Cleaning mechanism of rail robot

Abstract

The invention relates to a cleaning mechanism of a rail robot. Comprising a V-shaped support capable of rotating, bearing wheels are installed on the inner sides of the tops of two supporting arms of the V-shaped support, and driving assemblies are installed on the outer sides of the tops of the two supporting arms of the V-shaped support; the driving assembly comprises a linkage gear box fixedly connected with the supporting arm, a bearing wheel shaft and a main transmission shaft which are in transmission connection through a first bevel gear set are installed in the linkage gear box, and the bearing wheel is installed at the inner end of the bearing wheel shaft. A driven transmission shaft and a sweeping driving shaft which are in transmission connection through a second bevel gear set are installed in the driving gearbox, a sweeping brush is installed at the lower end of the sweeping driving shaft, and the driving assembly further comprises a transmission assembly which enables the main transmission shaft to be in transmission connection with the driven transmission shaft. According to the cleaning mechanism of the rail robot, the occupied space and the influence on movement of the rail robot are reduced through the compact structural design, and the continuous and effective cleaning effect is guaranteed by improving the transmission stability and reliability.

Description

Technical Field

[0001] The invention belongs to the technical field of track robots, and in particular relates to a cleaning mechanism 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] One of the problems faced by rail robots moving on overhead tracks is that over time, dust will accumulate on the tracks, especially in scenes with severe dusty environments, such as open ports and material yards. The dusty tracks will have an adverse effect on the robot's travel and displacement, and in severe cases, will cause travel jams or slips. Therefore, it is necessary to equip the rail robot with a cleaning mechanism to complete the cleaning operation of the track online while moving along the track. The dust on the track is removed through continuous cleaning to keep the track clean. The requirements for the cleaning mechanism of the rail robot are: compact structure to reduce space occupation, and stable transmission to avoid failure of the cleaning mechanism itself, which will lead to the inability to implement effective cleaning. The existing cleaning mechanisms used in rail robots cannot fully meet the above requirements and need to be developed and designed according to needs. Summary of the invention

[0004] The object of the present invention is to provide a cleaning mechanism for a rail robot, which reduces the space occupied and the impact on the movement of the rail robot through a compact structural design, and ensures a continuous and effective cleaning effect by improving the stability and reliability of the transmission.

[0005] The technical solution adopted by the present invention is: a cleaning mechanism of a rail robot, including a rotatable V-shaped support, load-bearing wheels are installed on the inner side of the top of two support arms of the V-shaped support, and a driving assembly is installed on the outer side of the top of the two support arms of the V-shaped support; the driving assembly includes a linkage gear box fixedly connected to the support arm, a load-bearing wheel shaft and a main transmission shaft connected by a first bevel gear set are installed inside the linkage gear box, the load-bearing wheel is installed on the inner end of the load-bearing wheel shaft, the driving assembly also includes a driving gear box, a slave transmission shaft and a cleaning drive shaft connected by a second bevel gear set are installed inside the driving gear box, a cleaning brush is installed at the lower end of the cleaning drive shaft, and the driving assembly also includes a transmission assembly that transmission connects the main transmission shaft with the slave transmission shaft.

[0006] Preferably, the transmission assembly includes a transmission gearbox installed and fixed between the linkage gearbox and the driving gearbox, a transmission gear set consisting of two gears is installed inside the transmission gearbox, and the ends of the main transmission shaft and the slave transmission shaft are fixedly connected to the two gears respectively.

[0007] Preferably, it comprises a mounting base and a rotating shaft, a bearing is installed between the mounting base and the rotating shaft, and the middle part of the bottom of the V-shaped support is fixedly connected to the rotating shaft.

[0008] Preferably, a guide assembly is also installed on the inner side of the upper end of one of the arms of the V-shaped support, and the guide assembly includes a guide wheel frame fixedly connected to the arm, and guide wheels are installed at both ends of the guide wheel frame.

[0009] The advantages and positive effects of the present invention are:

[0010] The present invention provides a cleaning mechanism for a rail robot with a reasonable structural design. Compared with the existing cleaning mechanisms applied to rail robots, the cleaning mechanism adopts a load-bearing wheel that rolls and moves along the rail as the power input of the cleaning brush, so it is a cleaning mechanism without active drive. The cleaning mechanism in the present invention realizes a compact structural design, reduces the space occupied and the impact on the movement of the rail robot. The rotation of the load-bearing wheel in the present invention is transmitted to the cleaning brush through the drive assembly. The drive assembly adopts a fully enclosed structure, and each shaft and the bevel gear set for transmission are installed inside the gear box. This can effectively prevent external dust from entering the interior of the drive assembly, improve the stability and reliability of the transmission between the load-bearing wheel and the cleaning brush, and ensure a continuous and effective cleaning effect on the track. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the three-dimensional structure of the rear viewing angle of the present invention, rear viewing angle;

[0012] Figure 2 It is a schematic diagram of the front viewing angle stereoscopic structure of the present invention, front viewing angle;

[0013] Figure 3 It is a schematic diagram of the three-dimensional structure of the present invention from an upper perspective, retaining the components on one side;

[0014] Figure 4 It is a schematic diagram of the lower perspective structure of the transmission part in the present invention.

[0015] In the figure:

[0016] 1. Mounting base; 2. Rotating shaft; 3. V-shaped support; 4. Guide wheel frame; 5. Guide wheel; 6. Load-bearing wheel; 7. Linkage gear box; 8. Transmission gear box; 9. Cleaning brush; 10. Driving gear box; 11. Bearing seat; 12. Load-bearing wheel shaft; 13. First bevel gear set; 14. Main transmission shaft; 15. Transmission gear set; 16. Slave transmission shaft; 17. Second bevel gear set; 18. Cleaning drive shaft. DETAILED DESCRIPTION

[0017] In order to further understand the content, features and effects of the present invention, the following embodiments are given to explain in detail.

[0018] See also Figure 1 and Figure 2 The cleaning mechanism of the rail robot of the present invention comprises a rotatable V-shaped support 3, and load-bearing wheels 6 are installed on the inner side of the top of the two support arms of the V-shaped support 3, and the load-bearing wheels 6 are used to bear the weight of the rail robot. Generally, the rail robot is located below the I-shaped track in a suspended manner. The two load-bearing wheels 6 of the cleaning mechanism with load-bearing function are respectively located on both sides of the middle plate of the I-shaped track and fall on the plates on both sides of the bottom of the I-shaped track. When the rail robot moves along the track, the load-bearing wheels 6 roll on the bottom plate of the I-shaped track under the action of friction.

[0019] Normally, each track robot can be configured with two cleaning mechanisms with load-bearing functions, that is, the track robot establishes a hanging connection with the I-rail through two cleaning mechanisms installed on the top, and the overall weight of the track robot is borne on the I-rail by four load-bearing wheels 6.

[0020] The function of enabling the V-shaped support 3 to rotate is as follows: in some application scenarios of the track robot, the I-shaped track is not a straight track, but has an arc. By enabling the V-shaped support 3 to have the ability to rotate, the cleaning mechanism with a load-bearing function has the ability to track the changes in the shape of the track, allowing the track robot to move flexibly and smoothly on the curved track.

[0021] In this embodiment, the cleaning mechanism includes a mounting base 1 and a rotating shaft 2, a bearing is installed between the mounting base 1 and the rotating shaft 2, and the bottom middle part of the V-shaped support 3 is fixedly connected to the rotating shaft 2. The mounting base 1 is used to be fixedly connected to the top of the track robot body. Usually, the mounting base 1 is fixedly connected to the top of the track robot using multiple bolts. By connecting the V-shaped support 3 to the mounting base 1 through the rotating shaft 2, the V-shaped support 3 and its attached parts can rotate around the rotating shaft 2.

[0022] See also Figure 3 and Figure 4 , we can see that:

[0023] A driving assembly is installed on the outer side of the top of the two arms of the V-shaped support 3. The driving assembly is used to transmit the rotation of the load-bearing wheel 6 to the cleaning brush 9. Therefore, in this embodiment, the cleaning mechanism does not configure an active driving component (such as a driving motor) for the cleaning brush 9. This cleaning mechanism is a mechanism without active power input. When the track robot moves along the track, the load-bearing wheel 6 rolls along the I-shaped track, and the driving assembly stably and continuously transmits the rolling action of the load-bearing wheel 6 to the cleaning brush 9. Then the cleaning brush 9 continuously acts on the bottom side plate of the I-shaped track, produces a continuous cleaning effect on the I-shaped track, removes dust on the upper surface of the bottom side plate (which can be called the track surface), and keeps the track surface clean.

[0024] The driving assembly includes a linkage gearbox 7 fixedly connected to the support arm, and a load-bearing wheel shaft 12 and a main transmission shaft 14 connected by a first bevel gear set 13 are installed inside the linkage gearbox 7, and the load-bearing wheel 6 is installed at the inner end of the load-bearing wheel shaft 12. As shown in the figure, the center lines of the load-bearing wheel shaft 12 and the main transmission shaft 14 intersect vertically, the load-bearing wheel 6 drives the load-bearing wheel shaft 12 to rotate, and the first gear set 13 drives the main transmission shaft 14 to rotate.

[0025] The driving assembly also includes a driving gearbox 10, inside which are installed a slave transmission shaft 16 and a cleaning driving shaft 18 connected by a second bevel gear set 17, the cleaning driving shaft 18 is in a vertical direction, and a cleaning brush 9 is fixed to the lower end of the cleaning driving shaft 18. The slave transmission shaft 16 drives the cleaning driving shaft 18 and the cleaning brush 9 to rotate through the second bevel gear set 17, and the bottom of the cleaning brush 9 directly acts on the track surface of the I-shaped track to produce a cleaning effect.

[0026] In this embodiment, Figure 3 and Figure 4 As shown in the figure, an opening is provided at the top end of the driving gear box 10, a bearing seat 11 is fixedly mounted on the opening, a bearing is mounted inside the bearing seat 11, and the upper end of the cleaning drive shaft 18 is fixedly connected to the inner ring of the bearing.

[0027] The driving assembly also includes a transmission assembly that transmission-connects the main transmission shaft 14 with the slave transmission shaft 16. In this embodiment, the transmission assembly includes a transmission gear box 8 fixedly installed between the linkage gear box 7 and the driving gear box 10, and a transmission gear set 15 consisting of two gears is installed inside the transmission gear box 8, and the ends of the main transmission shaft 14 and the slave transmission shaft 16 are fixedly connected to the two gears respectively.

[0028] As shown in the figure, the center lines of the main transmission shaft 14 and the slave transmission shaft 16 are not colinear. After assembly, the slave transmission shaft 16 is located above the main transmission shaft 14, thereby forming a certain space at the bottom of the driving gear box 10. The top base of the cleaning brush 9 is located in the aforementioned space, which can further improve the compactness of the structure to reduce space occupancy.

[0029] In this embodiment, a guide assembly is further installed on the inner side of the upper end of one of the arms of the V-shaped support 3, and the guide assembly includes a guide wheel frame 4 fixedly connected to the arm, and guide wheels 5 are installed at both ends of the guide wheel frame 4. When the cleaning mechanism with a load-bearing function is combined with the track, the two guide wheels 5 contact the side wall of the middle plate of the I-shaped track, play a guiding role in the process of movement, and track the curvature change of the I-shaped track.

Claims

1. A cleaning mechanism for a track robot, characterized by: The invention comprises a rotatable V-shaped support (3), a load-bearing wheel (6) is installed on the inner side of the top of two support arms of the V-shaped support (3), and a driving assembly is installed on the outer side of the top of the two support arms of the V-shaped support (3); the driving assembly comprises a linkage gear box (7) fixedly connected to the support arms, a load-bearing wheel shaft (12) and a main transmission shaft (14) which are connected by a first bevel gear set (13) are installed inside the linkage gear box (7), the load-bearing wheel (6) is installed at the inner end of the load-bearing wheel shaft (12), the driving assembly also comprises a driving gear box (10), a slave transmission shaft (16) and a cleaning drive shaft (18) which are connected by a second bevel gear set (17) are installed inside the driving gear box (10), a cleaning brush (9) is installed at the lower end of the cleaning drive shaft (18), and the driving assembly also comprises a transmission assembly which connects the main transmission shaft (14) and the slave transmission shaft (16) by transmission.

2. The cleaning mechanism of the track robot according to claim 1, characterized in that: The transmission assembly comprises a transmission gear box (8) fixedly installed between a linkage gear box (7) and a driving gear box (10), a transmission gear set (15) consisting of two gears is installed inside the transmission gear box (8), and the ends of a main transmission shaft (14) and a slave transmission shaft (16) are fixedly connected to the two gears respectively.

3. The cleaning mechanism of the track robot according to claim 2, characterized in that: It comprises a mounting base (1) and a rotating shaft (2), a bearing is mounted between the mounting base (1) and the rotating shaft (2), and the bottom middle part of the V-shaped support (3) is fixedly connected to the rotating shaft (2).

4. The cleaning mechanism of the track robot as claimed in claim 3, characterized in that: A guide assembly is also installed on the inner side of the upper end of one of the support arms of the V-shaped support (3), and the guide assembly includes a guide wheel frame (4) fixedly connected to the support arm, and guide wheels (5) are installed at both ends of the guide wheel frame (4).

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