CN211077433U - Circular arc track running gear - Google Patents
Circular arc track running gear Download PDFInfo
- Publication number
- CN211077433U CN211077433U CN201921578048.5U CN201921578048U CN211077433U CN 211077433 U CN211077433 U CN 211077433U CN 201921578048 U CN201921578048 U CN 201921578048U CN 211077433 U CN211077433 U CN 211077433U
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- gear
- walking
- circular arc
- wheels
- sliding block
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Abstract
The utility model provides a convex rail running gear, belongs to automatic technical field to solve the intelligent robot in present stage and can both fine completion to straight rail running, nevertheless have great vibration to the walking of big radian, the unstable problem of process of walking. The utility model comprises a circular arc plate, a walking frame, a motor, a gear set, two sets of tensioning devices, two tensioning wheels and two walking wheels; each set of tension device comprises a guide shaft, a first compression spring, a rotating shaft, a wheel bracket and a fixed block; a tensioning wheel is arranged on the rotating shaft, the rotating shaft is rotatably arranged on the wheel bracket, the wheel bracket is fixedly connected with the guide shaft, the guide shaft is slidably arranged on the fixed block, a first compression spring is arranged between the guide shaft and the fixed block, and the fixed block is fixed on the fixed frame; the side of the arc plate is provided with a row of long holes at equal intervals along the circumferential direction, and the walking frame is provided with two walking wheels and two tension wheels.
Description
Technical Field
The utility model relates to a rail running gear, concretely relates to convex rail running gear.
Background
At present, under the environment that the production technology of enterprises is continuously improved and the requirement on the automation technology is continuously deepened, intelligent vehicles and products developed on the basis of the intelligent vehicles become key equipment of systems such as automatic logistics transportation and flexible production organization. Research and development design of intelligent vehicles is actively conducted in many countries of the world. The mobile robot is a branch of the robot, is an electromechanical integrated system with basic capabilities of environment perception, path planning, motion control and the like, and appears in the 60 s of the 20 th century. The method applies an artificial intelligence technology to a complex environment to finish autonomous reasoning, planning and control of a robot system. From now on, mobile robots are increasing from now on, and the number is increasing, wherein, wheeled mobile robot simple structure, operation and control are convenient, and is fast, and flexible, therefore uses most extensively. Smart vehicles are also gaining increasing attention as an important branch of mobile robots.
The intelligent robot at the present stage can well finish the walking of a straight track, but has larger vibration when walking with a large radian, and the walking process is unstable.
SUMMERY OF THE UTILITY MODEL
The utility model provides a solve above-mentioned problem, and provide a convex track running gear.
The utility model discloses a solve the technical scheme that above-mentioned technical problem took and be:
a circular arc track walking device comprises a circular arc plate, a walking frame, a motor, a gear set, two sets of tensioning devices, two tensioning wheels and two walking wheels;
each set of tension device comprises a guide shaft, a first compression spring, a rotating shaft, a wheel bracket and a fixed block;
a tensioning wheel is arranged on the rotating shaft, the rotating shaft is rotatably arranged on the wheel bracket, the wheel bracket is fixedly connected with the guide shaft, the guide shaft is slidably arranged on the fixed block, a first compression spring is arranged between the guide shaft and the fixed block, and the fixed block is fixed on the walking frame;
the side of circular arc shape board has one row of equidistant slot holes along the circumferencial direction processing, be provided with two walking wheels on the walking frame, two walking wheels and two take-up pulleys press respectively at the both ends face of circular arc shape board along the axis direction, the motor passes through adjusting device and installs on the walking frame and can be on the walking frame along the radial movement of circular arc shape board, the gear train passes through motor drive, the gear train can drive the walking frame along the circumferencial direction walking of circular arc shape board with every hole on the convex plate mutually supporting.
Furthermore, the circular arc-shaped track walking device also comprises an adjusting device, wherein the adjusting device comprises a screw rod, a sliding block, a guide rod, a second compression spring and an adjusting seat;
the adjusting seat is fixed on the walking frame, two parallel guide rods are arranged on the adjusting seat in a sliding mode, the two guide rods are fixedly connected with the sliding block, a second compression spring is arranged on each guide rod and is arranged between the sliding block and the walking frame, a screw rod is fixedly connected onto the sliding block and is arranged in parallel with the sliding block, the end portion of the screw rod is connected with the adjusting seat through a nut, the sliding block can move along the radial direction of the circular arc-shaped plate through the position of the nut at the end portion of the adjusting screw rod, and the motor is fixed on the sliding block.
Compared with the prior art, the utility model following beneficial effect has:
the utility model discloses a motor drive gear group drives the mount and walks along convex orbit, and the take-up pulley passes through the tensioning of the last compression spring of overspeed device tensioner, and the mount passes through the motor drive walking in-process, avoids the great vibration that produces because rigidity circular arc curve walking when making take-up pulley and walking wheel walk along the circular arc shaped plate, and first compression spring can the automatically regulated compression volume in order to play the cushioning effect, reduces the vibration of walking in-process.
Two, the utility model discloses set the motor to can be along convex walking frame radial movement, the purpose is blocked when preventing gear train and the slot hole cooperation walking on the convex walking frame, can conveniently adjust the distance of the slot hole on gear train and the convex walking frame and prevent to be blocked, makes more stable of walking.
Thirdly, the utility model discloses can set up different velocity ratios with the gear train according to the demand to satisfy the demand of different occasions.
Drawings
Fig. 1 is a schematic view of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at I;
FIG. 3 is a schematic view of tensioner 4;
FIG. 4 is a schematic view of the adjustment device 10;
fig. 5 is a schematic view of the connection of the motor 3 with the gear set 5.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 5, and the circular arc track traveling device of the embodiment comprises a circular arc plate 1, a traveling frame 2, a motor 3, a gear set 5, two sets of tensioning devices 4, two tensioning wheels 6 and two traveling wheels 7;
each set of tension device 4 comprises a guide shaft 4-1, a first compression spring 4-2, a rotating shaft 4-3, a wheel bracket 4-4 and a fixed block 4-5;
a tension pulley 6 is arranged on the rotating shaft 4-3, the rotating shaft 4-3 is rotatably arranged on a wheel bracket 4-4, the wheel bracket 4-4 is fixedly connected with a guide shaft 4-1, the guide shaft 4-1 is slidably arranged on a fixed block 4-5, a first compression spring 4-2 is arranged between the guide shaft 4-1 and the fixed block 4-5, and the fixed block 4-5 is fixed on the walking frame 2;
the side of circular arc 1 is processed along the circumferencial direction and is had a row of equidistant slot hole 1-1, be provided with two walking wheels 7 on walking frame 2, two walking wheels 7 and two take-up pulleys 6 press respectively at the both ends face of circular arc 1 along the axis direction, motor 3 passes through adjusting device 10 and installs on walking frame 2 and can be along the radial movement of circular arc 1 on walking frame 2, gear train 5 passes through the drive of motor 3, gear train 5 can drive walking frame 2 along the circumferencial direction walking of circular arc 1 with every hole on the circular arc 1 mutually supporting.
Two tension pulleys 6 and two walking wheels 7 are pressed at two ends of the arc-shaped plate 1 along the axis direction, the first compression spring 4-2 is always in a compression state to keep the tension force between the tension pulleys 6 and the arc-shaped plate 1, when local unevenness occurs, the tension pulleys 6 drive the guide shaft 4-1 to move, the expansion amount of the first compression spring 4-2 is changed by the movement of the guide shaft 4-1, and further certain vibration is absorbed, and the phenomenon of clamping stagnation cannot occur in the walking process of the two tension pulleys 6 and the two walking wheels 7.
The second embodiment is as follows: the embodiment is described with reference to fig. 3, the circular arc track traveling device of the embodiment further comprises an adjusting device 10, and the adjusting device 10 comprises a screw 10-1, a slider 10-2, a guide rod 10-3, a second compression spring 10-4 and an adjusting seat 10-5;
an adjusting seat 10-5 is fixed on the walking frame 2, two parallel guide rods 10-3 are slidably arranged on the adjusting seat 10-5, the two guide rods 10-3 are fixedly connected with a sliding block 10-2, a second compression spring 10-4 is arranged on each guide rod 10-3, the second compression spring 10-4 is arranged between the sliding block 10-2 and the walking frame 2, a screw 10-1 is fixedly connected on the sliding block 10-3, the screw 10-1 is arranged in parallel with the sliding block 10-2, the end part of the screw 10-1 is connected with the adjusting seat 10-5 through a nut, the sliding block 10-3 can move along the radial direction of the circular arc-shaped plate 1 by adjusting the position of the nut at the end part of the screw 10-1, and the motor 3 is fixed on the sliding block 10-2.
Other components and connections are the same as in the first embodiment.
The third concrete implementation mode: referring to fig. 4, the gear set 5 of the present embodiment includes a first gear 11, a second gear 12, a third gear 13, and a fourth gear 14;
the first gear 11 is fixed on a shaft of the motor 3, the second gear 12, the third gear 13 and the fourth gear 14 are respectively arranged on the sliding block 10-2 through shafts, wherein the first gear 11, the second gear 12 and the third gear 13 are adjacent and meshed with each other, the third gear 13 and the fourth gear 14 are arranged on the same shaft, and when the fourth gear 14 is driven to rotate through the motor 3, the fourth gear 14 is matched with each long hole 1-1 on the circular arc-shaped plate 1 to drive the walking frame 2 to move along the circumferential direction of the circular arc-shaped plate 1.
According to the arrangement, different speed ratios are set to meet different working requirements, the fourth gear 14 is matched with the long hole 1-1 in the circular arc-shaped plate 1 to realize walking of the walking frame 2, and compared with the traditional gear and inner gear ring matching, the gear and inner gear ring matching structure has the advantages of cost saving, simple structure and easiness in manufacturing.
The position of the sliding block 10-2 is adjusted by adjusting a nut at the end of the screw rod 10-1, and then the sliding block 10-2 drives the fourth gear 14 to move so as to adjust the position of the fourth gear 14 and the long hole 1-1 on the circular arc plate 1, so that the phenomenon that the tooth on the fourth gear 14 is clamped due to the fact that the tooth on the fourth gear 14 is too close to the long hole 1-1 on the circular arc plate 1 is prevented.
Other components and connections are the same as in the first embodiment.
The fourth concrete implementation mode: referring to fig. 5, the present embodiment is described, in which trapezoidal ring grooves are respectively formed on each tension pulley 6 and each walking wheel 7, and the trapezoidal ring grooves on the two tension pulleys 6 and the trapezoidal ring grooves on the two walking wheels 7 are respectively matched with two end surfaces of the circular arc plate 1.
The trapezoidal ring grooves are arranged to enable the two tension wheels 6 and the two walking wheels 7 to be limited on the arc-shaped plate 1 to walk.
Other compositions and connection relations are the same as those of the third embodiment.
Embodiment five: the present embodiment is described with reference to fig. 2 and 3, and the extension line of the axis of the tension pulley 6 and the extension line of the axis of each traveling wheel 7 of each set of the tension device 4 of the present embodiment are perpendicular to and intersect with the extension line of the axis of the arc-shaped plate 1, respectively.
So set up, when making take-up pulley 6 and walking wheel 7 along the walking of 1 circumferencial direction of circular arc shape board, can adapt to the curvature radius of circular arc shape board 1, reduce two take-up pulleys 6 and two wearing and tearing of walking wheel 7, make take-up pulley 6 and two walking wheel 7 walks more smoothly.
Other components and connections are the same as in the first embodiment.
The working principle is as follows:
the two tension pulleys 6 and the two walking wheels 7 are respectively provided with a trapezoidal ring groove, the two tension pulleys 6 and the two walking wheels 7 are respectively arranged at two ends of the arc-shaped plate 1 along the axis direction to limit the walking frame 2 on the arc-shaped plate 1, the motor 3 drives to transmit power to the fourth gear 14, each tooth on the fourth gear 14 is meshed with the long hole 1-1 on the arc-shaped plate 1 to drive the walking frame 2 to walk, and the position of the sliding block 10-2 is adjusted by adjusting the position of the nut on the screw rod 10-1, so that the phenomenon of clamping stagnation when the fourth gear 14 is matched with the long hole 1-1 on the arc-shaped plate 1 is avoided.
Claims (5)
1. The utility model provides a convex rail running gear which characterized in that: the device comprises an arc-shaped plate (1), a walking frame (2), a motor (3), a gear set (5), two sets of tensioning devices (4), two tensioning wheels (6) and two walking wheels (7);
each set of tension device (4) comprises a guide shaft (4-1), a first compression spring (4-2), a rotating shaft (4-3), a wheel bracket (4-4) and a fixed block (4-5);
a tension wheel (6) is arranged on the rotating shaft (4-3), the rotating shaft (4-3) is rotatably arranged on the wheel support (4-4), the wheel support (4-4) is fixedly connected with the guide shaft (4-1), the guide shaft (4-1) is slidably arranged on the fixed block (4-5), a first compression spring (4-2) is arranged between the guide shaft (4-1) and the fixed block (4-5), and the fixed block (4-5) is fixed on the walking frame (2);
the side of circular arc board (1) is processed along the circumferencial direction and is had one row of equidistant slot hole (1-1), be provided with two walking wheels (7) on walking frame (2), two walking wheels (7) and two take-up pulleys (6) are pressed respectively at circular arc board (1) along the both ends face of axis direction, motor (3) are installed on walking frame (2) and can be gone up along the radial movement of circular arc board (1) through adjusting device (10), gear train (5) are driven through motor (3), gear train (5) can drive walking frame (2) along the circumferencial direction walking of circular arc board (1) with every hole in circular arc board (1) mutually supporting.
2. The circular arc track traveling device according to claim 1, wherein: the device also comprises an adjusting device (10), wherein the adjusting device (10) comprises a screw rod (10-1), a sliding block (10-2), a guide rod (10-3), a second compression spring (10-4) and an adjusting seat (10-5);
an adjusting seat (10-5) is fixed on the walking frame (2), two parallel guide rods (10-3) are arranged on the adjusting seat (10-5) in a sliding mode, the two guide rods (10-3) are fixedly connected with a sliding block (10-2), a second compression spring (10-4) is arranged on each guide rod (10-3), the second compression spring (10-4) is arranged between the sliding block (10-2) and the walking frame (2), a screw rod (10-1) is fixedly connected onto the sliding block 10-3), the screw rod (10-1) and the sliding block (10-2) are arranged in a parallel mode, the end portion of the screw rod (10-1) is connected with the adjusting seat (10-5) through a nut, the sliding block 10-3 can move along the radial direction of the circular arc-shaped plate (1) through the position of the nut at the end portion of the adjusting screw rod (10-1), the motor (3) is fixed on the sliding block (10-2).
3. The circular arc track traveling device according to claim 2, wherein: the gear set (5) comprises a first gear (11), a second gear (12), a third gear (13) and a fourth gear (14);
first gear (11) are fixed on the axle of motor (3), and second gear (12), third gear (13) and fourth gear (14) are in through the axle setting respectively on slider (10-2), wherein adjacent both intermeshing of first gear (11), second gear (12) and third gear (13), third gear (13) and fourth gear (14) set up on same root axis, and when fourth gear (14) passed through motor (3) drive and rotate, every slot hole (1-1) on fourth gear (14) and circular arc shaped plate (1) mutually supported drive walking frame (2) along circular arc shaped plate (1) circumferencial direction removal.
4. The circular arc track traveling device according to claim 1, wherein: trapezoidal ring grooves are respectively processed on each tension wheel (6) and each walking wheel (7), and the trapezoidal ring grooves on the two tension wheels (6) and the trapezoidal ring grooves on the two walking wheels (7) are respectively matched with two end faces of the arc-shaped plate (1).
5. The circular arc track traveling device according to claim 1, wherein: the axial extension line of the tension wheel (6) on each set of tension device (4) and the axial extension line of each walking wheel (7) are respectively vertical to and intersected with the axial extension line of the arc-shaped plate (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921578048.5U CN211077433U (en) | 2019-09-20 | 2019-09-20 | Circular arc track running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921578048.5U CN211077433U (en) | 2019-09-20 | 2019-09-20 | Circular arc track running gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211077433U true CN211077433U (en) | 2020-07-24 |
Family
ID=71639016
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921578048.5U Withdrawn - After Issue CN211077433U (en) | 2019-09-20 | 2019-09-20 | Circular arc track running gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211077433U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110436135A (en) * | 2019-09-20 | 2019-11-12 | 哈尔滨科能熔敷科技有限公司 | A kind of arc-shaped rail running gear |
-
2019
- 2019-09-20 CN CN201921578048.5U patent/CN211077433U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110436135A (en) * | 2019-09-20 | 2019-11-12 | 哈尔滨科能熔敷科技有限公司 | A kind of arc-shaped rail running gear |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: No.1, 4th floor, unit 1, Longyue building, Hongqi Street, Nangang concentration District, Harbin Economic Development Zone, Heilongjiang Province Patentee after: Harbin Keneng Cladding Technology Co.,Ltd. Address before: 150040 Lesong square, Xiangfang District, Harbin City, Heilongjiang Province Patentee before: HARBIN KENENG CLADDING TECHNOLOGY Co.,Ltd. |
|
| CP03 | Change of name, title or address | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20200724 Effective date of abandoning: 20221104 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20200724 Effective date of abandoning: 20221104 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |