CN206475880U - Rail type robot moving mechanism - Google Patents
Rail type robot moving mechanism Download PDFInfo
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- CN206475880U CN206475880U CN201621453485.0U CN201621453485U CN206475880U CN 206475880 U CN206475880 U CN 206475880U CN 201621453485 U CN201621453485 U CN 201621453485U CN 206475880 U CN206475880 U CN 206475880U
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- 230000007246 mechanism Effects 0.000 title claims abstract description 52
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 2
- 230000005611 electricity Effects 0.000 abstract 1
- 238000007689 inspection Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 244000309464 bull Species 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
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- 238000010248 power generation Methods 0.000 description 1
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Abstract
The utility model relates to a high voltage electricity distribution room intelligence patrols and examines robot mechanism, specifically speaking is a rail mounted robot moving mechanism, including moving the automobile body chassis and fixing respectively on moving the automobile body chassis front, back universal wheel and rotating respectively and installing the front, back bogie on moving the automobile body chassis, front, back bogie structure is the same, all include the mount, the walking wheel, walking wheel actuating mechanism, first leading wheel and second leading wheel, the mount rotates with moving the automobile body chassis to be connected, the walking wheel shaft rotation of walking wheel is installed on the mount, and with install the walking wheel actuating mechanism on the mount and link to each other, drive the rotation by walking wheel actuating mechanism, and then drive the walking wheel rotation; the first guide wheel shaft of the first guide wheel and the second guide wheel shaft of the second guide wheel are respectively and rotatably connected with the fixing frame. The utility model has the characteristics of move steadily, simple structure and bearing capacity are strong etc.
Description
Technical field
The utility model is related to high-tension distribution chamber of converting intelligent inspection robot mechanism, specifically a kind of rail mounted robot
Travel mechanism.
Background technology
High-tension distribution chamber of converting is one of production, conveying, the core for distributing three digest journals, and transformer substation system is it may be said that to whole electric power
The safe and reliable of system all plays vital effect.Traditional routine inspection mode is to gather substantial amounts of daily by patrol officer
Service data, because the factors such as patrol officer's quality, technical merit can produce many problems；And this mode labor intensity
Greatly, it is dangerous high.Existing routine inspection mode and technology still have sizable gap compared with the security requirement of power generation.
In unattended high-tension distribution chamber of converting, equipment routing inspection and security protection work are only replaced by fixed video camera, are not only unable in measuring station complete
Portion's equipment and instrument, thermal defect that can not be inside discovering device, these can all leave potential faults.Robot replaces artificial complete
Into high-tension distribution chamber of converting patrol task advantage get over utility model show.Robot needs to carry out all switch cubicles in hyperbaric chamber
Detection and operation, this task can not be completed using fixed robot at all.Therefore travel mechanism must be designed, by machine
Human body is placed in travel mechanism, so as to complete the detection to all switch cubicles and operation task.
Utility model content
In order to meet the requirement of high-tension distribution chamber of converting patrol task, the purpose of this utility model is to provide a kind of rail mounted machine
Qi Ren travel mechanisms.The rail mounted robot moving mechanism stable movement, simple in construction, load capacity is strong.
The purpose of this utility model is achieved through the following technical solutions：
The utility model includes moving body chassis and the preceding universal wheel being separately fixed on the moving body chassis, rear ten thousand
To wheel and the forecarriage, the trailing bogie that are rotatably installed in respectively on the moving body chassis, wherein forecarriage turns with rear
It is identical to frame structure, it is described solid including fixed mount, road wheel, ground drive mechanism, the first directive wheel and the second directive wheel
Determine frame and moving body chassis and rotate to be connected, the road wheel wheel shaft of the road wheel is rotatably installed on fixed mount, and with installation
The ground drive mechanism on fixed mount is connected, and is driven and rotated by the ground drive mechanism, and then drives the row
Walk wheel rotation；First directive wheel and the second directive wheel are symmetricly set in the both sides of road wheel, the first of first directive wheel
Second directive wheel wheel shaft of directive wheel wheel shaft and the second directive wheel rotates with the fixed mount be connected respectively；
Wherein：The fixed mount includes crossbeam, head rod, the second connecting rod, the first wheel carrier and the second wheel carrier, the horizontal stroke
Beam is rotated by cradle head C and the moving body chassis and is connected, the head rod and the second connecting rod respectively with horizontal stroke
The two ends of beam are connected, and are fixed with the head rod in the first wheel carrier, second connecting rod and are fixed with the second wheel carrier；Institute
State the first directive wheel wheel shaft to be connected with the rotation of the first wheel carrier by cradle head D, first directive wheel and first directive wheel
Wheel shaft is interlocked；The second directive wheel wheel shaft is rotated with the second wheel carrier by cradle head D and is connected, and second directive wheel is with being somebody's turn to do
Second directive wheel wheel shaft is interlocked；
The ground drive mechanism includes motor, decelerator and shaft coupling, and the motor and decelerator are separately mounted to institute
State on fixed mount, the road wheel wheel shaft is connected by shaft coupling with the output shaft of the decelerator；The road wheel wheel shaft is
Multi-diameter shaft, two ends are rotated with the fixed mount by cradle head B be connected respectively, and the road wheel passes through flat key and road wheel wheel
Axle is interlocked；
The junction on the junction on forecarriage and the moving body chassis and trailing bogie and moving body chassis it
Between straight line and preceding universal wheel and the moving body chassis junction and rear universal wheel and the junction on moving body chassis
Between straight line it is parallel；
The preceding universal wheel is identical with rear Universal wheel structure, including the first connector, the second connector, wheel shaft and wheel
Son, first connector is connected with the moving body chassis, and second connector passes through cradle head A and the first connector
Connection is rotated, wheel shaft is rotated with second connector by the cradle head A and is connected, and the wheel is interlocked with wheel shaft；
The preceding universal wheel and rear universal wheel are located at the same side of forecarriage and trailing bogie, the preceding universal wheel and movement
Straight line and the rear universal wheel and shifting between the junction on the junction of chassis of vehicle body and forecarriage and moving body chassis
Straight line between the junction on motor vehicles bodies chassis and rear universal wheel trailing bogie and the junction on moving body chassis is parallel.
Advantage of the present utility model is with good effect：
1. the utility model can realize steering, the first directive wheel and the second directive wheel on the larger warp rail of radian
Positioned at the left and right sides of track direction of advance, when travel mechanism's offset track, pressure is produced between directive wheel and track, it is this
Pressure forces travel mechanism to return to equilbrium position.
2. the utility model is simple in construction, stable movement reliable, the design of forward and backward bogie and forward and backward universal wheel is realized
Four-point supporting, can prevent travel mechanism from toppling.
3. the utility model movement velocity is fast, forward and backward steering mechanism straddles in orbit, and road wheel connects with track upper surface
Touch, under the drive of ground drive mechanism, support travel mechanism walks in orbit, due to using wheel type traveling mechanism, because
This speed.
4. the utility model bearing capacity is high, because travel mechanism realizes four-point supporting, 4 points are born load jointly, because
This bearing capacity is high and structure is more consolidated.
5. the utility model is easy to dismounting to combine, fixed mount is designed to modular structure, is easy to straddle fixed mount
On guide rail.
6. the utility model compact conformation, the centre position that directive wheel is placed in below i-beam track upper surface, due to work
The upper surface of word steel track is parallel to the ground to be overlapped, therefore the design width of rail groove is placed in bull headction compared to wheel is directed to
The track well width of side is small above road.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present utility model；
Fig. 2 is the structural representation of the utility model universal wheel；
Fig. 3 is the structural representation of the utility model bogie；
Fig. 4 is the structural representation of fixed mount in Fig. 3；
Fig. 5 is that the utility model bogie rides working state figure in orbit；
Fig. 6 is operation view of the utility model on warp rail；
Wherein：1 is moving body chassis, and 2 be preceding universal wheel, and 201 be the first connector, and 202 be the second connector, 203
It is wheel for universal wheel wheel shaft, 204,205 be cradle head A, and 3 be rear universal wheel, and 4 be forecarriage, and 401 be fixed mount,
4011 be crossbeam, and 4012 be head rod, and 4013 be the second connecting rod, and 4014 be the first wheel carrier, and 4015 be the second wheel carrier,
402 be road wheel rotating shaft, and 403 be road wheel, and 404 be motor, and 405 be decelerator, and 406 be shaft coupling, and 407 be the first directive wheel
Wheel shaft, 408 be the second directive wheel wheel shaft, and 409 be the first directive wheel, and 410 be the second directive wheel, and 411 be cradle head B, and 412 are
Cradle head C, 413 be cradle head D, and 5 be trailing bogie, and 6 be ground, and 7 be track.
Embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings.
As shown in figure 1, the utility model include moving body chassis 1, preceding universal wheel 2, rear universal wheel 3, forecarriage 4 and
Trailing bogie 5, wherein preceding universal wheel 2 and rear universal wheel 3 are connected with moving body chassis 1 respectively, forecarriage 4 and trailing bogie
5 are connected by cradle head with moving body chassis 1 respectively.Forecarriage 4 and trailing bogie 5 are straddled on track 7, for carrying
For support force and ensure that moving body does not depart from track.Preceding universal wheel 2 and rear universal wheel 3 are used to provide support force, and increase is moved
The stability of motor vehicles bodies.
Moving body chassis 1 is square, and forward and backward universal wheel 2,3 is located at square locomotive respectively with forward and backward bogie 4,5
The corner on body chassis 1.Preceding universal wheel 2 and rear universal wheel 3 are located at the same side of forecarriage 4 and trailing bogie 5, the preceding universal wheel
Straight line between 2 and the junction on moving body chassis 1 and the junction on forecarriage 4 and moving body chassis 1 with it is rear universal
Between wheel 3 and the junction and the trailing bogie 5 of rear universal wheel 3 and the junction on moving body chassis 1 on moving body chassis 1
Straight line is parallel.The junction on forecarriage 4 and moving body chassis 1 and trailing bogie 5 and the junction on moving body chassis 1
Between straight line and the preceding universal wheel 2 and moving body chassis 1 junction and rear universal wheel 3 and moving body chassis 1
Straight line between junction is parallel.
As shown in Fig. 2 preceding universal wheel 2 is identical with the rear structure of universal wheel 3, including the first connector 201, the second connector
202nd, wheel shaft 203 and wheel 204, first connector 201 are connected with moving body chassis 1, and the second connector 202 is by rotating
Joint A205 is rotated with the first connector 201 and is connected, and wheel shaft 203 is rotated by cradle head A205 with second connector 202
Connection, wheel 204 is interlocked with wheel shaft 203.
As shown in figure 3, forecarriage 4 is identical with the structure of trailing bogie 5, including fixed mount 401, road wheel wheel shaft 402,
Road wheel 403, ground drive mechanism, the first directive wheel wheel shaft 407, the second directive wheel wheel shaft 408, the first directive wheel 409 and
Second directive wheel 410, fixed mount 401 is rotated with moving body chassis 1 and is connected, and the road wheel wheel shaft 402 of road wheel 403 is by turning
Movable joint B411 is rotatably installed on fixed mount 401, and is connected with the ground drive mechanism on fixed mount 401, by
Ground drive mechanism driving rotation, and then drive road wheel 403 to rotate.410 pairs of first directive wheel 409 and the second directive wheel
Claim to be arranged at the both sides of road wheel 403, the of the first directive wheel wheel shaft 407 of first directive wheel 409 and the second directive wheel 410
Two directive wheel wheel shafts 408 are rotated with fixed mount 401 by cradle head D413 be connected respectively.Road wheel wheel shaft 402 is multi-diameter shaft,
Two ends pass through 401 turns of cradle head B411 (cradle head B of the present utility model can be angular contact ball bearing) and fixed mount respectively
Dynamic connection, road wheel 403 is interlocked by flat key with road wheel wheel shaft 402.Ground drive mechanism includes motor 404, decelerator
405 and shaft coupling 406, the motor 404 and decelerator 405 are separately mounted on fixed mount 401, and road wheel wheel shaft 402 passes through connection
Axle device 406 is connected with the output shaft of decelerator 405.
As shown in figure 4, fixed mount 401 includes crossbeam 4011, head rod 4012, the second connecting rod 4013, the first round
The wheel carrier 4015 of frame 4014 and second, by cradle head C412, (cradle head C of the present utility model can be centripetal to the crossbeam 4011
Thrust combination bearing) with moving body chassis 1 rotate be connected, the connecting rod 4013 of head rod 4012 and second respectively with crossbeam
4011 two ends are connected, and are fixed with head rod 4012 in first wheel carrier 4014, the second connecting rod 4013 and are fixed with second
Wheel carrier 4015.First directive wheel wheel shaft 407 is rotated with the first wheel carrier 4014 by cradle head D413 and is connected, the first directive wheel
409 interlock with the first directive wheel wheel shaft 407；Second directive wheel wheel shaft 408 passes through cradle head D413 and the second wheel carrier 4015
Connection is rotated, the second directive wheel 410 is interlocked with the second directive wheel wheel shaft 408.
Operation principle of the present utility model is：
As shown in figure 5, forecarriage 4 straddles on i-beam track 7 (i.e. the first directive wheel 409 and the second directive wheel 410
Abut respectively positioned at the left and right sides of the direction of advance of i-beam track 7 and with the both sides of i-beam track 7), wherein bull headction
The upper surface in road 7 is overlapped with ground 6, the upper surface of road wheel 403 and i-beam track 7；Road wheel 403 is in servomotor
Frictional force is produced between the upper surface of i-beam track 7 under 404 driving, so as to drive travel mechanism to move.Trailing bogie 5
Straddled as forecarriage 4 on i-beam track 7, the road wheel 403 of trailing bogie 5 also can be upper with i-beam track 7
Frictional force is produced between surface, driving force is provided for travel mechanism.Preceding universal wheel 2 and rear universal wheel 3 all there is passive rotation to close
Save (i.e. cradle head A205), two universal wheels can freely be rotated relative to moving body chassis 1, so that two universal wheels
Play Auxiliary support and stable effect.
As shown in fig. 6, when travel mechanism runs to 7 knee of track, first and second directive wheel 409 of forecarriage 4,
Pressure is produced between 410 and track 7, forecarriage 4 rotates with track 7, and the direction of travel mechanism changes, and drives
Travel mechanism is along track travel；Meanwhile, relative turn occurs between forecarriage 4 and trailing bogie 5 and travel mechanism chassis 1
It is dynamic.As travel mechanism walks on along track 7, produced between first and second directive wheel 409,410 and track 7 of trailing bogie 5
Raw pressure, trailing bogie 5 rotates with track 7.No matter travel mechanism is moved to where on track 7, before can ensureing
Bogie 4 and the junction of travel mechanism chassis 1 are kept not with the distance between trailing bogie 5 and the junction of travel mechanism chassis 1
Become, so as to avoid travel mechanism that stuck phenomenon occurs in orbit.
Claims (8)
1. a kind of rail mounted robot moving mechanism, it is characterised in that：Including moving body chassis (1) and it is separately fixed at the shifting
Preceding universal wheel (2), rear universal wheel (3) on motor vehicles bodies chassis (1) and it is rotatably installed in respectively on the moving body chassis (1)
Forecarriage (4), trailing bogie (5), wherein forecarriage (4) is identical with trailing bogie (5) structure, including fixed mount
(401), road wheel (403), ground drive mechanism, the first directive wheel (409) and the second directive wheel (410), the fixed mount
(401) rotate and be connected with moving body chassis (1), the road wheel wheel shaft (402) of the road wheel (403) is rotatably installed in fixation
On frame (401), and it is connected with the ground drive mechanism on fixed mount (401), by the ground drive mechanism
Driving rotation, and then drive road wheel (403) rotation；First directive wheel (409) is symmetrical with the second directive wheel (410)
The both sides of road wheel (403) are arranged at, the first directive wheel wheel shaft (407) of first directive wheel (409) and the second directive wheel
(410) the second directive wheel wheel shaft (408) rotates with the fixed mount (401) be connected respectively.
2. rail mounted robot moving mechanism according to claim 1, it is characterised in that：The fixed mount (401) includes
Crossbeam (4011), head rod (4012), the second connecting rod (4013), the first wheel carrier (4014) and the second wheel carrier (4015),
The crossbeam (4011) is rotated with the moving body chassis (1) by cradle head C (412) and is connected, the head rod
(4012) and the second connecting rod (4013) is connected with the two ends of crossbeam (4011) respectively, it is connected on the head rod (4012)
Have and be fixed with the second wheel carrier (4015) on the first wheel carrier (4014), second connecting rod (4013).
3. rail mounted robot moving mechanism according to claim 2, it is characterised in that：The first directive wheel wheel shaft
(407) rotated and be connected by cradle head D (413) and the first wheel carrier (4014), first directive wheel (409) first is led with this
Interlocked to wheel wheel shaft (407)；The second directive wheel wheel shaft (408) is turned by cradle head D (413) and the second wheel carrier (4015)
Dynamic connection, second directive wheel (410) interlocks with the second directive wheel wheel shaft (408).
4. rail mounted robot moving mechanism according to claim 1, it is characterised in that：The ground drive mechanism bag
Motor (404), decelerator (405) and shaft coupling (406) are included, the motor (404) and decelerator (405) are separately mounted to described solid
Determine on frame (401), the road wheel wheel shaft (402) is connected by shaft coupling (406) with the output shaft of the decelerator (405).
5. rail mounted robot moving mechanism according to claim 4, it is characterised in that：The road wheel wheel shaft (402)
For multi-diameter shaft, two ends are rotated with the fixed mount (401) by cradle head B (411) be connected respectively, the road wheel (403)
Interlocked by flat key and road wheel wheel shaft (402).
6. rail mounted robot moving mechanism according to claim 1, it is characterised in that：The forecarriage (4) and shifting
Straight line between the junction on motor vehicles bodies chassis (1) and the junction of trailing bogie (5) and moving body chassis (1) with it is described before
Between the junction of the junction and rear universal wheel (3) and moving body chassis (1) of universal wheel (2) and moving body chassis (1)
Straight line it is parallel.
7. rail mounted robot moving mechanism according to claim 1, it is characterised in that：The preceding universal wheel (2) is with after
Universal wheel (3) structure is identical, including the first connector (201), the second connector (202), wheel shaft (203) and wheel (204),
First connector (201) is connected with the moving body chassis (1), and second connector (202) passes through cradle head A
(205) rotate and be connected with the first connector (201), wheel shaft (203) passes through the cradle head A (205) and second connector
(202) connection is rotated, the wheel (204) interlocks with wheel shaft (203).
8. rail mounted robot moving mechanism according to claim 1, it is characterised in that：The preceding universal wheel (2) and after
Universal wheel (3) is located at the same side of forecarriage (4) and trailing bogie (5), the preceding universal wheel (2) and moving body chassis (1)
Junction and forecarriage (4) and moving body chassis (1) junction between straight line and the rear universal wheel (3) and move
Between the junction and rear universal wheel (3) trailing bogie (5) and the junction of moving body chassis (1) on motor vehicles bodies chassis (1)
Straight line is parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621453485.0U CN206475880U (en) | 2016-12-28 | 2016-12-28 | Rail type robot moving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621453485.0U CN206475880U (en) | 2016-12-28 | 2016-12-28 | Rail type robot moving mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206475880U true CN206475880U (en) | 2017-09-08 |
Family
ID=59750020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621453485.0U Active CN206475880U (en) | 2016-12-28 | 2016-12-28 | Rail type robot moving mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206475880U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108248621A (en) * | 2016-12-28 | 2018-07-06 | 深圳供电局有限公司 | Rail mounted robot moving mechanism |
| CN110671975A (en) * | 2019-10-14 | 2020-01-10 | 燕山大学 | Outdoor high-altitude target shooting robot |
-
2016
- 2016-12-28 CN CN201621453485.0U patent/CN206475880U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108248621A (en) * | 2016-12-28 | 2018-07-06 | 深圳供电局有限公司 | Rail mounted robot moving mechanism |
| CN110671975A (en) * | 2019-10-14 | 2020-01-10 | 燕山大学 | Outdoor high-altitude target shooting robot |
| CN110671975B (en) * | 2019-10-14 | 2021-06-11 | 燕山大学 | Outdoor high-altitude target shooting robot |
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