Drive wheel device, rail-mounted moving device and rail-mounted mobile robot

Abstract

Embodiments of the present disclosure disclose a driving wheel device, a hanging rail moving device, and a hanging rail mobile robot. A specific implementation of the method includes: a driving wheel; a driving wheel guiding shaft penetrating through a driving wheel seat; the driving wheel seat fixedly connected to both sides of the driving wheel, and the driving wheel seat can drive the driving wheel to slide up and down along the driving wheel guiding shaft; an elastic member disposed between the driving wheel seat and an adjusting device to enable the adjusting device to move up and down along the driving wheel guiding shaft. This implementation realizes a single-wheel driving method with high stability, low cost, and adjustable driving force.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the fields of drive wheels and mobile robots, and more particularly to drive wheel devices, rail-mounted mobile devices, and rail-mounted mobile robots. Background Art

[0002] With the development of computer technology, various mobile robot products have been more and more widely used. At present, in scenarios such as tunnels, underground pipe galleries, automated factories, computer rooms, and hospitals, rail-mounted robots are also increasingly used. The existing indoor rail-mounted intelligent inspection robot system is usually an inspection robot system designed for indoor working environments based on outdoor models, which can replace humans to complete various inspection tasks, fault diagnosis, early warning, etc. Generally, rail-mounted robots can carry some sensors and cameras to achieve reciprocating inspection work on a fixed path, can operate autonomously, and can monitor the equipment within the inspection range all day long through high-performance detection instruments. Summary of the Invention

[0003] Embodiments of the present disclosure provide a drive wheel device, a rail-mounted mobile device, and a rail-mounted mobile robot.

[0004] In a first aspect, an embodiment of the present disclosure provides a drive wheel device, which includes: a drive wheel; a drive wheel guide shaft penetrating through a drive wheel seat; the drive wheel seat fixedly connected to both sides of the drive wheel, and the drive wheel seat can drive the drive wheel to slide up and down along the drive wheel guide shaft; an elastic member disposed between the drive wheel seat and an adjusting device to move the adjusting device up and down along the drive wheel guide shaft.

[0005] In some embodiments, the drive wheel includes a hub motor, and a central shaft of the hub motor is fixedly connected to the drive wheel seat.

[0006] In some embodiments, a side surface of the central shaft of the hub motor is engaged with a side surface of a middle hole in the drive wheel seat to prevent the central shaft of the drive wheel from rotating relative to the drive wheel seat.

[0007] In some embodiments, a positioning step is provided at a fixed end of the central shaft of the hub motor, and the positioning step is in contact with a side surface of the drive wheel seat to prevent the drive wheel from moving along the central shaft of the hub motor.

[0008] In some embodiments, the drive wheel includes a rubber wheel with a width greater than a preset threshold, and the rubber wheel is provided with concave and convex patterns on a contact surface with the rail.

[0009] In some embodiments, the drive wheel device further includes: a wear-resistant bushing disposed between the drive wheel seat and the drive wheel guide shaft.

[0010] In some embodiments, a limiting portion for limiting the above-mentioned wear-resistant bushing is provided at the end of the above-mentioned driving wheel seat.

[0011] In some embodiments, a groove is provided on the bottom surface of the above-mentioned driving wheel seat, and the above-mentioned groove is used for installing a bushing gland, and the shape of the above-mentioned bushing gland matches that of the above-mentioned groove.

[0012] In some embodiments, the above-mentioned bushing gland is connected to the above-mentioned driving wheel seat by countersunk head screws.

[0013] In some embodiments, the above-mentioned adjusting device includes double nuts to prevent the nuts from loosening.

[0014] In a second aspect, an embodiment of the present disclosure provides a hanging rail moving device, which includes: a load-bearing wheel assembly that contacts the upper surface of the lower end of the hanging rail during operation and is used to bear the weight of the above-mentioned hanging rail moving device; a side guiding wheel assembly, the upper part of the above-mentioned side guiding wheel assembly is connected to the above-mentioned load-bearing wheel assembly and contacts the side surface of the lower end of the above-mentioned hanging rail during operation, and the above-mentioned side guiding wheel assembly is fixedly connected to the upper surface of the driving layer bottom plate; a driving wheel device as described in the first aspect; the above-mentioned driving layer bottom plate is provided with a through hole matching the above-mentioned driving wheel, so that the above-mentioned driving wheel connected to the lower surface of the above-mentioned driving layer bottom plate through the above-mentioned driving wheel guiding shaft moves closely against the lower surface of the lower end of the above-mentioned hanging rail during operation.

[0015] In some embodiments, both the above-mentioned load-bearing wheel assembly and the above-mentioned side guiding wheel assembly are symmetrically arranged.

[0016] In some embodiments, the above-mentioned driving wheel device is centrally arranged relative to the above-mentioned driving layer bottom plate.

[0017] In some embodiments, the above-mentioned driving wheel guiding shaft includes a stepped end, and the above-mentioned driving wheel guiding shaft is fixedly connected to the above-mentioned driving layer bottom plate through the above-mentioned stepped end.

[0018] In a third aspect, an embodiment of the present disclosure provides a hanging rail mobile robot, which includes: a hanging rail moving device as described in the second aspect above.

[0019] The driving wheel device, the hanging rail moving device, and the hanging rail mobile robot provided by the embodiments of the present disclosure change the pressure of the elastic member on the driving wheel seat by moving the adjusting device up and down along the driving wheel guiding shaft penetrating through the driving wheel seat. Also, by fixedly connecting the driving wheel seat to both sides of the above-mentioned driving wheel, during operation, the upper surface of the driving wheel closely adheres to the lower surface of the lower end portion of the hanging rail to move, so that the driving wheel seat drives the driving wheel to slide up and down along the driving wheel guiding shaft, thereby converting the pressure of the elastic member on the driving wheel seat into the driving force of the driving wheel, thus realizing a single-wheel driving method with high stability, low cost, and adjustable driving force.

[0020] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objectives, and advantages of the present disclosure will become more obvious. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts:

[0022] Figure 1 is a schematic diagram of an embodiment of the driving wheel device according to the present disclosure;

[0023] Figure 2a is a schematic diagram of the driving wheel in an embodiment of the driving wheel device according to the present disclosure;

[0024] Figure 2b is a schematic diagram of the driving wheel seat in an embodiment of the driving wheel device according to the present disclosure;

[0025] Figure 2c is a bottom view of an embodiment of a driving wheel device according to the present disclosure;

[0026] Figure 3a is a partial cross-sectional view of an embodiment of the driving wheel device according to the present disclosure;

[0027] Figure 3b is a partial cross-sectional view of another embodiment of the driving wheel device according to the present disclosure;

[0028] Figure 4a is a schematic diagram of the driving wheel seat in another embodiment of the driving wheel device according to the present disclosure;

[0029] Figure 4bSchematic diagram of the bushing gland in yet another embodiment of the drive wheel device according to the present disclosure;

[0030] Figure 4c Bottom view of yet another embodiment of the drive wheel device according to the present disclosure;

[0031] Figure 5 Schematic diagram of still another embodiment of the drive wheel device according to the present disclosure;

[0032] Figure 6 Schematic diagram of an embodiment of the hanging rail moving device according to the present disclosure;

[0033] Figure 7 Schematic diagram of the front view of yet another embodiment of the hanging rail moving device according to the present disclosure;

[0034] Figure 8 Partial sectional view of still another embodiment of the hanging rail moving device according to the present disclosure.

[0035] Figure 9 Schematic diagram of the electronic device included in an embodiment of the hanging rail moving robot according to the present disclosure. Detailed implementation manners

[0036] The present disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. It can be understood that the specific embodiments described herein are only used to explain the related invention, rather than limiting the invention. Thus, all other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts belong to the scope of protection of the present disclosure. Additionally, it should be noted that for the sake of description, only parts related to the relevant invention are shown in the drawings.

[0037] It should be noted that, without conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other. The present disclosure will be described in detail below with reference to the drawings and embodiments.

[0038] Hanging rail moving robots usually move by means of friction drive, that is, mainly rely on the frictional force between the friction wheels and the track for driving. Therefore, how to achieve low-cost and high-stability drive has become a key problem to be solved. In the prior art, most of the drives of hanging rail robots adopt double-wheel drive, but it is difficult to ensure the synchronization of the two drive wheels with double-wheel drive. The prior art also has the method of using gear-rack drive, but since the rack is rigid and difficult to bend, it cannot be installed for tracks that need to be bent, and the application scenarios are severely limited; if a custom-made rack is used, the cost is too high. The prior art also has a solution of using synchronous pulley drive, but its track composition is complex, so the cost is relatively high.

[0039] Figure 1 Fig. 10 shows a schematic diagram of an embodiment of a drive wheel device 10 according to the present disclosure.

[0040] As Figure 1 shown, the present disclosure provides a drive wheel device 10. The drive wheel device 10 may include: a drive wheel 101, a drive wheel guide shaft 102, a drive wheel seat 103, an elastic member 104, and an adjustment device 105. Among them, the driving force for the rotation of the drive wheel 101 may come from various motors for driving the drive wheel 101. The upper surface of the drive wheel 101 may move closely against the lower surface of the lower end of the hanging rail during operation. Thus, the frictional force between the drive wheel 101 and the lower surface of the hanging rail can provide the driving force for the drive wheel device 10 to move along the hanging rail. The drive wheel guide shaft 102 may be disposed through the drive wheel seat 103. The drive wheel seat 103 may be fixedly connected to both sides of the drive wheel 101. Thus, the drive wheel seat 103 can drive the drive wheel 101 to slide up and down along the drive wheel guide shaft 102. The elastic member 104 may be disposed between the drive wheel seat 103 and the adjustment device 105 so that when the adjustment device 105 moves up and down along the drive wheel guide shaft 102, the pressure of the drive wheel 101 on the hanging rail is changed.

[0041] In this embodiment, the elastic member 104 may include various components that can change the pressure on the drive wheel seat 103 by stretching and contracting, such as corrugated rubber rings, dense sponges, etc. The elastic member 104 can also play a role in reducing vibration when passing through the track gap.

[0042] In this embodiment, the adjustment device 105 may include various devices that can move up and down along the drive wheel guide shaft 102 and can change the pressure of the drive 101 wheel on the hanging rail, such as clamps that can be fixed at different positions on the drive wheel guide shaft 102.

[0043] In this embodiment, since the drive wheel seat 103 is fixedly connected to the drive wheel 101, adjusting the pressure of the elastic member 104 on the drive wheel seat 103 is equivalent to synchronously adjusting the pressure of the drive wheel 101 on the hanging rail, thereby enabling adjustment of the magnitude of the driving force of the drive wheel 101.

[0044] In this embodiment, by adjusting the position of the adjustment device 105 on the drive wheel guide shaft 102, the elastic member 104 is squeezed to generate elastic deformation, thereby generating an upward pressure on the drive wheel seat 103. Then, the drive wheel seat 103 can drive the fixedly connected drive wheel 101 to generate a pressure on the hanging rail, thereby adjusting the frictional force between the drive wheel 101 and the hanging rail.

[0045] In some alternative implementation manners of this embodiment, a hub motor may be included in the driving wheel 101. Wherein, the central axis of the hub motor may be fixedly connected to the driving wheel seat 103. Generally, the hub motor is coaxially connected to the driving wheel 101. Since the hub motor is small in size, the space of the driving wheel device 10 can be made more compact. Moreover, since the central axis of the hub motor generally does not rotate following the rotor of the motor, the central axis of the hub motor can be fixedly connected to the driving wheel seat 103, increasing the stability of the driving wheel device.

[0046] In some alternative implementation manners of this embodiment, the driving wheel seat 103 may be a vertical plate. Wider ends may be provided at both ends of the plate. Through holes may be provided in the ends to accommodate the driving wheel guide shaft 102. Through holes may be provided on the side surface (i.e., the plane where the plate is located) of the driving wheel seat 103 to connect with the driving wheel 101.

[0047] Continue to refer to Figure 2a , which shows the driving wheel 101 in an embodiment of the driving wheel device according to the present disclosure.

[0048] In this embodiment, the driving wheel device 10 may include: a driving wheel 101, a driving wheel guide shaft 102, a driving wheel seat 103, an elastic member 104, and an adjusting device 105. Wherein, the upper surface of the driving wheel 101 can move closely against the lower surface of the lower end portion of the hanging rail during operation. The driving wheel guide shaft 102 may be disposed through the driving wheel seat 103. The driving wheel seat 103 may be fixedly connected to both sides of the driving wheel 101. The driving wheel seat 103 can drive the driving wheel 101 to slide up and down along the driving wheel guide shaft 102. The elastic member 104 may be disposed between the driving wheel seat 103 and the adjusting device 105 to change the pressure of the driving wheel 101 on the hanging rail when the adjusting device 105 moves up and down along the driving wheel guide shaft 102.

[0049] The descriptions of the driving wheel 101, the driving wheel guide shaft 102, the driving wheel seat 103, the elastic member 104, and the adjusting device 105 included in the driving wheel device 10 may be the same as the corresponding descriptions in the foregoing embodiments, and will not be elaborated here.

[0050] Based on the hub motor included in the driving wheel 101, as Figure 2a shown, the side surface A of the central axis of the hub motor can cooperate with the side surface B of the hole (see Figure 2b ) in the driving wheel seat 103 to prevent the central axis of the driving wheel 101 from rotating relative to the driving wheel seat 103.

[0051] In this embodiment, the above-mentioned side surface A can generally be a plane in the side surfaces of the central axis of the above-mentioned in-wheel motor, and the bottom surface contour of the above-mentioned central axis can be consistent with the shape of the hole in the above-mentioned drive wheel seat 103. Thus, the side surface A of the central axis of the above-mentioned in-wheel motor can cooperate with the side surface B (such as a plane part) of the hole in the above-mentioned drive wheel seat 103, so as to clamp the above-mentioned central axis to prevent it from rotating in the above-mentioned hole.

[0052] In some alternative implementation manners of this embodiment, a positioning step C can be provided at the fixed end of the central axis of the above-mentioned in-wheel motor. Wherein, the above-mentioned positioning step C can be attached to the side surface D of the above-mentioned drive wheel seat 103 to prevent the above-mentioned drive wheel 101 from moving along the central axis of the above-mentioned in-wheel motor (see Figure 2c ). Thus, different side surfaces of the above-mentioned positioning step C can be respectively attached to the inner side of the hole in the above-mentioned drive wheel seat 103 and the side surface D of the above-mentioned drive wheel seat 103 to prevent the above-mentioned drive wheel 101 from moving left and right along the central axis of the above-mentioned in-wheel motor.

[0053] In some alternative implementation manners of this embodiment, see Figure 2c , the above-mentioned drive wheel device 10 can further include: a locknut provided outside the drive wheel seat 103. The above-mentioned locknut can be coaxially arranged with the above-mentioned drive wheel 101 to prevent the above-mentioned drive wheel 101 from loosening during movement.

[0054] In some alternative implementation manners of this embodiment, the above-mentioned drive wheel 101 can include a rubber wheel with a width greater than a preset threshold. Concave and convex patterns can be provided on the contact surface between the above-mentioned rubber wheel and the hanging rail. By the above method, the relatively wide-sized drive wheel helps to improve the stability during movement, and the friction between the rubber wheel with concave and convex patterns and the hanging rail can be increased, so as to help improve the movement stability and driving force of the drive wheel device 10 during the movement of the hanging rail.

[0055] Continuing to refer to Figure 3a , a partial cross-sectional view of an embodiment of a drive wheel device according to the present disclosure is shown.

[0056] In this embodiment, the above-mentioned driving wheel device 10 may include: a driving wheel 101, a driving wheel guiding shaft 102, a driving wheel seat 103, an elastic member 104, and an adjusting device 105. Among them, the upper surface of the above-mentioned driving wheel 101 can move closely against the lower surface of the lower end of the hanging rail during operation. The above-mentioned driving wheel guiding shaft 102 can be disposed through the above-mentioned driving wheel seat 103. The above-mentioned driving wheel seat 103 can be fixedly connected to both sides of the above-mentioned driving wheel 101. The above-mentioned driving wheel seat 103 can drive the above-mentioned driving wheel 101 to slide up and down along the above-mentioned driving wheel guiding shaft 102. The above-mentioned elastic member 104 can be disposed between the above-mentioned driving wheel seat 103 and the adjusting device 105 so that when the adjusting device 105 moves up and down along the driving wheel guiding shaft 102, the pressure of the above-mentioned driving wheel 101 on the above-mentioned hanging rail is changed.

[0057] The descriptions of the driving wheel 101, the driving wheel guiding shaft 102, the driving wheel seat 103, the elastic member 104, and the adjusting device 105 included in the above-mentioned driving wheel device 10 can be the same as the corresponding descriptions in the foregoing embodiments, and will not be elaborated here.

[0058] As Figure 3a shown, the above-mentioned driving wheel device 10 may further include: a wear-resistant bushing 106 disposed between the above-mentioned driving wheel seat 103 and the above-mentioned driving wheel guiding shaft 102. Thus, the effect of lubrication-free can be achieved through the sliding friction between the wear-resistant bushing 106 and the inner side of the holes in the above-mentioned driving wheel guiding shaft 102 and the above-mentioned driving wheel seat 103.

[0059] In this embodiment, the above-mentioned wear-resistant bushing can be made of various wear-resistant materials, such as wear-resistant rubber, high-strength plastic, etc.

[0060] Generally, the size of the hole in the above-mentioned driving wheel seat 103 is matched with the sizes of the above-mentioned wear-resistant bushing 106 and the above-mentioned driving wheel guiding shaft 102 so as to prevent the above-mentioned wear-resistant bushing 106 from slipping out while not affecting the up-and-down sliding of the driving wheel seat 103 along the above-mentioned driving wheel guiding shaft 102.

[0061] In some alternative implementation manners of this embodiment, the difference between the size of the hole in the above-mentioned driving wheel seat 103 and the size of the above-mentioned driving wheel guiding shaft 102 can be made larger, so as to prevent the driving wheel seat 103 from getting stuck during the up-and-down sliding along the above-mentioned driving wheel guiding shaft 102 on the premise of preventing the above-mentioned wear-resistant bushing 106 from slipping out.

[0062] In some alternative implementation manners of this embodiment, based on the wear-resistant bushing 106 disposed between the above-mentioned driving wheel seat 103 and the above-mentioned driving wheel guiding shaft 102 included in the above-mentioned driving wheel device 10, see Figure 3b, a limiting portion 1031 for limiting the wear-resistant bushing 106 may be provided at the end of the driving wheel seat 103. The limiting portion 1031 may be, for example, a pre-set protrusion. Thus, the limiting portion 1031 can prevent the wear-resistant bushing 106 from slipping out of the hole in the driving wheel seat 103.

[0063] Further referring to Figure 4a , a driving wheel seat in another embodiment of the driving wheel device according to the present disclosure is shown.

[0064] In this embodiment, the driving wheel device 10 may include: a driving wheel 101, a driving wheel guide shaft 102, a driving wheel seat 103, an elastic member 104, and an adjusting device 105. Among them, the upper surface of the driving wheel 101 can closely adhere to the lower surface of the lower end of the hanging rail during operation. The driving wheel guide shaft 102 may be disposed through the driving wheel seat 103. The driving wheel seat 103 may be fixedly connected to both sides of the driving wheel 101. The driving wheel seat 103 can drive the driving wheel 101 to slide up and down along the driving wheel guide shaft 102. The elastic member 104 may be disposed between the driving wheel seat 103 and the adjusting device 105 so that when the adjusting device 105 moves up and down along the driving wheel guide shaft 102, the pressure of the driving wheel 101 on the hanging rail is changed.

[0065] The descriptions of the driving wheel 101, the driving wheel guide shaft 102, the driving wheel seat 103, the elastic member 104, and the adjusting device 105 included in the driving wheel device 10 may be consistent with the corresponding descriptions in the foregoing embodiments, and will not be elaborated herein.

[0066] As Figure 4a shown, based on the wear-resistant bushing 106 provided between the driving wheel seat 103 and the driving wheel guide shaft 102 included in the driving wheel device 10, and the limiting portion 1031 provided at the end of the driving wheel seat 103 for limiting the wear-resistant bushing 106 (see Figure 3b ), a groove E may be provided on the bottom surface of the driving wheel seat 103. Among them, the groove E can be used to install a bushing gland 107. The shape of the bushing gland 107 (see Figure 4b shown) can cooperate with the groove E (see Figure 4c shown). Thus, the wear-resistant bushing 106 can be pushed in from the bottom surface of the driving wheel seat 103 for installation, and the movement space of the wear-resistant bushing 106 is limited by the bushing gland 107 and the limiting portion 1031 of the wear-resistant bushing 106 to prevent the wear-resistant bushing 106 from slipping out.

[0067] In some alternative implementation manners of this embodiment, the length of the wear-resistant bushing 106 is generally consistent with the distance between the limiting portion 1031 of the wear-resistant bushing 106 and the groove E.

[0068] It should be noted that Figure 4a and Figure 4b the shapes of the groove E and the bushing gland 107 shown are merely exemplary rather than restrictive. Without affecting the function, the groove E and the bushing gland 107 can have any shape.

[0069] In some alternative implementation manners of this embodiment, based on the bushing gland 107 and the groove E, the bushing gland 107 and the drive wheel seat 103 can be connected by countersunk head screws. The head of the countersunk head screw can be provided with a tool tightening groove, and the tool tightening groove can include various forms, such as a slotted shape, a cross shape, an internal hexagonal shape, a plum blossom shape, a pentagonal shape, etc. Since the head of an ordinary screw will protrude above the surface of the connected object, making the surface uneven, this solution uses countersunk head screws that can make the surface flat for the connection between the bushing gland 107 and the drive wheel seat 103, thereby avoiding the screw protruding from the drive wheel seat 103, avoiding occupying the space of the elastic member 104 arranged below, and further preventing damage to the overall structure of the entire drive wheel device 10.

[0070] Continuing to refer to Figure 5 , another embodiment of the drive wheel device according to the present disclosure is shown.

[0071] In this embodiment, the drive wheel device 10 may include: a drive wheel 101, a drive wheel guide shaft 102, a drive wheel seat 103, an elastic member 104, and an adjusting device 105. Among them, the upper surface of the drive wheel 101 can move closely against the lower surface of the lower end portion of the hanging rail during operation. The drive wheel guide shaft 102 can be disposed through the drive wheel seat 103. The drive wheel seat 103 can be fixedly connected to both sides of the drive wheel 101. The drive wheel seat 103 can drive the drive wheel 101 to slide up and down along the drive wheel guide shaft 102. The elastic member 104 can be disposed between the drive wheel seat 103 and the adjusting device 105 so that when the adjusting device 105 moves up and down along the drive wheel guide shaft 102, the pressure of the drive wheel 101 on the hanging rail is changed.

[0072] The descriptions of the drive wheel 101, the drive wheel guide shaft 102, the drive wheel seat 103, the elastic member 104, and the adjusting device 105 included in the drive wheel device 10 can be the same as the corresponding descriptions in the foregoing embodiments, and will not be elaborated here.

[0073] In some alternative implementation manners of this embodiment, the elastic member 104 described above may include a compression spring. Since a compression spring is suitable for bearing axial pressure, when adjusting the adjusting device 105, the pressure can be better transmitted to the driving wheel 101 and the hanging rail. Optionally, both ends of the compression spring may be rounded or ground flat.

[0074] Optionally, based on the above alternative implementation manner, the shape of the compression spring may generally be the same as the shape of the driving wheel guide shaft 102. As an example, the shape of the compression spring may include but is not limited to at least one of the following: cylindrical, conical, convex in the middle, concave in the middle.

[0075] In some alternative implementation manners of this embodiment, based on the elastic member 104 including a compression spring, during operation, the compression amount of the compression spring is generally greater than a preset threshold value, that is, the compression spring generally reserves sufficient compression amount so that the size of the hanging rail changes or when running through a track gap, the driving wheel 101 can still be pressed tightly against the hanging rail.

[0076] In some alternative implementation manners of this embodiment, the adjusting device 105 may include an adjusting nut. Thus, through the cooperation between the adjusting nut 105 and the compression spring 104, the pressure between the driving wheel 101 and the hanging rail can be adjusted more conveniently, thereby adjusting the driving force of the driving wheel 101.

[0077] In some alternative implementation manners of this embodiment, the adjusting nut may include a double nut to prevent the nut from loosening. Thus, the effect of driving force adjustment can be ensured.

[0078] Next, with reference to Figure 6 , an embodiment of a hanging rail moving device according to the present disclosure is shown.

[0079] As Figure 6 shown, the hanging rail moving device may include a load-bearing wheel assembly 01, a side guide wheel assembly 02, a driving wheel device 10, and a driving layer bottom plate 03. Among them, the load-bearing wheel assembly 01 can be in contact with the upper surface of the lower end of the hanging rail 00 during operation, and is used to bear the weight of the hanging rail moving device. The upper part of the side guide wheel assembly 02 can be connected to the load-bearing wheel assembly 01. The side guide wheel assembly 02 can be in contact with the side surface of the lower end of the hanging rail 00 during operation. The side guide wheel assembly 02 can be fixedly connected to the upper surface of the driving layer bottom plate 03. The driving wheel device 10 can be consistent with the description of any one of the foregoing Figures 1 - 5 embodiments. The driving layer bottom plate 03 may be provided with a through hole matching the driving wheel 101, so that the driving wheel 101 connected to the lower surface of the driving layer bottom plate 03 through the driving wheel guide shaft 102 moves closely against the lower surface of the lower end of the hanging rail through the through hole during operation.

[0080] It should be noted that the above-mentioned hanging rail 00 can be, for example, an I-shaped hanging rail. Thus, the upper surface of the lower end of the above-mentioned hanging rail can be in contact with the above-mentioned load-bearing wheel assembly 01, the side surface of the lower end of the above-mentioned hanging rail can be in contact with the above-mentioned side guiding wheel assembly 02, and the lower surface of the lower end of the above-mentioned hanging rail can be in contact with the above-mentioned driving wheel 101.

[0081] Through the solution disclosed in this embodiment, the above-mentioned load-bearing wheel assembly 01 can bear the weight of the entire hanging rail moving device, and the above-mentioned side guiding wheel assembly can be used to provide the running guidance for the above-mentioned hanging rail moving device. Thus, the entire above-mentioned hanging rail moving device can be driven to move along the hanging rail by the driving wheel device 10 described above, realizing a single-wheel-driven hanging rail moving solution with low cost and high stability.

[0082] In some alternative implementation manners of this embodiment, the above-mentioned load-bearing wheel assembly 01 may include a load-bearing wheel for moving on the upper surface of the lower end of the above-mentioned hanging rail 00 (for example, the lower part of the I-shaped hanging rail) and a connection support part. Among them, one end of the above-mentioned connection support part can be used to connect with the above-mentioned load-bearing wheel, and the other end can be used to connect with the above-mentioned side guiding wheel assembly 02.

[0083] In some alternative implementation manners of this embodiment, the above-mentioned side guiding wheel assembly 02 may include a side guiding wheel for moving on the side surface of the lower end of the above-mentioned hanging rail 00 (for example, the lower part of the I-shaped hanging rail) and a connection part. Among them, one end of the above-mentioned connection part can be used to connect with the above-mentioned side guiding wheel, and the other end can be used to connect with the above-mentioned load-bearing wheel assembly 01. The above-mentioned side guiding wheels can usually be arranged in parallel to be perpendicular to the side surface of the lower end of the above-mentioned hanging rail 00.

[0084] Optionally, the other end of the above-mentioned connection part can be used to connect with the connection support part in the above-mentioned load-bearing wheel assembly 01.

[0085] Optionally, the above-mentioned connection part may further include elastic components arranged on both sides of the above-mentioned side guiding wheel, so as to reduce the vibration during operation.

[0086] Optionally, the above-mentioned elastic components may include springs.

[0087] Continuing to refer to Figure 7 , a front view of another embodiment of the hanging rail moving device according to the present disclosure is shown.

[0088] In this embodiment, the above-mentioned hanging rail moving device may include a load-bearing wheel assembly 01, a side guiding wheel assembly 02, a driving wheel device 10, and a driving layer bottom plate 03. Among them, the above-mentioned load-bearing wheel assembly 01 can be in contact with the upper surface of the lower end of the hanging rail 00 during operation, and is used to bear the weight of the above-mentioned hanging rail moving device. The upper part of the above-mentioned side guiding wheel assembly 02 can be connected to the above-mentioned load-bearing wheel assembly 01. The above-mentioned side guiding wheel assembly 02 can be in contact with the side surface of the lower end of the above-mentioned hanging rail 00 during operation. The above-mentioned side guiding wheel assembly 02 can be fixedly connected to the upper surface of the driving layer bottom plate 03. The above-mentioned driving wheel device 10 can be consistent with the description of any one of the foregoing Figures 1 - 5 embodiments. The above-mentioned driving layer bottom plate 03 can be provided with a through hole matching the above-mentioned driving wheel 101, so that the above-mentioned driving wheel 101 connected to the lower surface of the driving layer bottom plate 03 through the above-mentioned driving wheel guiding shaft 102 is in close contact with the lower surface of the lower end of the above-mentioned hanging rail during operation and moves.

[0089] The descriptions of the load-bearing wheel assembly 01, the side guiding wheel assembly 02, the driving wheel device 10, and the driving layer bottom plate 03 included in the above-mentioned hanging rail moving device can be consistent with the corresponding descriptions in the foregoing embodiments, and will not be elaborated here.

[0090] Further referring to Figure 7 , in some optional implementation manners of this embodiment, both the above-mentioned load-bearing wheel assembly 01 and the side guiding wheel assembly 02 can be symmetrically arranged. Specifically, usually one set is arranged on each of the left and right sides of the above-mentioned load-bearing wheel assembly 01. The symmetric arrangement can make the operation of the above-mentioned hanging rail moving device more stable. Usually one set is arranged on each of the left and right sides of the above-mentioned side guiding wheel assembly 02. The symmetric arrangement can also make the operation of the above-mentioned hanging rail moving device more stable.

[0091] In some optional implementation manners of this embodiment, the above-mentioned load-bearing wheel assembly 101 and the side guiding wheel assembly 102 can be correspondingly arranged with the above-mentioned driving wheel guiding shaft 102.

[0092] Optionally, the above-mentioned load-bearing wheel assembly 101, the side guiding wheel assembly 102, and the above-mentioned driving wheel guiding shaft 102 can each be 4, so as to ensure the flexibility of operation on the basis of the stable operation of the above-mentioned hanging rail moving device.

[0093] In some optional implementation manners of this embodiment, the above-mentioned driving wheel device 10 can be centrally arranged relative to the above-mentioned driving layer bottom plate 03. Thus, it further makes the operation of the above-mentioned hanging rail moving device more stable.

[0094] Further referring to Figure 8 , a partial sectional view showing still another embodiment of the hanging rail moving device according to the present disclosure is shown.

[0095] In this embodiment, the above-mentioned hanging rail moving device may include a load-bearing wheel assembly 01, a side guiding wheel assembly 02, a driving wheel device 10, and a driving layer bottom plate 03. Among them, the above-mentioned load-bearing wheel assembly 01 can be in contact with the upper surface of the lower end of the hanging rail 00 during operation, and is used to bear the weight of the above-mentioned hanging rail moving device. The upper part of the above-mentioned side guiding wheel assembly 02 can be connected to the above-mentioned load-bearing wheel assembly 01. The above-mentioned side guiding wheel assembly 02 can be in contact with the side surface of the lower end of the above-mentioned hanging rail 00 during operation. The above-mentioned side guiding wheel assembly 02 can be fixedly connected to the upper surface of the driving layer bottom plate 03. The above-mentioned driving wheel device 10 can be consistent with the description of any one of the foregoing Figures 1 - 5 embodiments. The above-mentioned driving layer bottom plate 03 can be provided with a through hole matching the above-mentioned driving wheel 101, so that the above-mentioned driving wheel 101 connected to the lower surface of the driving layer bottom plate 03 through the above-mentioned driving wheel guiding shaft 102 moves closely against the lower surface of the lower end of the above-mentioned hanging rail during operation.

[0096] The descriptions of the load-bearing wheel assembly 01, the side guiding wheel assembly 02, the driving wheel device 10, and the driving layer bottom plate 03 included in the above-mentioned hanging rail moving device can be consistent with the corresponding descriptions in the foregoing embodiments, and will not be elaborated here.

[0097] As Figure 8 shown, in this embodiment, the above-mentioned driving wheel guiding shaft 102 may include a stepped end 1021. Among them, the above-mentioned driving wheel guiding shaft 102 can be fixedly connected to the above-mentioned driving layer bottom plate 03 through the above-mentioned stepped end. Thus, the structure of the above-mentioned hanging rail moving device can be made more stable.

[0098] In some optional implementation manners of this embodiment, the description of the bushing gland 107 can be consistent with the corresponding description in the foregoing embodiments, and will not be elaborated here.

[0099] Next, refer to Figure 9 , which shows a schematic structural diagram of a hanging rail mobile robot 900 suitable for implementing the embodiments of the present application. The hanging rail mobile robot in the embodiments of the present application may include, but is not limited to, various electronic devices capable of moving along the hanging rail, such as inspection robots. Figure 9 The hanging rail mobile robot shown is only an example and should not impose any limitation on the functions and usage scope of the embodiments of the present application.

[0100] As Figure 9As shown, the hanging-rail mobile robot 900 may include a processor 901, which may perform various appropriate actions and processes according to programs stored in a memory 902. The processor 901 may be various general-purpose and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 901 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The above-mentioned memory 902 may also store various programs and data required for the operation of the hanging-rail mobile robot 900. The processor 901 and the memory 902 are connected to each other through a bus 905. An input device 903 and an output device 904 are also connected to the bus 604.

[0101] The calculator 901 may execute each method and process involved in the hanging-rail mobile robot 900. For example, in some embodiments, a method for processing collected sensor data or images may be implemented as a computer software program, which is tangibly included in a machine-readable medium, such as the memory 902. In some embodiments, part or all of the computer program may be loaded and / or installed onto the hanging-rail mobile robot 900 via the above-mentioned memory 902. When the computer program is loaded and executed by the calculator 901, one or more steps of various methods for processing collected sensor data or images may be executed.

[0102] Generally, the above-mentioned input device 903 may include, but is not limited to, at least one of the following: a camera, a microphone, an accelerometer, a gyroscope, etc. The above-mentioned output device 904 may include, but is not limited to, at least one of the following: a liquid crystal display (LCD), a speaker, a vibrator, etc. Although Figure 9 the hanging-rail mobile robot 900 with various devices is shown, it should be understood that it is not required to implement or have all the shown devices. More or fewer devices may be alternatively implemented or had. Figure 9 Each block shown in may represent one device or, as needed, multiple devices.

[0103] The various embodiments of the method for processing the collected sensor data or images described above may be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system on a chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: implemented in one or more computer programs that may be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, and may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0104] Computer program code for performing the method for processing the collected sensor data or images may be written in one or more programming languages or combinations thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and also including conventional procedural programming languages such as "C", the Python language, or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0105] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media would include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0106] To provide interaction with a user, a method for processing acquired sensor data or images can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0107] The method for processing acquired sensor data or images described herein can be implemented in a computing system including a backend component (e.g., as a data server), or a computing system including a middleware component (e.g., an application server), or a computing system including a frontend component (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), and the Internet.

[0108] Schematic diagrams, sectional views, structural diagrams, etc. in the drawings illustrate the structures, possible architectures, functions, and operations of products according to various embodiments of the present disclosure. In this regard, each component in the schematic diagram can represent a part of the structure. It should also be noted that in some alternative implementations, the components can be replaced in a different order than that marked in the drawings.

[0109] In the drive wheel device, hanging rail moving device, and hanging rail mobile robot provided by the embodiments of the present disclosure, by adjusting the device 105 to move up and down along the drive wheel guide shaft 102 penetrating through the drive wheel seat 103, the pressure of the elastic member 104 disposed between the drive wheel seat 103 and the adjusting device 105 on the drive wheel seat 103 is changed. Also, by fixedly connecting the drive wheel seat 103 to both sides of the above-mentioned drive wheel 101, the upper surface of the drive wheel 101 closely adheres to the lower surface of the lower end portion of the hanging rail during operation, so that the drive wheel seat 103 drives the drive wheel 101 to slide up and down along the drive wheel guide shaft 102, thereby converting the pressure of the elastic member 104 on the drive wheel seat 103 into the driving force of the drive wheel 101, thus realizing a single-wheel drive mode with high stability, low cost, and adjustable driving force.

[0110] The above description is only a preferred embodiment of the present disclosure and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) disclosed in the embodiments of the present disclosure that have similar functions.

Claims

1. A hanging rail moving device, comprising: A load-bearing wheel assembly (01) that contacts the upper surface of the lower end of the hanging rail (00) during operation and is used to bear the weight of the hanging rail moving device; A side guiding wheel assembly (02), the upper part of the side guiding wheel assembly (02) is connected to the load-bearing wheel assembly (01), contacts the side surface of the lower end of the hanging rail (00) during operation, and the side guiding wheel assembly (02) is fixedly connected to the upper surface of the driving layer bottom plate (03); A driving wheel device (10), comprising: a driving wheel (101); a driving wheel guiding shaft (102) penetrating through a driving wheel seat (103); the driving wheel seat (103) is fixedly connected to both sides of the driving wheel (101), and the driving wheel seat (103) can drive the driving wheel (101) to slide up and down along the driving wheel guiding shaft (102); an elastic member (104) is arranged between the driving wheel seat (103) and an adjusting device (105), and the friction between the driving wheel and the hanging rail is adjusted by moving the adjusting device (105) up and down along the driving wheel guiding shaft (102); The driving layer bottom plate (03) is provided with a through hole matching the driving wheel (101), so that the driving wheel (101) connected to the lower surface of the driving layer bottom plate (03) through the driving wheel guiding shaft (102) closely contacts the lower surface of the lower end of the hanging rail through the through hole during operation.

2. The hanging rail moving device according to claim 1, wherein, Both the load-bearing wheel assembly (01) and the side guiding wheel assembly (02) are symmetrically arranged.

3. The hanging rail moving device according to claim 2, wherein, The driving wheel device (10) is centrally arranged relative to the driving layer bottom plate (03).

4. The hanging rail moving device according to claim 1, wherein, The driving wheel guiding shaft (102) includes a stepped end (1021), wherein the driving wheel guiding shaft (102) is fixedly connected to the driving layer bottom plate (03) through the stepped end.

5. The hanging rail moving device according to claim 1, wherein, The driving wheel (101) includes a hub motor, and the central shaft of the hub motor is fixedly connected to the driving wheel seat (103).

6. The hanging rail moving device according to claim 5, wherein, The side surface (A) of the central shaft of the hub motor cooperates with the side surface (B) of the middle hole in the driving wheel seat (103) to prevent the central shaft of the driving wheel (101) from rotating relative to the driving wheel seat (103).

7. The hanging rail moving device according to claim 6, wherein, The fixed end of the central shaft of the hub motor is provided with a positioning step (C), and the positioning step (C) fits with the side surface (D) of the driving wheel seat (103) to prevent the driving wheel (101) from moving along the central shaft of the hub motor.

8. The hanging rail moving device according to claim 1, wherein The driving wheel (101) includes a rubber wheel with a width greater than a preset threshold, and the contact surface between the rubber wheel and the hanging rail is provided with concave and convex patterns.

9. The hanging rail moving device according to claim 1, wherein, The driving wheel device (10) further includes: A wear-resistant bushing (106) arranged between the driving wheel seat (103) and the driving wheel guiding shaft (102).

10. The hanging rail moving device according to claim 9, wherein, The end of the driving wheel seat (103) is provided with a limiting portion (1031) for limiting the wear-resistant bushing (106).

11. The hanging rail moving device according to claim 10, wherein, The bottom surface of the driving wheel seat (103) is provided with a groove (E), and the groove (E) is used for installing a bushing gland (107), and the shape of the bushing gland (107) is matched with the groove (E).

12. The hanging rail moving device according to claim 11, wherein, The bushing gland (107) and the driving wheel seat (103) are connected by countersunk head screws.

13. The hanging rail moving device according to claim 1, wherein, The adjusting device (105) includes double nuts to prevent the nuts from loosening.

14. A hanging rail mobile robot, comprising: The hanging rail moving device according to any one of claims 1-13.

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