CN213292278U - Link type automatic power walking mechanism and tunnel inspection system - Google Patents
Link type automatic power walking mechanism and tunnel inspection system Download PDFInfo
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- CN213292278U CN213292278U CN202021611201.2U CN202021611201U CN213292278U CN 213292278 U CN213292278 U CN 213292278U CN 202021611201 U CN202021611201 U CN 202021611201U CN 213292278 U CN213292278 U CN 213292278U
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Abstract
本申请提供一种链接式自动力行走机构及隧道巡检系统。链接式自动力行走机构包括两个行走单元和悬挂装置。每个所述行走单元包括设有轮毂电机的滚轮和套设在所述滚轮上的罩体；所述罩体包括头部和尾部，所述罩体头部设有自所述罩体侧壁外表面沿水平方向延伸预定深度的嵌置槽。悬挂装置设置在两个行走单元之间，并分别与每个行走单元在所述嵌置槽处枢接。至少一个所述行走单元上设有用于连接隧道巡检机器人的连接结构。本申请能够避免自行走机构中的滚轮与导向轨道之间产生相对偏转角和侧向挤压力，进一步避免滚轮滚动不畅、甚至卡顿现象的产生。
The present application provides a linked automatic power walking mechanism and a tunnel inspection system. The linked automatic power walking mechanism includes two walking units and a suspension device. Each of the walking units includes a roller provided with a hub motor and a cover body sleeved on the roller; the cover body includes a head and a tail, and the cover head is provided from the side wall of the cover body The outer surface extends horizontally with a predetermined depth of embedding grooves. The suspension device is arranged between the two traveling units, and is pivotally connected with each traveling unit at the embedding groove. At least one of the walking units is provided with a connecting structure for connecting the tunnel inspection robot. The present application can avoid the relative deflection angle and the lateral pressing force between the roller and the guide rail in the self-propelled mechanism, and further avoid the occurrence of poor rolling of the roller and even the occurrence of stuck phenomenon.
Description
Technical Field
The application relates to the technical field of transportation, in particular to a link type automatic power walking mechanism and a tunnel inspection system.
Background
As a tunnel area with a relatively high accident rate in a highway section, in order to ensure driving safety and improve driving efficiency, a tunnel inspection robot is usually arranged in a long tunnel or an extra-long tunnel, and ventilation, illumination, driving conditions and the like in the tunnel are monitored in a centralized manner. The tunnel inspection robot is mostly a hanger rail type inspection robot, and the guide rail adopts C type guide rail more promptly. A self-walking mechanism with a roller is arranged in the C-shaped guide rail and can move on a guide rail formed in the C-shaped guide rail in a controlled manner. From the lower part of running gear set up the chassis more, the tunnel is patrolled and examined the robot and is hung upside down through connecting rod isotructure and fix on the chassis from running gear, patrols and examines the robot and move along C type guide rail under the drive from running gear.
Generally, tunnel inspection robot is mostly rectangular shape owing to bear different monitoring facilities to possess more excellent bearing capacity. The length direction of the tunnel inspection robot is generally arranged in parallel with the length direction of the C-shaped guide rail. For a straight C-shaped guide rail, the rollers of the self-traveling mechanism can move smoothly on the guide rails. For the tunnel with longer length and bent track, the C-shaped guide rail needs to be correspondingly provided with different bent tracks. Because tunnel inspection robot's length is longer usually and for the rigid body and relatively fixed with from the running gear, at the curved track department of C type guide rail, tunnel inspection robot's fuselage can not turn in a flexible way, and it still can act on the base with reverse centrifugal force, and then leads to producing relative deflection angle and side direction extrusion force from between the gyro wheel in the running gear and the guide rail, leads to gyro wheel frictional force grow, the phenomenon that the gyro wheel rolls unsmoothly, blocks even appears.
SUMMERY OF THE UTILITY MODEL
An object of the embodiment of the present application is to provide a link type automatic power running mechanism capable of improving a phenomenon that a roller rolls unsmoothly or even is stuck due to a relative deflection angle and a lateral pressing force generated between the roller and a guide rail in the automatic running mechanism.
In a first aspect, an embodiment of the present application provides a link type self-powered walking mechanism, which includes:
each walking unit comprises a roller provided with a hub motor and a cover body sleeved on the roller; the cover body comprises a head part and a tail part, and the head part of the cover body is provided with an embedding groove which extends from the outer surface of the side wall of the cover body along the horizontal direction by a preset depth;
the suspension device is arranged between the two walking units and is respectively pivoted with each walking unit at the embedding groove;
and at least one walking unit is provided with a connecting structure for connecting the tunnel inspection robot.
In the implementation process, the walking unit is driven by the hub motor, and the hub motor is characterized in that the power device, the transmission device and the brake device are integrated into the hub, so that the mechanical part of the electric vehicle is greatly simplified, the self-powered walking mechanism in the application has a simple transmission mechanism, and self-walking can be realized. This application adopts the mode of two walking units and linkage pin joints to connect, and the robot can be connected on the walking unit is patrolled and examined in the tunnel. The scheme in the application is equivalent to that a driving mechanism of the tunnel inspection robot is divided into three parts, the three parts are pivoted front and back, and when the tunnel inspection robot encounters a bent track, a front walking unit and a suspension device can quickly rotate relatively through a pivot shaft so as to adapt to the change of a curve; similarly, the relative rotation between the following walking unit and the suspension device can be rapidly generated through the pivot shaft so as to adapt to the change of the curve. This application changes the change of bend to the drive structure that the tunnel patrolled and examined the robot, and the change of bend can be adapted to fast to the triplex of pin joint, and the walking unit can not receive the influence of bend, therefore can avoid producing relative deflection angle and lateral extrusion force from between gyro wheel and the guide rail in the running gear, has further avoided the gyro wheel to roll not smooth, the production of card pause phenomenon even.
In one possible implementation, the suspension device includes a column and cantilever plates symmetrically disposed on both sides of the column. The cantilever plates on the two sides of the column body respectively extend to the preset depth of the embedding groove and are pivoted with the cover body.
In the implementation process, the suspension device adopts a cantilever plate structure, and the cantilever plate has a larger connection area and is convenient to insert into the embedding groove. Because of having great connection area, the scope of pin joint position is selected can be wide relatively, and when hanging the tunnel on the connection structure and patrolling and examining the robot simultaneously, the connection structure receives the action of gravity can turn into the pressure that acts on the cantilever slab with gravity, and the great connection area of cantilever slab can disperse pressure well, reduces the friction between cantilever slab and the running unit, prolongs from power running gear's life.
In a possible implementation manner, the number of the embedding grooves on each walking unit is multiple, and the multiple embedding grooves are arranged on the head of the cover body in parallel and at equal intervals;
the number of the cantilever plates on each side of the column body is the same as that of the embedding grooves, and the cantilever plates and the embedding grooves are correspondingly inserted one by one.
In one possible implementation, the plurality of embedding slots are arranged at the middle upper part of the cover head;
the middle lower part of the head of the cover body is provided with an installation groove; the mounting groove extends upwards from the bottom surface of the cover body by a preset depth and is lower than the embedding groove at the lowest position;
the head part of the cover body is also provided with bolt holes which are positioned on two oppositely arranged side edges in the mounting groove and penetrate through the two side edges;
the mounting groove and the pin hole constitute the connection structure.
In a possible implementation manner, a fixing groove is formed in a side surface of the cylinder, and the cantilever plate is inserted into the fixing groove and fixed; the number of the fixing grooves on one side of the column body is the same as that of the embedding grooves in the walking unit and is arranged at the same height as the embedding grooves.
In a possible implementation manner, the length of the cantilever plate extending from one end to the fixing groove and the length of the cantilever plate extending from the other end to the embedding groove satisfy the following condition: the horizontal central planes of the two walking units are always kept in the same plane.
In a possible implementation manner, the cylinder is of a hollow structure, and a motor control unit in communication connection with the hub motor is arranged inside the cylinder; the top of the column body is provided with a detachable cover plate.
In a possible implementation manner, the lower part of the column body is provided with at least one preformed hole, and the preformed hole is provided with a waterproof plug.
In a possible implementation manner, the tail part of the cover body is provided with an upper boss and a lower boss; the upper lug boss and the lower lug boss extend for a preset length in the direction far away from the cover body, and are spaced for a preset distance in the height direction so as to configure a space for accommodating a current collector.
In a second aspect, an embodiment of the present application provides a tunnel inspection system, which includes a tunnel inspection robot and two linked type automatic power traveling mechanisms as described above; the tunnel inspection robot is provided with two suspension points, and the two suspension points are spaced at a preset distance in the length direction of the tunnel inspection robot; and the connecting structure of each link type automatic power walking mechanism is connected with one suspension point.
According to the technical scheme, the change of the bend is changed to the drive structure of the tunnel inspection robot, the three parts of the pin joint can be quickly adapted to the change of the bend, the walking unit cannot be influenced by the bend, the relative deflection angle and the lateral extrusion force between the roller and the guide rail in the self-walking mechanism can be avoided, and the roller is further prevented from rolling smoothly and even being blocked.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a schematic diagram of a linked type self-powered walking mechanism according to an embodiment of the present application;
fig. 2 is a bottom view of a traveling unit in the self-powered traveling mechanism shown in fig. 1.
100-a walking unit; 110-a roller; 120-a cover body; 121-upper boss; 122-lower boss; 130-a built-in slot; 140-mounting grooves; 150-bolt holes; 200-a suspension device; 210-a cylinder; 211-removable cover plate; 220-cantilever plate; 230-waterproof plug; 240-elastomer.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a schematic structural diagram of a linked type automatic power traveling mechanism according to an embodiment of the present application. Referring to fig. 1, the link type self-powered traveling mechanism includes two traveling units and a suspension 200 located in the middle of the two traveling units 100.
Each traveling unit 100 includes a roller 110 provided with a hub motor and a cover 120 covering the roller 110. The cover 120 includes a head portion and a tail portion, and the head portion of the cover 120 is provided with an insertion groove 130 extending from the outer surface of the sidewall of the cover 120 by a predetermined depth in a horizontal direction. The suspension 200 includes a column 210 and cantilever plates 220 symmetrically disposed at both sides of the column 210. The cantilever plates 220 at both sides of the suspension device 200 extend to a predetermined depth of the insertion groove 130 and are pivotally connected to the housing 120.
At least one walking unit 100 is provided with a connecting structure for connecting the tunnel inspection robot.
In the implementation process, the traveling unit 100 is driven by the hub motor, and the hub motor is characterized in that the power device, the transmission device and the brake device are integrated into the hub, so that the mechanical part of the electric vehicle is greatly simplified, and further the self-powered traveling mechanism in the application has a simple transmission mechanism and can realize self-traveling. This application adopts two walking units 100 and the mode of linkage 200 pin joint to connect, and in order to reduce this running gear's structural complexity, specifically, two walking units 100's head sets up relatively, and linkage 200 is located the centre, has realized the holistic symmetry of this running gear, is of value to running gear motion stability's improvement. The tunnel inspection robot may be connected to the traveling unit 100. The scheme in the application is equivalent to that the driving mechanism of the tunnel inspection robot is divided into three parts, the three parts are pivoted front and back, and when the tunnel inspection robot encounters a curved track, the front walking unit 100 and the suspension device 200 can quickly rotate relatively through a pivot shaft so as to adapt to the change of a curve; similarly, the relative rotation between the rear traveling unit 100 and the suspension unit 200 can be rapidly generated by the pivot shaft to adapt to the change of the curve. According to the driving structure, the change of the curve is changed to the driving structure of the tunnel inspection robot, the three parts of the pin joint can be quickly adapted to the change of the curve, the walking unit 100 cannot be influenced by the curve, the relative deflection angle and the lateral extrusion force between the roller and the guide rail in the self-walking mechanism can be avoided, and the phenomenon that the roller rolls unsmoothly and even blocks is further avoided.
In one possible implementation manner, the number of the embedding slots 130 on each walking unit 100 is multiple, and the multiple embedding slots 130 are arranged on the head of the cover 120 in parallel and at equal intervals. The number of the cantilever plates 220 on each side of the column 210 is the same as that of the embedding slots 130, and the cantilever plates 220 are inserted into the embedding slots 130 in a one-to-one correspondence.
In the above implementation, the plurality of embedding slots 130 may be provided to reinforce the connection of the suspension device 200 with the walking unit 100. When one cantilever plate 220 breaks down, other cantilever plates 220 can also enable the suspension device 200 to be continuously connected with the walking unit 100, so that the safety of the tunnel inspection robot is enhanced, and the service life of the automatic power walking mechanism can be prolonged.
Fig. 2 is a bottom view of a traveling unit in the self-powered traveling mechanism shown in fig. 1. Referring to fig. 2, a plurality of insertion grooves 130 are provided at the middle upper portion of the head of the cover 120. The lower middle portion of the head of the cover 120 is provided with a mounting groove 140. The mounting groove 140 extends upward from the bottom surface of the cover body 120 by a predetermined depth and is lower than the lowermost insertion groove 130. The head of the cover body 120 is further provided with a pin hole 150 which is formed on two opposite sides of the mounting groove 140 and penetrates the two sides. The mounting groove 140 and the pin hole 150 constitute the coupling structure.
In the implementation process, the space of the mounting groove 140 is convenient for the connecting rod of the tunnel inspection robot to stretch into, and the connecting rod is provided with a through hole，By means of the bolt, the bolt sequentially passes through the bolt hole 150, the through hole on the connecting rod in the mounting groove 140 and the bolt hole 150, so that the tunnel inspection robot is connected with the walking unit 100. This simple structure can realize the tunnel and patrol and examine robot and walking unit 100's quick connection.
In one possible implementation, a fixing groove is formed on a side surface of the cylinder 210, and the cantilever plate 220 is inserted into the fixing groove and fixed. The number of the fixing grooves at one side of the column 210 is the same as the number of the embedding grooves 130 in the traveling unit 100 and is set to be equal to the height of the embedding grooves 130.
In the above implementation process, a fixing groove is formed in a side surface of the cylinder 210, and the cantilever plate 220 is inserted into the fixing groove by a predetermined length and fixed. When one of the walking units 100 is connected with the tunnel inspection robot, the walking unit 100 is inclined downwards under the action of gravity, the end part of the cantilever plate 220 connected with the side surface of the column 210 is correspondingly inclined upwards, so that the suspension device 200 and the walking unit 100 on the other side have the tendency of moving upwards, and the end part of the cantilever plate 220 can be blocked by the fixing groove to have the tendency of moving upwards, so that the walking units 100 on the two sides are kept balanced.
The length that this application extends to the fixed slot to cantilever slab 220 one end, the length that the other end extends to embedding groove 130 do not do specifically and restrict, and all can satisfy the length that two walking unit 100's horizontal central plane remain in the coplanar all the time, all fall into the scope of protection of this application.
In a possible implementation manner, the column 210 is a hollow structure, and a motor control unit in communication connection with the hub motor is arranged inside the column 210; the top of the column 210 is provided with a removable cover 211.
In the implementation process, the cylinder 210 is configured as a hollow structure, and a motor control unit can be installed in the hollow structure, but is not limited to the hollow structure. In a long tunnel, the communication signal does not cover the inside of the tunnel well, resulting in poor signal. It is more commonly adopted to lay a wire cable in the tunnel, and the wire cable is connected with the robot in a wired manner. When the robot receives the motion signal, the motion signal is sent to the motor control unit, the motor control unit sends the corresponding signal to the hub motor, and the hub motor responds after receiving the signal. Therefore, the motor control unit can ensure the signal transmission between the robot and the hub motor, so that the robot can accurately walk at a preset speed or stop at a preset position.
In the above implementation process, the detachable cover plate 211 can prevent dust, protect the motor control unit inside the column 210, and simultaneously, facilitate replacement of the motor control unit or other devices.
In a possible implementation manner, the joint of the roller shaft for supporting the roller 110 and the cover 120 is wrapped with an elastic body 240, the elastic body 240 is detachably connected with the roller 110, and the elastic body 240 is used for damping vibration during the movement of the roller.
In a possible implementation manner, at least one preformed hole is provided at the lower portion of the column 210, and a waterproof plug 230 is provided on the preformed hole.
In the above-mentioned realization process, the lower part bilateral symmetry of cylinder 210 sets up two preformed holes, and the preformed hole is convenient for observe cylinder 210 is inside to and the maintenance of the inside circuit board of cylinder 210 etc.. The waterproof plug 230 is used for waterproofing the inside of the column.
In a possible implementation, the tail of the cover 120 is provided with an upper boss 121 and a lower boss 122; the upper and lower bosses 121 and 122 each extend a predetermined length in a direction away from the cover body 120, and are spaced apart by a predetermined distance in a height direction to provide a space for accommodating a current collector.
In the above implementation, the upper and lower bosses 121 and 122 form a space for accommodating a current collector for connection with an external electric wire.
In a second aspect, the embodiment of the present application further provides a tunnel inspection system, which includes a tunnel inspection robot and two linked type automatic power traveling mechanisms with the above structure. The tunnel inspection robot is provided with two suspension points, and the two suspension points are spaced at a preset distance in the length direction of the tunnel inspection robot. The connecting structure of each link type automatic power walking mechanism is connected with a suspension point. Namely, one tunnel robot is driven by two linked self-powered walking mechanisms.
In one possible implementation, the quick-connect mechanism may be a connecting rod.
According to the technical scheme, the change of the curve is changed to the driving structure of the tunnel inspection robot, the three parts of the pin joint can be quickly adapted to the change of the curve, the walking unit 100 cannot be influenced by the curve, the relative deflection angle and the lateral extrusion force between the roller and the guide rail in the self-walking mechanism can be avoided, and the roller is further prevented from rolling unsmoothly and even being blocked.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
In the description of the present application, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally placed when products of the application are used, and are used only for convenience in describing the application and simplifying the description, but do not indicate or imply that the devices or elements to be referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021611201.2U CN213292278U (en) | 2020-08-05 | 2020-08-05 | Link type automatic power walking mechanism and tunnel inspection system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021611201.2U CN213292278U (en) | 2020-08-05 | 2020-08-05 | Link type automatic power walking mechanism and tunnel inspection system |
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| CN213292278U true CN213292278U (en) | 2021-05-28 |
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| CN202021611201.2U Active CN213292278U (en) | 2020-08-05 | 2020-08-05 | Link type automatic power walking mechanism and tunnel inspection system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113681537A (en) * | 2021-09-13 | 2021-11-23 | 合肥市信同信息科技有限公司 | High-altitude suspension type electric power inspection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113681537A (en) * | 2021-09-13 | 2021-11-23 | 合肥市信同信息科技有限公司 | High-altitude suspension type electric power inspection robot |
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