CN102730009A - Small monorail travelling mechanism - Google Patents

Abstract

The invention relates to a walking mechanism of a special robot, specifically a small-sized single-track moving mechanism, which includes a chassis and two bogies that are independent of each other and have the same structure. The bogie is connected; the bogie includes a driving motor, a fixed frame, a driving wheel, a driven wheel, a guide wheel and a turntable. The motor is fixed on the fixed frame, the driving wheel is connected with the output shaft of the driving motor; a turntable is arranged on the top of the fixed frame, the chassis is placed on the turntable, the turntable can rotate relative to the chassis, and multiple guides are installed at the bottom of the fixed frame wheel. The invention is suitable for various curved rail shapes, the turning radius is small and flexible, and the angle of the turntable relative to the chassis can be changed to avoid the interference of the moving mechanism itself and realize the smooth operation of the moving mechanism on various curved roads.

Description

A small single track moving mechanism

technical field

The invention relates to a walking mechanism of a special robot, in particular to a small single-track moving mechanism.

Background technique

As an important part of the railway line, the track is an integral engineering structure. The track usually consists of two parallel steel rails. The rails are fixed on the sleepers, and the track bed is under the sleepers. The advantage of the existing double-track track is that the mobile carrier runs smoothly and has a high load-carrying capacity; however, due to the complicated support and fixed structure of the track, the occupied area is large, and the radius of the mobile carrier when turning is also large, so that when the mobile carrier is at the turn, , it is necessary to slow down, otherwise derailment accidents may easily occur.

Contents of the invention

In order to solve the problem that the existing mobile carrier needs to decelerate and derail at the turn when moving on double tracks, the purpose of the present invention is to provide a small single-track moving mechanism. The mobile mechanism can be used as a walking mechanism and applied to a mobile robot platform for detection and reconnaissance.

The purpose of the present invention is achieved through the following technical solutions:

The invention comprises a chassis and two bogies which are independent of each other and have the same structure. Each bogie runs on a track respectively. wheel, driven travel wheel, guide wheel and turntable, wherein the active travel wheel and the driven travel wheel are independent of each other and are rotatably installed on the fixed frame respectively, and the driving motor is fixedly connected to the fixed frame. The output shaft of the motor is connected; the top of the fixed frame is provided with a turntable, the chassis is placed on the turntable, the turntable is rotatable relative to the chassis, and a plurality of guide wheels are installed at the bottom of the fixed frame.

Wherein: the fixed frame is a cuboid, the two ends of the length direction are "concave" shapes, and rotatable guide wheels (8) are arranged on the two branches of each "concave" shape, and the guide wheels at both ends are respectively It is located on the outside of the track and is in rolling contact with the two sides of the track; the central axis of each guide wheel is parallel and perpendicular to the central axis of the driving wheel and the driven wheel; two through holes are symmetrically opened on the fixed frame , the driving wheel and the driven wheel are respectively accommodated in two through holes, and both the driving wheel and the driven wheel are in contact with the upper surface of the track; the central axis of the driving wheel and the center axis of the driven wheel The axes are parallel to each other in the horizontal plane; the middle part of the fixed frame is a hollow structure, which extends upwards to form a support frame, and the turntable is rotatably installed on the top of the support frame; the chassis in the moving mechanism is connected to the

The chassis of the next moving mechanism is connected in series, and each moving mechanism has a chassis and two bogies.

Advantage of the present invention and positive effect are:

1. The present invention adopts a double bogie structure, which is suitable for various curved rail shapes, and the turning radius is small and flexible. The turntable can change in angle relative to the chassis, avoiding the interference of the moving mechanism itself, and realizing the movement of the moving mechanism on various curves. run smoothly.

2. The present invention has a stable center of gravity, high bearing capacity, and stable movement on the track.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is the application schematic diagram of the present invention on track;

Fig. 3 is the structural front view of bogie of the present invention;

Fig. 4 is the right view of bogie of the present invention;

Wherein: 1 is a bogie, 2 is a chassis, 3 is a track, 4 is a driving motor, 5 is a fixed frame, 6 is a driving wheel, 7 is a driven wheel, 8 is a guide wheel, and 9 is a turntable.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings.

As shown in FIGS. 1-2 , the present invention includes a chassis 2 and two bogies 1 , and the two bogies 1 are located at both ends of the chassis 2 in the longitudinal direction.

The two bogies 1 are independent of each other and have the same structure, as shown in Fig. It is a cuboid, and the two ends of the fixed frame length direction are "concave" shapes, and rotatable guide wheels 8 are arranged on the two branches of each "concave" shape, that is, each bogie 1 is provided with four Two guide wheels 8; the guide wheels 8 at both ends are respectively located on the outside of the track 3, and are in rolling contact with the two sides of the track 3. The middle part of the fixed frame 5 is a hollow structure, which extends upwards to form a support frame. The turntable 9 is rotatably mounted on the top of the support frame through bearings and can rotate at any angle around its own axis. The chassis 2 is placed on the turntable 9. The turntable 9 is rotatable relative to the chassis 2, and the chassis 2 is connected to each bogie 1 through the turntable 9. There is also a through hole between the hollow part of the fixed frame 5 and the "concave" structure at each end, and the two through holes are symmetrical to the central axis of the fixed frame 5; the driving wheel 6 and the driven wheel 7 pass through the bearing respectively Installed in a through hole, the driving wheel 6 and the driven wheel 7 are in contact with the upper surface of the track 3 to support the weight of the moving mechanism itself. The drive motor 4 is fixedly connected to the "concave" structure at one end, and the driving wheel 6 is keyed to the output shaft of the drive motor 4 . The active traveling wheel 6 and the driven traveling wheel 7 are mutually independent, and the active traveling wheel 6 and the driven traveling wheel 7 are not coaxial, that is, the active traveling wheel 6 and the driven traveling wheel 7 have respective central shafts, and the axes of the two central shafts collinear. Two of four guide wheels 8 are at the front and two are behind, and are installed on the fixed mount 5. The central axis of each guide wheel 8 is parallel to each other, and perpendicular to the central axis of the driving wheel 6 and the driven wheel 7 respectively.

Working principle of the present invention is:

The driving motor 4 provides power for the moving mechanism to travel on the track 3, and the driving motors 4 in the two bogies 1 work synchronously. Driven by the driving motor 4, the active traveling wheel 6 provides the power for the bogie 1 to walk on the track 3; The effective radius rolls forward, guiding the bogie 1 to move forward or backward smoothly in the direction of the track 3; The axes are independent of each other, so when the bogie 1 is on a curved track, the passive travel of the driven road wheels 7 solves the differential speed problem of the two road wheels. The guide wheels 8 on one side or both sides will be subjected to radial pressure on the side of the track 3, and this pressure will force the bogie 1 to return to the equilibrium position; in addition, under the action of the turntable 9, the two independent bogies 1 can respectively There is an angle change with the chassis 2, which avoids the interference of the moving mechanism itself, and realizes the smooth operation of the moving mechanism on various curves.

The single track is characterized by the use of one track, which occupies a small area; in addition, the track width is narrow, and the track support frame has a simple structure and takes up little space. The single-track moving mechanism of the present invention uses a single track to support, stabilize and guide the moving mechanism. The moving mechanism is stuck on the track beam through its unique structure and can run smoothly. There is no need to consider the deceleration of the mechanism at the turning point, and there is no derailment possible.

The chassis 2 in the moving mechanism of the present invention can be connected in series with the chassis of the next moving mechanism through the connecting shaft, and accordingly, a plurality of moving mechanisms can be connected in series, just like each carriage of a train; there is a chassis 2 in each moving mechanism And two bogies 1. When the moving mechanism is on a straight track, one chassis 2 can correspond to two or more bogies 1; but if it is on a curved track, only one chassis can correspond to two bogies, otherwise, turning will not be possible at the turn .

Claims (6)

1. small-sized monorail travel mechanism, it is characterized in that: comprise chassis (2) and two bogie trucks (1) separate, that structure is identical, each bogie truck (1) is gone up operation at track (3) respectively, and said chassis (2) link to each other with two bogie trucks (1) respectively; Said bogie truck (1) comprises drive motor (4), fixed mount (5), positive transport wheel (6), driven road wheel (7), track adjusting wheel (8) and rotating disk (9); Wherein positive transport wheel (6) and driven road wheel (7) separate, be installed in rotation on the fixed mount (5) respectively; Drive motor (4) is fixed on the fixed mount (5), and said positive transport wheel (6) links to each other with the output shaft of drive motor (4); Be provided with rotating disk (9) at the top of fixed mount (5), chassis (2) place on the rotating disk (9), and said rotating disk (9) is rotatable with respect to chassis (2), and the bottom of fixed mount (5) is equipped with a plurality of track adjusting wheels (8).

2. by the described small-sized monorail of claim 1 travel mechanism; It is characterized in that: said fixed mount (5) is a cuboid; The two ends of length direction are " recessed " shape; In two branches of each " recessed " shape, be equipped with rotating track adjusting wheel (8), the track adjusting wheel at two ends (8) lay respectively at track (3) the outside, with two side rolling touch of track (3).

3. by the described small-sized monorail of claim 2 travel mechanism, it is characterized in that: the central axis of said each track adjusting wheel (8) parallels, and perpendicular to the central axis of positive transport wheel (6) and driven road wheel (7).

4. by claim 1 or 2 described small-sized monorail travel mechanisms; It is characterized in that: said fixed mount (5) is gone up symmetry and is had two through holes; Positive transport wheel (6) and driven road wheel (7) are placed in respectively in two through holes, and positive transport wheel (6) and driven road wheel (7) all contact with the upper surface of track (3); The central axis of the central axis of said positive transport wheel (6) and driven road wheel (7) is parallel to each other in horizontal surface.

5. by claim 1 or 2 described small-sized monorail travel mechanisms, it is characterized in that: the middle part of said fixed mount (5) is a hollow structure, extends upward to form a bracing frame, and said rotating disk (9) is installed in rotation on the top of this bracing frame.

6. by the described small-sized monorail of claim 1 travel mechanism, it is characterized in that: connect with the chassis of next travel mechanism through adapter shaft the chassis in the travel mechanism (2), and a chassis (2) and two bogie trucks (1) are all arranged in each travel mechanism.

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