Bent track mobile robot

Abstract

The utility model relates to a curved track mobile robot which comprises a curved track and a mobile mechanism, and the curved track is provided with an inflection point; the moving mechanism comprises a first support, a second support and two sets of roller assemblies, the first support is hinged to the second support, each set of roller assemblies are distributed and installed on the first support and the second support, and the roller assemblies move on the bent track so that the first support and the second support can move relative to the bent track; when the moving mechanism moves to the inflection point on the bent track, the first support and the second support rotate in a self-adaptive mode to form an included angle, so that the robot passes through the inflection point of the bent track. According to the moving robot with the bent track, the bent track forms the inflection point, the first support is hinged to the second support, and the first support and the second support move relative to the bent track, so that when the moving mechanism moves to the inflection point on the bent track, the first support and the second support form an included angle in a self-adaptive mode; and therefore, the robot can pass through the inflection point of the bent track.

Description

Technical Field

[0001] The utility model relates to the technical field of mobile robots for curved tracks, and particularly relates to a mobile robot for curved tracks. Background Art

[0002] In the prior art, track robots are widely used in the inspection industry for safety prevention, and the movement performance of the robot on the track is crucial for the inspection robot. The track robot mostly adopts roller drive to run on the track plane. However, during the driving process of the roller, since the tracks are not all straight lines, according to the safety inspection requirements of the actual scenario, the inspection robot needs to move on the curved track, and there are even multiple inflection points on some curved tracks. Due to the rigid structure of the existing robot, it is difficult to pass through the track with inflection points, and when the angle and frequency of passing through the curved track increase, there are also problems such as inaccurate moving distance. Therefore, it is necessary to solve the problems that the track robot is difficult to pass through the curved track with inflection points and the moving distance is inaccurate. Summary of the Utility Model

[0003] The purpose of the utility model is to provide a mobile robot for curved tracks, aiming to solve the technical problems that the track robot is difficult to pass through the curved track with inflection points and the moving distance is inaccurate.

[0004] To solve the above technical problems, a mobile robot for curved tracks is provided, including a curved track and a moving mechanism. The curved track is formed with an inflection point; the moving mechanism includes a first bracket, a second bracket, and two groups of roller assemblies. The first bracket is hinged to the second bracket, and each group of roller assemblies is distributed and installed on the first bracket and the second bracket. The roller assemblies move on the curved track to enable the first bracket and the second bracket to move relative to the curved track.

[0005] Wherein, when the moving mechanism moves to the inflection point on the curved track, the first bracket and the second bracket adaptively rotate to form an included angle, so that the robot can pass through the inflection point of the curved track.

[0006] Furthermore, the moving mechanism further includes a first elastic member, and the first elastic member is connected between the first bracket and the second bracket, so that when the robot passes through the inflection point, the included angle between the first bracket and the second bracket elastically moves and resets.

[0007] Further, the curved-rail mobile robot further includes a displacement detection device, which includes a roller encoder and a second elastic member. The second elastic member is connected between the roller encoder and the first bracket, so that the roller encoder is elastically abutted against the curved rail. When the angle between the first bracket and the second bracket is reset, the roller encoder detects the displacement of the first bracket relative to the curved rail.

[0008] Further, the curved-rail mobile robot further includes a braking device, which is connected to the second bracket. One end of the braking device abuts against the inside of the curved rail. The second bracket remains stationary while the first bracket moves forward, so that the angle between the first bracket and the second bracket is elastically moved and reset.

[0009] Further, the roller encoder includes a mounting seat and a measuring wheel. The mounting seat is detachably connected to the second elastic member. The measuring wheel is mounted on the mounting seat and moves with the first bracket. The measuring wheel is used to measure the distance that the first bracket moves relative to the curved rail.

[0010] Further, the roller encoder further includes a friction kit, which is sleeved on the measuring wheel and abuts against the curved rail.

[0011] Further, the moving mechanism further includes a driving source, a first driving wheel, a second driving wheel and a transmission belt. The driving source is mounted on the first bracket. The driving source drives the first driving wheel to rotate. The transmission belt is connected between the first driving wheel and the second driving wheel to drive the second driving wheel to rotate. The second driving wheel is connected to the roller assembly to provide the power for the bracket to move relative to the curved rail.

[0012] Further, the moving mechanism further includes a tensioning wheel and a pressure regulating member. The pressure regulating member is movably connected to the first bracket. One end of the pressure regulating member is hinged to adjust the position of the tensioning wheel, so that the tensioning wheel adjusts the pre-tightening degree of the transmission belt.

[0013] Further, the roller assembly includes a first roller and a second roller. The curved rail includes a side surface and a groove formed at the side surface. The first roller is rotatably connected to the groove, and the second roller abuts against the side surface.

[0014] Further, the curved-rail mobile robot further includes a workbench, which is connected to the first bracket and / or the second bracket for inspection operations.

[0015] Implementing the embodiments of the present invention will have the following beneficial effects:

[0016] In the bending track mobile robot of this embodiment, since the bending track has an inflection point, the first bracket is hinged to the second bracket, and the first bracket and the second bracket move relative to the bending track. Thus, when the moving mechanism moves to the inflection point on the bending track, the first bracket and the second bracket adaptively form an included angle, so that the robot can pass through the inflection point of the bending track, overcoming the problems that the track robot in the prior art is difficult to pass through the bending track with an inflection point and the moving distance is inaccurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0018] Figure 1 is a schematic structural diagram of the bending track mobile robot according to the embodiment of the present invention;

[0019] Figure 2 is Figure 1 a partial enlarged view of part A in

[0020] Figure 3 is a schematic structural diagram of the moving mechanism according to the embodiment of the present invention;

[0021] Figure 4 is a top view of the moving mechanism according to the embodiment of the present invention;

[0022] Figure 5 is a schematic structural diagram of the first part of the moving mechanism according to the embodiment of the present invention;

[0023] Figure 6 is a schematic structural diagram of the second part of the moving mechanism according to the embodiment of the present invention;

[0024] Figure 7 is a schematic structural diagram of the moving mechanism with a displacement detection device added according to the embodiment of the present invention.

[0025] Wherein: 100, a robot; 110, a bending track; 111, an inflection point; 112, a side surface; 113, a groove; 120, a moving mechanism; 121, a first bracket; 122, a second bracket; 123, a roller assembly; 1231, a first roller; 1232, a second roller; 1233, a first driven wheel; 1234, a second driven wheel; 124, a driving source; 125, a first driving wheel; 126, a second driving wheel; 127, a transmission belt; 128, a tensioning wheel; 129, a pressure regulating member; 130, a displacement detection device; 131, a roller encoder; 1311, a mounting seat; 1312, a measuring wheel; 1313, a friction kit; 132, a second elastic member; 140, a braking device; 150, a workbench. Detailed implementation manners

[0026] For ease of understanding the present utility model, the present utility model will be described more comprehensively below with reference to the relevant drawings. Preferred embodiments of the present utility model are shown in the drawings. However, the present utility model can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided so that the understanding of the disclosure of the present utility model can be more thorough and comprehensive.

[0027] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for illustrative purposes.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present utility model belongs. The terms used in the description of the present utility model herein are only for the purpose of describing specific embodiments and are not intended to limit the present utility model. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0029] Please refer to Figures 1 - 7, an embodiment of the present utility model provides a mobile robot 100 with a curved track 110, which includes a curved track 110 and a moving mechanism 120. The curved track 110 is formed with an inflection point 111; the moving mechanism 120 includes a first bracket 121, a second bracket 122 and two sets of roller assemblies 123. The first bracket 121 is hinged to the second bracket 122. Each set of roller assemblies 123 is distributed and installed on the first bracket 121 and the second bracket 122. The roller assemblies 123 move on the curved track 110 so that the first bracket 121 and the second bracket 122 move relative to the curved track 110; wherein, when the moving mechanism 120 moves to the inflection point 111 on the curved track 110, the first bracket 121 and the second bracket 122 adaptively rotate to form an angle, so that the robot 100 passes through the inflection point 111 of the curved track 110. In specific applications, since the curved track 110 is formed with an inflection point 111, the first bracket 121 is hinged to the second bracket 122, and the first bracket 121 and the second bracket 122 move relative to the curved track 110 through the roller assemblies 123. Thus, when the moving mechanism 120 moves to the inflection point 111 on the curved track 110, according to the curvature change of the curved track 110, the first bracket 121 and the second bracket 122 adaptively form an angle, and then the first bracket 121 part and the second bracket 122 part of the robot 100 can pass through the inflection point 111 of the curved track 110 successively, so that the track mobile robot 100 can flexibly adapt to different curvature changes and the curved track 110 at the inflection point 111.

[0030] In a possible implementation manner, the moving mechanism 120 further includes a first elastic member (not shown in the figure). The first elastic member is connected between the first bracket 121 and the second bracket 122, so that when the robot 100 passes through the inflection point 111, the angle between the first bracket 121 and the second bracket 122 elastically moves and resets. In specific applications, when the robot 100 passes through the inflection point 111 of the curved track 110, in order to restore the rotation angle of the first bracket 121 and the second bracket 122 that adaptively pass through the inflection point 111, a first elastic member is installed at the hinge joint of the first bracket 121 and the second bracket 122. The first elastic member is a torsion spring, which can make the first bracket 121 and the second bracket 122 restore deformation after rotation.

[0031] In a possible implementation, the curved track 110 mobile robot 100 further includes a displacement detection device 130. The displacement detection device 130 includes a roller encoder 131 and a second elastic member 132. The second elastic member 132 is connected between the roller encoder 131 and the first bracket 121, so that the roller encoder 131 elastically abuts against the curved track 110. When the angle between the first bracket 121 and the second bracket 122 is reset, the roller encoder 131 detects the displacement of the first bracket 121 relative to the curved track 110. In a specific application, in order to improve the accuracy of the displacement of the robot 100 moving on the curved track 110, the curved track 110 mobile robot 100 further includes a displacement detection device 130. The displacement detection device 130 includes a roller encoder 131 and a second elastic member 132. The second elastic member 132 is connected between the roller encoder 131 and the first bracket 121, so that the roller encoder 131 elastically abuts against the curved track 110. When the angle between the first bracket 121 and the second bracket 122 is reset, the roller encoder 131 detects the displacement of the first bracket 121 relative to the curved track 110. In this way, the displacement generated by the robot 100 when passing through the inflection point 111 can be calculated by the roller encoder 131, so as to adjust the moving distance of the robot 100 on the curved track 110 in real time.

[0032] In a possible implementation, the curved track 110 mobile robot 100 further includes a braking device 140. The braking device 140 is connected to the second bracket 122. One end of the braking device 140 abuts against the inside of the curved track 110. The second bracket 122 remains stationary, and the first bracket 121 moves forward to elastically move and reset the angle between the first bracket 121 and the second bracket 122. In a specific application, in order to accurately calculate the displacement generated by the first bracket 121 part of the robot 100, the curved track 110 mobile robot 100 further includes a braking device 140. The braking device 140 is connected to the second bracket 122. When the angle between the first bracket 121 and the second bracket 122 elastically moves and resets, the braking device 140 electromagnetically drives the brake rod to abut against the inside of the curved track 110, so that the second bracket 122 remains stationary relative to the curved track 110, and the first bracket 121 moves forward. At the same time, the displacement of the first bracket 121 relative to the curved track 110 is detected by the roller encoder 131.

[0033] In a possible implementation, the roller encoder 131 includes a mounting base 1311 and a measuring wheel 1312. The mounting base 1311 is detachably connected to the second elastic member 132. The measuring wheel 1312 is mounted on the mounting base 1311 and moves with the first bracket 121. The measuring wheel 1312 is used to measure the distance that the first bracket 121 moves relative to the curved track 110. In a specific application, the detachable connection between the mounting base 1311 and the second elastic member 132 makes the roller encoder 131 detachable for convenient later maintenance. The measuring wheel 1312 can measure in real time the moving distance of the first bracket 121 relative to the curved track 110, so that the roller encoder 131 can complete the measurement of the displacement of the first bracket 121 relative to the curved track 110.

[0034] In a possible implementation, the roller encoder 131 further includes a friction kit 1313. The friction kit 1313 is sleeved on the measuring wheel 1312 and abuts against the curved track 110. In a specific application, the material of the friction kit 1313 is polyurethane. The friction kit 1313 is sleeved on the measuring wheel 1312, which can increase the friction coefficient between the roller encoder 131 and the curved track 110 and prevent the measuring wheel 1312 from slipping on the curved track 110 due to too small a friction coefficient.

[0035] In a possible implementation, the moving mechanism 120 further includes a driving source 124, a first driving wheel 125, a second driving wheel 126, and a transmission belt 127. The driving source 124 is mounted on the first bracket 121. The driving source 124 drives the first driving wheel 125 to rotate. The transmission belt 127 is connected between the first driving wheel 125 and the second driving wheel 126 to drive the second driving wheel 126 to rotate. The second driving wheel 126 is connected to the roller assembly 123 to provide the power for the bracket to move relative to the curved track 110. In a specific application, when the driving source 124 rotates forward, the driving source 124 drives the first driving wheel 125 to rotate. The first driving wheel 125 drives the second driving wheel 126 to rotate through the transmission belt 127. The second driving wheel 126 drives the roller assembly 123 to rotate, so that the roller assembly 123 drives the first bracket 121 and the second bracket 122 to move forward relative to the curved track 110. When the driving source 124 rotates backward, the roller assembly 123 drives the first bracket 121 and the second bracket 122 to move backward relative to the curved track 110.

[0036] In a possible implementation, the moving mechanism 120 further includes a tension pulley 128 and a pressure regulating member 129. The pressure regulating member 129 is movably connected to the first bracket 121. One end of the pressure regulating member 129 is hinged to adjust the position of the tension pulley 128, so that the tension pulley 128 adjusts the pre-tightening degree of the transmission belt 127. In a specific application, the tension pulley 128 can be used to pre-tighten the transmission belt 127 between the first driving wheel 125 and the second driving wheel 126 to prevent the slipping phenomenon of the transmission between the first driving wheel 125 and the second driving wheel 126. It is worth noting that when the first driving wheel 125 and the second driving wheel 126 slip, it is easy to cause the vibration of the moving mechanism 120, thereby causing the vibration of the mobile robot 100 on the curved track 110. This kind of vibration is likely to cause the instantaneous separation of the measuring wheel 1312 from the curved track 110, and the second elastic member 132 is not in time for elastic deformation to make the measuring wheel 1312 closely attached to the curved track 110, resulting in the failure of the measuring wheel 1312 to instantaneously detect the relative displacement of the first bracket 121 with respect to the track. Long-term vibration will lead to the accumulation of systematic errors and ultimately cause errors in the detection of the relative displacement of the first bracket 121 with respect to the curved track 110. However, when the tension force of the tension pulley 128 on the transmission belt 127 is large, it is easy to cause the deformation and fracture of the transmission belt 127, and the energy consumption of the drive source 124 is high, and the service life is reduced; when the tension force of the tension pulley 128 on the transmission belt 127 is small, it is easy to cause the problem of insufficient power and slipping of the robot 100 when passing through the inflection point 111 of the curved track 110. Therefore, it is necessary to adjust the pre-tightening degree of the tension pulley 128 on the transmission belt 127 according to the condition of the curved track 110.

[0037] In a possible implementation, the roller assembly 123 includes a first roller 1231 and a second roller 1232. The curved track 110 includes a side surface 112 and a groove 113 formed at the side surface 112. The first roller 1231 is in rolling connection with the groove 113, and the second roller 1232 abuts against the side surface 112. In a specific application, the first roller 1231 is in rolling connection within the groove 113, so as to support the movement mechanism 120 to move on the curved track 110. It can be understood that the side surfaces 112 are provided oppositely on both sides of the curved track 110, and the grooves 113 are respectively formed on both sides. At least two first rollers 1231 are respectively in rolling connection with the grooves 113 on both sides, so as to prevent the movement mechanism 120 from falling off the curved track 110. The second roller 1232 is in rolling abutment with the side surfaces 112 on both sides, so that the movement mechanism 120 runs more smoothly and the phenomenon of left - right shaking is avoided. In addition, it should be noted that the roller assembly 123 further includes a first driven wheel 1233 and a second driven wheel 1234. The first driven wheel 1233 and the second driven wheel 1234 are arranged on the first bracket 121 and the second bracket 122 along the length direction of the curved track 110. The first driven wheel 1233 is in rolling connection with the groove 113, and the second driven wheel 1234 abuts against the side surface 112. Thus, when the movement mechanism 120 is braked by the braking device 140, the phenomenon of front - back shaking is avoided.

[0038] In a possible implementation, the mobile robot 100 with the curved track 110 further includes a workbench 150. The workbench 150 is connected to the first bracket 121 and / or the second bracket 122 for inspection operations. In a specific application, the workbench 150 is connected to the first bracket 121 and / or the second bracket 122. When the first bracket 121 reaches a specified position on the curved track 110, the workbench 150 inspects the equipment at that place. Then when the first bracket 121 reaches the next specified position on the curved track 110, the workbench 150 inspects the equipment at that place, and sequentially cruises on the curved track 110 to inspect the equipment, so as to complete the inspection operation of the workbench 150.

[0039] The above - described embodiments only represent several implementation manners of the present utility model. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several deformations and improvements can still be made, and these all belong to the protection scope of the present utility model. Therefore, the protection scope of the patent of the present utility model shall be subject to the appended claims.

Claims

1. A bending track mobile robot, characterized in that, Comprising: A curved track, which is formed with an inflection point; A moving mechanism, which includes a first bracket, a second bracket and two sets of roller assemblies. The first bracket is hinged to the second bracket. Each set of roller assemblies is distributed and installed on the first bracket and the second bracket. The roller assemblies move on the curved track so that the first bracket and the second bracket move relative to the curved track; Wherein, when the moving mechanism moves to the inflection point on the curved track, the first bracket and the second bracket adaptively rotate to form an angle so that the robot passes through the inflection point of the curved track.

2. The bending track mobile robot according to claim 1, characterized in that The moving mechanism further includes a first elastic member, which is connected between the first bracket and the second bracket so that when the robot passes through the inflection point, the angle between the first bracket and the second bracket elastically moves and resets.

3. The bending track mobile robot according to claim 2, wherein The curved track mobile robot further includes a displacement detection device, which includes a roller encoder and a second elastic member. The second elastic member is connected between the roller encoder and the first bracket so that the roller encoder elastically abuts against the curved track. When the angle between the first bracket and the second bracket is reset, the roller encoder detects the displacement of the first bracket relative to the curved track.

4. The bending track mobile robot according to claim 2, wherein The curved track mobile robot further includes a braking device, which is connected to the second bracket. One end of the braking device abuts against the inside of the curved track. The second bracket remains stationary and the first bracket moves forward so that the angle between the first bracket and the second bracket elastically moves and resets.

5. The bending track mobile robot according to claim 3, characterized in that, The roller encoder includes a mounting seat and a measuring wheel. The mounting seat is detachably connected to the second elastic member. The measuring wheel is installed on the mounting seat and moves with the first bracket. The measuring wheel is used to measure the distance that the first bracket moves relative to the curved track.

6. The bending track mobile robot according to claim 5, wherein, The roller encoder further includes a friction kit, which is sleeved on the measuring wheel and abuts against the curved track.

7. The bending track mobile robot according to claim 3, wherein The moving mechanism further includes a driving source, a first driving wheel, a second driving wheel and a transmission belt. The driving source is installed on the first bracket. The driving source drives the first driving wheel to rotate. The transmission belt is connected between the first driving wheel and the second driving wheel to drive the second driving wheel to rotate. The second driving wheel is connected to the roller assembly to provide the power for the bracket to move relative to the curved track.

8. The bending track mobile robot according to claim 7, wherein The moving mechanism further includes a tensioning wheel and a pressure regulating member. The pressure regulating member is movably connected to the first bracket. One end of the pressure regulating member is hinged to adjust the position of the tensioning wheel so that the tensioning wheel adjusts the pre-tightening degree of the transmission belt.

9. The bending track mobile robot according to claim 1, characterized in that, The roller assembly includes a first roller and a second roller. The curved track includes a side surface and a groove formed at the side surface. The first roller is rotatably connected to the groove, and the second roller abuts against the side surface.

10. The bending track mobile robot according to claim 1, wherein The curved track mobile robot further includes a workbench, which is connected to the first bracket and / or the second bracket for inspection operations.

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