Obstacle crossing mechanism of rail robot and rail robot

Abstract

The invention discloses an obstacle crossing mechanism of a rail robot and the rail robot, and belongs to the technical field of robot equipment.The rail robot comprises a vehicle bottom, the two sides of the top of the vehicle bottom are each fixedly connected with two shaft seats, and the two shaft seats are each rotationally connected with a driving shaft; a driven shaft is rotationally connected between the other two shaft seats; wheel assemblies are fixedly mounted at the outer ends of the two driving shafts and the front and rear ends of the driven shafts, and a driving mechanism is mounted on one side of the top of the vehicle bottom. By designing the driving mechanism, when a small obstacle exists in a track, a first motor is started, an output shaft rotates to drive a rotating disc to rotate, the rotating disc rotates to drive a plurality of arc-shaped strips to rotate, and therefore a plurality of sliding blocks are driven to slide towards the outer ends in corresponding sliding grooves; shutdown operation is not needed when the robot runs, and the working efficiency is greatly improved.

Description

Technical Field

[0001] The invention belongs to the technical field of robot equipment, and in particular relates to an obstacle crossing mechanism of a track robot and the track robot. Background Art

[0002] A track robot is a robot specially designed to move and perform tasks on tracks or in track conditions. Its motion system usually adopts a crawler or wheeled structure and can move freely on the track. Track robots are often used for track inspection, monitoring, maintenance, detection and other tasks. There are also some applications for transportation and handling. In general, track robots can improve the operating efficiency and safety of railways or tracks, reduce manual labor intensity, reduce operating costs, and replace manual operations in some dangerous or difficult-to-reach areas. They have broad application prospects.

[0003] Existing rail robots may encounter sudden obstacles while traveling on the track. If the rail robot is not equipped with an obstacle-crossing mechanism, it may collide with the obstacle, causing the rail robot to be damaged by the impact, which not only increases the cost of using the rail robot, but also greatly reduces the work efficiency. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the disadvantages of the above-mentioned prior art and provide an obstacle crossing mechanism of a rail robot and a rail robot.

[0005] The technical solution adopted to solve the above technical problems is: a rail robot, comprising a vehicle bottom, two axle seats are fixedly connected to both sides of the top of the vehicle bottom, wherein a driving shaft is rotatably connected to the two axle seats, and a driven shaft is rotatably connected between the other two axle seats;

[0006] Wheel assemblies are fixedly mounted on the outer ends of the two driving shafts and the front and rear ends of the driven shaft, and a driving mechanism is mounted on one side of the top of the vehicle bottom;

[0007] The top four corners of the vehicle bottom are all fixedly connected with support columns, and a lifting mechanism is installed between the plurality of support columns.

[0008] Furthermore, the wheel assembly includes a wheel body arranged at the outer end of the bottom of the vehicle, the outer wall of the wheel body is provided with a plurality of annularly distributed slide grooves, a plurality of slide grooves are slidably connected with sliders, the center of the wheel body is rotatably connected with a rotating shaft, a first motor is fixedly installed on the outer end of the wheel body, a turntable is fixedly connected to the inner end of the rotating shaft, an arc strip is rotatably connected between the turntable and a plurality of sliders, and the inner end of the wheel body is fixedly connected with a mounting cover.

[0009] Through the above technical solution, when there is a small obstacle in the track, the first motor is started, and the turntable is driven to rotate by the output shaft. The rotation of the turntable drives the multiple arc bars to rotate, thereby driving the multiple sliders to slide toward the outer ends in the corresponding slide grooves. When the wheel body is rotated, the multiple sliders roll directly over the obstacle, and there is no need to stop the robot when it is running, which greatly improves work efficiency.

[0010] Furthermore, the inner end of the first motor output shaft is fixedly connected to the outer end of the rotating shaft, and the inner end of the mounting cover is fixedly connected to the outer end of the driving shaft.

[0011] Through the above technical solution, the rotation of the drive shaft drives the connected mounting cover to rotate, thereby driving the wheel body to roll.

[0012] Furthermore, the driving mechanism includes a driven bevel gear fixedly connected to the inner ends of the outer walls of the two driving shafts, a second motor is fixedly installed on the top side of the vehicle bottom, and the outer wall of the output shaft of the second motor is fixedly connected with a driving bevel gear, and the driving bevel gear is meshed with the two driven bevel gears. When the second motor is started, the second motor drives the driving bevel gear to rotate through the output shaft, thereby driving the two meshing driven bevel gears to rotate, thereby driving the connected driving shaft to rotate, thereby driving the wheel assembly to roll, and at the same time, the front and rear end wheel assemblies of the driven shaft roll synchronously to realize the driving of the rail robot.

[0013] Furthermore, the lifting mechanism includes a support frame slidably connected between a plurality of support columns, the front and rear ends of the bottom of the support frame are fixedly connected to connecting seats, a group of connecting rods are rotatably connected to the two connecting seats, and the bottoms of the support frame are fixedly connected to fixed seats near the connecting seats, a third motor is fixedly installed on the outer end of one of the fixing seats, and a connecting shaft is rotatably connected between the two fixing seats. The user can install the required device on the support frame, and when lifting and lowering adjustment is required, the third motor is started, and the connecting shaft is driven to rotate by the output shaft, so that the connecting shaft drives the two groups of connecting rods to rotate, thereby driving the support frame to rise upward, thereby lifting the device, and the user can lift the specific position according to needs, with strong functionality.

[0014] Furthermore, the two groups of connecting rods are rotatably connected to the connecting shaft, the inner end of the third motor is fixedly connected to the outer end of the connecting shaft, and the support frame is slidingly connected to multiple support columns during the raising process, which has a certain limiting effect.

[0015] A rail robot obstacle crossing mechanism comprises an obstacle crossing mechanism, wherein the obstacle crossing mechanism comprises a fixed frame fixedly connected to both sides of the top of a vehicle bottom, two limit rods and a screw rod are installed between the two fixed frames and the vehicle bottom, a fourth motor is fixedly installed at the top center of the two fixed frames, a movable frame is slidably connected between every two limit rods, rollers are installed at the bottom of the outer ends of the two movable frames, and a fifth motor is installed at the bottom of the inner ends of the two movable frames. When there is a large obstacle in the track, the fourth motor is started to drive the screw rod to rotate through the output shaft, thereby driving the fixed frame to move downward. When the two rollers on the fixed frame contact the track, the screw rod continues to rotate. Since the fixed frame is stationary, the screw rod drives the vehicle bottom to move upward, thereby driving the wheel assembly to leave the track. At the same time, multiple fifth motors start to run, driving the corresponding rollers to rotate through the output shaft, thereby driving the entire robot to move, thereby crossing the large obstacle.

[0016] Furthermore, the bottom ends of the two fourth motor output shafts are fixedly connected to the corresponding screw rods, the two movable frames are respectively threadedly connected to the corresponding screw rods, and the outer ends of the two fifth motor output shafts are fixedly connected to the corresponding rollers. When the fifth motor is started, the rollers are driven to rotate by the rotation of the output shaft, so that the robot travels on the track.

[0017] The beneficial effects of the present invention are as follows: (1) The present invention designs a driving mechanism. When there is a small obstacle in the track, the first motor is started, and the turntable is driven to rotate by rotating the output shaft. The rotation of the turntable drives the multiple arc bars to rotate, thereby driving the multiple sliders to slide toward the outer ends in the corresponding slide grooves. When the wheel body is rotated, the multiple sliders roll directly over the obstacle, and there is no need to stop the robot for operation when it is running, thereby greatly improving work efficiency; (2) The present invention designs an obstacle crossing mechanism. When there is a large obstacle in the track, the fourth motor is started to rotate by rotating the output shaft to drive the screw to rotate, thereby driving the fixed frame to move downward. When the two rollers on the fixed frame contact the track, the screw continues to rotate. Since the fixed frame is stationary, the screw drives the bottom of the vehicle to move upward, thereby driving the wheel assembly to leave the track. At the same time, multiple fifth motors all start to run, and the corresponding rollers are driven to rotate by the output shaft, thereby driving the entire robot to move, thereby crossing the large obstacle. The functionality is strong. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is an appearance diagram of the robot body of the present invention traveling on a track;

[0019] Figure 2 It is the overall front view of the present invention;

[0020] Figure 3 is an overall side view of the present invention;

[0021] Figure 4It is a schematic diagram of the driving mechanism structure of the present invention;

[0022] Figure 5 is an exploded view of a wheel assembly of the present invention;

[0023] Figure 6 It is a structural schematic diagram of the lifting mechanism of the present invention.

[0024] 1. Bottom of vehicle; 2. Axle seat; 3. Driving shaft; 4. Driven shaft; 5. Wheel assembly; 501. Wheel body; 502. Slide groove; 503. Slider; 504. Rotating shaft; 505. First motor; 506. Turntable; 507. Arc bar; 6. Driving mechanism; 601. Driven bevel gear; 602. Second motor; 603. Driving bevel gear; 7. Support column; 8. Lifting mechanism; 801. Support frame; 802. Connecting seat; 803. Connecting rod; 804. Fixed seat; 805. Third motor; 806. Connecting shaft; 9. Obstacle crossing mechanism; 901. Fixed frame; 902. Limiting rod; 903. Screw rod; 904. Fourth motor; 905. Movable frame; 906. Roller; 907. Fifth motor; 10. Track. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0026] like Figure 1-Figure 6 As shown, a rail robot of this embodiment includes a vehicle bottom 1, two axle seats 2 are fixedly connected to both sides of the top of the vehicle bottom 1, wherein a driving shaft 3 is rotatably connected to the two axle seats 2, and a driven shaft 4 is rotatably connected between the other two axle seats 2, and support columns 7 are fixedly connected to the four corners of the top of the vehicle bottom 1.

[0027] like Figure 1-Figure 5As shown, the outer ends of the two driving shafts 3 and the front and rear ends of the driven shaft 4 are fixedly installed with wheel assemblies 5, and the wheel assembly 5 includes a wheel body 501 arranged at the outer end of the vehicle bottom 1, and the outer wall of the wheel body 501 is provided with a plurality of annularly distributed slide grooves 502, and the plurality of slide grooves 502 are slidably connected with sliders 503, and the center of the wheel body 501 is rotatably connected with a rotating shaft 504, and the outer end of the wheel body 501 is fixedly installed with a first motor 505, and the inner end of the rotating shaft 504 is fixedly connected with a rotating disk 506, and the rotating disk 506 and the plurality of sliders 503 are rotatably connected with an arc bar 507, and the inner end of the wheel body 501 is fixedly connected with a mounting cover 508. When there is a small obstacle, the first motor 505 is started, and the turntable 506 is driven to rotate by rotating the output shaft. The rotation of the turntable 506 drives the multiple arc bars 507 to rotate, thereby driving the multiple sliders 503 to slide toward the outer ends in the corresponding slide grooves 502. When the wheel body 501 is rotated, the multiple sliders 503 roll directly over the obstacle without stopping the robot when it is running, which greatly improves the work efficiency. The inner end of the output shaft of the first motor 505 is fixedly connected to the outer end of the rotating shaft 504, and the inner end of the mounting cover 508 is fixedly connected to the outer end of the driving shaft 3. The rotation of the driving shaft 3 drives the connected mounting cover 508 to rotate, thereby driving the wheel body 501 to roll.

[0028] like Figure 1-Figure 4 As shown, a driving mechanism 6 is installed on the top side of the vehicle bottom 1, and the driving mechanism 6 includes a driven bevel gear 601 fixedly connected to the inner ends of the outer walls of the two driving shafts 3. A second motor 602 is fixedly installed on the top side of the vehicle bottom 1, and the outer wall of the output shaft of the second motor 602 is fixedly connected with a driving bevel gear 603, and the driving bevel gear 603 is meshed with the two driven bevel gears 601. When the second motor 602 is started, the second motor 602 drives the driving bevel gear 603 to rotate through the output shaft rotation, thereby driving the two meshing driven bevel gears 601 to rotate, thereby driving the connected driving shaft 3 to rotate, thereby driving the wheel assembly 5 to roll, and at the same time, the front and rear end wheel assemblies 5 of the driven shaft 4 roll synchronously to realize the driving of the track robot.

[0029] like Figure 1-Figure 6As shown, a lifting mechanism 8 is installed between the multiple support columns 7. The lifting mechanism 8 includes a support frame 801 slidably connected between the multiple support columns 7. The front and rear ends of the bottom of the support frame 801 are fixedly connected to a connecting seat 802. A group of connecting rods 803 are rotatably connected to the two connecting seats 802. The bottom of the support frame 801 is fixedly connected to a fixed seat 804 near the connecting seat 802. The outer end of one of the fixed seats 804 is fixedly installed with a third motor 805. A connecting shaft 806 is rotatably connected between the two fixed seats 804. The user can 01 Install the required device. When it needs to be raised or lowered, start the third motor 805. The output shaft rotates to drive the connecting shaft 806 to rotate, so that the connecting shaft 806 drives the two sets of connecting rods 803 to rotate, thereby driving the support frame 801 to rise upward, thereby lifting the device. The user can lift the specific position according to the needs. The functionality is strong. The two sets of connecting rods 803 are both rotatably connected to the connecting shaft 806, and the inner end of the third motor 805 is fixedly connected to the outer end of the connecting shaft 806. During the lifting process of the support frame 801, it is slidably connected with multiple support columns 7, which has a certain limiting effect.

[0030] like Figure 1-Figure 3 As shown, an obstacle-crossing mechanism of a rail robot includes an obstacle-crossing mechanism 9, which includes a fixed frame 901 fixedly connected to both sides of the top of the vehicle bottom 1, two limit rods 902 and a screw rod 903 are installed between the two fixed frames 901 and the vehicle bottom 1, a fourth motor 904 is fixedly installed at the top center of the two fixed frames 901, a movable frame 905 is slidably connected between every two limit rods 902, a roller 906 is installed at the bottom of the outer ends of the two movable frames 905, and a fifth motor 907 is installed at the bottom of the inner ends of the two movable frames 905. When there is a large obstacle in the track 10, the fourth motor 904 is started to rotate through the output shaft to drive the screw rod 903 to rotate, thereby driving the fixed frame 901 to move downward, and when the two on the fixed frame 901 When the roller 906 contacts the track 10, the screw rod 903 continues to rotate. Since the fixed frame 901 is stationary, the screw rod 903 drives the bottom of the vehicle 1 to move upward, thereby driving the wheel assembly 5 to leave the track 10. At the same time, multiple fifth motors 907 start to run, and drive the corresponding rollers 906 to rotate through the output shaft, thereby driving the entire robot to move, so as to cross large obstacles. The bottom ends of the output shafts of the two fourth motors 904 are fixedly connected to the corresponding screw rods 903, and the two movable frames 905 are respectively threadedly connected to the corresponding screw rods 903. The outer ends of the output shafts of the two fifth motors 907 are fixedly connected to the corresponding rollers 906. When the fifth motor 907 starts, the rollers 906 are driven to rotate by rotating the output shaft, so that the robot travels on the track 10.

[0031] The working principle of this embodiment is as follows: when there is a small obstacle in the track 10, the first motor 505 is started, and the turntable 506 is driven to rotate by the output shaft, and the rotation of the turntable 506 drives the multiple arc bars 507 to rotate, thereby driving the multiple sliders 503 to slide toward the outer end in the corresponding slide groove 502, and the second motor 602 is started, so that the second motor 602 drives the driving bevel gear 603 to rotate by the output shaft rotation, thereby driving the two meshing driven bevel gears 601 to rotate, thereby driving the connected driving shaft 3 to rotate, thereby driving the wheel assembly 5 to roll, and at the same time, the front and rear end wheel assemblies 5 of the driven shaft 4 roll synchronously, so that the multiple sliders 503 roll directly over the obstacle;

[0032] When there is a large obstacle in the track 10, the fourth motor 904 is started to rotate through the output shaft to drive the screw rod 903 to rotate, thereby driving the fixed frame 901 to move downward. When the two rollers 906 on the fixed frame 901 contact the track 10, the screw rod 903 continues to rotate. Since the fixed frame 901 does not move, the screw rod 903 drives the bottom 1 of the vehicle to move upward, thereby driving the wheel assembly 5 to leave the track 10. At the same time, multiple fifth motors 907 all start to run, and drive the corresponding rollers 906 to rotate through the output shaft, thereby driving the entire robot to move, so as to cross the large obstacle;

[0033] When lifting adjustment is required, the third motor 805 is started, and the connecting shaft 806 is driven to rotate by rotating the output shaft, so that the connecting shaft 806 drives the two sets of connecting rods 803 to rotate, thereby driving the support frame 801 to rise upward, thereby lifting the device, and the user can lift the specific position according to needs.

[0034] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention.

Claims

1. A rail robot, comprising a vehicle bottom (1), characterized in that: Two axle seats (2) are fixedly connected to both sides of the top of the vehicle bottom (1), wherein a driving shaft (3) is rotatably connected to two of the axle seats (2), and a driven shaft (4) is rotatably connected between the other two axle seats (2); Wheel assemblies (5) are fixedly mounted on the outer ends of the two driving shafts (3) and the front and rear ends of the driven shaft (4), and a driving mechanism (6) is mounted on one side of the top of the vehicle bottom (1); The top four corners of the vehicle bottom (1) are all fixedly connected with support columns (7), and a lifting mechanism (8) is installed between the plurality of support columns (7).

2. A rail robot according to claim 1, characterized in that: The wheel assembly (5) comprises a wheel body (501) arranged at the outer end of the vehicle bottom (1); the outer wall of the wheel body (501) is provided with a plurality of annularly distributed slide grooves (502); a plurality of slide grooves (502) are slidably connected to a slider (503); the center of the wheel body (501) is rotatably connected to a rotating shaft (504); a first motor (505) is fixedly mounted on the outer end of the wheel body (501); a rotating disk (506) is fixedly connected to the inner end of the rotating shaft (504); an arc-shaped bar (507) is rotatably connected between the rotating disk (506) and the plurality of sliders (503); and a mounting cover (508) is fixedly connected to the inner end of the wheel body (501).

3. A rail robot according to claim 2, characterized in that: The inner end of the output shaft of the first motor (505) is fixedly connected to the outer end of the rotating shaft (504), and the inner end of the mounting cover (508) is fixedly connected to the outer end of the driving shaft (3) therein.

4. A rail robot according to claim 1, characterized in that: The driving mechanism (6) comprises a driven bevel gear (601) fixedly connected to the inner ends of the outer walls of the two driving shafts (3); a second motor (602) is fixedly mounted on one side of the top of the vehicle bottom (1); a driving bevel gear (603) is fixedly connected to the outer wall of the output shaft of the second motor (602); and the driving bevel gear (603) is meshed with the two driven bevel gears (601).

5. A rail robot according to claim 1, characterized in that: The lifting mechanism (8) comprises a support frame (801) slidably connected between a plurality of support columns (7); the front and rear ends of the bottom of the support frame (801) are fixedly connected to connecting seats (802); a group of connecting rods (803) are rotatably connected to the two connecting seats (802); the bottom of the support frame (801) is fixedly connected to fixed seats (804) at positions close to the connecting seats (802); a third motor (805) is fixedly installed at the outer end of one of the fixed seats (804); and a connecting shaft (806) is rotatably connected between the two fixed seats (804).

6. A rail robot according to claim 5, characterized in that: The two groups of connecting rods (803) are both rotatably connected to the connecting shaft (806), and the inner end of the third motor (805) is fixedly connected to the outer end of the connecting shaft (806).

7. An obstacle crossing mechanism applied to the rail robot according to any one of claims 1 to 6, comprising an obstacle crossing mechanism (9), characterized in that: The obstacle crossing mechanism (9) comprises a fixed frame (901) fixedly connected to both sides of the top of the vehicle bottom (1), two limit rods (902) and a screw rod (903) are installed between the two fixed frames (901) and the vehicle bottom (1), a fourth motor (904) is fixedly installed at the top center of the two fixed frames (901), a movable frame (905) is slidably connected between each two limit rods (902), a roller (906) is installed at the bottom of the outer ends of the two movable frames (905), and a fifth motor (907) is installed at the bottom of the inner ends of the two movable frames (905).

8. The obstacle crossing mechanism of a rail robot according to claim 7, characterized in that: The bottom ends of the output shafts of the two fourth motors (904) are fixedly connected to the corresponding screw rods (903), the two movable frames (905) are respectively threadedly connected to the corresponding screw rods (903), and the outer ends of the output shafts of the two fifth motors (907) are fixedly connected to the corresponding rollers (906).

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