 0.000 claims description 9
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 abstract description 14
- 239000004568 cement Substances 0.000 abstract description 8
- 230000000116 mitigating effect Effects 0.000 description 23
- 230000035939 shock Effects 0.000 description 23
- 238000010586 diagram Methods 0.000 description 19
- 230000001360 synchronised effect Effects 0.000 description 9
- 230000000694 effects Effects 0.000 description 6
- 238000009434 installation Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
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- 239000011664 nicotinic acid Substances 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 241000124008 Mammalia Species 0.000 description 1
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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 shoe formula barrier-surpassing robot is taken turns by the substation with damping chassis, damping chassis includes lower supporting plate, it is equipped with hanging left support plate and right support plate at the top of lower supporting plate, it is vertical between left and right support plate and lower supporting plate to be equipped with damping device.It includes damping chassis that shoe formula barrier-surpassing robot is taken turns by substation, movable motor mechanism is equipped on damping chassis, movable motor mechanism drives left and right two traveling wheels to rotate by transmission device, left and right two traveling wheels are rotated each by a track drive follower, while two followers and two driving wheels respectively form two back arm structures and two front arm structures with an Athey wheel respectively；The structure can adapt to the operation of substation's complex environment, can both walk, and can also be travelled in complex road surfaces such as rough cement pavement, meadow, sandstone, wilderness in flat cement pavement, can also cross kerb and carry out inspection.
Description
Technical field
The present invention relates to a kind of robots, and in particular to shoe formula is taken turns by a kind of damping chassis and the substation with damping chassis
Barrier-surpassing robot.
Background technique
Substation is the hinge of electric power transmission network, and the safety of equipment running status is most important, is had to equipment
Effect inspection is to guarantee that substation well runs and to the important guarantee of users' power supply reliability.With Power Robot skill
The development of art, robot inspection gradually replace manual inspection, greatly reduce labour.Current mobile crusing robot master
Structure is wanted to have: 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 structure is simple, the speed of service is fast, high-efficient, but be generally only applicable to relatively flat and hard road environment, more
Barrier ability is poor, and on soft and muddy ground, ability to act is poor.Leg-foot formula divides creeping-type and walk type again, and creeping-type is to imitate to climb
A kind of bionic movement mode of row class insect motion, is typically in static-stability state, is suitable for discrete complex environment, but row
It is generally slow to walk speed, and internal structure design get up it is more complicated；Walk type is to imitate mammal quick walk
A kind of bionic movement mode, be suitable for discrete complex environment, but when high speed is walked is in non-static-stability state, control system
System and mechanical structure are extremely complex, and there is presently no functionizations.
Currently, the mobile robot in substation inspection is mainly wheeled robot, fast speed, but environmental suitability greatly
It is poor, kerb cannot be crossed and cannot be in the complex environments downward driving such as meadow；Another kind is the crawler-type mobile with support arm
Robot, it can use support arm crossing over blockage, can also walk under the complex environments such as meadow, sandstone by crawler belt, but carry out
The drawbacks of belt robot is under common flat cement road surface, and movement is slowly, 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 encountering the obstacles such as kerb, use
Support arm assist people's crossing over blockage.But presently, there are wheel-pedrail robot ontology there is no shock mitigation system, internal drive mode
It is driven by sprocket wheel chain, sprocket wheel chain transmission has unstability, so also unstable during wheel-pedrail robot inspection
It is fixed.In addition robot body can generate larger vibration when road traveling of the robot in road conditions difference, it is mounted on therewith mobile flat
Detection device above platform also generates shaking, and biggish vibration damages or even influence detection knot to detection device ontology
Fruit.
Summary of the invention
To solve the variety of problems that above-mentioned mobile robot is encountered in substation inspection, in conjunction with the carrying out practically of substation
Environment, the invention proposes a kind of, and shoe formula barrier-surpassing robot is taken turns by the substation with shock mitigation system.The structure can adapt to power transformation
Complex environment of standing operation, can both walk in flat cement pavement, can also be in rough cement pavement, meadow, sand
The complex road surfaces such as stone, wilderness traveling can also cross kerb and carry out inspection.
To achieve the goals above, the technical solution that the present invention designs is as follows:
A kind of damping chassis, including lower supporting plate, the top of the lower supporting plate be equipped with hanging left support plate and
Right support plate, between the left and right support plate and lower supporting plate it is vertical be equipped with a guide post, the guide post top with
Left support plate or right support plate are fixedly connected, and the bottom of guide post is fixedly connected with lower supporting plate, are set with pressure in the outer ring of guide post
Spring, the distance between the left and right support plate and lower supporting plate are less than the free height of pressure spring.
Further, the top of the guide post is equipped with screw thread, passes through left support plate or right support plate passes through nut group
Part is fixedly connected with left support plate or right support plate；The bottom of the guide post is equipped with slit-like through-holes, is passed through by screw assembly
It is fixedly connected inside guide post with lower supporting plate.
A kind of substation's wheel shoe formula barrier-surpassing robot, chassis uses mentioned-above damping chassis.
Further, shoe formula barrier-surpassing robot is taken turns by the substation, and movable motor mechanism is equipped on the chassis,
The movable motor mechanism drives left and right two traveling wheels to rotate by transmission device, and left and right two traveling wheels are each
From by the rotation of track drive follower, at the same two followers and two driving wheels respectively respectively with a crawler belt wheel shape
At two back arm structures and two front arm structures.
Further, the movable motor mechanism includes a support baseboard, and two are equipped on the support baseboard
A front support seat disposed in parallel and rear support are equipped with power supply machine I, motor II on the front support seat, rear support
The hole that front and back ends pass through, while being filled in the adjusting that back and front supporting seat is respectively additionally provided with adjustment motor rear end and front end concentricity
It sets.
Further, the regulating device includes the upper adjusting block of setting symmetrical above and below, lower adjusting block, the upper adjusting
Block, lower adjusting block are connect by attachment device with rear support or front support seat.
Further, substation wheel shoe formula barrier-surpassing robot further includes having track tension device.
Further, the track tension device includes support plate, is equipped with big tensioning on the top of the support plate
Mechanism is taken turns, lower part is equipped with small tension pulley mechanism；And its height is adjusted by screw assembly in the big tension pulley mechanism.
Further, it is equipped with a carrier frame on the chassis, a detection is equipped on the carrier frame
Equipment, the detection device are connected with a controller, and the controller controls movable motor mechanism, two back arm knots
Structure and two front arm structures.
Further, the detection device is fixed on carrier frame by a vertical upright bar, and detection device
It is higher than entire barrier-surpassing robot in the height direction.
Beneficial effects of the present invention:
1, when with shock mitigation system substation wheel shoe formula barrier-surpassing robot in substation inspection, can be used wheeled general
Logical flat road surface, uneven road surface normal walking, ensure that normal walking speed when robot inspection；When encountering certain height
When 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
When driving, robot body can generate larger vibration, be mounted on the detection device above mobile platform therewith and also generate shaking, compared with
Big vibration damages or even influences testing result to detection device ontology.It is designed with substation's wheel of shock mitigation system
Shoe formula barrier-surpassing robot can more adapt to the development of future robot technology.
2, wheel type traveling mechanism and Caterpillar transmission mechanism are both designed as belt wheel and toothed belt transmission mode, in transmission process,
It runs smoothly, improves the operational efficiency of robot, reduce the vibration of robot itself；
3, in the damping chassis structure of robot, design left support plate and right support plate are separate structure, robot
Front-wheel and rear-wheel assembly are separately mounted in left support plate and right support plate, are changed monolithic construction, are improved damping effect；
4, servo motor is installed using the fixed device of adjustable bi-motor, installation space has been effectively saved, for small
Type machine man-based development has impetus.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is that shoe formula barrier-surpassing robot is taken turns in flat cement road traveling schematic diagram by the substation with shock mitigation system；
Fig. 2 is that schematic diagram of the shoe formula barrier-surpassing robot before step road surface is taken turns by the substation with shock mitigation system；
Fig. 3 is that shoe formula barrier-surpassing robot is taken turns in complex road surface traveling schematic diagram by the substation with shock mitigation system；
Fig. 4 is that the wheel with shock mitigation system carries out formula barrier-surpassing robot schematic diagram；
Fig. 5 is chassis shock mitigation system schematic diagram；
Fig. 6 is damping scheme of installation；
Fig. 7 is robot running gear schematic diagram；
Fig. 8 is adjustable bi-motor scheme of installation；
Fig. 9 is robot Caterpillar transmission mechanism schematic diagram；
Figure 10 is robot track tension device schematic diagram；
Figure 11 is track tension device and damping chassis installation diagram；
Schematic diagram when Figure 12 is robot normally travel；
Figure 13 is that robot encounters kerb obstacle schematic diagram；
Front arm lifts schematic diagram when Figure 14 is robot obstacle detouring；
Forward and backward support arm lifts schematic diagram when Figure 15 is robot obstacle detouring；
Figure 16 is that robot completes schematic diagram when obstacle detouring；
Figure 17 is schematic diagram when robot encounters protrusion road surface；
Schematic diagram when Figure 18 is robot front-wheel contact protrusion road surface；
Figure 19 is schematic diagram when robot track tension device is contacted with protrusion road surface；
Schematic diagram when Figure 20 is robot rear-wheel contact protrusion road surface；
Figure 21 be robot across protrusion road surface when schematic diagram.
In figure: 1, shoe formula barrier-surpassing robot is taken turns by the substation with shock mitigation system；2, common flat road surface；3, kerb road
Face, 4, uneven road surface；5, front arm mechanism；6, wheel type traveling mechanism；7, crawler belt；8, Caterpillar transmission mechanism；9, back arm
Mechanism；10, damping chassis；11, carrier frame；12, track tension device；13, lower supporting plate；14, left support plate；15, damping
Mechanism；16, right support plate；17, nut assembly；18, pressure spring；19, guide post；20, screw assembly；21, connecting flange；22, it walks
Wheel；23, live axle；24, bearing block；25, big belt wheel；26, tension pulley；27, synchronous belt；28, small pulley；29, it walks
Motor mechanism；30, preceding movable motor mounting base；31, lower adjusting block；32, upper adjusting block；33, upper movable motor；34, rear walking
Motor mount；35, driving pulley；36, passive belt wheel；37, passive wheel shaft；38, screw assembly；39, screw assembly；40, big
Tension pulley mechanism；41, support plate；42, small tension pulley mechanism；43, detection device.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawing:
Robot carries out inspection by running on wheels in the present invention, can both walk in flat cement pavement, can also be with
It is travelled in complex road surfaces such as rough cement pavement, meadow, sandstone, wilderness, but the height of barrier is not above machine
Height of the people chassis apart from road surface, if when the height of barrier be higher than robot chassis apart from road surface apart from when, need 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
The method of inspection, disturbance in judgement object height is not specifically addressed herein.
Some detection devices, such as infrared camera need to be generally installed above Intelligent Mobile Robot mobile platform, work as machine
For device people in the road traveling of road conditions difference, robot body can generate larger vibration, the inspection being mounted on above mobile platform therewith
Measurement equipment also generates shaking, and biggish vibrate damages or even influence testing result to detection device ontology, and of the present invention
A kind of shock mitigation system is applied in wheel-pedrail robot, solves problem above, and robot body and detection is not only protected to set
Standby safety, the reliability of testing result when also ensuring robot inspection.
Shown in specific attached drawing 1, attached drawing 2 and attached drawing 3, substation's wheel shoe formula obstacle detouring machine with shock mitigation system is respectively indicated
People can travel on common flat road surface 2, kerb road surface 3, uneven road surface 4；Shoe formula is taken turns by substation with shock mitigation system
Barrier-surpassing robot 1 mainly by front arm mechanism 5, wheel type traveling mechanism 6, crawler belt 7, Caterpillar transmission mechanism 8, back arm mechanism 9, subtract
Chassis 10, carrier frame 11 and track tension device 12 is shaken to form.
Main movement principle is:
Forward and backward two groups of supporting arm mechanisms respectively by DC speed-reducing by worm reduction box, gear transmit torque and
Power, and then support arm is driven to be rotated upwardly and downwardly, by the swing of support arm, robot moving platform may be implemented across kerb
With the road surface step of certain altitude etc..(present invention in forward and backward two groups of supporting arm mechanisms be existing structure, herein without
Detailed description).It is driven by two servo motors by belt wheel, synchronous belt when robot ambulation, realizes the rotation of traveling wheel, in turn
It drives robot turning and is moved forward and backward.
A kind of damping chassis 10 (as shown in Fig. 5) mainly by lower supporting plate 13, left support plate 14, damping 15 and
Right support plate 16 forms, and left support plate 14 is designed to separate structure with right support plate for 16, and the front-wheel and rear-wheel of robot fill
Ligand is separately mounted in left support plate and right support plate, in this way when uneven road surface 4 is crossed over by robot, front-wheel and rear-wheel
It is non-interference, improve damping effect.
Damping 15 (as shown in Fig. 6) is mainly made of pressure spring 18, guide post 19.Damping 15 passes through left support plate
14, screw thread is designed above guide post 19 and is fixedly connected by nut assembly 17 with left support plate 14,19 envisaged underneath flute profile of guide post
Through-hole is fixedly connected, in order to make pressure spring 18 play its damping with lower supporting plate 13 so that screw assembly 20 passes through 19 inside of guide post
Function at the end of damping 15 is installed, need to guarantee that the distance between left support plate 14 and lower supporting plate 13 are less than pressure spring 18
Free height, specific distance are analyzed again according to the actual situation.Damping 15 and right support plate 16 and lower supporting plate 13
Connection method is as above.
A kind of substation's wheel shoe formula barrier-surpassing robot including above-mentioned damping chassis 10, is equipped with movable motor machine on chassis
Structure, the movable motor mechanism drive left and right two traveling wheels to rotate by transmission device, and left and right two traveling wheels are respectively
It is rotated by a track drive follower, while two followers and two driving wheels are respectively formed with an Athey wheel respectively
Two back arm structures and two front arm structures, the specific structure of each section are as follows:
Wheel type traveling mechanism 6 (as shown in Fig. 7) is mainly by traveling wheel 22, connecting flange 21, live axle 23, big belt wheel
25, tension pulley 26, synchronous belt 27, small pulley 28, movable motor mechanism 29 form.
It is fixed (as shown in Fig. 8) that movable motor mechanism 29 is designed as bi-motor, and installation space is greatly saved；
Movable motor mechanism 29 is mainly by preceding movable motor mounting base 30, lower adjusting block 31, upper adjusting block 32, the uplink leakage of electricity
Machine 33 and rear movable motor mounting base 34 composition, specific to install fixed form as follows: upper 33 front end of movable motor by screw with
Movable motor mounting base 34 is fixedly connected afterwards, and upper 33 rear end of movable motor and preceding movable motor mounting base 30 pass through lower adjusting block
31 are fixedly connected with upper adjusting block 32, upper adjusting block 32 be connected by screw to lower adjusting block 31 and control between the two away from
When from, the back-end location of well upper movable motor 33 to be adjusted, tightens the screw on adjusting block 32 and lower adjusting block 31 and move ahead
Motor mount 30 is walked to be fastenedly connected.Upper adjusting block 32 and concentricity before and after lower 31 class of adjusting block adjustment motor.Upper movable motor
The installation method of another motor of 33 lower sections is same as above.
Small pulley 28 is mounted on the connection on the output shaft of movable motor 33 by key, and movable motor 33 drives in realization
Small pulley 28 rotates, and is fitted to each other between small pulley 28 and big belt wheel 25 by synchronous belt 27, realizes motor by synchronous belt 27
The torque of output transmits step by step, and big belt wheel 25 is mounted on live axle 23, and 23 one end of live axle is mounted in bearing block 24,
The other end is fixedly connected by connecting flange 21 with traveling wheel 22, real by the key connection between big belt wheel 25 and live axle 23
The rotation of the rotation of existing live axle 23, live axle 23 drives connecting flange 21 to rotate, connecting flange 21 and traveling wheel 22 it
Between by screw be fitted close together, and then realize traveling wheel 22 rotation.Synchronous belt 27 is HTD type arc tooth synchronous belt, greatly
Belt wheel 25 and small pulley 28 are HTD type synchronizing wheel.
Caterpillar transmission mechanism (as shown in Fig. 9) is by live axle 23, driving pulley 35, track tension device 12, crawler belt
7, passive belt wheel 36, passive wheel shaft 37, big belt wheel 25, tension pulley 26, synchronous belt 27, small pulley 28, movable motor mechanism
29 compositions.Driving pulley 35 and passive belt wheel 36 are separately mounted on live axle 23 and passive wheel shaft 37, upper movable motor 33
It drives small pulley 28 to rotate, drives big belt wheel 25 to rotate by synchronous belt 27, pass through the linkage of big belt wheel 25 and live axle 23
Transmitting, driving live axle 23 rotates, and then drives driving pulley 35 with rotation, and passive belt wheel 36 passes through the company of crawler belt 7
It connects and transmits, and then realize passive belt wheel 36 with rotation, in the transmission process of crawler belt 7, in fact by track tension device 12
It is now tensioned, prevents from generating bending during caterpillar drive and leading to not complete the functions such as obstacle detouring, walking.
Track tension device 12 is mainly by screw assembly 39, big tension pulley mechanism 40, support plate 41 and small tension pulley mechanism
42 compositions, big tension pulley mechanism 40 are installed in support plate 41 with small tension pulley mechanism 42, are fixedly connected by nut assembly,
The height of big tension pulley mechanism 40 is adjusted in screw assembly 39, and then controls 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.
It is equipped with a carrier frame 11 on chassis, a detection device 43 is equipped on the carrier frame, it is described
Detection device 43 is connected with a controller, and controller controls movable motor mechanism, two back arm structures and two front arms
Structure.
Further, detection device 43 is fixed on carrier frame by a vertical upright bar, and detection device is in height
It spends and is higher than entire barrier-surpassing robot on direction, detection device 43 is for detecting road conditions.
Substation's wheel shoe formula barrier-surpassing robot specific work process with shock mitigation system is as follows:
Substation's wheel shoe formula barrier-surpassing robot 1 with shock mitigation system is in 2 normal walking of common flat road surface, front arm
Mechanism 5 is lifted with back arm mechanism 9, and by running on wheels, walking states are as shown in Fig. 12.
When substation's wheel shoe formula barrier-surpassing robot with shock mitigation system encounters 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, later back arm mechanism 9
Toward lower swing, substation's wheel shoe formula barrier-surpassing robot with shock mitigation system is propped up proper height, then passes through wheeled row
Walking mechanism 6 drives substation's wheel shoe formula barrier-surpassing robot with shock mitigation system to be moved along, the change until having shock mitigation system
Power station wheel shoe formula barrier-surpassing robot rear-wheel touches the upper surface on kerb road surface 3, i.e., the substation with shock mitigation system, which takes turns, carries out
When formula barrier-surpassing robot can be with normal walking, front arm mechanism 5 is lifted with back arm mechanism 9, and then completes obstacle detouring task.Tool
For the obstacle detouring process of body as shown in attached drawing 13, attached drawing 14, attached drawing 15, attached drawing 16, the height on kerb road surface 3 described above is higher than band
There is height of the substation's wheel shoe formula barrier-surpassing robot damping chassis 13 of shock mitigation system apart from road surface.
It is concave-convex when encountering uneven road surface 4 when substation's wheel shoe formula barrier-surpassing robot walking with shock mitigation system
The height of 4 starting point of uneven road surface will be lower than height of the damping chassis 10 apart from road surface, at this time can by wheeled normal, due to
Wheel type traveling mechanism 6 and Caterpillar transmission mechanism 8 of the invention is both designed as belt wheel and toothed belt transmission mode, in transmission process,
It runs smoothly, along with the chassis that the present invention designs is shock-damping structure formula, so robot has when uneven road surface 4 is walked
Effect protects the detection device being mounted on above robot 43.When shoe formula barrier-surpassing robot is taken turns by the substation with shock mitigation system
When passing by uneven road surface 4, traveling wheel 22 first touches uneven road surface 4, later Caterpillar transmission mechanism 12 and it is concave-convex not
Flat road surface 4 contacts, and last robot rear-wheel is contacted with uneven road surface 4, finally across uneven road surface 4.When crawler belt passes
When motivation structure 12 and uneven road surface 4 contact, 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 and lower supporting plate 13 can be eliminated this rigid under the action of damping 15
Property vibration, reach damping effect, since detection device 43 is mounted on carrier frame 11, carrier frame 11 is in turn mounted at lower support
On plate 13, so reaching damping effect when robot is across uneven road surface 4.Concave-convex road surface 4 is specifically crossed over by robot
Process is as shown in attached drawing 17, attached drawing 18, attached drawing 19, attached drawing 20, attached drawing 21.
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 (10)
1. a kind of damping chassis, which is characterized in that including lower supporting plate, be equipped with a hanging left side at the top of the lower supporting plate
Support plate and right support plate, it is vertical between the left and right support plate and lower supporting plate to be equipped with a guide post, in the guide post
Top be fixedly connected with left support plate or right support plate, the bottom of guide post passes through lower supporting plate, is set in the outer ring of guide post
Pressure spring, the distance between the left and right support plate and lower supporting plate are less than the free height of pressure spring.
2. damping chassis as described in claim 1, which is characterized in that the top of the guide post is equipped with screw thread, passes through a left side
Support plate or right support plate are fixedly connected by nut assembly with left support plate or right support plate；The bottom of the guide post is equipped with
Slit-like through-holes, screw assembly pass through the slit-like through-holes of guide post.
3. shoe formula barrier-surpassing robot is taken turns by a kind of substation, which is characterized 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 substation as claimed in claim 3, which is characterized in that be equipped with row on the chassis
Motor mechanism is walked, the movable motor mechanism drives left and right two traveling wheels to rotate by transmission device, and described is left and right
Two traveling wheels are rotated each by a track drive follower, at the same two followers and two driving wheels respectively respectively with
One Athey wheel forms two back arm structures and two front arm structures.
5. shoe formula barrier-surpassing robot is taken turns by substation as claimed in claim 4, which is characterized in that the movable motor mechanism packet
A support baseboard is included, is set on the support baseboard there are two front support seat disposed in parallel and rear support, it is described
Power supply machine I is equipped on front support seat, rear support, the hole that motor II front and back ends pass through, at the same back and front supporting seat respectively
It is additionally provided with the regulating device of adjustment motor rear end and front end concentricity.
6. shoe formula barrier-surpassing robot is taken turns by substation as claimed in claim 5, which is characterized in that the regulating device includes up and down
Symmetrically arranged upper adjusting block, lower adjusting block, the upper adjusting block, lower adjusting block pass through attachment device and rear support or preceding
Support base connection.
7. shoe formula barrier-surpassing robot is taken turns by substation as described in claim 3 or 4, which is characterized in that further include having crawler tensioning
Mechanism.
8. shoe formula barrier-surpassing robot is taken turns by substation as claimed in claim 7, which is characterized in that the track tension device packet
Support plate is included, is equipped with big tension pulley mechanism on the top of the support plate, lower part is equipped with small tension pulley mechanism；And it is described big
Its height is adjusted by screw assembly in tension pulley mechanism.
9. shoe formula barrier-surpassing robot is taken turns by substation as claimed in claim 4, which is characterized in that be equipped with one on the chassis
Carrier frame is equipped with a detection device on the carrier frame, and the detection device 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 substation's wheel shoe formula barrier-surpassing robot as claimed in claim 9 is as follows, which is characterized in that described
Detection device be fixed on carrier frame by a vertical upright bar, and detection device be higher than in the height direction it is entire more
Hinder 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 CN106741258A (en) | 2017-05-31 |
| CN106741258B true 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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| 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 |
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| CN112655689B (en) * | 2020-12-17 | 2022-04-15 | 南京林业大学 | Pesticide applying robot for orchard pesticide application |
| 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 |
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| 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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| CN201566714U (en) * | 2009-12-30 | 2010-09-01 | 中国科学院沈阳自动化研究所 | Caterpillar obstacle-surmounting mechanism |
| CN102114876B (en) * | 2009-12-30 | 2012-08-01 | 中国科学院沈阳自动化研究所 | Wheel-tracked obstacle crossing mechanism |
| CN203780636U (en) * | 2014-03-31 | 2014-08-20 | 哈尔滨工程大学 | Quick climbing and obstacle striding mechanism |
| CN105292281B (en) * | 2015-11-02 | 2017-12-12 | 国网山东省电力公司电力科学研究院 | A kind of substation inspection wheel carries out formula barrier-surpassing robot |
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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 |