CN114012696A - Running gear of track robot - Google Patents
Running gear of track robot Download PDFInfo
- Publication number
- CN114012696A CN114012696A CN202111181724.7A CN202111181724A CN114012696A CN 114012696 A CN114012696 A CN 114012696A CN 202111181724 A CN202111181724 A CN 202111181724A CN 114012696 A CN114012696 A CN 114012696A
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- CN
- China
- Prior art keywords
- rail
- servo motor
- guide wheel
- driving
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 230000003014 reinforcing effect Effects 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 claims description 2
- 239000010959 steel Substances 0.000 claims description 2
- 239000000428 dust Substances 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 2
- 239000003245 coal Substances 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
Abstract
The invention relates to a traveling mechanism of a rail robot, which is used for being matched with an I-shaped rail to realize traveling along the rail, and comprises a mounting seat and a driving motor arranged on the mounting seat, wherein the mounting seat comprises a bottom plate and two mounting side plates oppositely arranged on the bottom plate, and two driving wheels oppositely arranged are respectively arranged on the opposite inner sides of the mounting side plates through rotating shafts; the driving motor comprises a first servo motor and a second servo motor which are respectively positioned on the opposite outer sides of the mounting side plate, and at least one of the first servo motor and the second servo motor is controllably set to be in a driven operation state through an encoder. The traveling mechanism of the track robot provided by the invention has the advantages that the driving wheels are synchronously driven by the double motors to travel along the track, and the stable driving effect can be generated even in the underground environment with serious dust.
Description
Technical Field
The invention relates to the field of rail robots, in particular to a traveling mechanism of a rail robot.
Background
Due to the development of scientific technology, a large number of technologies for safety inspection by using rail robots exist in the fields of electric power and mining at present. Taking a coal mine as an example, the underground environment is special, so that the potential safety hazard is relatively difficult to manually troubleshoot. Therefore, in the inspection tasks aiming at gas explosion, water seepage, collapse, power supply or coal conveying, the track robot is more prone to take over the manual completion. In fact, most of the track robots for patrol, which are widely used at present, have insufficient power after working for a period of time because a walking mechanism cannot adapt to working under a long-term dust working condition.
Disclosure of Invention
In view of the above problems in the prior art, an object of the present invention is to provide a traveling mechanism of a rail robot, which has sufficient power, is not affected by dust, and is suitable for underground coal mine inspection.
In order to achieve the above object, an aspect of the present invention provides a traveling mechanism of a rail robot, configured to cooperate with an i-beam rail to realize traveling along the rail, including a mounting base and a driving motor disposed on the mounting base, where the mounting base includes a bottom plate and two mounting side plates disposed on the bottom plate, and two driving wheels disposed opposite to each other are disposed on opposite inner sides of the mounting side plates through rotating shafts; the driving motor comprises a first servo motor and a second servo motor which are respectively positioned on the opposite outer sides of the mounting side plate, and at least one of the first servo motor and the second servo motor is controllably set to be in a driven operation state through an encoder.
Preferably, driven wheels which are collinear with the driving wheels are respectively arranged on two sides of the two driving wheels.
Preferably, a guide wheel mechanism is provided on the mounting side plate in line with the driven wheel.
Preferably, the guide wheel mechanism comprises a guide wheel base and a mounting seat arranged on the guide wheel base, and a guide wheel is arranged on the mounting seat; the driving wheel and the driven wheel roll along the extension direction of the rail along the inner edge of the I-shaped rail, and the wheel surface direction of the guide wheel is vertical to the wheel surface direction of the driving wheel and is constructed to roll along the groove bottom of the rail.
Preferably, an elastic connecting piece is arranged between the guide wheel base and the mounting seat.
Preferably, the elastic connection member is a soft magnet.
Preferably, a plurality of reinforcing ribs are arranged at the joint of the bottom plate and the mounting side plate.
The traveling mechanism of the track robot provided by the invention has the advantages that the driving wheels are synchronously driven by the double motors to travel along the track, and the stable driving effect can be generated even in the underground environment with serious dust. In addition, in some improvements, the running mechanism can run along a stable line by adding a guide wheel mechanism. Meanwhile, the guide wheel mechanism can absorb the vibration in the walking process by additionally arranging the elastic connecting piece, and the vibration damage caused by rigid connection is prevented.
Drawings
Fig. 1 is a schematic front view of a traveling mechanism of a track robot according to the present invention.
Fig. 2 is a schematic top view of the traveling mechanism of the track robot according to the present invention.
Fig. 3 is a schematic perspective view of the traveling mechanism of the track robot according to the present invention.
The main reference numbers:
1-a mounting seat, 2-a first servo motor, 3-a servo motor, 4-a rolling wheel, 11-a bottom plate, 12-a mounting side plate and 41-a driving wheel; 42-driven wheel, 43-guide wheel mechanism, 111-reinforcing rib; 431-a guide wheel base; 432-a soft-magnetic body; 433-a mounting seat; 434-a guide wheel; 5-coder.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Various aspects and features of the present invention are described herein with reference to the drawings.
These and other characteristics of the invention will become apparent from the following description of a preferred form of embodiment, given as a non-limiting example, with reference to the accompanying drawings.
It should also be understood that, although the invention has been described with reference to some specific examples, a person of skill in the art shall certainly be able to achieve many other equivalent forms of the invention, having the characteristics as set forth in the claims and hence all coming within the field of protection defined thereby.
The above and other aspects, features and advantages of the present invention will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.
As shown in fig. 1 to 3, a traveling mechanism of a rail robot according to an aspect of the present invention, for cooperating with an i-beam rail (not shown in the drawings) to travel along a rail, includes a mounting base 1 and a driving motor (not shown in the drawings) disposed on the mounting base 1, specifically, in the present invention, the driving motor includes a first servo motor 2 and a second servo motor 3, wherein the mounting base 1 specifically includes a bottom plate 11 and two mounting side plates 12 oppositely disposed on the bottom plate 11, and two driving wheels 41 oppositely disposed are disposed on opposite inner sides of the mounting side plates 12 respectively through a rotating shaft (not shown in the drawings); the driving motor comprises a first servo motor 2 and a second servo motor 3 which are respectively positioned at the opposite outer sides of the mounting side plate, and at least one of the first servo motor 2 and the second servo motor 3 is controllably set to be in a driven operation state through an encoder 5. In brief, unlike the walking mechanism of a general rail robot which is realized only by one set of servo motors, in the present invention, the first servo motor 2 or the second servo motor 3 positioned at both sides of the rail are controllably operated synchronously by the encoder 5, thereby providing the system operation reliability and generating more stable power output. This makes unilateral action wheel 41 hardly receive the influence of dust environment, does benefit to long-term operation, has also reduced the deployment maintenance cost.
In addition, similarly, in order to improve the stability of the traveling process, it is preferable that, as shown in fig. 2, driven wheels 42 which are collinear with the driving wheels 41 are provided on both sides of the two driving wheels 41. The number of driven wheels 42 can be set according to practical conditions, and it can be understood that a larger number of driven wheels 42 can achieve better operation stability relatively, but can also improve the overall energy consumption. Therefore, as a trade-off, in the present invention, it is preferable to provide a total of four driven wheels 42, and 4 driven wheels 42 are located on both sides of the driving wheel 41 opposite to each other two by two.
Further, in order to improve the running stability, it is preferable that a guide wheel mechanism 43 is provided on the mounting side plate 12 in line with the driven wheel 42, as shown in fig. 2 and 3. Specifically, the guide wheel mechanism 43 includes a guide wheel base 431 and a mounting base 433 disposed on the guide wheel base 431, and a guide wheel 434 is disposed on the mounting base 433; the driving wheel 41 and the driven wheel 42 are configured to roll along the inner edge of an i-shaped rail along the extending direction of the rail, and the wheel surface direction of the guide wheel 434 is perpendicular to the wheel surface direction of the driving wheel 41 and is configured to roll along the bottom of the rail.
In the present invention, the guide wheel 434 directly rolls on the bottom of the channel of the i-beam, which is more beneficial for the running mechanism to run along the track than the driving wheel 41 or the driven wheel rolling on the edge of the i-beam, and therefore, the guide wheel 434 is more beneficial for the running mechanism to run along the track. Further, in order to keep the guide wheel 434 at the bottom of the channel of the i-steel, it is preferable that an elastic connection (not labeled) is provided between the guide wheel base 431 and the mounting base 433, for example, by a compression spring. However, since vibration is inevitable during traveling, it also increases the possibility of damage to the device. While simple compression springs do not absorb the vibrations very well, in some improvements the elastic connection is soft magnetic.
In addition, in order to prevent the mounting side plate 12 from being broken, a plurality of reinforcing ribs 111 are provided at the connection part of the bottom plate 11 and the mounting side plate 12.
The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the scope of the present invention is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present invention, and such modifications and equivalents should also be considered as falling within the scope of the present invention.
Claims (7)
1. The walking mechanism of the rail robot is used for being matched with an I-shaped steel rail to realize walking along the rail, and comprises a mounting seat and a driving motor arranged on the mounting seat, wherein the mounting seat comprises a bottom plate and two mounting side plates oppositely arranged on the bottom plate, and two driving wheels which are oppositely arranged are respectively arranged on the opposite inner sides of the mounting side plates through rotating shafts; the driving motor comprises a first servo motor and a second servo motor which are respectively positioned on the opposite outer sides of the mounting side plate, and at least one of the first servo motor and the second servo motor is controllably set to be in a driven operation state through an encoder.
2. The traveling mechanism for a railway robot according to claim 1, wherein driven wheels are provided on both sides of the two driving wheels, respectively, so as to be collinear with the driving wheels.
3. The traveling mechanism of a railway robot according to claim 1, wherein a guide wheel mechanism is provided on the mounting side plate in line with the driven wheel.
4. The running mechanism of the track robot according to claim 3, wherein the guide wheel mechanism comprises a guide wheel base and a mounting seat provided on the guide wheel base, the mounting seat being provided with a guide wheel; the driving wheel and the driven wheel roll along the extension direction of the rail along the inner edge of the I-shaped rail, and the wheel surface direction of the guide wheel is vertical to the wheel surface direction of the driving wheel and is constructed to roll along the groove bottom of the rail.
5. The running mechanism of a railway robot as claimed in claim 4, wherein an elastic connecting member is provided between the guide wheel base and the mounting base.
6. The running mechanism of a orbital robot as set forth in claim 5, wherein said elastic connecting member is a soft magnetic body.
7. The traveling mechanism of a railway robot according to claim 1, wherein a plurality of reinforcing ribs are provided at the joints of the bottom plate and the mounting side plates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111181724.7A CN114012696A (en) | 2021-10-11 | 2021-10-11 | Running gear of track robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111181724.7A CN114012696A (en) | 2021-10-11 | 2021-10-11 | Running gear of track robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114012696A true CN114012696A (en) | 2022-02-08 |
Family
ID=80055813
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111181724.7A Pending CN114012696A (en) | 2021-10-11 | 2021-10-11 | Running gear of track robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114012696A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117676285A (en) * | 2023-10-30 | 2024-03-08 | 中国矿业大学 | Underground complex operation scene light-heat composite vision inspection robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104588240A (en) * | 2014-11-21 | 2015-05-06 | 安徽省库仑动力自动化科技有限公司 | Method for spraying large workpieces by adoption of annular rail robot |
| CN104589303A (en) * | 2014-11-21 | 2015-05-06 | 安徽省库仑动力自动化科技有限公司 | Circular orbit robot for nondestructive testing of large workpiece |
| CN106740899A (en) * | 2016-12-29 | 2017-05-31 | 山东康威通信技术股份有限公司 | Electric tunnel inspection robot walking structure, robot and its method |
| CN109760014A (en) * | 2019-03-21 | 2019-05-17 | 深圳昱拓智能有限公司 | A kind of rail mounted coal transporting trestle automatic crusing robot and system |
| WO2019227778A1 (en) * | 2018-05-29 | 2019-12-05 | 深圳市大疆创新科技有限公司 | Mounting mechanism and robot |
| CN209887579U (en) * | 2019-03-21 | 2020-01-03 | 深圳昱拓智能有限公司 | Power driving mechanism and system of track robot and track robot |
-
2021
- 2021-10-11 CN CN202111181724.7A patent/CN114012696A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104588240A (en) * | 2014-11-21 | 2015-05-06 | 安徽省库仑动力自动化科技有限公司 | Method for spraying large workpieces by adoption of annular rail robot |
| CN104589303A (en) * | 2014-11-21 | 2015-05-06 | 安徽省库仑动力自动化科技有限公司 | Circular orbit robot for nondestructive testing of large workpiece |
| CN106740899A (en) * | 2016-12-29 | 2017-05-31 | 山东康威通信技术股份有限公司 | Electric tunnel inspection robot walking structure, robot and its method |
| WO2019227778A1 (en) * | 2018-05-29 | 2019-12-05 | 深圳市大疆创新科技有限公司 | Mounting mechanism and robot |
| CN109760014A (en) * | 2019-03-21 | 2019-05-17 | 深圳昱拓智能有限公司 | A kind of rail mounted coal transporting trestle automatic crusing robot and system |
| CN209887579U (en) * | 2019-03-21 | 2020-01-03 | 深圳昱拓智能有限公司 | Power driving mechanism and system of track robot and track robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117676285A (en) * | 2023-10-30 | 2024-03-08 | 中国矿业大学 | Underground complex operation scene light-heat composite vision inspection robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220208 |
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| RJ01 | Rejection of invention patent application after publication |