Chassis Structure of a Slider-Type Wheel Group Track Robot

Abstract

The present invention provides a chassis structure of a slider-type wheel set track robot, which comprises: a bottom plate, which is horizontally arranged below the track and the axis of the bottom plate is in the same direction as the axis direction of the track; and a linear motion wheel set, which is located above the bottom plate, the linear motion wheel set is mounted on the track and contacts the outer side surface and the upper surface of the track, the linear motion wheel set is two pairs, and each pair of the linear motion wheel sets is arranged symmetrically with the axis direction of the track as the axis of symmetry; each linear motion wheel set includes a linear sliding mechanism located below, a mounting mechanism fixed to the linear sliding mechanism, and a rotating wheel mechanism arranged above the linear sliding mechanism and below the mounting mechanism. The chassis structure of the slider-type wheel set track robot provided by the invention solves the problems of the existing wheel set track robot such as jerky turning and large impact on the motor during turning.

Description

Technical Field

[0001] The present invention belongs to the field of mounted track robots, and particularly relates to a chassis structure of a slider-type wheel set track robot. Background Art

[0002] Inspection work is generally boring, repetitive, mechanical, time-consuming, labor-intensive work, such as substations, underground pipe galleries, mines, and prisons. Or in some places with humid air, strong air odor, toxic and harmful gases, high dust concentration, and strong noise, the inspection quality is low and the safety level is low, and the manual labor intensity and unit labor cost are high.

[0003] Most of the existing chassis structures of wheeled track robots place the wheel set on the upper surface of the track for driving. Although this method is simple and direct, due to the differential problem during turning and the fact that the wheel set fits with the upper surface of the track relying on gravity, it will cause serious wear of the wheels, and the wear is more obvious at higher speeds. Summary of the Invention

[0004] An object of the present invention is to provide a chassis structure of a slider-type wheel set track robot and provide at least the advantages described hereinafter.

[0005] Another object of the present invention is to provide a chassis structure of a slider-type wheel set track robot, which solves the problems of jerky turning and large impact on the motor during turning of the existing wheel set track robot.

[0006] The technical solution of the present invention is as follows:

[0007] A chassis structure of a slider-type wheel set track robot, which includes:

[0008] A bottom plate, which is horizontally arranged below the track and the axis of the bottom plate is in the same direction as the axis direction of the track;

[0009] And a linear motion wheel set, which is located above the bottom plate, the linear motion wheel set is mounted on the track and contacts the outer side and the upper surface of the track, the linear motion wheel set is two pairs, and each pair of the linear motion wheel sets is arranged symmetrically with the axis direction of the track as the axis of symmetry;

[0010] Wherein;

[0011] Each of the linear motion wheel sets includes a linear sliding mechanism located below, a mounting mechanism fixed to the linear sliding mechanism, and a rotating wheel mechanism arranged above the linear sliding mechanism and below the mounting mechanism;

[0012] The linear sliding mechanism includes a linear slide rail fixed to the bottom plate through a stroke fixing seat, a slider matched with the linear slide rail, and a pressing spring arranged between the bottom plate and the slider;

[0013] The mounting mechanism includes a vertical support arm fixedly connected to the slider, a horizontal mounting arm hinged to the vertical support arm, and a universal ball provided on the lower surface of the free end of the horizontal mounting arm. The universal ball contacts the upper surface of the track when the horizontal mounting arm rotates to the vertical position;

[0014] The rotating wheel mechanism of one pair of the linear motion wheel sets includes a direct current brushless motor fixed on the vertical support arm and a first polyurethane-coated wheel fixed on the slider through a first vertical rotating shaft. The direct current brushless motor and the first vertical rotating shaft are connected by a first synchronous belt, and the rotating directions of the two direct current brushless motors are opposite;

[0015] The rotating wheel mechanism of the other linear motion wheel set includes an encoder and a second polyurethane-coated wheel fixed on the slider through a second vertical rotating shaft. The encoder and the second vertical rotating shaft are connected by a second synchronous belt;

[0016] The rotating wheel mechanism of the other linear motion wheel set is a third polyurethane-coated wheel fixed on the slider through a third vertical rotating shaft;

[0017] The first polyurethane-coated wheel, the second polyurethane-coated wheel and the third polyurethane-coated wheel contact the outer side surface of the track.

[0018] Preferably, in the chassis structure of the slider-type wheel set track robot, two infrared sensors are arranged on the bottom plate along its axis.

[0019] Preferably, in the chassis structure of the slider-type wheel set track robot,

[0020] The first polyurethane-coated wheel, the second polyurethane-coated wheel and the third polyurethane-coated wheel are on the same horizontal plane;

[0021] The error between the center distance of the direct current brushless motor and the first polyurethane-coated wheel and the center distance of the encoder and the second polyurethane-coated wheel does not exceed 0.4 mm.

[0022] Preferably, in the chassis structure of the slider-type wheel set track robot, mounting holes for mounting the travel fixing seat are provided on the bottom plate, and the mounting holes are distributed in a linear array.

[0023] Preferably, in the chassis structure of the slider-type wheel set track robot, square weight reduction holes and trough-shaped weight reduction holes are formed on the bottom plate.

[0024] Preferably, in the chassis structure of the slider-type wheel set track robot, notch openings are provided on the vertical support arms and the horizontal mounting arms, and a self-locking shaft is arranged in the notch openings. The size of the notch openings is 0.2 mm larger than the diameter of the self-locking shaft.

[0025] The present invention has the following beneficial effects:

[0026] In the present invention, the power transmission between the DC brushless motor and the polyurethane-coated wheels is realized through a synchronous belt, avoiding the direct force on the motor and the encoder, reducing the impact on the motor and the encoder during turning, and thus improving the product reliability.

[0027] In the present invention, through four independent linear motion wheel sets, when there are large errors in track processing or robot assembly, the distance between each wheel set can be automatically adjusted to ensure the feasibility of the mechanism, increasing the error tolerance of the product.

[0028] In the present invention, through the travel limit seat and the linearly distributed mounting hole positions on the bottom plate, the installation position of the travel limit seat can be changed to change the distance between the two wheel sets in the radial direction, thereby adjusting the installation position of the travel limit seat to adapt to tracks of different widths, increasing the practicality of the product.

[0029] In the present invention, by inverting the motor and the encoder, the space on the side of the track is fully utilized while reducing the size of the chassis in the vertical direction of the track, increasing the compactness of the product.

[0030] In the present invention, by using an encoder to calculate the position of the robot traveling on the track and using an infrared sensor for auxiliary control, the positioning of the robot on the track is jointly realized, improving the accuracy of the product.

[0031] In the present invention, the pressing spring ensures the fitting of the wheel set with the track surface, avoiding the positioning error of the robot during travel caused by wheel set slipping.

[0032] Other advantages, objectives and features of the present invention will be partially reflected by the following description and partially understood by those skilled in the art through the research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a schematic structural diagram of an embodiment of the chassis structure of the slider-type wheel set track robot provided by the present invention;

[0034] Figure 2 is an unfolded mounting schematic diagram of an embodiment of the chassis structure of the slider-type wheel set track robot provided by the present invention;

[0035] Figure 3It is a schematic structural diagram of a linear motion wheel set in an embodiment of the chassis structure of the slider-type wheel set track robot provided by the present invention;

[0036] Figure 4 It is a schematic structural diagram of another linear motion wheel set in an embodiment of the chassis structure of the slider-type wheel set track robot provided by the present invention;

[0037] Figure 5 It is a schematic structural diagram of yet another linear motion wheel set in an embodiment of the chassis structure of the slider-type wheel set track robot provided by the present invention. Detailed implementation manners

[0038] The following further describes the present invention in detail with reference to the drawings, so that those skilled in the art can implement it according to the description in the specification.

[0039] It should be understood that terms such as "having", "comprising" and "including" used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0040] As Figure 1 shown, the present invention provides a chassis structure of a slider-type wheel set track robot, which includes:

[0041] A bottom plate 1, which is horizontally arranged below the track and the axis of the bottom plate 1 is consistent with the axis direction of the track;

[0042] And a linear motion wheel set, which is located above the bottom plate 1, the linear motion wheel set is mounted on the track and contacts the outer side surface and the upper surface of the track, the linear motion wheel set is in two pairs, and each pair of the linear motion wheel sets is arranged symmetrically with the axis direction of the track as the axis of symmetry;

[0043] Wherein;

[0044] Each linear motion wheel set includes a linear sliding mechanism located below, a mounting mechanism fixed to the linear sliding mechanism, and a rotating wheel mechanism arranged above the linear sliding mechanism and below the mounting mechanism;

[0045] The linear sliding mechanism includes a linear slide rail 402 fixed to the bottom plate 1 through a stroke fixing seat 401 and a slider 403 cooperating with the linear slide rail 402, and a pressing spring 404 arranged between the bottom plate 1 and the slider 403. The linear slide rails 402 are arranged in two parallels, and the stroke fixing seats 401 are installed at both the front and rear ends of each linear slide rail 402. The pressing spring 404 changes the included angle with the linear slide rail 402 as the slider 403 moves on the linear slide rail 402 during turning;

[0046] The mounting mechanism includes a vertical support arm 501 fixedly connected to the slider 403, a horizontal mounting arm 502 hinged to the vertical support arm 501, and a universal ball 503 provided on the lower surface of the free end of the horizontal mounting arm 502. The universal ball 503 contacts the upper surface of the track when the horizontal mounting arm 502 rotates to the vertical position, reducing the friction in all directions when the chassis structure of the slider-wheel track robot moves on the upper surface of the track while supporting the entire chassis structure;

[0047] As Figure 3 shown, the rotating wheel mechanism of one pair of the linear motion wheel sets 201 includes a DC brushless motor 601 fixed on the vertical support arm 501 and a first polyurethane-coated wheel 602 fixed on the slider 403 through a first vertical rotating shaft. The DC brushless motor 601 and the first vertical rotating shaft are connected by a first synchronous belt. The rotating directions of the two DC brushless motors 601 are opposite, and both too loose and too tight of the synchronous belt will affect the movement of the entire chassis structure;

[0048] As Figure 4 shown, the rotating wheel mechanism of the other linear motion wheel set 202 includes an encoder 603 and a second polyurethane-coated wheel 604 fixed on the slider 403 through a second vertical rotating shaft. The encoder 603 and the second vertical rotating shaft are connected by a second synchronous belt. The second polyurethane-coated wheel 604 drives the encoder 603 to rotate through the second synchronous belt. The encoder 603 calculates the distance traveled by the slider-wheel track robot on the track by the number of rotation turns, thereby achieving positioning;

[0049] As Figure 5 shown, the rotating wheel mechanism of the other linear motion wheel set 203 is a third polyurethane-coated wheel 605 fixed on the slider 403 through a third vertical rotating shaft, which is an idle wheel set, increasing the contact area with the track during the movement and ensuring the driving stability;

[0050] The first polyurethane-coated wheel 602, the second polyurethane-coated wheel 604, and the third polyurethane-coated wheel 605 contact the outer side surface of the track.

[0051] In an embodiment of the chassis structure of the slider-wheel track robot provided by the present invention, two infrared sensors 3 are arranged along the axis of the bottom plate 1, which can assist in calculating the position of the slider-wheel track robot on the track.

[0052] In an embodiment of the chassis structure of the slider-wheel track robot provided by the present invention,

[0053] The first polyurethane-coated wheel 602, the second polyurethane-coated wheel 604, and the third polyurethane-coated wheel 605 are on the same horizontal plane;

[0054] The error between the center distance of the DC brushless motor 601 and the first polyurethane-coated wheel 602 and the center distance of the encoder 603 and the second polyurethane-coated wheel 604 does not exceed 0.4 mm.

[0055] In an embodiment of the chassis structure of the slider-type wheel set track robot provided by the present invention, mounting holes for mounting the stroke fixing seat 401 are provided on the bottom plate 1, and the mounting holes are distributed in a linear array. The distance between the linear motion wheel sets can be adjusted by changing the position of the stroke fixing seat 401, so as to adapt to tracks of different widths.

[0056] In an embodiment of the chassis structure of the slider-type wheel set track robot provided by the present invention, square weight-reducing holes and trough-shaped weight-reducing holes are provided on the bottom plate 1.

[0057] In an embodiment of the chassis structure of the slider-type wheel set track robot provided by the present invention, notches are provided on the vertical support arm 501 and the horizontal mounting arm 502, and a self-locking shaft is arranged in the notches. The size of the notch is 0.2 mm larger than the diameter of the self-locking shaft, which ensures convenient loading and unloading while reducing the clearance between the self-locking shaft and the horizontal mounting arm. The self-locking shaft is a bolt, and there is a degree of freedom for rotation between the vertical support arm 501 and the horizontal mounting arm 502. When mounting, rotate the horizontal mounting arm so that the notches on the horizontal mounting arm and the vertical support arm coincide, and then push the self-locking shaft backward along the notch and rely on gravity to achieve self-locking after mounting.

[0058] The working process of the chassis structure of the slider-type wheel set track robot provided by the present invention is as follows: Push the self-locking shaft out along the notch, then rotate the horizontal mounting arm 502 to unfold it. After the polyurethane-coated wheels in the four linear motion wheel sets are pressed against the outer side of the track, rotate the mounting arm and push the self-locking shaft into the notch along the notch to lock it; After the robot is started, the DC brushless motor 601 transmits power to the polyurethane-coated wheels through the synchronous belt, and the compression spring 404 ensures the polyurethane-coated wheels are in contact with the outer side of the track; When entering a bend, the compression springs 404 of the two wheel sets with a smaller turning radius are compressed, and the compression springs 404 of the two wheel sets with a larger turning radius are relaxed. The positions of the wheel sets on the linear slide rails are continuously adjusted until passing through the bend and entering a straight track.

[0059] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and embodiments. It can be fully applied to various fields suitable for the present invention. For those skilled in the art, additional modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and the examples shown and described herein.

Claims

1. The chassis structure of a slider-type wheel set track robot, characterized in that, Comprising: A bottom plate, which is horizontally arranged below the track and the axis of the bottom plate is in the same direction as the axis of the track; And a linear motion wheel set, which is located above the bottom plate. The linear motion wheel set is mounted on the track and contacts the outer side surface and the upper surface of the track. There are two pairs of the linear motion wheel sets, and each pair of the linear motion wheel sets is arranged symmetrically with the axis direction of the track as the axis of symmetry; Wherein; Each linear motion wheel set includes a linear sliding mechanism located below, a mounting mechanism fixed to the linear sliding mechanism, and a rotating wheel mechanism arranged above the linear sliding mechanism and below the mounting mechanism; The linear sliding mechanism includes a linear slide rail fixed to the bottom plate through a stroke fixing seat, a slider matched with the linear slide rail, and a compression spring arranged between the bottom plate and the slider; The mounting mechanism includes a vertical support arm fixedly connected to the slider, a horizontal mounting arm hinged to the vertical support arm, and a universal ball arranged on the lower surface of the free end of the horizontal mounting arm. The universal ball contacts the upper surface of the track when the horizontal mounting arm rotates to the vertical position; The rotating wheel mechanism of one pair of the linear motion wheel sets includes a DC brushless motor fixed to the vertical support arm and a first polyurethane-coated wheel fixed to the slider through a first vertical rotating shaft. The DC brushless motor and the first vertical rotating shaft are connected by a first synchronous belt, and the rotating directions of the two DC brushless motors are opposite; The rotating wheel mechanism of the other linear motion wheel set includes an encoder and a second polyurethane-coated wheel fixed to the slider through a second vertical rotating shaft. The encoder and the second vertical rotating shaft are connected by a second synchronous belt; The rotating wheel mechanism of the other linear motion wheel set is a third polyurethane-coated wheel fixed to the slider through a third vertical rotating shaft; The first polyurethane-coated wheel, the second polyurethane-coated wheel and the third polyurethane-coated wheel contact the outer side surface of the track; Mounting holes for mounting the stroke fixing seat are arranged on the bottom plate, and the mounting holes are distributed in a linear array; Square weight-reducing holes and groove-shaped weight-reducing holes are formed on the bottom plate.

2. The chassis structure of the slider-type wheel set track robot according to claim 1, characterized in that Two infrared sensors are arranged on the bottom plate along its axis.

3. The chassis structure of the slider-type wheel set track robot according to claim 1, wherein The first polyurethane-coated wheel, the second polyurethane-coated wheel and the third polyurethane-coated wheel are on the same horizontal plane; The error between the center distance between the DC brushless motor and the first polyurethane-coated wheel and the center distance between the encoder and the second polyurethane-coated wheel does not exceed 0.4 mm.

4. The chassis structure of the slider-wheel set track robot according to claim 1, characterized in that, Notches are formed on the vertical support arm and the horizontal mounting arm, and a self-locking shaft is arranged in the notches. The size of the notches is 0.2 mm larger than the diameter of the self-locking shaft.

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