Driving structure of rail robot
By designing the driving structure of substrate, transmission assembly, elastic assembly and load-bearing guide assembly in the track robot, the problems of stability and continuity of track robots on complex tracks are solved, and effective driving and path tracking on radian and slope tracks are achieved.
Patent Information
- Application Number
- CN202411397554.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-09
- Publication Date
- 2025-01-07
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
Traditional linear tracks are difficult to meet the requirements of complex and diversified patrol paths, which leads to challenges in the design of the drive mechanism of the track robot, especially the stability and continuity problems on the arc and slope tracks.
A driving structure including a substrate, a driving motor, a transmission assembly, a moving shaft seat, a driving wheel, an elastic assembly and a load-bearing guide assembly is designed. The driving wheel is stably driven through a telescopic coupling and an elastic assembly, and the elastic assembly provides a The buffering, load-bearing guide assembly ensures that the track robot tracks the track path.
It improves the driving continuity and reliability of the track robot on the I-track, ensures effective friction contact of the drive wheels, maintains tracking capabilities, and effectively bears weight and guidance through the load-bearing guide assembly.
Smart Images
Figure CN119260688A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of track robots, and in particular relates to a driving structure of a track robot. Background Art
[0002] A track robot is a robot that moves along a set track (usually an I-track). It has been increasingly widely used in the inspection field. For example, in a thermal power plant, an I-track is set up and an inspection track robot is installed. The various sensors configured on the track robot can obtain inspection information and then evaluate operational safety risks.
[0003] The track robot should be driven stably when moving along the I-track to ensure the stability and smoothness of the movement. In addition, with the complexity and diversification of application scenarios, the traditional straight track can no longer meet the requirements of the inspection path. Instead, it is replaced by a track with a curvature or even a slope, which also puts higher requirements on the design of the drive mechanism of the track robot. Summary of the invention
[0004] The purpose of the present invention is to provide a driving structure of a rail robot to improve the continuity and reliability of the rail robot's walking and movement on an I-shaped track.
[0005] The technical solution adopted by the present invention is: a driving structure of a rail robot, including a base plate, a driving motor and a transmission assembly are installed on the base plate, a track is also installed in the middle of the base plate, a movable axle seat capable of translational movement is installed on the track, a driving wheel is installed on the movable axle seat, the wheel rim of the driving wheel contacts the side wall of the middle plate of the I-track, the transmission assembly and the movable axle seat are transmitted by a telescopic coupling, an elastic assembly providing buffering elastic force for the movable axle seat is installed on the base plate; load-bearing guide assemblies are installed on the base plate and on both sides of the track.
[0006] Preferably, the movable axle seat includes two bases arranged opposite to each other, a transmission box is installed between the two bases, a slider is installed at the bottom of each base and the slider slides along the track, the input shaft of the transmission box is connected to the end of the telescopic coupling, the transmission box has a vertical output shaft and the drive wheel is installed on the output shaft.
[0007] Preferably, the elastic component includes two supports installed on the outside of the track, guide rods are installed at the front of the two supports, linkage plates are installed at the ends of the two guide rods, and springs are provided between the linkage plates and the two bases.
[0008] Preferably, the transmission assembly includes a lower shell installed at the lower part of the base plate and an upper shell installed at the upper part of the base plate, meshing transmission gears are installed inside the lower shell and the upper shell, and the end of the telescopic coupling is connected to the gear in the upper shell; a mounting frame is also installed on the side of the lower shell, and the drive motor is mounted and fixed on the mounting frame.
[0009] Preferably, the load-bearing guide assembly includes a mounting base installed on the substrate, a rotating shaft is provided on the mounting base, a V-shaped support is installed on the rotating shaft, and load-bearing wheels are installed on the inner sides of the upper ends of two arms of the V-shaped support; a guide wheel frame is also installed on the upper end of one of the arms, and guide wheels are installed at both ends of the guide wheel frame.
[0010] Preferably, an encoder is also installed on the outer side of the upper end of one of the arms of the V-shaped support, and the shaft of the encoder is butt-connected to the axle of the load-bearing wheel on this side.
[0011] The advantages and positive effects of the present invention are:
[0012] The present invention provides a driving structure of a rail robot with a reasonable structural design. By installing a rail on a base plate and installing a movable shaft seat of a driving wheel on the rail, the driving wheel can be reciprocated along the direction defined by the rail. By setting an elastic component, a buffer elastic force can be provided for the movable shaft seat. In this way, when the rail robot moves along the I-shaped rail, the elastic component can keep the driving wheel in effective friction contact with the I-shaped rail, well track the path change of the I-shaped rail, and thus improve the continuity and reliability of the rail robot walking on the I-shaped rail. By using a telescopic coupling to establish a connection between the transmission component and the movable shaft seat, the driving wheel can be driven by the driving motor during the elastic displacement.
[0013] By setting up two load-bearing guide components, the track robot can be mounted under the I-rail in a suspended manner, so that the weight of the track robot is borne by the I-rail, and the path changes of the I-rail can be better tracked during driving and moving, thus playing a good guiding role. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 is a schematic diagram of the three-dimensional structure of the present invention, from an upper viewing angle;
[0015] Figure 2 is a schematic diagram of the three-dimensional structure of the present invention, from an upper viewing angle;
[0016] Figure 3 yes Figure 1 Schematic diagram of the structure of the elastic component, the transmission component and the movable shaft seat;
[0017] Figure 4 yes Figure 1Schematic diagram of the structure of the middle load-bearing guide assembly.
[0018] In the figure:
[0019] 1. Base plate; 2. Driving motor; 3. Track; 4. Elastic component; 4-1. Support; 4-2. Connecting rod; 4-3. Spring; 4-4. Linkage plate; 5. Transmission component; 5-1. Lower housing; 5-2. Upper housing; 5-3. Gear; 5-4. Mounting frame; 6. Load-bearing guide component; 6-1. Mounting base; 6-2. Rotating shaft; 6-3. V-shaped support; 6-4. Load-bearing wheel; 6-5. Guide wheel frame; 6-6. Guide wheel; 7. Encoder; 8. Driving wheel; 9. Telescopic coupling; 10. Movable shaft seat; 10-1. Slider; 10-2. Base; 10-3. Transmission box; 10-4. Output shaft; 10-5. Input shaft. DETAILED DESCRIPTION
[0020] In order to further understand the content, features and effects of the present invention, the following embodiments are given to explain in detail.
[0021] See also Figure 1 and Figure 2 The driving structure of the rail robot of the present invention comprises a base plate 1, on which a driving motor 2 and a transmission assembly 5 are mounted. As shown in the figure, the driving motor 2 is mounted and fixed at the bottom of the base plate 1, and half of the transmission assembly 5 is located at the upper part of the base plate 1 and the other half is located at the lower part of the base plate 1. The driving structure is mounted and fixed at the top of the rail robot body and matches the I-shaped track.
[0022] A track 3 is also installed in the middle of the base plate 1, on which a mobile shaft seat 10 capable of translational movement is installed, and a driving wheel 8 is installed on the mobile shaft seat 10, and the wheel rim of the driving wheel 8 contacts the side wall of the middle plate of the I-shaped track. The mobile shaft seat 10 and its driving wheel 8 can reciprocate along the direction defined by the track 3, and when the driving wheel 8 rotates, the track robot can move along the I-shaped track by friction.
[0023] The transmission assembly 5 and the movable axle seat 10 are transmitted by a telescopic coupling 9, so that when the movable axle seat 10 shifts along the track 3, the telescopic effect of the telescopic coupling 9 can still ensure that the driving action of the drive motor 2 is stably and effectively transmitted to the drive wheel 8.
[0024] In this embodiment, Figure 3As shown in the figure, the mobile shaft seat 10 includes two bases 10-2 arranged opposite to each other, a transmission box 10-3 is installed between the two bases 10-2, a slider 10-1 is installed at the bottom of each base 10-2 and the slider 10-1 slides along the track 3, the transmission box 10-3 has a vertical output shaft 10-4 and the driving wheel 8 is installed on the output shaft 10-4, and the transmission box 10-3 also has a horizontal input shaft 10-5. Specifically, the transmission box 10-3 includes a box body, and the output shaft 10-4 and the input shaft 10-5 are connected by a bevel gear set located in the box body.
[0025] See also Figure 3 , we can see that:
[0026] The transmission assembly 5 includes a lower housing 5-1 installed at the lower part of the base plate 1 and an upper housing 5-2 installed at the upper part of the base plate 1. A gear 5-3 for meshing transmission is installed inside the lower housing 5-1 and the upper housing 5-2. The end of the telescopic coupling 9 is connected to the gear 5-3 in the upper housing 5-2. The input shaft 10-5 on the transmission box 10-3 is connected to the end of the telescopic coupling 9. Specifically, the front end of the telescopic coupling 9 has a sleeve and the rear end has a shaft section. The rear end of the shaft section is inserted into the shaft hole in the center of the gear 5-3 and is connected by a key. The end of the input shaft 10-5 is inserted into the sleeve and is connected by a key, so that the rotation effect of the gear 5-3 can be effectively transmitted to the input shaft 10-5, and the input shaft 10-5 can slide and move along the axial direction in the sleeve.
[0027] In this embodiment, a mounting frame 5 - 4 is further installed on the side of the lower housing 5 - 1 , and the drive motor 2 is mounted and fixed on the mounting frame 5 - 4 .
[0028] An elastic component 4 is installed on the base plate 1 to provide a buffering elastic force for the movable shaft seat 10. The elastic component 4 provides an elastic force for the movable shaft seat 10 and the driving wheel 8, so that the wheel rim of the driving wheel 8 maintains frictional contact with the side wall of the middle plate of the I-shaped track. When the curvature of the I-shaped track changes, the movable shaft seat 10 and the driving wheel 8 will be squeezed to a certain extent and recover when reaching the straight section of the track. At this time, the movable shaft seat 10 will move on the track 3, and the elastic component 4 provides a buffering elastic force to always maintain appropriate frictional contact between the driving wheel 8 and the I-shaped track to ensure the effect of driving displacement.
[0029] In this embodiment, Figure 3As shown in the figure, the elastic component 4 includes two supports 4-1 installed on the outer side of the track 3, guide rods 4-2 are installed at the front of the two supports 4-1, linkage plates 4-4 are installed at the ends of the two guide rods 4-2, and springs 4-3 are arranged between the linkage plates 4-4 and the two bases 10-2. In this way, when the mobile shaft seat 10 moves away from the transmission assembly 5, the two springs 4-3 are further squeezed, and when the mobile shaft seat 10 moves toward the transmission assembly 5, the two springs 4-3 are further stretched.
[0030] Load-bearing guide components 6 are installed on the base plate 1 and on both sides of the track 3. The entire track robot is suspended and installed under the I-track through two load-bearing guide components 6. The overall weight of the track robot is borne by the I-track. The load-bearing guide components 6 also provide a guiding function, so that the track robot can better track the path changes of the I-track.
[0031] See also Figure 4 , we can see that:
[0032] The load-bearing guide assembly 6 includes a mounting base 6-1 mounted on the base plate 1, a rotating shaft 6-2 is provided on the mounting base 6-1, and a V-shaped support 6-3 is installed on the rotating shaft 6-2. The mounting base 6-1 is usually fixedly connected to the base plate 1 by bolts, a ball bearing is provided between the mounting base 6-1 and the rotating shaft 6-2, and the bottom middle part of the V-shaped support 6-3 is fixedly connected to the rotating shaft 6-2, so that the V-shaped support 6-3 and its attached parts can flexibly rotate around the rotating shaft 6-2.
[0033] Load-bearing wheels 6-4 are installed on the inner side of the upper ends of the two arms of the V-shaped support 6-3. The two load-bearing wheels 6-4 are respectively located on both sides of the middle plate of the I-beam track and fall on the bottom side plate of the I-beam track. When the track robot moves, the load-bearing wheels 6-4 roll along the upper surface of the bottom side plate, that is, the track surface.
[0034] A guide wheel frame 6-5 is also installed at the upper end of one of the arms, and guide wheels 6-6 are installed at both ends of the guide wheel frame 6-5. The two guide wheels 6-6 are located on the same side of the middle plate of the I-shaped track, and the wheel rims are in frictional contact with the side wall of the middle plate of the I-shaped track. When the track robot is moving, the guide wheels 6-6 roll along the side wall of the middle plate of the I-shaped track.
[0035] In this embodiment, an encoder 7 is also installed on the outer side of the upper end of one of the arms of the V-shaped support 6-3, and the shaft of the encoder 7 is connected to the axle of the load-bearing wheel 6-4 on this side. The encoder 7 is used to determine the distance the rail robot moves on the I-shaped track by detecting the number of rotations of the load-bearing wheel 6-4, and further determine the specific position of the inspection robot on the I-shaped track by the moving distance. The detection signal of the encoder 7 is sent to the controller of the rail robot through a cable.
Claims
1. A driving structure of a track robot, characterized by: The invention comprises a base plate (1), a driving motor (2) and a transmission assembly (5) are mounted on the base plate (1), a track (3) is also mounted in the middle of the base plate (1), a movable shaft seat (10) capable of translational movement is mounted on the track (3), a driving wheel (8) is mounted on the movable shaft seat (10), the wheel rim of the driving wheel (8) contacts the side wall of the middle plate of the I-shaped track, the transmission assembly (5) and the movable shaft seat (10) are driven by a telescopic coupling (9), an elastic assembly (4) for providing buffering elastic force for the movable shaft seat (10) is mounted on the base plate (1); and a load-bearing guide assembly (6) is mounted on the base plate (1) and on both sides of the track (3).
2. The driving structure of the rail robot according to claim 1, characterized in that: The movable shaft seat (10) comprises two bases (10-2) arranged opposite to each other, a transmission box (10-3) is installed between the two bases (10-2), a slider (10-1) is installed at the bottom of each base (10-2), and the slider (10-1) slides along a track (3), an input shaft (10-5) of the transmission box (10-3) is connected to the end of a telescopic coupling (9), the transmission box (10-3) has a vertical output shaft (10-4), and a driving wheel (8) is installed on the output shaft (10-4).
3. The driving structure of the rail robot according to claim 2, characterized in that: The elastic component (4) comprises two supports (4-1) installed on the outside of the track (3), guide rods (4-2) are installed at the front of the two supports (4-1), linkage plates (4-4) are installed at the ends of the two guide rods (4-2), and springs (4-3) are provided between the linkage plates (4-4) and the two bases (10-2).
4. The driving structure of the rail robot according to claim 3, characterized in that: The transmission assembly (5) comprises a lower housing (5-1) mounted on the lower part of the base plate (1) and an upper housing (5-2) mounted on the upper part of the base plate (1); gears (5-3) for meshing transmission are mounted inside the lower housing (5-1) and the upper housing (5-2); the end of the telescopic coupling (9) is connected to the gear (5-3) inside the upper housing (5-2); a mounting frame (5-4) is also mounted on the side of the lower housing (5-1), and the drive motor (2) is mounted and fixed on the mounting frame (5-4).
5. The driving structure of the rail robot according to claim 4, characterized in that: The load-bearing guide assembly (6) comprises a mounting base (6-1) mounted on a base plate (1); a rotating shaft (6-2) is provided on the mounting base (6-1); a V-shaped support (6-3) is mounted on the rotating shaft (6-2); load-bearing wheels (6-4) are mounted on the inner sides of the upper ends of two support arms of the V-shaped support (6-3); a guide wheel frame (6-5) is also mounted on the upper end of one of the support arms; guide wheels (6-6) are mounted on both ends of the guide wheel frame (6-5).
6. The driving structure of the track robot as claimed in claim 5, characterized in that: An encoder (7) is also installed on the outer side of the upper end of one of the arms of the V-shaped support (6-3), and the shaft of the encoder (7) is butt-connected to the wheel shaft of the load-bearing wheel (6-4) on this side.