CN207155778U - Rail polling robot running gear - Google Patents
Rail polling robot running gear Download PDFInfo
- Publication number
- CN207155778U CN207155778U CN201721181889.3U CN201721181889U CN207155778U CN 207155778 U CN207155778 U CN 207155778U CN 201721181889 U CN201721181889 U CN 201721181889U CN 207155778 U CN207155778 U CN 207155778U
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- section bar
- aluminium section
- crossbeam
- chain
- fixedly connected
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Abstract
The utility model discloses a kind of rail polling robot running gear, including track and drive mechanism, drive mechanism to be moved along track, and crusing robot is arranged in drive mechanism；Track includes aluminium section bar and chain, and chain is set in parallel in the lower section of aluminium section bar；Drive mechanism includes suspension arm, crossbeam, steady wheel group, sprocket wheel, motor and transfer, two suspension arms and crossbeam composition U-shape structure, suspension arm is slidably contacted by steady wheel group with aluminium section bar, sprocket wheel is horizontally disposed and is rotatably connected with crossbeam, and sprocket wheel engages with chain, the torque input shaft of chain is fixedly connected by transmission belt with the torque output shaft of motor, and motor is fixedly connected with crossbeam.The utility model using standard industry aluminium section bar as track, chain as path, sprocket wheel as driving wheel, using chain drive, it is possible to achieve be accurately positioned, easily realization turning climb, using steering spindle as knuckle, can meet the needs of minor-circle turn.
Description
Technical field
It the utility model is related to robot running gear, more particularly to a kind of rail polling robot running gear.
Background technology
Robot application is more and more extensive at present.In the occasion that had certain requirements to security, more and more using edge
The robot of track travel.The track used at present, it is to have continued to use the I shape track from transfer robot of walking mostly.In the presence of
Weight is big, and price is high, is not easy to realize the situation of minor-circle turn.In the occasion that the equipment such as electric power computer room are intensive, it is more difficult to meet real
Border demand.Therefore develop it is a kind of it is cheap, walking is reliable, can the robot of minor-circle turn just seem necessary.It is existing
Technology is mainly the self friction advance by driving wheel, or by cloth rack in orbit, passes through gear and engage advance.
Using friction type because being roller friction, skidded due to existing, be not easy realization and be accurately positioned.And use gear
The form of rack is not in skid, but is not easy to realize climbing of turning, and rack cost is higher.
Utility model content
The purpose of this utility model is that to solve the above problems and provides a kind of rail polling robot ambulation machine
Structure.
The utility model is achieved through the following technical solutions above-mentioned purpose：
A kind of rail polling robot running gear, including track and drive mechanism, the drive mechanism is along the track
Mobile, the crusing robot is arranged in the drive mechanism；
The track includes aluminium section bar and chain, and the chain is set in parallel in the lower section of the aluminium section bar, and with it is described
The downside of aluminium section bar is fixedly connected；
The drive mechanism includes suspension arm, crossbeam, steady wheel group, sprocket wheel, motor and transfer, described in two
Suspension arm and crossbeam composition U-shape structure, the aluminium section bar is located in the U-shape structure, and the suspension arm pass through it is described
Steady wheel group slidably contacts with the aluminium section bar, and the sprocket wheel is horizontally disposed and is rotatably connected with the crossbeam, and described
Sprocket wheel engages with the chain, and the torque input shaft of the chain is consolidated by the torque output shaft of transmission belt and the motor
Fixed connection, the motor are fixedly connected with the crossbeam.
Further, the walking mechanism also includes electric supply installation, and the electric supply installation includes trolley and current-collector, described
Current-collector is fixedly connected with the crossbeam, and the trolley is fixed on the aluminium section bar, and the current-collector and the wiping
Linear contact lay power taking, the current-collector electrically connect with the motor.
Preferably, the quantity of the current-collector is two groups, and current-collector is fixedly connected with the crossbeam described in two groups.
Specifically, the steady wheel group includes suspension sheave and guide wheel group,
Two suspension sheaves are arranged at the top of the aluminium section bar, and are connect with the upper side rolling of the aluminium section bar
Touch, two suspension sheaves are rotatably connected by rotating shaft and the upper end of the suspension arm respectively；
Two guide wheel groups are separately positioned on the two sides of the aluminium section bar, and two sides with the aluminium section bar respectively
It is in rolling contact, the guide wheel group is fixedly connected by leading arm with the middle-end of the suspension arm.
Specifically, the guide wheel group includes flexible guiding wheel and rigid directive wheel, the flexible guiding wheel and it is described just
Property directive wheel positioned at being same as horizontal plane, and the both ends with the leading arm are fixedly connected respectively, the middle-end of the leading arm and institute
State suspension arm to be fixedly connected, connected between the flexible guiding wheel and the leading arm by buffering torsion spring.
Further, the walking mechanism also includes follower, the follower include with the drive mechanism
Structure and connected mode all same suspension arm, crossbeam, transfer and steady wheel group, the transfer of the follower
It is fixedly connected with the transfer of the drive mechanism with the crusing robot.
Specifically, the transfer includes steering spindle and steering bearing, and the upper end of the steering spindle passes through the steering
The middle-end of bearing and the crossbeam is rotatably connected, and the lower end of the steering spindle is to be fixedly connected with the crusing robot.
The beneficial effects of the utility model are：
A kind of rail polling robot running gear of the utility model is made using standard industry aluminium section bar as track, chain
It is path, sprocket wheel as driving wheel, using chain drive, it is possible to achieve be accurately positioned, climbing of turning easily realized, using steering
Axle can meet the needs of minor-circle turn as knuckle.
Brief description of the drawings
Fig. 1 is a kind of structural representation of rail polling robot running gear described in the utility model, is to turn in figure
Curved walking states；
Fig. 2 is a kind of structural representation of rail polling robot running gear described in the utility model, is straight in figure
Line walking states；
Fig. 3 is the structural representation of drive mechanism described in the utility model；
Fig. 4 is the structural representation of follower described in the utility model.
Embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings：
As shown in Figure 1, Figure 2 and Figure 3, a kind of rail polling robot running gear of the utility model, including track, driving
Mechanism and electric supply installation, drive mechanism are moved along track, and crusing robot is arranged in drive mechanism；
Track includes aluminium section bar 1 and chain 4, and chain 4 is set in parallel in the lower section of aluminium section bar 1, and with the downside of aluminium section bar 1
Face is fixedly connected；
Drive mechanism includes suspension arm 12, crossbeam, steady wheel group, sprocket wheel 7, motor 3 and transfer 9, and two outstanding
Upper arm 12 and crossbeam composition U-shape structure, aluminium section bar 1 is located in U-shape structure, and suspension arm 12 passes through steady wheel group and aluminium section bar 1
Slidably contact, sprocket wheel 7 is horizontally disposed and is rotatably connected with crossbeam, and sprocket wheel 7 engages with chain 4, the torque input of chain 4
Axle is fixedly connected by transmission belt 8 with the torque output shaft of motor 3, and motor 3 is fixedly connected with crossbeam；
Electric supply installation includes trolley 10 and current-collector 11, and current-collector 11 is fixedly connected with crossbeam, and trolley 10 is fixed on
On aluminium section bar 1, and current-collector 11 and the contact electricity getting of trolley 10, current-collector 11 electrically connect with motor 3, the number of current-collector 11
Measure as two groups, two groups of current-collectors 11 are fixedly connected with crossbeam, and steady wheel group includes suspension sheave 2 and guide wheel group, two suspensions
Wheel 2 is arranged at the top of aluminium section bar 1, and is in rolling contact with the upper side of aluminium section bar 1, and two suspension sheaves 2 pass through rotating shaft respectively
14 are rotatably connected with the upper end of suspension arm 12；Two guide wheel groups are separately positioned on the two sides of aluminium section bar 1, and respectively with aluminium
Two sides of section bar 1 are in rolling contact, and guide wheel group is fixedly connected by leading arm 15 with the middle-end of suspension arm 12.
Guide wheel group includes flexible guiding wheel 5 and rigid directive wheel 6, and flexible guiding wheel 5 and rigid directive wheel 6, which are located at, to be same as
Horizontal plane, and the both ends with leading arm 15 are fixedly connected respectively, the middle-end of leading arm 15 is fixedly connected with suspension arm 12, and flexibility is led
Connected between wheel 5 and leading arm 15 by buffering torsion spring 13.
As shown in Figure 1, Figure 2 and Figure 4, walking mechanism also includes follower, follower include with drive mechanism
The suspension arm 12 of structure and connected mode all same, crossbeam, transfer 9 and steady wheel group, the He of transfer 9 of follower
The transfer 9 of drive mechanism is fixedly connected with crusing robot.
Transfer 9 includes steering spindle and steering bearing, and the upper end of steering spindle can by the middle-end of steering bearing and crossbeam
Rotation connection, lower end and the crusing robot of steering spindle are to be fixedly connected.
A kind of operation principle of rail polling robot running gear of the utility model is as follows：
Walking mechanism is fixed on aluminium section bar 1 by suspension sheave 2 and steady wheel group, and it is moved along aluminium section bar 1；
Walking mechanism is suspended on aluminium section bar 1 by suspension sheave 2, prevents from going by the flexible guiding wheel 5 and rigid directive wheel 6 of both sides
Walk mechanism to rock, and rocking when turning is reduced by buffering torsion spring 13.
Rotated with movable sprocket 7 by motor 3, simultaneously as sprocket wheel 7 engages with the chain 4 of the lower section of aluminium section bar 1, realized
The movement of walking mechanism.
By current-collector 11 and the contact electricity getting of trolley 10, two groups of current-collectors 11 can be prevented because bounce causes system unexpected
Power-off.
The technical solution of the utility model is not limited to the limitation of above-mentioned specific embodiment, every according to skill of the present utility model
The technology deformation that art scheme is made, each falls within the scope of protection of the utility model.
Claims (7)
- A kind of 1. rail polling robot running gear, it is characterised in that：Including track and drive mechanism, the drive mechanism edge The track movement, the crusing robot are arranged in the drive mechanism；The track includes aluminium section bar and chain, and the chain is set in parallel in the lower section of the aluminium section bar, and with the aluminium profiles The downside of material is fixedly connected；The drive mechanism includes suspension arm, crossbeam, steady wheel group, sprocket wheel, motor and transfer, two suspensions Arm and crossbeam composition U-shape structure, the aluminium section bar is located in the U-shape structure, and the suspension arm passes through the stabilization Wheel group slidably contacts with the aluminium section bar, and the sprocket wheel is horizontally disposed and is rotatably connected with the crossbeam, and the sprocket wheel Engaged with the chain, the torque input shaft of the chain is fixed by the torque output shaft of transmission belt and the motor to be connected Connect, the motor is fixedly connected with the crossbeam.
- 2. rail polling robot running gear according to claim 1, it is characterised in that：Also include electric supply installation, institute Stating electric supply installation includes trolley and current-collector, and the current-collector is fixedly connected with the crossbeam, and the trolley is fixed on institute State on aluminium section bar, and the current-collector and the trolley contact electricity getting, the current-collector electrically connect with the motor.
- 3. rail polling robot running gear according to claim 2, it is characterised in that：The quantity of the current-collector is Two groups, current-collector is fixedly connected with the crossbeam described in two groups.
- 4. rail polling robot running gear according to claim 1, it is characterised in that：The steady wheel group includes outstanding Change gear and guide wheel group,Two suspension sheaves are arranged at the top of the aluminium section bar, and are in rolling contact with the upper side of the aluminium section bar, two The individual suspension sheave is rotatably connected by rotating shaft and the upper end of the suspension arm respectively；Two guide wheel groups are separately positioned on the two sides of the aluminium section bar, and two sides with the aluminium section bar roll respectively Contact, the guide wheel group are fixedly connected by leading arm with the middle-end of the suspension arm.
- 5. rail polling robot running gear according to claim 4, it is characterised in that：The guide wheel group includes soft Property directive wheel and rigid directive wheel, the flexible guiding wheel and the rigid directive wheel positioned at being same as horizontal plane, and respectively with institute The both ends for stating leading arm are fixedly connected, and the middle-end of the leading arm is fixedly connected with the suspension arm, the flexible guiding wheel with Connected between the leading arm by buffering torsion spring.
- 6. rail polling robot running gear according to claim 1, it is characterised in that：Also include follower, institute State follower include with the structure in the drive mechanism and the suspension arm of connected mode all same, crossbeam, transfer and The transfer of steady wheel group, the transfer of the follower and the drive mechanism is fixed with the crusing robot Connection.
- 7. rail polling robot running gear according to claim 6, it is characterised in that：The transfer includes turning To axle and steering bearing, the upper end of the steering spindle is rotatably connected by the middle-end of the steering bearing and the crossbeam, institute The lower end and the crusing robot for stating steering spindle are to be fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721181889.3U CN207155778U (en) | 2017-09-15 | 2017-09-15 | Rail polling robot running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721181889.3U CN207155778U (en) | 2017-09-15 | 2017-09-15 | Rail polling robot running gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207155778U true CN207155778U (en) | 2018-03-30 |
Family
ID=61721816
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721181889.3U Active CN207155778U (en) | 2017-09-15 | 2017-09-15 | Rail polling robot running gear |
Country Status (1)
| Country | Link |
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| CN (1) | CN207155778U (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107639622A (en) * | 2017-09-15 | 2018-01-30 | 深圳市朗驰欣创科技股份有限公司 | Rail polling robot running gear |
| CN108594833A (en) * | 2018-08-15 | 2018-09-28 | 科大智能电气技术有限公司 | A kind of novel light and handy track-type multi-function crusing robot system |
| CN110282380A (en) * | 2019-07-09 | 2019-09-27 | 无锡中吉泰电气科技有限公司 | A kind of magneto transfer board |
| CN110509251A (en) * | 2019-08-29 | 2019-11-29 | 韶关市德荣信息科技有限公司 | A kind of track machine people walking mechanism |
| CN110549313A (en) * | 2019-08-27 | 2019-12-10 | 北京戴纳实验科技有限公司 | hanger rail taking manipulator for laboratory equipment |
| CN111927466A (en) * | 2020-06-30 | 2020-11-13 | 中铁工程服务有限公司 | Shield construction tunnel inspection robot |
| CN113815655A (en) * | 2021-01-08 | 2021-12-21 | 京东科技信息技术有限公司 | Rail-mounted driving device and driving system, rail-mounted robot and robot system |
| CN114029921A (en) * | 2021-11-18 | 2022-02-11 | 北京华能新锐控制技术有限公司 | Rail base of rail-guided robot |
| CN114774876A (en) * | 2022-05-11 | 2022-07-22 | 纳峰真空镀膜（上海）有限公司 | Coating rotating stand |
| CN114803361A (en) * | 2022-04-11 | 2022-07-29 | 厦门三烨清洁科技股份有限公司 | High stability is patrolled and examined robot for conveyer |
| CN115060176A (en) * | 2022-08-18 | 2022-09-16 | 沧州市交通运输局 | Highway guardrail height detection device |
| WO2024067561A1 (en) * | 2022-09-30 | 2024-04-04 | 安徽容知日新科技股份有限公司 | Track assembly for inspection robot system |
-
2017
- 2017-09-15 CN CN201721181889.3U patent/CN207155778U/en active Active
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107639622A (en) * | 2017-09-15 | 2018-01-30 | 深圳市朗驰欣创科技股份有限公司 | Rail polling robot running gear |
| CN108594833B (en) * | 2018-08-15 | 2024-04-09 | 科大智能电气技术有限公司 | Novel light track type multifunctional inspection robot system |
| CN108594833A (en) * | 2018-08-15 | 2018-09-28 | 科大智能电气技术有限公司 | A kind of novel light and handy track-type multi-function crusing robot system |
| CN110282380A (en) * | 2019-07-09 | 2019-09-27 | 无锡中吉泰电气科技有限公司 | A kind of magneto transfer board |
| CN110549313A (en) * | 2019-08-27 | 2019-12-10 | 北京戴纳实验科技有限公司 | hanger rail taking manipulator for laboratory equipment |
| CN110509251A (en) * | 2019-08-29 | 2019-11-29 | 韶关市德荣信息科技有限公司 | A kind of track machine people walking mechanism |
| CN111927466A (en) * | 2020-06-30 | 2020-11-13 | 中铁工程服务有限公司 | Shield construction tunnel inspection robot |
| CN113815655A (en) * | 2021-01-08 | 2021-12-21 | 京东科技信息技术有限公司 | Rail-mounted driving device and driving system, rail-mounted robot and robot system |
| CN114029921B (en) * | 2021-11-18 | 2023-08-15 | 北京华能新锐控制技术有限公司 | Rail base of rail robot |
| CN114029921A (en) * | 2021-11-18 | 2022-02-11 | 北京华能新锐控制技术有限公司 | Rail base of rail-guided robot |
| CN114803361A (en) * | 2022-04-11 | 2022-07-29 | 厦门三烨清洁科技股份有限公司 | High stability is patrolled and examined robot for conveyer |
| CN114774876A (en) * | 2022-05-11 | 2022-07-22 | 纳峰真空镀膜（上海）有限公司 | Coating rotating stand |
| CN115060176A (en) * | 2022-08-18 | 2022-09-16 | 沧州市交通运输局 | Highway guardrail height detection device |
| WO2024067561A1 (en) * | 2022-09-30 | 2024-04-04 | 安徽容知日新科技股份有限公司 | Track assembly for inspection robot system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181229 Address after: 518000 Fengyun Science and Technology Building 301, No. 5 Industrial Zone, North Ring Road, Nanshan District, Shenzhen City, Guangdong Province Co-patentee after: Chengdu Hitoal Automatic Control Technology Co., Ltd. Patentee after: Shenzhen Launch Digital Technology Co., Ltd. Address before: 518108 301 of Fengyun science and technology mansion, Fifth Industrial Zone, Nanshan District North Ring Road, Shenzhen, Guangdong. Patentee before: Shenzhen Launch Digital Technology Co., Ltd. |
|
| TR01 | Transfer of patent right |