CN211494063U - Running gear of track robot - Google Patents
Running gear of track robot Download PDFInfo
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- CN211494063U CN211494063U CN201922107969.XU CN201922107969U CN211494063U CN 211494063 U CN211494063 U CN 211494063U CN 201922107969 U CN201922107969 U CN 201922107969U CN 211494063 U CN211494063 U CN 211494063U
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Abstract
The utility model belongs to equipment inspection field, concretely relates to running gear of track robot, including the walking base, last drive module and the guide module of setting up of walking base, drive module include fixed connection on the walking base slide rail, with slide rail sliding fit's slider, fixed connection drive mounting bracket on the slider, set up driving motor on drive mounting bracket, with driving motor transmission complex walking wheel and set up the electricity device of getting on drive mounting bracket. The utility model discloses a running gear when turning round on the guide rail, drive module can produce corresponding slip, makes the walking wheel on the drive module laminate with the guide rail all the time, prevents that the walking wheel from derailing.
Description
Technical Field
The utility model belongs to equipment inspection field, concretely relates to running gear of track robot.
Background
Various devices in the power distribution room need to be monitored regularly so as to find out unexpected problems in time. At present, most of power distribution rooms complete monitoring work through manual inspection. However, the manual inspection has the problems of unstable detection result, high labor cost, incapability of guaranteeing the personal safety of workers and the like. The robot is used for replacing a human to carry out inspection, so that the difficult problem in the manual inspection process can be avoided, the robot can be allocated at any time to reach a specified position, and the robot can carry out detection and inspection under the condition of unknown dangerous situations. The appearance of the track robot perfects the intellectualization and networking of the national power grid electric power detection and control.
The running gear of the rail robot generally includes a guide module and a driving module, and the prior art has a problem in that the guide module and the driving module are relatively fixed and have a certain distance therebetween, and it is apparent that the driving mechanism is deviated from the guide rail when the running gear turns, so that the driving mechanism cannot provide a driving force to the running gear, and the running gear may be locked when the running gear turns if the inertia of the running gear is not large enough.
SUMMERY OF THE UTILITY MODEL
In order to compensate for the defects of the prior art, the utility model provides a running gear technical scheme of track robot.
A running gear of track robot, including the walking base, on the walking base set up drive module and direction module, its characterized in that drive module include fixed connection on the walking base slide rail, with slide rail sliding fit's slider, fixed connection drive mounting bracket on the slider, set up driving motor on drive mounting bracket, with driving motor transmission complex walking wheel and set up the electricity device of getting on drive mounting bracket.
A running gear of track robot, its characterized in that drive module still includes a set of first leading wheel mechanism that sets up on the drive mounting bracket, driving motor and first leading wheel mechanism are located the both sides of drive mounting bracket, get the middle part that the electric installation is located the drive mounting bracket.
A running gear of track robot, a first leading wheel mechanism of its characterized in that includes fixed connection in the first leading wheel mount pad of drive mounting bracket, slides and pegs graft in the first leading wheel installation pole of first leading wheel mount pad, set up in the first leading wheel of first leading wheel installation pole tip and set up the third spring between first leading wheel installation pole and first leading wheel mount pad.
The traveling mechanism of the rail robot is characterized in that the guide modules are at least two groups and are respectively positioned on two sides of the driving module, and each guide module comprises a guide mounting frame which is rotatably connected with the traveling base and two groups of second guide wheel mechanisms which are oppositely arranged at two ends of the guide mounting frame.
A running gear of track robot, its characterized in that second leading wheel mechanism include with direction mounting bracket fixed connection the second leading wheel mount pad, slide peg graft in the second leading wheel installation pole of second leading wheel mount pad and set up in the second leading wheel of second leading wheel installation pole tip, set up first spring between second leading wheel mount pad and the second leading wheel installation pole.
The traveling mechanism of the rail robot is characterized in that the second guide wheel mechanism further comprises a third guide wheel arranged on the second guide wheel mounting seat, and the third guide wheel is a fixed guide wheel.
The traveling mechanism of the track robot is characterized in that the electricity taking device comprises an electricity taking base and a plurality of electricity taking mechanisms arranged on the electricity taking base, wherein each electricity taking mechanism comprises a guide post sleeve arranged on the electricity taking base, a guide post inserted on the guide post sleeve in a sliding mode, a second spring arranged between the guide post sleeve and the guide post, an insulating electricity taking support arranged on the guide post, an electricity taking wheel connected to the insulating electricity taking support in a rotating mode and an electricity taking ring inserted at one end of the electricity taking wheel.
The traveling mechanism of the track robot is characterized in that the insulating electricity taking support comprises an electricity taking bottom plate fixedly connected to the upper end of the guide pillar and two electricity taking side plates fixedly connected to the two sides of the electricity taking bottom plate, electricity taking side plate through holes are formed in the electricity taking side plates, bearings are arranged on the inner sides of the electricity taking side plate through holes, and the two ends of the electricity taking wheel are connected with the two bearings in an inserting mode.
The traveling mechanism of the track robot is characterized in that the electricity taking wheel comprises an electricity taking wheel middle part inserted on two bearings and an electricity taking wheel outer contact part with the upper end covering the outer side of the electricity taking side plate, the electricity taking ring is inserted and matched with the electricity taking wheel middle part, and an electricity taking wheel groove is formed between the electricity taking wheel middle part and the electricity taking wheel outer contact part.
Compared with the prior art, the utility model discloses a when running gear turned round on the guide rail, drive module can produce corresponding slip, made the walking wheel on the drive module laminate with the guide rail all the time, prevented that the walking wheel from derailing.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic cross-sectional view of the present invention;
fig. 3 is a schematic structural view of the present invention when the guide module is removed;
FIG. 4 is an enlarged view of a portion of FIG. 2;
fig. 5 is a schematic structural view of a guide module in the present invention;
FIG. 6 is a schematic top view of a guide form according to the present invention;
FIG. 7 is a sectional view taken along line A-A of FIG. 6;
FIG. 8 is an enlarged view of a portion of FIG. 7;
fig. 9 is a schematic view of a three-dimensional structure of the power-taking device of the present invention;
fig. 10 is a schematic top view of the power-taking device of the present invention;
fig. 11 is a sectional view taken along line a-a in fig. 10.
In the figure: the power-taking device comprises a walking base 1, a driving module 2, a sliding rail 200, a sliding block 201, a driving installation frame 202, a driving motor 203, a power-taking device 204, a power-taking base 2041, a guide column sleeve 2042, a guide column 2043, a second spring 2044, a power-taking wheel 2045, a power-taking wheel middle 204500, a power-taking wheel outer contact portion 204501, a power-taking wheel groove 204502, a power-taking ring 2046, a power-taking bottom plate 2047, a power-taking side plate 2048, a power-taking side plate groove 204800, a bearing 2049, a first guide wheel 205, a walking wheel 206, a first guide wheel installation seat 207, a first guide wheel installation seat stepped hole 2070, a first guide wheel installation rod 208, a third spring 209, a guide module 3, a guide installation frame 300, a second guide wheel mechanism 301, a second guide wheel installation seat 3010, a second guide wheel installation seat stepped hole 30100, a guide wheel installation rod 3011, a second guide wheel 3012.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
As shown in the figure, a running gear of track robot, including walking base 1, set up drive module 2 and direction module 3 on the walking base 1, drive module 2 includes slide rail 200 of fixed connection on walking base 1, slider 201 with slide rail 200 sliding fit, fixed connection is drive mounting bracket 202 on slider 201, set up driving motor 203 on drive mounting bracket 202, with driving motor 203 transmission complex walking wheel 206 and set up the electric installation 204 of getting on drive mounting bracket 202, wherein, walking wheel 206 is the gear of direct mount on driving motor 203's output shaft.
As the utility model discloses an optimize structure: the driving module 2 further comprises a group of first guide wheel mechanisms arranged on the driving installation frame 202, the driving motor 203 and the first guide wheel mechanisms are located on two sides of the driving installation frame 202, and the power taking device 204 is located in the middle of the driving installation frame 202.
As the utility model discloses an optimize structure: the first guide wheel mechanism comprises a first guide wheel mounting seat 207 fixedly connected to the driving mounting frame 202, a first guide wheel mounting rod 208 inserted into the first guide wheel mounting seat 207 in a sliding manner, a first guide wheel 205 arranged at the end of the first guide wheel mounting rod 208, and a third spring 209 arranged between the first guide wheel mounting rod 208 and the first guide wheel mounting seat 207. Specifically, first leading wheel mount 207 is provided with a first leading wheel mount shoulder 2070 for sliding fit with first leading wheel mount 208, and third spring 209 is disposed in first leading wheel mount shoulder 2070, with one end abutting against first leading wheel mount 208 and the other end abutting against the inner wall of first leading wheel mount 207. Obviously, the first guiding wheel mechanism is an elastic guiding wheel, which can press the walking wheels 206 close to the guide rail when the guiding wheel is matched with the guide rail.
As the utility model discloses an optimize structure: the guide modules 3 are at least two groups and are respectively positioned on two sides of the driving module 2, and each guide module 3 comprises a guide mounting frame 300 which is rotatably connected with the walking base 1 and two groups of second guide wheel mechanisms 301 which are oppositely arranged at two ends of the guide mounting frame 300.
As the utility model discloses an optimize structure: the second guide wheel mechanism comprises a guide mounting plate 302 fixedly connected with the guide mounting frame 300, a second guide wheel mounting seat 3010 fixedly connected to the guide mounting plate 302, a second guide wheel mounting rod 3011 inserted in the second guide wheel mounting seat 3010 in a sliding manner, and a second guide wheel 3012 arranged at the end part of the second guide wheel mounting rod 3011, wherein a first spring 3013 is arranged between the second guide wheel mounting seat 3010 and the second guide wheel mounting rod 3011.
As the utility model discloses an optimize structure: second leading wheel mount 3010 is last to have and be used for mounting seat shoulder hole 30100 with second leading wheel installation pole 3011 sliding fit, and first spring 3013 sets up in second leading wheel mount shoulder hole 30100, and one end and second leading wheel installation pole 3011 butt, the other end and the butt of second leading wheel mount 3010 inner wall.
As the utility model discloses an optimize structure: the second guide wheel mechanism further comprises a third guide wheel 3014 arranged on the second guide wheel mounting seat 3010, the third guide wheel 3014 is a fixed guide wheel, and the third guide wheel 3014 is used in cooperation with the second guide wheel 3012.
As the utility model discloses an optimize structure: the power taking device 204 includes a power taking base 2041 and a plurality of power taking mechanisms disposed on the power taking base 2041, and each power taking mechanism includes a guide pillar sleeve 2042 fixed on the power taking base 2041 by screws, a guide pillar 2043 inserted on the guide pillar sleeve 2042 in a sliding manner, a second spring 2044 disposed between the guide pillar sleeve 2042 and the guide pillar 2043, an insulating power taking support disposed on the guide pillar 2043, a power taking wheel 2045 rotatably connected to the insulating power taking support, and a power taking ring 2046 inserted at one end of the power taking wheel 2045. Wherein, the electricity-taking base 2041 is fully provided with process holes for reducing weight.
As the utility model provides an optimize structure: at least one pair of electricity taking mechanisms is arranged on the electricity taking substrate 2041, and the electricity taking wheels 2045 in each pair of electricity taking mechanisms are arranged oppositely.
As the utility model provides an optimize structure: two pairs of electricity taking mechanisms are arranged on the electricity taking substrate 2041.
As the utility model provides an optimize structure: the insulating electricity taking bracket comprises an electricity taking bottom plate 2047 fixed to the upper end of the guide pillar 2043 through screws and two electricity taking side plates 2048 fixed to two sides of the electricity taking bottom plate 2047 through screws, an electricity taking side plate through hole is formed in each electricity taking side plate 2048 and is a counter bore, a bearing 2049 is arranged on the inner side of each electricity taking side plate through hole, and two ends of an electricity taking wheel 2045 are inserted into inner rings of the two bearings 2049.
As the utility model provides an optimize structure: the electricity taking wheel 2045 comprises an electricity taking wheel middle part 204500 inserted on the two bearings 2049 and an electricity taking wheel outer contact part 204501 with the upper end covering the outer side of the electricity taking side plate 2048, the electricity taking ring 2046 is inserted and matched with the electricity taking wheel middle part 204500, and an electricity taking wheel groove 204502 is formed between the electricity taking wheel middle part 204500 and the electricity taking wheel outer contact part 204501.
As the utility model provides an optimize structure: the inner side of the lower end of the electricity-getting side plate 2048 is provided with an electricity-getting side plate groove 204800 through which the electricity-getting wheel external contact portion 204501 passes.
As the utility model provides an optimize structure: the guide post 2043 includes an upper portion and a lower portion, the cross section of the upper portion is larger than that of the lower portion, the upper portion of the guide post is in sliding fit with the sleeve hole of the guide post sleeve 2042, a gap is formed between the lower portion of the guide post 2043 and the sleeve hole of the guide post sleeve 2042, and the second spring 2044 is disposed in the gap.
The utility model discloses in, insulating electricity support of getting adopts screwed connection for dividing the body structure between getting electric bottom plate 2047 and two electricity curb plates 2048, and also adopting screwed connection between getting electric bottom plate 2047 and the guide pillar 2043, makes the dismouting more convenient. A second spring 2044 is arranged between the guide column sleeve 2042 and the guide column 2043, and the electricity taking wheel 2045 is pressed by the second spring 2044, so that the electricity taking wheel 2045 is more compact and reasonable in structure and simpler in production process when being matched with an electricity taking guide rail. The utility model provides a get electric wheel 2045 has adopted special unsmooth design, both made get electric wheel middle part 204500 and get electric wheel external contact portion 204501 big as far as, guaranteed to get electric wheel 2045 and get the area of contact of electric guide enough big, can guarantee again to get the weight of electric wheel and can not be too big.
The utility model discloses in, drive module 2 and walking base 1 sliding fit, direction module 3 and walking base 1 fixed coordination, the utility model discloses a when running gear turns round on the guide rail, drive module 2 can produce corresponding slip, makes walking wheel 206 on the drive module 2 laminate with the guide rail all the time, prevents that walking wheel 206 from derailing.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (9)
1. The utility model provides a running gear of track robot, including walking base (1), set up drive module (2) and direction module (3) on walking base (1), its characterized in that drive module (2) include slide rail (200) of fixed connection on walking base (1), with slide rail (200) sliding fit's slider (201), drive mounting bracket (202) of fixed connection on slider (201), set up driving motor (203) on drive mounting bracket (202), with driving motor (203) transmission complex walking wheel (206) and set up get electric installation (204) on drive mounting bracket (202).
2. The running mechanism of the track robot as claimed in claim 1, wherein the driving module (2) further comprises a set of first guiding wheel mechanisms disposed on the driving mounting frame (202), the driving motor (203) and the first guiding wheel mechanisms are disposed on two sides of the driving mounting frame (202), and the power taking device (204) is disposed in the middle of the driving mounting frame (202).
3. The running mechanism of the rail robot as claimed in claim 1, wherein the first guide wheel mechanism comprises a first guide wheel mounting seat (207) fixedly connected to the driving mounting frame (202), a first guide wheel mounting rod (208) slidably inserted into the first guide wheel mounting seat (207), a first guide wheel (205) disposed at an end of the first guide wheel mounting rod (208), and a third spring (209) disposed between the first guide wheel mounting rod (208) and the first guide wheel mounting seat (207).
4. The running mechanism of the track robot as claimed in claim 1, wherein the guiding modules (3) are at least two sets, respectively located at two sides of the driving module (2), and the guiding modules (3) comprise a guiding mounting frame (300) rotatably connected with the running base (1) and two sets of second guiding wheel mechanisms (301) oppositely arranged at two ends of the guiding mounting frame (300).
5. The traveling mechanism of a track robot as claimed in claim 1, wherein the second guide wheel mechanism (301) comprises a second guide wheel mounting seat (3010) fixedly connected to the guide mounting frame (300), a second guide wheel mounting rod (3011) slidably inserted into the second guide wheel mounting seat (3010), and a second guide wheel (3012) disposed at an end of the second guide wheel mounting rod (3011), and a first spring (3013) is disposed between the second guide wheel mounting seat (3010) and the second guide wheel mounting rod (3011).
6. The running mechanism of the track robot as claimed in claim 5, wherein the second guide wheel mechanism further comprises a third guide wheel (3014) disposed on the second guide wheel mounting base (3010), and the third guide wheel (3014) is a fixed guide wheel.
7. The traveling mechanism of the track robot as claimed in any one of claims 1 to 6, wherein the electricity-taking device (204) comprises an electricity-taking base (2041) and a plurality of electricity-taking mechanisms disposed on the electricity-taking base (2041), each electricity-taking mechanism comprises a guide post sleeve (2042) disposed on the electricity-taking base (2041), a guide post (2043) slidably inserted into the guide post sleeve (2042), a second spring (2044) disposed between the guide post sleeve (2042) and the guide post (2043), an insulating electricity-taking support disposed on the guide post (2043), an electricity-taking wheel (2045) rotatably connected to the insulating electricity-taking support, and an electricity-taking ring (2046) inserted into one end of the electricity-taking wheel (2045).
8. The traveling mechanism of the track robot as claimed in claim 7, wherein the insulating electricity-taking bracket comprises an electricity-taking bottom plate (2047) fixedly connected to the upper end of the guide pillar (2043) and two electricity-taking side plates (2048) fixedly connected to two sides of the electricity-taking bottom plate (2047), the electricity-taking side plates (2048) are provided with electricity-taking side plate through holes, bearings (2049) are arranged inside the electricity-taking side plate through holes, and two ends of the electricity-taking wheel (2045) are inserted into the two bearings (2049).
9. The traveling mechanism of the track robot as claimed in claim 8, wherein the electricity-taking wheel (2045) comprises an electricity-taking wheel middle part (204500) inserted into the two bearings (2049) and an electricity-taking wheel outer contact part (204501) with the upper end covering the outside of the electricity-taking side plate (2048), the electricity-taking ring (2046) is inserted into the electricity-taking wheel middle part (204500) and is matched with the electricity-taking wheel middle part (204500), and an electricity-taking wheel groove (204502) is formed between the electricity-taking wheel middle part (204500) and the electricity-taking wheel outer contact part (204501).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922107969.XU CN211494063U (en) | 2019-11-29 | 2019-11-29 | Running gear of track robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922107969.XU CN211494063U (en) | 2019-11-29 | 2019-11-29 | Running gear of track robot |
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| Publication Number | Publication Date |
|---|---|
| CN211494063U true CN211494063U (en) | 2020-09-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922107969.XU Active CN211494063U (en) | 2019-11-29 | 2019-11-29 | Running gear of track robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113799805A (en) * | 2021-11-08 | 2021-12-17 | 南通中远海运川崎船舶工程有限公司 | Intelligent monitoring robot used between ship LNG fuels |
-
2019
- 2019-11-29 CN CN201922107969.XU patent/CN211494063U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113799805A (en) * | 2021-11-08 | 2021-12-17 | 南通中远海运川崎船舶工程有限公司 | Intelligent monitoring robot used between ship LNG fuels |
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