CN109624997A

CN109624997A - A kind of attachment device, robot ambulation system and robot hangar system

Info

Publication number: CN109624997A
Application number: CN201811426435.7A
Authority: CN
Inventors: 张明广; 杨震威
Original assignee: Shandong Conwell Communication Technology Co Ltd
Current assignee: Conway Communication Technology Co., Ltd
Priority date: 2018-11-27
Filing date: 2018-11-27
Publication date: 2019-04-16
Anticipated expiration: 2038-11-27
Also published as: CN109624997B

Abstract

Present disclose provides a kind of attachment devices, robot ambulation system and robot hangar system, including sunpender, the sunpender is hollow round tubular, sunpender top coaxial welding has limit baffle, the limit baffle has upper flange plate and lower flange, the upper flange plate and lower flange are rotated coaxially with sunpender to be connect, the sunpender is installed on walking mechanism mounting rack bottom by upper flange plate and lower flange, the sunpender lower part is fixedly connected with horizontal axis connector, horizontal axis connector two sides are symmetrically affixed, and there are two horizontal axis, deep groove ball bearing is socketed on the horizontal axis, the horizontal axis connector is externally provided with attachment base, the attachment base both ends pass through the fixed bracket of a bearing respectively and connect with deep groove ball bearing, the attachment base is fixed on vehicle body frame, the boom foot outlet is connected with waterproof spool.

Description

A kind of attachment device, robot ambulation system and robot hangar system

Technical field

This disclosure relates to a kind of attachment device, robot ambulation system and robot hangar system.

Background technique

Track machine people has been used widely in many areas at present, such as the occasions such as outdoor or tunnel piping lane, Inspection, the functions such as fire-fighting may be implemented.By with two groups of walking mechanisms crusing robot for, its two groups of walking mechanisms with One vehicle body needs to be flexibly connected, and to adapt to climb and turn, this requires the connection flexibility and reliabilities of walking mechanism and vehicle body, and Have certain water-proof function, and electric wire and signal wire can be passed through in bindiny mechanism, the battery in vehicle body is allowed to be vehicle with walking machine Motor in structure, and the various sensors in walking mechanism can also feed back to the electricity in vehicle body by signal wire Brain.

Summary of the invention

Present disclose provides a kind of attachment device, robot ambulation system and robot hangar systems, to realize robot Flexible connection between walking mechanism or hanging mechanism and car body, and threading can be protected not wear, it effectively prevent rainwater to enter vehicle Body.

To achieve the goals above, the technical solution of the disclosure is as follows:

A kind of attachment device, including sunpender, the sunpender are hollow round tubular, and sunpender top coaxial welding has limit Baffle, the limit baffle have upper flange plate and lower flange, and the upper flange plate and lower flange coaxially turn with sunpender Dynamic connection, the sunpender are installed on walking mechanism mounting rack bottom by upper flange plate and lower flange, and the sunpender lower part is solid Surely it is connected with horizontal axis connector, horizontal axis connector two sides are symmetrical affixed there are two horizontal axis, are socketed with zanjon on the horizontal axis Ball bearing, the horizontal axis connector are externally provided with attachment base, and the attachment base both ends pass through the fixed bracket of a bearing and zanjon respectively Ball bearing connection, the attachment base are fixed on vehicle body frame, and the boom foot outlet is connected with waterproof spool.

Further, the limit baffle is annular shape, and the limit baffle two sides are symmetrically arranged with protrusion.

Further, two blocks are symmetrically arranged in the upper plane of the upper flange plate, the block is for limiting limit The slewing area of baffle, and then limit slewing area of the walking mechanism mounting rack relative to sunpender.

Further, thrust bearing is equipped between limit baffle and the upper flange plate.

Further, the lower flange is rotatablely connected by bearing and sunpender.

Further, the sunpender between the lower flange and horizontal axis connector is equipped with tower-shaped waterproof cover.

Further, the upper flange plate and lower flange are from upper and lower two sides clamping walking mechanism mounting rack bottom, and lead to Bolt is crossed to be fixed on walking mechanism mounting rack bottom.

Further, the boom foot outlet is connect by anchor ear with waterproof spool, in the sunpender and waterproof spool For passing through electric wire and signal wire.

A kind of robot ambulation system, using attachment device as described above as steering linkage in orbit.

A kind of robot hangar system, including attachment device as described above.

Compared with prior art, the beneficial effect of the disclosure is:

The disclosure can be realized the flexible connection between robot running gear or hanging mechanism and car body, and can pass through this Open across electric wire and signal wire between the two, protection threading is not worn, and rainwater is effectively prevent to enter car body.

Detailed description of the invention

The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.

Fig. 1 is the internal structure perspective view of disclosure Application Example robot ambulation system；

Fig. 2 is the walking mechanism enlarged schematic partial view in Fig. 1；

Fig. 3 is the tower-shaped water-proof jacket structure enlarged schematic partial view in Fig. 1；

Fig. 4 is disclosure attachment device and walking mechanism mounting rack combination stereogram；

Fig. 5 is the perspective view 1 of disclosure attachment device；

Fig. 6 is limited block and sunpender welding schematic diagram；

Fig. 7 is attachment base perspective view；

Fig. 8 is horizontal axis connector perspective view；

Fig. 9 is sunpender and upper lower flange connection schematic diagram；

Figure 10 is the perspective view 2 of disclosure attachment device；

In figure: 1 walking mechanism；2 tower-shaped water-proof jackets；3 walking mechanism mounting racks；4 limit baffles；5 waterproof penetration pipes；6 Upper flange plate；7 blocks；8 thrust bearings；9 lower flanges；10 sunpenders；11 connection frames；12 horizontal axis connectors；13 deep groove ball bearings； 14 bearings；15 bearings fix bracket.

Specific embodiment

The disclosure is described further with specific embodiment with reference to the accompanying drawing.

It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field The identical meanings of understanding.

It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.

In the disclosure, term for example "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", " side ", The orientation or positional relationship of the instructions such as "bottom" is to be based on the orientation or positional relationship shown in the drawings, only to facilitate describing this public affairs The relative for opening each component or component structure relationship and determination, not refers in particular to either component or element in the disclosure, cannot understand For the limitation to the disclosure.

In the disclosure, term such as " affixed ", " connected ", " connection " be shall be understood in a broad sense, and indicate may be a fixed connection, It is also possible to be integrally connected or is detachably connected；It can be directly connected, it can also be indirectly connected through an intermediary.For The related scientific research of this field or technical staff can determine the concrete meaning of above-mentioned term in the disclosure as the case may be, It should not be understood as the limitation to the disclosure.

As one or more embodiments, by Fig. 1-3 it is found that a kind of rail polling robot, generally comprises two rows Mechanism 1 is walked, the walking mechanism 1 is connected by the attachment device of the disclosure with car body.

As shown in figs. 1 and 3, the exposed parts of the attachment device are equipped with the tower-shaped waterproof cover 2 protected to it, figure The appearance of tower-shaped waterproof cover 2 is shown in 1 in a walking mechanism, another has done hiding processing, and tower-shaped waterproof cover 2 is mark Quasi- part.

As shown in fig. 6, the attachment device includes sunpender 10, the sunpender 10 is hollow round tubular, and the sunpender 10 pushes up End coaxial welding has limit baffle 4, and the limit baffle 4 is annular shape, and 4 two sides of limit baffle are symmetrically arranged with protrusion.

As shown in figure 5, the limit baffle 4 has upper flange plate 6 and lower flange 9, the upper flange plate 6 and laxative remedy Blue disk 9 is rotated coaxially with sunpender 10 to be connect, and the sunpender 10 is installed on walking mechanism peace by upper flange plate 6 and lower flange 9 Shelve 3 bottoms.

As shown in fig. 6, being symmetrically arranged with two blocks 7 in the upper plane of the upper flange plate 6, the block 7 is for limiting The slewing area of baffle 4 is limited, and then limits slewing area of the walking mechanism mounting rack 3 relative to sunpender 10.

Specifically, the block 7 can enable limit baffle 4 and 10 slewing area of sunpender be limited between 0 to 90 degree.

Thrust bearing 8 is equipped between the limit baffle 4 and upper flange plate 6, when 10 stress of sunpender, the power being subject to passes through Baffle 4 is limited, thrust bearing 8 is pressed on upper flange plate 6.

As illustrated in figures 4-5, the upper flange plate 6 and lower flange 9 clamp walking mechanism mounting rack 3 from upper and lower two sides respectively Bottom, the upper flange plate 6 and lower flange 9 are equipped with the circular hole being uniformly distributed along the circumference, and the circular hole is used for across bolt, so that The upper flange plate 6 and lower flange 9 are fixed by bolts on 3 bottom of walking mechanism mounting rack.

As shown in figure 9, sunpender 10 shakes in order to prevent, bearing 14 is provided in lower flange 9, the interior snare of bearing 14 exists On sunpender 10, lower flange 9 and sunpender 10 are rotatablely connected by bearing 14.

As shown in figure 5,10 lower part of sunpender is fixedly connected with horizontal axis connector 12, the horizontal axis connector 12 is one Axle sleeve, as shown in figure 8,12 two sides of the axle sleeve are symmetrically welded there are two horizontal axis, in specific implementation, on the horizontal axis connector 12 The hole A ' of side is corresponding with A screw hole on Fig. 6 middle hanger 10, by 12 sets of horizontal axis connector on sunpender 10, passes through cross with bolt The hole A ' is screwed on the A screw hole on sunpender 10 on shaft coupling piece 12, is fixedly connected with the two.

As shown in figs. 5 and 10, deep groove ball bearing 13 is socketed on the horizontal axis, the horizontal axis connector 12 is externally provided with connection Seat 11,11 both ends of attachment base pass through the fixed bracket 15 of a bearing respectively and are fixedly connected with 13 outer ring of deep groove ball bearing, so that Attachment base 11 can be rotatablely connected relative to the horizontal axis connector 12 on sunpender 10.

As shown in fig. 7, the attachment base 11 is the bearing block of an abnormity, there are circular hole in 11 two sides of attachment base, can use bolt Attachment base 11 is fixed on vehicle body frame.

As illustrated in figures 4-5,10 outlet at bottom of sunpender is connected to waterproof penetration pipe 5 with anchor ear, and waterproof penetration pipe 5 is one The widely applied finished product product of kind, is telescopic plastic pipe among it.

In the disclosure, walking mechanism mounting rack 3 is fixedly connected with upper lower flange, and sunpender 10 and the rotation of upper lower flange connect It connects, and shaft is gravity direction.Attachment base 11 and sunpender 10 be rotation connection, and shaft is horizontally oriented, attachment base 11 It is fixedly connected with vehicle body frame.The disclosure is connected to walking mechanism and car body, and walking mechanism 1 is to the electric wire and letter between car body Number line is passed through out of sunpender 10, protects threading, and can prevent rainwater from entering car body.

As one or more embodiments, the attachment device of the disclosure is applied also in the hangar system of robot.

The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.

Although above-mentioned be described in conjunction with specific embodiment of the attached drawing to the disclosure, model not is protected to the disclosure The limitation enclosed, those skilled in the art should understand that, on the basis of the technical solution of the disclosure, those skilled in the art are not Need to make the creative labor the various modifications or changes that can be made still within the protection scope of the disclosure.

Claims

1. a kind of attachment device, it is characterised in that: including sunpender, the sunpender is hollow round tubular, and the sunpender top is coaxial Be welded with limit baffle, the limit baffle has a upper flange plate and lower flange, the upper flange plate and lower flange with Sunpender rotates coaxially connection, and the sunpender is installed on walking mechanism mounting rack bottom by upper flange plate and lower flange, described Sunpender lower part is fixedly connected with horizontal axis connector, and horizontal axis connector two sides are symmetrical affixed there are two horizontal axis, on the horizontal axis It is socketed with deep groove ball bearing, the horizontal axis connector is externally provided with attachment base, and the attachment base both ends pass through a bearing respectively and fix Bracket is connect with deep groove ball bearing, and the attachment base is fixed on vehicle body frame, and the boom foot outlet is connected with water-proof wire Pipe.

2. a kind of attachment device as described in claim 1, which is characterized in that the limit baffle is annular shape, the limit Baffle two sides are symmetrically arranged with protrusion.

3. a kind of attachment device as claimed in claim 2, which is characterized in that be symmetrically arranged in the upper plane of the upper flange plate Two blocks, the block are used to limit the slewing area of limit baffle, and then limit walking mechanism mounting rack relative to sunpender Slewing area.

4. a kind of attachment device as described in claim 1, which is characterized in that be equipped between limit baffle and the upper flange plate Thrust bearing.

5. a kind of attachment device as described in claim 1, which is characterized in that the lower flange is rotated by bearing and sunpender Connection.

6. a kind of attachment device as described in claim 1, which is characterized in that hanging between the lower flange and horizontal axis connector Bar is equipped with tower-shaped waterproof cover.

7. a kind of attachment device as described in claim 1, which is characterized in that the upper flange plate and lower flange are from upper and lower two Side clamps walking mechanism mounting rack bottom, and is fixed by bolts on walking mechanism mounting rack bottom.

8. a kind of attachment device as described in claim 1, which is characterized in that the boom foot outlet passes through anchor ear and waterproof Spool connection, the sunpender and waterproof spool are interior for across electric wire and signal wire.

9. a kind of robot ambulation system, which is characterized in that be used as using attachment device a method as claimed in any one of claims 1-8 Rail runs steering linkage.

10. a kind of robot hangar system, which is characterized in that including attachment device a method as claimed in any one of claims 1-8.