CN210361288U - Track type inspection robot driving device - Google Patents
Track type inspection robot driving device Download PDFInfo
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- CN210361288U CN210361288U CN201920782254.1U CN201920782254U CN210361288U CN 210361288 U CN210361288 U CN 210361288U CN 201920782254 U CN201920782254 U CN 201920782254U CN 210361288 U CN210361288 U CN 210361288U
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Abstract
The utility model discloses a track type patrols and examines robot drive arrangement, track type patrols and examines robot drive arrangement and erect on the track, including curb plate, main drive wheel, in-wheel motor and walking wheel, the curb plate sets up in orbital both sides, and the curb plate is provided with the through-hole, and it has in-wheel motor to alternate in the through-hole, and in-wheel motor goes up the cover and is equipped with main drive wheel, and main drive wheel laminating track is provided with the walking wheel respectively in orbital top surface and bottom surface, is connected with the walking wheel axle between the board of both sides, and the walking wheel cover is. The utility model discloses in-wheel motor during operation can drive the steady positive and negative rotation of walking wheel, and the braking, switching-over and system stop, provide power by in-wheel motor, not only can make the rail mounted patrol and examine robot drive arrangement and possess higher operating speed, can also realize the effect that accurate system stopped.
Description
Technical Field
The utility model relates to an inspection device technical field, more specifically the utility model relates to a robot drive arrangement is patrolled and examined to rail mounted that says so.
Background
In the inspection of the urban underground comprehensive pipe gallery, the robot is widely applied and is a machine device for automatically executing work. The intelligent human-computer interaction system can accept human commands, run pre-programmed programs and perform actions according to principles formulated by artificial intelligence technology, and has the task of assisting or replacing the work of human work.
However, the robot for inspection usually passes through a long pipe gallery, and the robot for inspection is required to have a high running speed per hour so as to meet the requirement of rapidly inspecting and finding problems in time; the inspection robot is required to have an accurate positioning effect, and the existing driving device for the inspection robot cannot achieve the corresponding technical effect.
Therefore, how to provide a driving device for a rail-type inspection robot is a problem that needs to be solved urgently by those skilled in the art.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a robot drive arrangement is patrolled and examined to rail mounted can realize very high speed of traveling, and can realize the function that accurate automatic braking was stopped.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides a robot drive arrangement is patrolled and examined to rail mounted, robot drive arrangement is patrolled and examined to rail mounted erects on the track, including curb plate, main drive wheel, in-wheel motor and walking wheel, the curb plate sets up orbital both sides, the curb plate is provided with the through-hole, it has to alternate in the through-hole in-wheel motor, in-wheel motor goes up the cover and is equipped with main drive wheel, just main drive wheel laminating the track orbital top surface and bottom surface are provided with respectively the walking wheel, two be connected with the walking wheel axle between the curb plate, the walking wheel cover is established the epaxial walking wheel.
Further, the top and the bottom of in-wheel motor all are connected with the side direction bumper shock absorber.
Further, a transverse connecting plate is mounted on one side, close to the hub motor, of the lateral shock absorbers and fixed to the hub motor through bolts.
Further, the lateral shock absorber comprises a shock absorbing shaft, a shock absorbing spring, an adjusting nut and a baffle plate, wherein one end of the shock absorbing shaft is connected to the outer side of the side plate, and the other end of the shock absorbing shaft is in threaded connection with the adjusting nut; the damping spring with the baffle all overlaps and establishes on the damping axle, just damping spring is located adjusting nut with between the baffle, the baffle bottom with transverse connection board links to each other.
Furthermore, a rotating shaft penetrates through the bottom end of the side plate.
Further, the rotating shaft is a hollow shaft, and the rotating shaft is in threaded connection with the carried object.
Further, a layer of rubber is coated on the outer side of the travelling wheel.
Further, the outer side of the main driving wheel is coated with a layer of polyurethane.
Further, the outer side of the track type inspection robot driving device is provided with a shell.
According to the technical scheme, compared with the prior art, the utility model discloses a track type inspection robot driving device, when a hub motor works, the traveling wheel can be driven to rotate stably in the positive and negative directions, brake, reverse and stop, the power is provided by the hub motor, the traveling wheel can be kept at a higher operation speed, and the effect of accurate stop can be realized; the utility model discloses a through carrying out threaded connection at the rotation axis with the article that bear, convenient and fast's article to the assigned position of bearing have realized mechanization, and at some constrictive passageways, the rail mounted patrols and examines robot drive arrangement and also can easily pass through, places the article that bear in the assigned position, has improved the convenience of using.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a side view of the present invention.
Fig. 3 is a top view of the present invention.
Wherein, in the figure,
1-side plate; 2-main driving wheel; 3-a hub motor; 4-travelling wheels; 5-orbit; 6-lateral shock absorber; 61-a damper shaft; 62-a damping spring; 63-adjusting the nut; 64-a baffle plate; 7-a rotating shaft; 8-transverse connecting plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to the drawings 1-3, the embodiment of the utility model discloses a robot driving device is patrolled and examined to rail mounted, robot driving device erects on track 5 is patrolled and examined to rail mounted, including curb plate 1, main drive wheel 2, in-wheel motor 3 and walking wheel 4, curb plate 1 sets up the both sides at track 5, curb plate 1 is provided with the through-hole, it has in-wheel motor 3 to alternate in the through-hole, in-wheel motor 3 goes up the cover and is equipped with main drive wheel 2, and 2 laminating tracks 5 of main drive wheel, be provided with walking wheel 4 respectively in track 5's top surface and bottom surface, be connected with walking wheel 4 axles between the board 1 of both sides, 4 epaxial at the. When the wheel hub motor 3 works, the walking wheels 4 can be driven to rotate stably and positively, brake, reverse and brake, the wheel hub motor 3 provides power, the rail type inspection robot driving device can have high running speed, and the effect of accurate brake can be realized. In addition, 4 axles of walking wheel and 1 threaded connection of curb plate, convenient dismantlement and installation.
In another embodiment, a side damper 6 is connected to each of the top and bottom ends of the in-wheel motor 3. The lateral shock absorber 6 can eliminate the vibration generated to the walking wheel 4 when the road surface is not flat, and the whole rail type patrol robot driving device is maintained to move forward stably.
In another embodiment, a transverse connecting plate 8 is mounted on one side, close to the hub motor 3, between the two lateral shock absorbers 6, and the hub motor 3 is fixed by the transverse connecting plate 8 through bolts. Through 8 fixes in-wheel motor 3 of transverse connection board, both played the cushioning effect to in-wheel motor 3, increased the stability of in-wheel motor 3 operation, guaranteed again that main drive wheel 2 can laminate with track 5.
In another embodiment, the lateral damper 6 comprises a damper shaft 61, a damper spring 62, an adjusting nut 63 and a baffle plate 64, wherein one end of the damper shaft 61 is connected to the outer side of the side plate 1, and the other end is in threaded connection with the adjusting nut 63; the damping spring 62 and the baffle plate 64 are sleeved on the damping shaft 61, the damping spring 62 is located between the adjusting nut 63 and the baffle plate 64, and the bottom end of the baffle plate 64 is connected with the transverse connecting plate 8. Under the action of the damping spring 62, the baffle plate 64 pushes the transverse connecting plate 8, so that the main driving wheel 2 is driven to approach the track 5 and be attached to the track 5, and when the in-wheel motor 3 works, advancing power is provided.
In another embodiment, the bottom end of the side plate 1 is penetrated by a rotation shaft 7. The article can be suspended on the rotating shaft 7, so that the article can be transported, and the mechanization of article transportation is realized.
In another embodiment, the two rotating shafts 7 are symmetrically arranged at the front end and the rear end of the side plate 1 respectively, so that the weight of a suspended object is increased, the pressure of the borne object on the track 5 type inspection robot is averagely exerted, the track type inspection robot is maintained to stably slide along the track 5, the borne object is conveniently transported to a designated position, and the working efficiency is improved.
In another embodiment, the rotating shaft 7 is a hollow shaft, and the rotating shaft 7 is connected with the carried object by screw threads. The rotation axis 77 sets up to empty core axle, and the quality is lighter, has saved the material, can not patrol and examine robot drive arrangement to rail mounted and cause the gravity burden, and adopts threaded connection with the article that bear, can reach fine fixed effect to the article that bear.
In another embodiment, the road wheels 4 are coated with a layer of rubber, which is similar to an external tire of an automobile, and can reduce noise generated by the driving device rolling on the track 5.
In another embodiment, the main drive wheel 2 is coated with a layer of polyurethane on the outside. Polyurethane does not scratch, noiselessness, long service life, reduce cost, and polyurethane rolls along track 5's both sides face respectively, rocks when can reducing walking wheel 4 and walk along track 5, guarantees whole rail mounted and patrols and examines robot drive arrangement's operating stability.
In another embodiment, a shell is arranged outside the track 5 type inspection robot driving device. The shell is made of fiber reinforced plastic (GRFP), has strong corrosion resistance and the like, reduces the influence of dust on the robot driving device, and ensures the safe and stable operation of the robot driving device.
In another embodiment, the track 5 may be a circular track 5 or a U-track 5, with a minimum turning radius of 400mm for the track 5. When circular or U-shaped track 5, the intelligent drive arrangement of robot has certain inclination is patrolled and examined to the rail mounted, and in-wheel motor 3 can control walking wheel 4 and carry out the skew of appropriate angle under the prerequisite that keeps self stability, also can carry out the operation of suitable turn.
During the use, start wheel hub motor 3, two 2 side laminating tracks 5 sides of main drive wheel provide forward power for whole robot drive device to four walking wheels 4 of drive roll on track 5, can drive required equipment and can realize that whole equipment automobile body walks on the track 5 of turning radius more than or equal to 400mm, thereby can patrol and examine transformer substation and power cable track 5. In addition, the robot driving device can be matched to be used according to different requirements, and required equipment is driven to conduct inspection.
The utility model discloses a track type patrol robot driving device, when a hub motor 3 works, a walking wheel 4 can be driven to rotate stably, positively and negatively, braking, reversing and stopping are carried out, the hub motor 3 provides power, the walking wheel 4 can be enabled to keep higher running speed, and the effect of accurate stopping can be realized; the utility model discloses a through carrying out threaded connection at rotation axis 7 and the article that bear, convenient and fast's article to the assigned position of bearing have realized mechanization, and at some constrictive passageways, the rail mounted patrols and examines robot drive arrangement and also can easily pass through, places the article that bear in the assigned position, has improved the convenience of using.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. The utility model provides a robot drive arrangement is patrolled and examined to rail mounted, robot drive arrangement is patrolled and examined to rail mounted erects on track (5), its characterized in that: including curb plate (1), main drive wheel (2), in-wheel motor (3) and walking wheel (4), curb plate (1) sets up the both sides of track (5), curb plate (1) is provided with the through-hole, it has to alternate in the through-hole in-wheel motor (3), in-wheel motor (3) go up the cover and be equipped with main drive wheel (2), just main drive wheel (2) laminating track (5) the top surface and the bottom surface of track (5) are provided with respectively walking wheel (4), two be connected with the walking wheel axle between curb plate (1), walking wheel (4) cover is established on the walking wheel is epaxial.
2. The driving device for the rail-type inspection robot according to claim 1, wherein: the top end and the bottom end of the hub motor (3) are both connected with lateral shock absorbers (6).
3. The driving device for the rail-type inspection robot according to claim 2, wherein: and a transverse connecting plate (8) is arranged on one side, close to the hub motor (3), between the two lateral shock absorbers (6), and the transverse connecting plate (8) is fixed to the hub motor (3) through bolts.
4. The driving device for the rail-type inspection robot according to claim 3, wherein: the lateral shock absorber (6) comprises a shock absorbing shaft (61), a shock absorbing spring (62), an adjusting nut (63) and a baffle plate (64), one end of the shock absorbing shaft (61) is connected to the outer side of the side plate (1), and the other end of the shock absorbing shaft is in threaded connection with the adjusting nut (63); damping spring (62) with baffle (64) all overlap and establish on damping axle (61), just damping spring (62) are located adjusting nut (63) with between baffle (64), baffle (64) bottom with transverse connection board (8) link to each other.
5. The driving device for the rail-type inspection robot according to claim 1, wherein: the bottom end of the side plate (1) penetrates through a rotating shaft (7).
6. The driving device for the rail-type inspection robot according to claim 5, wherein: the rotating shaft (7) is a hollow shaft, and the rotating shaft (7) is in threaded connection with a carried article.
7. The driving device for the rail-type inspection robot according to claim 1, wherein: and a layer of rubber is coated on the outer side of the travelling wheel (4).
8. The driving device for the rail-type inspection robot according to claim 1, wherein: the outer side of the main driving wheel (2) is coated with a layer of polyurethane.
9. The driving device for the rail type inspection robot according to any one of claims 1 to 8, wherein: and a shell is arranged on the outer side of the track type inspection robot driving device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920782254.1U CN210361288U (en) | 2019-05-28 | 2019-05-28 | Track type inspection robot driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920782254.1U CN210361288U (en) | 2019-05-28 | 2019-05-28 | Track type inspection robot driving device |
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| CN210361288U true CN210361288U (en) | 2020-04-21 |
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| CN201920782254.1U Active CN210361288U (en) | 2019-05-28 | 2019-05-28 | Track type inspection robot driving device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111890334A (en) * | 2020-08-31 | 2020-11-06 | 深圳市施罗德工业集团有限公司 | Single-rail guide gear inspection system |
| CN113021304A (en) * | 2021-03-06 | 2021-06-25 | 常州大学 | But quick assembly disassembly mobile device suitable for track |
| CN114084563A (en) * | 2021-11-29 | 2022-02-25 | 苏州彤新诺仓储***科技有限公司 | Double-drive railway vehicle and differential control method thereof |
| CN114310930A (en) * | 2021-12-16 | 2022-04-12 | 杭州申昊科技股份有限公司 | Hang rail formula and patrol and examine robot |
| CN115229761A (en) * | 2022-09-23 | 2022-10-25 | 太原理工大学 | Track type inspection robot |
-
2019
- 2019-05-28 CN CN201920782254.1U patent/CN210361288U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111890334A (en) * | 2020-08-31 | 2020-11-06 | 深圳市施罗德工业集团有限公司 | Single-rail guide gear inspection system |
| CN113021304A (en) * | 2021-03-06 | 2021-06-25 | 常州大学 | But quick assembly disassembly mobile device suitable for track |
| CN114084563A (en) * | 2021-11-29 | 2022-02-25 | 苏州彤新诺仓储***科技有限公司 | Double-drive railway vehicle and differential control method thereof |
| CN114084563B (en) * | 2021-11-29 | 2024-05-24 | 苏州彤新诺仓储***科技有限公司 | Dual-drive railway vehicle and differential control method thereof |
| CN114310930A (en) * | 2021-12-16 | 2022-04-12 | 杭州申昊科技股份有限公司 | Hang rail formula and patrol and examine robot |
| CN114310930B (en) * | 2021-12-16 | 2023-12-26 | 杭州申昊科技股份有限公司 | Rail-mounted inspection robot |
| CN115229761A (en) * | 2022-09-23 | 2022-10-25 | 太原理工大学 | Track type inspection robot |
| CN115229761B (en) * | 2022-09-23 | 2022-12-13 | 太原理工大学 | Track type inspection robot |
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