Track driving mechanism of inspection robot

Abstract

The invention discloses a track driving mechanism for an inspection robot, which belongs to the technical field of robot driving and comprises two groups of pinch roller components respectively mounted on the front side and the rear side of a rack, and each group of pinch roller components is provided with at least one floating wheel which is arranged in a rolling manner and elastically abuts against the lower end of a track; the steering assembly comprises a rotating base rotationally connected to the rack and a wheel set installed on the rotating base. When the inspection robot turns, the wheel set abuts against the track to provide lateral support, so that the rotating base rotates passively, and steering of the inspection robot is achieved. The driving wheel assembly is mounted on the rack so as to bear and transport the inspection robot to walk on the track; in the steering process, the pressing wheel assembly can automatically adjust the pressure distribution of the floating wheel on the rail according to the steering requirement. Through cooperative work of all the assemblies, the overall operation performance of the inspection robot on the track is improved. Therefore, the robot can complete the inspection task more efficiently and stably.

Description

Technical Field

[0001] The present invention relates to the field of robot driving technology, and in particular to a track driving mechanism of an inspection robot. Background Art

[0002] In the steering process of the rail inspection robot, traditional methods usually rely on complex mechanical structures to achieve the steering function. These methods include using components such as gears, motors, and transmission devices to rotate the rotating seat through the lateral support of the wheel set to achieve steering. However, this traditional design has certain shortcomings. For example, it may generate greater friction and noise during the steering process, affecting the operating efficiency and stability of the robot. In addition, the traditional design has poor adaptability when dealing with complex rail environments, which can easily lead to failures during the operation of the robot and increase maintenance costs.

[0003] Therefore, it is necessary to provide a patrol robot track drive mechanism, which is specially designed to solve the operation problem of the patrol robot in a complex track environment. The drive mechanism ensures that the robot can achieve smooth and efficient operation under various complex track conditions through innovative structural design. Summary of the invention

[0004] The embodiment of the present invention provides a track driving mechanism for an inspection robot to solve the problems in the prior art.

[0005] The embodiment of the present invention adopts the following technical scheme: a patrol robot track drive mechanism is installed on the frame of the patrol robot, and the frame is located on the lower side of the track, including: a clamping wheel assembly, which is configured with two groups and respectively installed on the front and rear sides of the frame, and each group of clamping wheel assemblies has at least one floating wheel that is rollingly arranged and elastically abuts against the lower end of the track to cushion the impact of the patrol robot when starting or braking; a steering assembly, which is configured with at least one group, and the steering assembly includes a rotating seat rotatably connected to the frame, and a wheel group installed on the rotating seat; when the patrol robot turns, the wheel group abuts against the track to provide lateral support, so that the rotating seat passively rotates to achieve the steering of the patrol robot; a driving wheel assembly is installed on the frame to carry and transport the patrol robot to walk on the track.

[0006] Preferably, the pressure wheel assembly also includes two elastic members mounted on the frame, the floating wheel has a first wheel axle and a first roller, the first roller is coaxially mounted on the first wheel axle, and both ends of the first wheel axle are respectively fixedly mounted on the execution ends of the two elastic members so that the first roller elastically rests on the track.

[0007] Preferably, the elastic member is composed of a sleeve, a floating seat, a limit stop and a spring, the floating seat is at least partially slidably connected in the sleeve, the spring is installed in the sleeve to elastically support the floating seat, and the limit stop is fixedly installed on the sleeve to limit the axial position of the floating seat.

[0008] Preferably, the first roller is configured as a POM bearing.

[0009] Preferably, the steering assembly has two groups and is respectively located at the front and rear sides of the frame.

[0010] Preferably, a rotating column is fixedly mounted on the frame, a through hole is provided at the center of the rotating seat, a deep groove ball bearing is installed in the through hole, and the rotating column is installed in the inner ring of the deep groove ball bearing.

[0011] Preferably, the wheel set includes: two rolling bearings, both of which are installed on the rotating seat through the first bracket, each rolling bearing is rotatably connected to the corresponding first bracket, and the two rolling bearings respectively roll against the wheel rim grooves on the left and right sides of the track; a plurality of follower bearings are configured and arranged in pairs, each follower bearing is rotatably connected to the rotating seat, and the two follower bearings in each group respectively roll against the rail bottom sides on the left and right sides of the track.

[0012] Preferably, the driving wheel assembly is configured with two groups and is respectively located on the left and right sides of the track; each group of driving wheel assemblies includes a second roller, a second wheel axle and a second bracket, the second roller is coaxially mounted on the second wheel axle, the second roller is rotatably mounted on the second bracket through a deep groove ball bearing, the second bracket is fixedly mounted on the frame, the second rollers in the two driving wheel assemblies respectively roll against the wheel rim grooves on the left and right sides of the track, and the rolling direction is adapted to the direction of the track.

[0013] Preferably, the driving mechanism also includes a motor assembly, and first synchronous wheels are coaxially mounted on the two second wheel axles. Mounting plates are mounted on the left and right sides of the frame, and a rotating shaft is rotatably mounted between the two mounting plates. Second synchronous wheels are respectively mounted on both ends of the rotating shaft, and each first synchronous wheel is transmission-connected to the second synchronous wheel on the corresponding side through a synchronous belt, and the motor assembly is used to drive the rotating shaft to rotate.

[0014] At least one of the above technical solutions adopted in the embodiments of the present invention can achieve the following beneficial effects: When the inspection robot is turning, the steering assembly starts working, and the wheel set provides lateral support to rotate the rotating seat to achieve steering. During the steering process, the clamping wheel assembly can automatically adjust the pressure distribution of the floating wheel on the track according to the steering requirements. Therefore, the overall design of the drive mechanism comprehensively considers the performance requirements of starting, braking, steering and driving, and improves the overall operating performance of the inspection robot on the track through the coordinated work of various components. This enables the robot to complete the inspection task more efficiently and stably, reduce the probability of failure, and reduce maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the three-dimensional structure of the steering assembly of the present invention; Figure 3 It is a schematic diagram of the three-dimensional structure of the pressure wheel assembly of the present invention; Figure 4 It is a three-dimensional structural cross-sectional view of the driving wheel assembly of the present invention; Figure 5 It is a schematic diagram of the installation of the rotating shaft and the second synchronous wheel in the present invention.

[0016] Reference numerals 1-frame; 2-track; 21-wheel rim groove; 22-rail bottom; 3-pressure wheel assembly; 31-floating wheel; 311-first wheel axle; 312-first roller; 32-elastic member; 321-sleeve; 322-floating seat; 323-limit block; 324-spring; 4-steering assembly; 41-rotating seat; 411-perforation; 42-wheel set; 421-rolling bearing; 422-first bracket; 423-follow-up bearing; 43-rotating column; 5-driving wheel assembly; 51-second roller; 52-second wheel axle; 53-second bracket; 54-first synchronous wheel; 55-mounting plate; 56-transfer shaft; 57-second synchronous wheel; 58-synchronous belt; 6-motor assembly. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0018] The technical solutions provided by various embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0019] Reference Figures 1 to 5 As shown, an embodiment of the present invention provides a track driving mechanism for an inspection robot, which is installed on a frame 1 of the inspection robot. The frame 1 is located at the lower side of a track 2. The driving mechanism mainly includes a clamping wheel assembly 3, a steering assembly 4 and a driving wheel assembly 5.

[0020] The clamping wheel assembly 3 is configured with two groups and is respectively installed on the front and rear sides of the frame 1. Each group of the clamping wheel assembly 3 has at least one floating wheel 31 that is rolled and elastically pressed against the lower end of the track 2 to cushion the impact of the inspection robot when starting or braking. By arranging the clamping wheel assembly 3 on the front and rear sides of the frame 1 and using the floating wheel 31 to elastically press against the lower end of the track 2, the impact of the inspection robot when starting or braking can be effectively cushioned. This helps to protect the mechanical structure and internal components of the robot, reduce the risk of damage caused by excessive instantaneous impact force, and extend the service life of the robot. For example, in inspection tasks that are frequently started and stopped, its internal structure can be prevented from being subjected to severe impact, thereby improving the reliability of the equipment. In addition, the clamping wheel assembly 3 provides necessary pressure during starting and braking, reduces the head tilting phenomenon of the drive component when starting and the head nodding phenomenon when braking, and makes the robot travel more smoothly on the track 2.

[0021] In some practical applications, such as Figure 1 and Figure 3 As shown, the clamping wheel assembly 3 includes two elastic members 32 installed on the frame 1, the floating wheel 31 has a first wheel axle 311 and a first roller 312 (the first roller 312 is configured as a POM bearing), the first roller 312 is coaxially installed on the first wheel axle 311, and the two ends of the first wheel axle 311 are respectively fixedly installed on the execution ends of the two elastic members 32, so that the first roller 312 elastically presses against the track 2.

[0022] Regarding the elastic member 32, specifically, Figure 1 and Figure 3 As shown, the elastic member 32 is composed of a sleeve 321, a floating seat 322, a limit stopper 323 and a spring 324 (generally a rectangular spring 324 is preferred), the floating seat 322 is at least partially slidably connected in the sleeve 321, the spring 324 is installed in the sleeve 321 to elastically support the floating seat 322, and the limit stopper 323 is fixedly installed on the sleeve 321 to limit the axial position of the floating seat 322, thereby preventing the floating seat 322 from detaching from the inside of the sleeve 321. The first roller 312 is against the track 2, and when the inspection robot is started or braked, the elastic force of the spring 324 can buffer part of the kinetic energy to suppress the robot's nodding and other phenomena.

[0023] The steering assembly 4 is configured with at least one group, and the steering assembly 4 includes a rotating seat 41 rotatably connected to the frame 1, and a wheel set 42 installed on the rotating seat 41; when the inspection robot turns, the wheel set 42 abuts against the track 2 to provide lateral support, so that the rotating seat 41 passively rotates to achieve the steering of the inspection robot; the design of the steering assembly 4 enables the inspection robot to turn when the wheel set 42 abuts against the track 2 to provide lateral support, and the rotating seat 41 passively rotates to achieve steering. This steering method can adapt to the curves of the track 2 with different curvatures, making the robot more flexible in traveling on the track 2, and improving the coverage and efficiency of the inspection.

[0024] In some practical applications, such as Figure 1 and Figure 2 As shown, a rotating column 43 is fixedly mounted on the frame 1, a through hole 411 is provided at the center of the rotating seat 41, a deep groove ball bearing is installed in the through hole 411, and the rotating column 43 is installed in the inner ring of the deep groove ball bearing, thereby realizing the rotational connection between the rotating seat 41 and the frame 1.

[0025] In summary, when the inspection robot is turning, the steering assembly 4 starts to work, and the wheel group 42 provides lateral support to rotate the rotating seat 41 to achieve turning. During the turning process, the clamping wheel assembly 3 can automatically adjust the pressure distribution of the floating wheel 31 on the track 2 according to the needs of turning. For example, the floating wheel 31 part on the outside of the curve can increase the pressure to provide better lateral stability and prevent the robot from slipping or leaving the track 2 when turning. At the same time, during the starting or braking operation during the turning process, the clamping wheel assembly 3 can better cooperate with the steering action, further buffer the impact, and make the robot's steering process smoother and smoother.

[0026] For some special situations, the pinch wheel assembly 3 and the steering assembly 4 can achieve a quick coordinated response. When the inspection robot encounters a situation that requires emergency steering, such as an obstacle on the track 2, the steering assembly 4 moves quickly, and the pinch wheel assembly 3 can immediately cooperate with it to quickly adjust the pressure and friction force to ensure that the robot can complete the steering operation in a timely and stable manner, thereby improving the robot's ability to respond to emergencies and safety.

[0027] Therefore, the overall design of the drive mechanism comprehensively considers the performance requirements of multiple aspects such as starting, braking, steering and driving, and improves the overall operating performance of the inspection robot on track 2 through the coordinated work of various components. This enables the robot to complete the inspection task more efficiently and stably, reduce the probability of failure, and reduce maintenance costs.

[0028] In some practical applications, such as Figure 1 and Figure 3As shown, the steering assembly 4 has two groups and is respectively located on the front and rear sides of the frame 1, one group at the front and one at the rear, to provide guidance for the driving mechanism of the inspection robot track 2 when passing through a curved track, thereby achieving passive steering.

[0029] In some practical applications, such as Figure 1 and Figure 3 As shown, based on any one of the above-mentioned embodiments of the steering assembly 4, it is further optimized. Specifically, the wheel group 42 includes: there are two rolling bearings 421 and both are installed on the rotating seat 41 through the first bracket 422, each rolling bearing 421 is rotatably connected to the corresponding first bracket 422, and the two rolling bearings 421 respectively roll against the wheel rim grooves 21 on the left and right sides of the track 2; there are a plurality of follower bearings 423 and they are arranged in pairs, each follower bearing 423 is rotatably connected to the rotating seat 41, and the two follower bearings 423 of each group respectively roll against the sides of the rail bottom 22 on the left and right sides of the track 2.

[0030] In this embodiment, two rolling bearings 421 are respectively rolled against the left and right wheel rim grooves 21 of the track 2, and a plurality of follower bearings 423 arranged in pairs are respectively rolled against the sides of the left and right rail bottoms 22 of the track 2. When the inspection robot passes through a curve, a multi-point support structure is formed, which can more stably combine the wheel set 42 with the track 2 and provide reliable support for steering. For example, during the process of driving on a curve, bearings at different positions can share the lateral force together to prevent the robot from tipping over or deviating from the track 2 due to excessive force on one side, making the steering process smoother and more accurate. In addition, compared with the traditional steering method, this type of fitting steering can reduce the gap and shaking during the steering process and improve the accuracy and reliability of the steering.

[0031] In addition, the structure composed of the rolling bearing 421, the driven shaft, and the driven wheel fixing seat can limit the front and rear pitch deviation of the inspection robot driving mechanism, and cooperate with the above-mentioned clamping wheel assembly 3 to make the operation of the inspection robot more stable.

[0032] The driving wheel assembly 5 is mounted on the frame 1 to carry and transport the inspection robot to walk on the track 2. In some practical applications, such as Figure 1 and Figure 4 As shown, the driving wheel assembly 5 is configured with two groups and is respectively located on the left and right sides of the track 2; each group of driving wheel assemblies 5 includes a second roller 51, a second wheel axle 52 and a second bracket 53, the second roller 51 is coaxially mounted on the second wheel axle 52, the second roller 51 is rotatably mounted on the second bracket 53 through a deep groove ball bearing, and the second bracket 53 is fixedly mounted on the frame 1, and the second rollers 51 in the two driving wheel assemblies 5 respectively roll against the wheel rim grooves 21 on the left and right sides of the track 2, and the rolling direction is adapted to the direction of the track 2.

[0033] like Figure 1 , Figure 4 and Figure 5 As shown, the driving mechanism also includes a motor assembly 6, and first synchronous wheels 54 are coaxially mounted on the two second wheel axles 52. Mounting plates 55 are mounted on the left and right sides of the frame 1. A rotating shaft 56 is rotatably mounted between the two mounting plates 55. Second synchronous wheels 57 are respectively mounted on both ends of the rotating shaft 56. Each first synchronous wheel 54 is transmission-connected to the second synchronous wheel 57 on the corresponding side through a synchronous belt 58. The motor assembly 6 is used to drive the rotating shaft 56 to rotate.

[0034] The central shaft 56 plays a role in transmitting power in the driving of the track 2, and evenly distributes the power of the motor to the two driving wheel assemblies 5. The roller structure (the first roller 312 and the second roller 51) described above is composed of a skeleton made of aluminum alloy and a rubber coating layer. The skeleton is made of aluminum alloy, which has excellent strength and corrosion resistance, ensuring the overall structural strength and durability of the roller. The outer rubber coating provides the roller with excellent wear resistance and impact resistance, enabling it to perform well in high-load and high-wear environments.

[0035] If necessary, in order to ensure the smooth rotation of the second roller 51 and the high coaxiality of the second axle 52, four deep groove ball bearings can be arranged at the connection between the second axle 52 and the second bracket 53 to provide radial support and precise positioning. These bearings effectively reduce the radial deviation of the driving axle and ensure the smooth operation of the transmission system.

[0036] The motor assembly 6 is mainly used as a driving source, which can be implemented in a variety of ways, for example, Figure 1 As shown, the motor assembly 6 has a driving source and another set of pulley assemblies located at the lower right side of the frame 1. Through the pulley assembly, the main shaft of the driving source can be connected to the rotating shaft 56 for driving the rotating shaft 56.

[0037] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A patrol robot track drive mechanism, mounted on a frame (1) of the patrol robot, the frame (1) being located below a track (2), characterized in that: include: The clamping wheel assembly (3) is provided with two groups and is respectively mounted on the front and rear sides of the frame (1); each group of the clamping wheel assembly (3) has at least one floating wheel (31) which is arranged to roll and elastically abuts against the lower end of the track (2) to cushion the impact of the inspection robot when starting or braking; The steering assembly (4) is provided with at least one group, wherein the steering assembly (4) comprises a rotating seat (41) rotatably connected to the frame (1), and a wheel set (42) mounted on the rotating seat (41); when the inspection robot turns, the wheel set (42) abuts against the track (2) to provide lateral support, so that the rotating seat (41) passively rotates, thereby realizing the steering of the inspection robot; The driving wheel assembly (5) is mounted on the frame (1) to carry and transport the inspection robot to walk on the track (2).

2. The inspection robot track drive mechanism according to claim 1, characterized in that: The pressure wheel assembly (3) further comprises two elastic members (32) mounted on the frame (1); the floating wheel (31) comprises a first wheel shaft (311) and a first roller (312); the first roller (312) is coaxially mounted on the first wheel shaft (311); two ends of the first wheel shaft (311) are respectively fixedly mounted on the execution ends of the two elastic members (32), so that the first roller (312) elastically abuts against the track (2).

3. The inspection robot track drive mechanism according to claim 2, characterized in that: The elastic member (32) is composed of a sleeve (321), a floating seat (322), a limit stopper (323) and a spring (324); the floating seat (322) is at least partially slidably connected in the sleeve (321); the spring (324) is installed in the sleeve (321) to elastically support the floating seat (322); and the limit stopper (323) is fixedly installed on the sleeve (321) to limit the axial position of the floating seat (322).

4. The inspection robot track drive mechanism according to claim 2, characterized in that: The first roller (312) is configured as a POM bearing.

5. The inspection robot track driving mechanism according to claim 1, characterized in that: The steering components (4) have two groups and are respectively located on the front and rear sides of the frame (1).

6. The inspection robot track driving mechanism according to claim 1, characterized in that: A rotating column (43) is fixedly mounted on the frame (1); a through hole (411) is provided at the center of the rotating seat (41); a deep groove ball bearing is mounted in the through hole (411); and the rotating column (43) is mounted in the inner ring of the deep groove ball bearing.

7. A patrol robot track drive mechanism according to claim 1 or 2, characterized in that: The wheel set (42) comprises: There are two rolling bearings (421), both of which are mounted on the rotating seat (41) through a first bracket (422), each rolling bearing (421) is rotatably connected to the corresponding first bracket (422), and the two rolling bearings (421) respectively roll against the wheel rim grooves (21) on the left and right sides of the track (2); A plurality of follower bearings (423) are provided and arranged in pairs. Each follower bearing (423) is rotatably connected to the rotating seat (41). The two follower bearings (423) in each group roll against the sides of the rail bottom (22) on the left and right sides of the rail (2).

8. The inspection robot track drive mechanism according to claim 1, characterized in that: The driving wheel assembly (5) is configured in two groups and is respectively located on the left and right sides of the track (2); each group of driving wheel assemblies (5) comprises a second roller (51), a second wheel axle (52) and a second bracket (53); the second roller (51) is coaxially mounted on the second wheel axle (52); the second roller (51) is rotatably mounted on the second bracket (53) via a deep groove ball bearing; the second bracket (53) is fixedly mounted on the frame (1); the second rollers (51) in the two driving wheel assemblies (5) respectively roll against the wheel rim grooves (21) on the left and right sides of the track (2), and the rolling direction is adapted to the direction of the track (2).

9. The inspection robot track driving mechanism according to claim 8, characterized in that: The driving mechanism further comprises a motor assembly (6), two second wheel shafts (52) are coaxially mounted with a first synchronous wheel (54), mounting plates (55) are mounted on both left and right sides of the frame (1), a rotating shaft (56) is rotatably mounted between the two mounting plates (55), and second synchronous wheels (57) are respectively mounted on both ends of the rotating shaft (56), each first synchronous wheel (54) is transmission-connected to the second synchronous wheel (57) on the corresponding side via a synchronous belt (58), and the motor assembly (6) is used to drive the rotating shaft (56) to rotate.

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