A robot T-shaped track steering mechanism and steering method

Abstract

The invention provides a robot T-type track steering mechanism. The robot T-type track steering mechanism comprises a T-type support, a track connection system and a steering system. The steering system comprises a steering driving mechanism, a drive plate, a steering track, a steering bearing and a pushing rod drive bearing. The top of the steering bearing is installed on the lower surface of the T-type support, the bottom end of an inner shaft of the steering bearing is installed at one end of the drive plate, the pushing rod drive bearing is installed at the other end of the drive plate, and an inner shaft of the pushing rod drive bearing is connected with the steering driving mechanism. The drive plate is installed on the upper surface of the steering track. The track connection system comprises a left track connection outer rail, a right track connection outer rail and a front track connection outer rail, wherein the left track connection outer rail, the right track connection outer rail and the front track connection outer rail are installed below the T-type support. The left track connection outer rail, the right track connection outer rail, the front track connection outer rail and a steering guide rail are located on the same horizontal plane. The robot T-type track steering mechanism is not limited by space and is convenient to arrange on a T-type passage, steering power is provided through the steering system in the steering process, electric power of a robot is not consumed, and it is unnecessary to additionally arrange a new machine structure on the robot.

Description

technical field [0001] The invention relates to a robot T-shaped track steering mechanism and a steering method. Background technique [0002] In order to ensure the long-term safe and reliable operation of the switching station, it is necessary to carry out regular inspections on the instrument wall and instrumentation installed inside it. The inspection robot hanging upside down on the track can effectively complete this work. [0003] In the larger opening and closing station, many instruments are arranged on each side wall of the T-shaped passage, and the robot track is arranged on the ceiling in the center of the corridor. When the robot patrols the T-shaped crossing, it needs to change lanes safely, quickly and flexibly at right angles in a limited space. In order to continue the inspection work. [0004] The current mainstream lane change scheme is to set curved tracks and design guide wheels on the robot to adapt to the role of turning guidance. The publication numb...

AI Technical Summary

Problems solved by technology

There are following disadvantages in adopting this scheme: (1) The sudden change of the arc of the track that the robot runs should not be too large, otherwise the wire mechanism is easy to jam, which may cause the load of the driving mechanism to increase instantaneously, so it cannot be used in right-angled curves

(2) In order to meet the turning requirements, it is necessary to add corresponding mechanical mechanisms and electrical structures to the robot body, which increases the weight and volume of the robot; Power consumption, which will adversely affect endurance if the robot is powered by batteries

Images