A drive mechanism for a track-hung robot and a track-hung robot

Abstract

The present invention discloses a driving mechanism for a hanging rail robot, comprising: a rail, a support plate, a pressing component, a guiding component and a driving component; the rail is in a "C" shape, with horizontal plates on both sides and a convex structure in the middle; the support plate stands on both sides of the horizontal plates; one end of the pressing component is fixed on the support plate, and the other end presses on the horizontal plates on both sides of the rail for pressing the rail; one end of the guiding component is fixed on the support plate, and the other end abuts against the side surface of the convex structure; the guiding component realizes elastic stretching and compression following the curvature of the rail to adjust the moving direction of the hanging rail robot on the rail; one end of the driving component is fixed on the support plate, and the other end is fixed under the rail for driving the hanging rail robot to move. The present invention provides a pressing component, which uses a spring to press the rail. The spring has low requirements for the installation and processing precision of the rail, low requirements for the environment, and a long service life, and is suitable for scenarios with poor rail installation conditions.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and particularly relates to a driving mechanism for a hanging-rail robot and a hanging-rail robot. Background Art

[0002] Currently, the robot inspection technology is widely applied to the inspection scenarios of underground or semi-underground structures such as rainwater storage tanks and sewage treatment plants. The hanging-rail inspection robot can be equipped with a variety of sensors and perform inspection operations through a fixed track installed on the top plate of the pool.

[0003] When the hanging-rail inspection robot walks on a straight track and turns, it is prone to lateral deviation from the track and wheel jamming. The current solutions mainly include increasing the friction between the driving and driven wheels on the driving mechanism, setting track racks, setting pressure blocks for adjustment, and designing brake mechanisms, etc.

[0004] However, the above technical measures all have the problems of high manufacturing cost and short service life. Summary of the Invention

[0005] To solve the above problems, the present invention proposes a driving mechanism for a hanging-rail robot and a hanging-rail robot.

[0006] A driving mechanism for a hanging-rail robot disclosed by the present invention includes: a track, a support plate, a pressing component, a guiding component, and a driving component;

[0007] The track is in a "U" shape, with horizontal plates on both sides and a convex structure in the middle;

[0008] The support plates stand on both sides of the horizontal plates;

[0009] One end of the pressing component is fixed on the support plate, and the other end presses on the horizontal plates on both sides of the track for pressing the track;

[0010] One end of the guiding component is fixed on the support plate, and the other end abuts against the side surface of the convex structure; the guiding component realizes elastic stretching and compression following the radian of the track to adjust the movement direction of the hanging-rail robot on the track;

[0011] One end of the driving component is fixed on the support plate, and the other end is fixed below the track for driving the hanging-rail robot to move.

[0012] Preferably, the pressing component includes: a vertical pressing unit and a horizontal limiting unit;

[0013] One end of the vertical pressing unit is fixed on the support plate, and the other end presses the horizontal plate;

[0014] One end of the horizontal limiting unit is fixed to the support plate, and the other end is spaced at a predetermined distance from the side surface of the protruding structure.

[0015] Preferably, the vertical clamping unit includes a fixed plate, a spring, a roller rod, and a first bearing;

[0016] The fixing plate is fixed to the side surface of the support plate facing the track;

[0017] The spring is disposed between the fixed plate and the roller rod;

[0018] One end of the first bearing is fixed to the roller rod, and the other end presses against the horizontal plate.

[0019] The horizontal limiting unit includes a main limiting structure and an auxiliary limiting structure;

[0020] One end of the main limiting structure is fixed to the support plate, and the other end is spaced from the side surface of the protrusion structure by a first preset distance.

[0021] One end of the auxiliary limiting structure is connected to the roller rod, and the other end is spaced from the side surface of the protrusion structure by a second preset distance.

[0022] Preferably, the first preset distance is less than the second preset distance.

[0023] Optionally, the number of vertical clamping units is four, and they are symmetrically arranged on both sides of the track.

[0024] Preferably, the main limiting structure includes a guide threaded shaft and a second bearing. The guide threaded shaft is fixed on the support plate. One end of the second bearing is connected to the guide threaded shaft, and the other end is spaced from the side surface of the protrusion structure by a first preset distance.

[0025] The auxiliary limiting structure includes a third bearing, one end of which is connected to the roller rod, and the other end is spaced from the side surface of the protrusion structure by a second preset distance.

[0026] Preferably, the first preset distance is less than the second preset distance.

[0027] Preferably, the guide assembly includes a rotating screw, a torsion spring, and a guide wheel;

[0028] The rotating screw is fixed to the side surface of the support plate facing the track;

[0029] The torsion spring is connected between the rotating screw and the guide wheel;

[0030] One end of the guide wheel is connected to the torsion spring, and the other end abuts against the side surface of the protruding structure.

[0031] Optionally, the number of the guiding components is two pairs, which are symmetrically arranged at both ends of the pressing component respectively.

[0032] Preferably, the driving component includes a gear, a motor, a synchronous pulley and a driving pulley;

[0033] The gear is connected with the motor and rotates under the drive of the motor;

[0034] The synchronous pulley is connected with the gear and rotates synchronously with the gear;

[0035] The driving pulley is connected with the synchronous pulley and moves along the lower surface of the track under the drive of the synchronous pulley.

[0036] The present invention also discloses a hanging track robot, which is characterized by comprising the driving mechanism according to any one of claims 1 to 9.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] (1) The present invention provides a pressing component, which presses the track by using a spring. The spring has low requirements for the installation and processing accuracy of the track and low requirements for the environment, and has a long service life, and is suitable for scenarios with poor track installation conditions;

[0039] (2) The robot track of the present invention is in a "U" shape, which simplifies the track structure under the condition of ensuring stable operation, and is convenient for the processing, installation and adjustment of the track;

[0040] (3) In the driving mechanism disclosed by the present invention, the pressing component presses the track in both vertical and horizontal directions; the vertical pressing can ensure the self-positioning of the hanging track robot in the vertical direction; the horizontal clamping of the track can reduce the swing amplitude when the robot moves, and at the same time play a certain guiding function, thereby realizing the self-positioning of the hanging track robot in the horizontal direction and the smoothness of the turning action;

[0041] (4) The present invention provides a guiding component, which can adjust the movement direction of the hanging track robot on the track through a torsion spring, so that its movement trajectory matches the track radian to realize the inspection of complex road conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is the overall structural schematic diagram of the driving mechanism of the present invention;

[0043] Figure 2 is the structural schematic diagram of the pressing component of the present invention;

[0044] Figure 3 is the structural schematic diagram of the guiding component of the present invention;

[0045] Figure 4 It is a schematic structural diagram of the driving component of the present invention.

[0046] In the figure, 1 is a support plate, 2 is a vertical pressing unit, 3 is a horizontal limiting unit, 4 is a guiding component, 5 is a driving component, 6 is a driving execution unit, 7 is a track; 2-1 is a fixing plate; 2-2 is a threaded seat; 2-3 is a tensioning rod; 2-4 is a spring; 2-5 is a roller rod; 2-6 is a fourth bearing; 2-7 is a roller shaft spacer; 2-8 is a first bearing; 3-1 is a guiding threaded shaft; 3-2 is a second bearing; 3-3 is a second guiding threaded shaft; 3-5 is a third bearing; 4-1 is a C-shaped fixing bracket; 4-2 is a rotating screw; 4-3 is a torsion spring limiting block; 4-4 is a hexagonal nut; 4-5 is a guiding wheel mounting plate; 4-6 is a guiding wheel; 5-1 is a motor; 5-2 is a first gear; 5-3 is a second gear; 5-4 is a first synchronous pulley; 5-5 is a first rotating shaft; 5-6 is a second rotating shaft; 5-7 is a second synchronous pulley; 5-8 is a driving wheel. Specific embodiments

[0047] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are presented in order to thoroughly understand the embodiments of the present invention. However, those skilled in the art should clearly understand that the present invention can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present invention.

[0048] The present invention discloses a driving mechanism for a hanging rail robot, including: a track 7, a support plate 1, a pressing component, a guiding component 4, and a driving component 5;

[0049] As Figure 1 shown, the track 7 is in a "U" shape, with horizontal plates on both sides and a convex structure in the middle;

[0050] The support plate 1 stands on both sides of the horizontal plate;

[0051] Preferably, the support plate 1 is the frame of the robot and is made of aluminum alloy.

[0052] One end of the pressing component is fixed on the support plate 1, and the other end presses on the horizontal plates on both sides of the track 7 for pressing the track 7;

[0053] Preferably, as Figure 2 shown, the pressing component includes: a vertical pressing unit 2 and a horizontal limiting unit 3;

[0054] One end of the vertical pressing unit 2 is fixed on the support plate 1, and the other end presses on the horizontal plate;

[0055] Preferably, the vertical clamping unit 2 includes a fixed plate 2-1, a spring 2-4, a roller rod 2-5, and a first bearing 2-8;

[0056] The fixing plate 2-1 is fixed to the side surface of the support plate 1 facing the track 7;

[0057] Spring 2-4 is positioned between fixed plate 2-1 and roller rod 2-5;

[0058] One end of the first bearing 2-8 is fixed to the roller rod 2-5, and the other end is pressed against the horizontal plate.

[0059] Optionally, in one embodiment, such as Figure 2 As shown, the fixing plate 2-1 includes a roller mounting plate and a threaded seat 2-2.

[0060] The roller mounting plate is fixed to the support plate 1, and the threaded seat 2-2 is fixed to the roller mounting plate. The tensioning rod 2-3 passes longitudinally through the threaded seat 2-2. A groove is provided at the contact point between the roller rod 2-5 and the spring 2-4. The lower end of the spring 2-4 is embedded in the groove, and the groove matches the shape of the lower end of the spring 2-4, serving as an upper limit. The spring 2-4 is installed between the tensioning rod 2-3 and the roller rod 2-5, and the spring 2-4 provides pressure in the vertical direction. The first bearing 2-8 and the fourth bearing 2-6 are fixed to the left and right ends of the roller rod 2-5, respectively. One end of the first bearing 2-8 presses against the horizontal plate of the track 7. Preferably, the vertical pressing unit 2 also includes a roller shaft spacer 2-7, which is disposed between the roller rod 2-5 and the first bearing 2-8.

[0061] One end of the horizontal limiting unit 3 is fixed to the support plate 1, and the other end is spaced at a preset distance from the side surface of the protruding structure.

[0062] The horizontal limiting unit 3 includes a main limiting structure and an auxiliary limiting structure;

[0063] One end of the main limiting structure is fixed to the support plate 1, and the other end abuts against the side of the protruding structure;

[0064] Preferably, the main limiting structure includes a guide threaded shaft 3-1 and a second bearing 3-2. The guide threaded shaft 3-1 is fixed on the support plate 1. One end of the second bearing 3-2 is connected to the guide threaded shaft 3-1, and the other end is spaced from the side surface of the protrusion structure by a first preset distance.

[0065] In this embodiment, the second bearing 3-2 is spaced apart from the side surface of the protruding structure by a first preset distance and does not contact it, which can reduce the requirements for the machining accuracy of the track side surface. Furthermore, leaving a certain gap can both ensure that seizing does not occur and protect the first bearing 2-8.

[0066] One end of the auxiliary limiting structure is connected to the roller rod 2-5, and the other end is spaced a second preset distance from the side surface of the protruding structure.

[0067] The auxiliary limiting structure includes a third bearing 3-5, one end of which is connected to the roller rod 2-5, and the other end is spaced a second preset distance from the side surface of the protruding structure.

[0068] The first preset distance is less than the second preset distance.

[0069] In this embodiment, the third bearing 3-5 is connected to the roller rod 2-5 via the second guide thread shaft 3-3. The second guide thread shaft 3-3 is fixed to the roller rod 2-5 by a nut. One end of the third bearing 3-5 is connected to the second guide thread shaft 3-3, and the other end is spaced a second preset distance from the side surface of the protruding structure.

[0070] Preferably, the distances between the second bearing 3-2, the third bearing 3-5, and the first bearing 2-8 and the side surface of the protruding structure increase sequentially. The second bearing 3-2 is located at the center of the robot axis and its main function is to prevent the first bearing 2-8 from rubbing against the side surface of the track protruding structure. The function of the third bearing 3-5 is similar to that of the second bearing 3-2, which is equivalent to setting anti-friction limiting wheels on both the left and right sides of the first bearing 2-8. The combined function of the second bearing 3-2 and the third bearing 3-5 is also to prevent the track from falling off.

[0071] Preferably, in this embodiment, the first bearing 2-8, the second bearing 3-2, the third bearing 3-5, and the fourth bearing 2-6 are all deep groove ball bearings.

[0072] In this invention, the vertical clamping unit 2 and the main limiting structure can fix the track 7 in the vertical and horizontal directions respectively to prevent the robot from derailing; the auxiliary limiting structure can adjust the robot's range of motion in the horizontal direction to within a second preset distance to ensure the flexibility of the robot's movement.

[0073] exist Figure 2 In the embodiment shown, there are 4 vertical pressing units 2, which are symmetrically arranged on both sides of the track 7, and 6 horizontal limiting units 3, which are symmetrically arranged on both sides of the track 7.

[0074] like Figure 3 As shown, one end of the guide component 4 is fixed to the support plate 1, and the other end abuts against the side surface of the protruding structure; the guide component 4 follows the curvature of the track 7 to achieve elastic extension and compression, so as to adjust the movement direction of the track-mounted robot on the track 7.

[0075] Preferably, the guide assembly 4 includes a rotating screw 4-2, a torsion spring, and a guide wheel;

[0076] The rotating screw 4-2 is fixed to the side surface of the support plate 1 facing the track 7;

[0077] A torsion spring connects the rotating screw 4-2 and the guide wheel;

[0078] One end of the guide wheel is connected to the torsion spring, and the other end rests against the side surface of the raised structure.

[0079] In one embodiment, such as Figure 3 As shown, the guide assembly 4 also includes: a C-shaped fixing bracket 4-1, a torsion spring limiting block 4-3, and a guide wheel mounting plate 4-5;

[0080] The C-shaped fixing bracket 4-1 is fixed on the support plate 1;

[0081] The rotating screw 4-2 passes longitudinally through the through hole of the C-shaped fixing bracket 4-1 and is fixed on the C-shaped fixing bracket 4-1 by the hexagonal nut 4-4. The upper and lower ends of the rotating screw 4-2 are threaded, and the upper end is milled into a quadrilateral to facilitate the adjustment of the position of the guide component 4.

[0082] The torsion spring limiting block 4-3 is fixed on the rotating screw 4-2 and is located between the C-shaped fixing bracket 4-1 and the guide wheel mounting plate 4-5;

[0083] The guide wheel mounting plate 4-5 is vertically connected to one end of the rotating screw 4-2;

[0084] A torsion spring is connected between the rotating screw 4-2 and the guide wheel mounting plate 4-5 to provide torque in the direction of the track 7;

[0085] One end of the guide wheel is connected to the guide wheel mounting plate 4-5, and the other end abuts against the side surface of the raised structure.

[0086] Preferably, the guide wheel mounting plate 4-5 is connected to the guide wheel by screws, and the guide wheel 4-6 is a rubber-coated bearing.

[0087] Optionally, the number of guide components 4 is two pairs, which are symmetrically arranged at both ends of the clamping component.

[0088] One end of the drive component 5 is fixed to the support plate 1, and the other end is fixed below the track 7, which is used to drive the movement of the track-mounted robot.

[0089] Preferably, the drive component 5 is connected to the support plate 1 via the drive execution unit 6.

[0090] Preferably, the drive assembly 5 includes a gear, a motor 5-1, a synchronous pulley, and a drive wheel 5-8;

[0091] The gear is connected to motor 5-1 and rotates under the drive of motor 5-1;

[0092] Preferably, motor 5-1 is a DC servo motor, such as... Figure 4As shown, the gear includes: a first gear 5-2 and a second gear 5-3;

[0093] The first gear 5-2 is connected to the motor 5-1 and rotates under the drive of the motor 5-1;

[0094] The second gear 5-3 meshes with the first gear 5-2 and rotates synchronously with the first gear 5-2 under the drive of the first gear 5-2;

[0095] Among them, both the first gear 5-2 and the second gear 5-3 are bevel gears.

[0096] The synchronous pulley is connected to the gear and rotates synchronously with the gear;

[0097] Preferably, as Figure 4 shown, the synchronous pulley includes: a first synchronous pulley 5-4, a second synchronous pulley 5-7, a first rotating shaft 5-5, a second rotating shaft 5-6, and a synchronous belt;

[0098] The first synchronous pulley 5-4 is connected to the second gear 5-3 through the first rotating shaft 5-5; under the drive of the second gear 5-3, it rotates synchronously with the second gear 5-3;

[0099] The second synchronous pulley 5-7 is connected to the first synchronous pulley 5-4 through the synchronous belt and rotates synchronously with the first synchronous pulley 5-4 under the drive of the first synchronous pulley 5-4;

[0100] The drive wheel 5-8 is connected to the second synchronous pulley 5-7 through the second rotating shaft 5-6 and moves along the lower surface of the track 7 under the drive of the second synchronous pulley 5-7.

[0101] The present invention also discloses a hanging rail robot, which is characterized by including a driving mechanism for the hanging rail robot.

[0102] Compared with the prior art, the present invention has the following beneficial effects:

[0103] (1) The present invention provides a pressing component, which uses a spring to press the track. The spring has low requirements for the installation and processing accuracy of the track, low requirements for the environment, a long service life, and is suitable for scenarios with poor track installation conditions;

[0104] (2) The robot track of the present invention is in a "U" shape, which simplifies the track structure under the condition of ensuring stable operation and is convenient for the processing, installation, and adjustment of the track;

[0105] (3) In the drive mechanism disclosed in this invention, the clamping component clamps the track in both vertical and horizontal directions; the vertical clamping can ensure the vertical self-positioning of the track-mounted robot; the horizontal clamping of the track can reduce the swing amplitude when the robot moves, and at the same time play a certain guiding function, thereby realizing the horizontal self-positioning of the track-mounted robot and the smoothness of turning action.

[0106] (4) The present invention is provided with a guide component, which can adjust the movement direction of the rail-mounted robot on the track by means of a torsion spring, so that its movement trajectory matches the arc of the track, so as to realize the inspection of complex road conditions.

[0107] The above description is merely a few embodiments of this application and is not intended to limit this application in any way. Although this application discloses preferred embodiments as described above, it is not intended to limit this application. Any changes or modifications made by those skilled in the art without departing from the scope of the technical solution of this application using the disclosed technical content are equivalent to equivalent implementation cases and fall within the scope of the technical solution.

Claims

1. A drive mechanism for a rail-mounted robot, characterized in that, Comprising: A track, a support plate, a pressing component, a guiding component and a driving component; The track is in a "C" shape, with horizontal plates on both sides and a raised structure in the middle; The support plates stand on both sides of the horizontal plates; One end of the pressing component is fixed on the support plate, and the other end presses on the horizontal plates on both sides of the track for pressing the track; One end of the guiding component is fixed on the support plate, and the other end abuts against the side surface of the raised structure; the guiding component realizes elastic stretching and compression following the curvature of the track to adjust the moving direction of the hanging track robot on the track; One end of the driving component is fixed on the support plate, and the other end is fixed below the track for driving the hanging track robot to move; The pressing component includes: a vertical pressing unit and a horizontal limiting unit; the vertical pressing unit includes a fixing plate, a spring, a roller rod and a first bearing; the fixing plate is fixed on the side surface of the support plate facing the track; the spring is arranged between the fixing plate and the roller rod; one end of the first bearing is fixed on the roller rod, and the other end presses on the horizontal plate; the horizontal limiting unit includes a main limiting structure and an auxiliary limiting structure; one end of the main limiting structure is fixed on the support plate, and the other end is spaced from the side surface of the raised structure by a first preset distance; one end of the auxiliary limiting structure is connected to the roller rod, and the other end is spaced from the side surface of the raised structure by a second preset distance; the first preset distance is less than the second preset distance; The guiding component includes a rotating screw, a torsion spring and a guiding wheel; the rotating screw is fixed on the side surface of the support plate facing the track; the torsion spring is connected between the rotating screw and the guiding wheel; one end of the guiding wheel is connected to the torsion spring, and the other end abuts against the side surface of the raised structure.

2. The driving mechanism for a hanging track robot according to claim 1, wherein The number of the vertical pressing units is four and they are symmetrically arranged on both sides of the track.

3. The driving mechanism for a hanging track robot according to claim 2, wherein The main limiting structure includes a guiding threaded shaft and a second bearing. The guiding threaded shaft is fixed on the support plate. One end of the second bearing is connected to the guiding threaded shaft, and the other end is spaced from the side surface of the raised structure by a first preset distance; The auxiliary limiting structure includes a third bearing. One end of the third bearing is connected to the roller rod, and the other end is spaced from the side surface of the raised structure by a second preset distance; The first preset distance is less than the second preset distance.

4. The drive mechanism for a rail-mounted robot according to claim 1, characterized in that, The number of the guiding components is two pairs, which are symmetrically arranged at both ends of the pressing component respectively.

5. The drive mechanism for a rail-mounted robot according to claim 1, characterized in that, The driving component includes a gear, a motor, a synchronous wheel and a driving wheel; The gear is connected to the motor and rotates under the drive of the motor; The synchronous wheel is connected to the gear and rotates synchronously with the gear; The driving wheel is connected to the synchronous wheel and moves along the lower surface of the track under the drive of the synchronous wheel.

6. A rail-mounted robot, characterized in that, Comprising the driving mechanism according to any one of claims 1 to 5.

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