CN110154642A - A kind of traveling wheel of crusing robot - Google Patents
A kind of traveling wheel of crusing robot Download PDFInfo
- Publication number
- CN110154642A CN110154642A CN201910519784.1A CN201910519784A CN110154642A CN 110154642 A CN110154642 A CN 110154642A CN 201910519784 A CN201910519784 A CN 201910519784A CN 110154642 A CN110154642 A CN 110154642A
- Authority
- CN
- China
- Prior art keywords
- axle center
- friction pulley
- wheel
- traveling wheel
- crusing robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000003921 oil Substances 0.000 claims description 4
- 239000010687 lubricating oil Substances 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 230000002093 peripheral effect Effects 0.000 claims description 2
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 claims 1
- 239000010931 gold Substances 0.000 claims 1
- 229910052737 gold Inorganic materials 0.000 claims 1
- 230000004888 barrier function Effects 0.000 abstract description 9
- 238000006073 displacement reaction Methods 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 208000005168 Intussusception Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/06—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group with compartments for fluid, packing or loading material; Buoyant wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/08—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group with lubricating passages, channels, or reservoirs
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Rolling Contact Bearings (AREA)
Abstract
The invention discloses a kind of traveling wheels of crusing robot, it include hollow support axle center, the friction pulley outside support axle center, the outboard wheel outside friction pulley, bearing axle center, friction pulley and outboard wheel are made of the left and right two halves being arranged symmetrically, one is formed between symmetrical friction pulley and outboard wheel two halves for accommodating the arc or v-depression of conducting wire, it further include having a conducting ring, the inner ring of the conducting ring is embedded into support axle center, the outer ring of conducting ring constitutes the slot bottom of groove, further include there are two lateral strut members.Traveling wheel of the present invention uses flexible design, increases trackability, when traveling wheel breaks the barriers, certain displacement is opened in external traveling wheel sector-meeting with barrier width, to reduce the height that traveling wheel is lifted with barrier, reduces the degree of jolting.
Description
Technical field
The present invention relates to a kind of walking mechanism of crusing robot, especially a kind of walking of crusing robot walking mechanism
Wheel.
Background technique
Crusing robot various structures on existing line, but wheel construction of walking is almost the same, and such as Fig. 1, traveling wheel lacks soft
Property design, on line when obstacle detouring, with barrier rigid contact, directly roll and pass through, to carry out obstacle detouring, passing through wider barrier
When hindering object, traveling wheel can passively be lifted corresponding height with the width of barrier, drop on line after, obstacle detouring process
In produce biggish jolt.In addition, the traveling wheel of existing design, outer ring is all to be increased with metal and conductive contact to leading
The abrasion of line.Inner ring makes friction part walk with conducting wire friction by gravity, and practical contact is that line contacts, and contact area is small,
Frictional force is small.
Summary of the invention
It is an object of the invention in place of overcome the deficiencies in the prior art, and provides and a kind of be easily achieved the new of motion control
Type walking wheel construction realizes crusing robot relatively steady obstacle detouring operation on line, and reduces the damage to conducting wire, increases
The traveling wheel of traveling wheel and conducting wire frictional force.
A kind of traveling wheel of crusing robot includes hollow support axle center, the friction pulley outside support axle center, position
In the outboard wheel outside friction pulley, supports axle center, friction pulley and outboard wheel and be made of the left and right two halves being arranged symmetrically, bilateral symmetry
Friction pulley and outboard wheel two halves between to form one further include having a conducting ring for accommodating the arc or v-depression of conducting wire,
The inner ring of the conducting ring is embedded into support axle center, and the outer ring of conducting ring constitutes the slot bottom of groove, further include there are two it is outer
Side support, the both ends that two lateral strut members are separately positioned on traveling wheel will support axle center, friction pulley and outboard wheel to be pressed in centre,
Lateral strut members include horizontal part, and positioning protrusion is provided in the middle part of horizontal part, at the middle part of horizontal part and positioning protrusion
Be provided with through-hole, the positioning protrusion is directly against the end face in support axle center, the horizontal parts of friction pulley and lateral strut members it
Between, elastic connection is used between outboard wheel and the horizontal part of lateral strut members.
The traveling wheel of crusing robot of the invention, using by axle center, friction pulley, outboard wheel layer by layer intussusception mode carry out
Design, and axle center, friction pulley and outboard wheel are designed to the mould of the groove of formation arc at contact surface that bilateral symmetry arranges
Formula is positioned so that device can be used from traveling wheel both ends, and use is flexibly positioned, changes each component of previous traveling wheel
To be rigidly connected, brought disadvantage increases trackability using flexible design.
The elastic component is using screw and to cover the spring progress elastic connection outside screw.
Axle center bushing is provided between support axle center and friction pulley.
The purpose that axle center bushing is arranged is to support friction pulley to slide in bushing axis direction.
The axle center bushing is the axle center bushing of I-shaped structure.
I-shaped axle center bushing can to cover its periphery friction pulley its to positioning action.
The friction pulley is the friction pulley of I-shaped structure.
The friction pulley of I-shaped structure, which can be realized, plays positioning action to the outboard wheel covered in its periphery.
The conducting ring is conductive metal.
The face of the friction pulley and conductive contact is imitation profile.
The imitation profile refers to that one is formed between symmetrical friction pulley and outboard wheel two halves leads for accommodating
The arc or v-depression of line.Benefit is to become line from point contact with the contact area of conducting wire to contact, and increases contact area, from
And increasing friction force.
Design has the oil storage tank of storage lubricating oil on that outer peripheral surface that support axle center is in contact with friction pulley.
In summary, the present invention following advantage compared with prior art:
Traveling wheel of the present invention use flexible design, increase trackability, when traveling wheel breaks the barriers, external traveling wheel sector-meeting with
Barrier width opens certain displacement, to reduce the height that traveling wheel is lifted with barrier, reduces the degree of jolting.
In addition, internal friction part uses contoured design, the contact area of friction part and conducting wire is increased, thus increasing friction force.
Detailed description of the invention
Fig. 1 is traveling wheel structural schematic diagram of the invention.
1 traveling wheel 11 of label declaration supports outside 111 oil storage tank of axle center, 12 friction pulley, 13 outboard wheel, 15 groove, 16 conducting ring 17
18 elastic connection of side support 171 horizontal part, 172 positioning protrusion, 19 axle center bushing.
Specific embodiment
The present invention is described in more detail below with reference to embodiment.
Embodiment 1
A kind of traveling wheel of crusing robot includes hollow support axle center 11, the friction pulley 12 outside support axle center, position
In the outboard wheel 13 outside friction pulley, supports axle center, friction pulley and outboard wheel and be made of the left and right two halves being arranged symmetrically, left and right pair
One is formed between the friction pulley and outboard wheel two halves of title for accommodating the arc or v-depression 15 of conducting wire, further includes leading
Electric ring 16, the inner ring of the conducting ring are embedded into support axle center, and it further includes having two that the outer ring of conducting ring, which constitutes the slot bottom of groove,
A lateral strut members 17, the both ends that two lateral strut members are separately positioned on traveling wheel will support axle center, friction pulley and outboard wheel
Be pressed in centre, lateral strut members include horizontal part 171, positioning protrusion 172 is provided in the middle part of horizontal part, horizontal part with
Through-hole is provided in the middle part of positioning protrusion, the positioning protrusion is directly against the end face in support axle center, friction pulley and lateral branch
Between the horizontal part of support member, elastic connection 18 is used between outboard wheel and the horizontal part of lateral strut members.The elastic connection
Elastic connection is carried out to use screw and covering the spring outside screw.Axle center is additionally provided between support axle center and friction pulley to serve as a contrast
Set 19.The axle center bushing is the axle center bushing of I-shaped structure.The friction pulley is the friction pulley of I-shaped structure.Institute
The conducting ring stated is copper.The face of the friction pulley and conductive contact is imitation profile.Support axle center and hollow support axle center it
Between design have storage lubricating oil oil storage tank 111.
The not described part of the present embodiment is same as the prior art.
Claims (8)
1. a kind of traveling wheel of crusing robot, it is characterised in that: include hollow support axle center, outside support axle center
Friction pulley, the outboard wheel outside friction pulley, bearing axle center, friction pulley and outboard wheel are by the left and right two halves structure being arranged symmetrically
At formation one is used to accommodate the arc or v-depression of conducting wire between symmetrical friction pulley and outboard wheel two halves, further includes
There is a conducting ring, the inner ring of the conducting ring is embedded into support axle center, and the outer ring of conducting ring constitutes the slot bottom of groove, further includes
There are two lateral strut members, the both ends that two lateral strut members are separately positioned on traveling wheel will support axle center, friction pulley and outside
Wheel is pressed in centre, and lateral strut members include horizontal part, and positioning protrusion is provided in the middle part of horizontal part, in horizontal part and positioning
The middle part of protrusion is provided with through-hole, and the positioning protrusion is directly against the end face in support axle center, friction pulley and lateral strut members
Horizontal part between, elastic connection is used between outboard wheel and the horizontal part of lateral strut members.
2. the traveling wheel of crusing robot according to claim 1, it is characterised in that: the elastic connection is using spiral shell
The spring followed closely and covered outside screw carries out elastic connection.
3. the traveling wheel of crusing robot according to claim 1, it is characterised in that: between support axle center and friction pulley
It is provided with axle center bushing.
4. the traveling wheel of crusing robot according to claim 3, it is characterised in that: the axle center bushing is I-shaped
The axle center bushing of structure.
5. according to claim 1 to the traveling wheel of crusing robot described in 4 any one, it is characterised in that: the friction
Wheel is the friction pulley of I-shaped structure.
6. the traveling wheel of crusing robot according to claim 5, it is characterised in that: the conducting ring is conductive gold
Belong to.
7. the traveling wheel of crusing robot according to claim 6, it is characterised in that: the friction pulley and conductive contact
Face be imitation profile.
8. the traveling wheel of crusing robot according to claim 1, it is characterised in that: connect in support axle center with friction pulley
Design has the oil storage tank of storage lubricating oil on that outer peripheral surface of touching.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910519784.1A CN110154642A (en) | 2019-06-17 | 2019-06-17 | A kind of traveling wheel of crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910519784.1A CN110154642A (en) | 2019-06-17 | 2019-06-17 | A kind of traveling wheel of crusing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110154642A true CN110154642A (en) | 2019-08-23 |
Family
ID=67625799
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910519784.1A Pending CN110154642A (en) | 2019-06-17 | 2019-06-17 | A kind of traveling wheel of crusing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110154642A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111071500A (en) * | 2019-12-31 | 2020-04-28 | 中国科学院空间应用工程与技术中心 | Material cabin outer exposure friction wheel movement mechanism and on-orbit inspection device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030158013A1 (en) * | 2000-07-15 | 2003-08-21 | Bernhard Sich | Stepless friction drive |
| JP2003235122A (en) * | 2002-02-12 | 2003-08-22 | Yurtec Corp | Brake device for wire supply base |
| CN102315609A (en) * | 2011-05-17 | 2012-01-11 | 福建省电力有限公司泉州电业局 | Unmanned automatic inspection device for transmission line |
| JP2012039704A (en) * | 2010-08-05 | 2012-02-23 | Viscas Corp | Wheel for self-propelled machine |
| CN104269774A (en) * | 2014-09-18 | 2015-01-07 | 国家电网公司 | Deicing device for electric transmission line |
| CN105576563A (en) * | 2016-02-05 | 2016-05-11 | 国网浙江新昌县供电公司 | Cable conduit patrol robot |
| CN109129405A (en) * | 2018-09-17 | 2019-01-04 | 中山市雅西环保科技有限公司 | A kind of track machine people |
| CN210149073U (en) * | 2019-06-17 | 2020-03-17 | 国网福建省电力有限公司泉州供电公司 | Robot walking wheel |
-
2019
- 2019-06-17 CN CN201910519784.1A patent/CN110154642A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030158013A1 (en) * | 2000-07-15 | 2003-08-21 | Bernhard Sich | Stepless friction drive |
| JP2003235122A (en) * | 2002-02-12 | 2003-08-22 | Yurtec Corp | Brake device for wire supply base |
| JP2012039704A (en) * | 2010-08-05 | 2012-02-23 | Viscas Corp | Wheel for self-propelled machine |
| CN102315609A (en) * | 2011-05-17 | 2012-01-11 | 福建省电力有限公司泉州电业局 | Unmanned automatic inspection device for transmission line |
| CN104269774A (en) * | 2014-09-18 | 2015-01-07 | 国家电网公司 | Deicing device for electric transmission line |
| CN105576563A (en) * | 2016-02-05 | 2016-05-11 | 国网浙江新昌县供电公司 | Cable conduit patrol robot |
| CN109129405A (en) * | 2018-09-17 | 2019-01-04 | 中山市雅西环保科技有限公司 | A kind of track machine people |
| CN210149073U (en) * | 2019-06-17 | 2020-03-17 | 国网福建省电力有限公司泉州供电公司 | Robot walking wheel |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111071500A (en) * | 2019-12-31 | 2020-04-28 | 中国科学院空间应用工程与技术中心 | Material cabin outer exposure friction wheel movement mechanism and on-orbit inspection device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190823 |