Rail hanging type robot

Abstract

The invention relates to the technical field of industrial robots, in particular to a rail hanging type robot which comprises a rail, a machine body, rollers, a rubber coated wheel sealing structure, a mounting block and an obstacle crossing mechanism, and a high-speed mute bearing is fixed through a bearing end cover; a lip-shaped elastic sealing ring is mounted on the wheel shaft, the wheel shaft is mounted on a bearing flange, and a lip-shaped elastic sealing ring is mounted on a bearing; the bearing flange is installed on the hub, the hub is fixed to the bearing flange, the lip-shaped elastic sealing ring is fixed through the shaft snap spring, the main body roller is slidably connected to the installation block and rotationally connected to the sliding block of the installation guide rail, the obstacle crossing mechanism comprises a clamping assembly, a lifting assembly and a telescopic assembly, and the auxiliary roller moves in the length direction of the machine body; oil injection holes are formed in the two sides, corresponding to the bearing flanges, of the axle respectively, an inner mounting cavity is formed in the axle in the axis direction and communicated with the oil injection holes, and grease is output from the oil injection holes. The robot has the advantage that the robot can normally inspect when the track is bent and damaged in a short distance.

Description

Technical Field

[0001] This application relates to the technical field of industrial robots, and in particular, to a rail-mounted robot. Background Art

[0002] Nowadays, the demand for intelligent construction in mines is becoming increasingly urgent, the intelligent mine construction industry is developing rapidly, and the demand for inspection robots is also increasing day by day, especially in corrosive, high-temperature and harsh environments such as mines and coke ovens.

[0003] Currently, the rail-mounted robot includes a track installed in the air and a robot body that is connected to the track through rolling wheels. The robot body walks along the track preset by the user in advance to inspect and monitor the environment such as the factory area.

[0004] In view of the above related technologies, it can be known that when problems such as deformation and distortion occur in the track, the robot body cannot move from the track and must wait until the repair is completed before it can continue to work, which seriously reduces the working efficiency of the robot. Summary of the Invention

[0005] In order to enable the robot to perform normal inspection when the track is bent or damaged over a short distance, this application provides a rail-mounted robot.

[0006] The rail-mounted robot provided by this application adopts the following technical solutions: A hanging-rail robot, comprising a rail, a body, rollers rotatably connected to the body, and a rubber-coated wheel sealing structure provided on the rollers. The rollers are in rolling connection with the rail, and the body is connected to the rail through the rollers. The rubber-coated wheel sealing structure includes a high-speed silent bearing, a bearing end cover, two lip-shaped elastic sealing rings, a bearing flange, a hub, and a shaft snap ring. The high-speed silent bearing is installed on the roller axle from the right side, and the high-speed silent bearing is fixed with the bearing end cover. A lip-shaped elastic sealing ring is installed on the axle, the axle is installed on the bearing flange, and another lip-shaped elastic sealing ring is installed on the high-speed silent bearing. The bearing flange is installed on the hub, and the hub and the bearing flange are fixed with hexagon socket head cap screws M3. The lip-shaped elastic sealing ring is fixed with the shaft snap ring. The number of the rollers is multiple, and the rollers are divided into main rollers and auxiliary rollers. Both the main rollers and the auxiliary rollers are connected with the rubber-coated wheel sealing structure. A hanging-rail robot further includes a mounting block connected to the body and an obstacle-crossing mechanism connected to the body. The number of the mounting blocks is equal to the number of the main rollers. The main rollers are slidably connected to the mounting blocks in the vertical direction. An installation groove is provided on the surface of the mounting block, and an installation guide rail is provided inside the installation groove. The installation guide rail is arranged in the vertical direction. The main rollers are rotatably connected to the sliders of the installation guide rail. The number of the obstacle-crossing mechanisms is four, and the four obstacle-crossing mechanisms are respectively located at the four corners of the body. The obstacle-crossing mechanism includes a clamping assembly slidably connected to the body, a lifting assembly connected to the clamping assembly, and a telescopic assembly connected to the lifting assembly. The clamping assembly moves along the width direction of the body, and the lifting assembly drives the telescopic assembly to move in the vertical direction. The auxiliary rollers are rotatably connected to the telescopic assembly, and the telescopic assembly drives the auxiliary rollers to move along the length direction of the body. Oil injection holes are respectively provided on both sides of the axle corresponding to the position of the bearing flange. The axle is provided with a lubricating electrical component installation inner cavity along the axial direction. The installation inner cavity is communicated with the oil injection holes. Grease is periodically output from the oil injection holes, and the grease fills the joint surface between the lip-shaped elastic sealing ring and the bearing flange.

[0007] By adopting the above technical solution, when the hanging rail robot moves to the damaged and bent part of the rail, the user can control the clamping component and the telescopic component to extend the auxiliary roller away from the body, so that the auxiliary roller straddles the bent position of the rail and is in rolling connection with the intact part of the rail, enabling the body to move on the rail again. Thus, the inspection of the working environment such as the factory area can be carried out without waiting for the rail to be repaired, achieving the purpose that the robot can perform normal inspection when the rail is bent or damaged over a short distance. The rubber-coated wheels of the robot are often invaded by water vapor containing corrosive substances into the bearings, and soon the wheels will fail to rotate. The traditional rubber-coated wheels of the robot can no longer meet the long-term production needs. Therefore, this robot rubber-coated wheel with a new structure of sealing and lubrication is designed, which has multiple characteristics such as wear resistance, high temperature resistance, corrosion resistance, self-sealing, self-lubrication, and easy disassembly and assembly. While meeting the requirements of the robot's daily inspection use, it can increase the service life, reduce personnel maintenance, and achieve the effect of cost reduction and efficiency improvement.

[0008] Optionally, the clamping component includes a clamping guide rail connected to the body and a clamping slider slidably connected to the clamping guide rail. The body is provided with lifting grooves, and the number of the lifting grooves is equal to the number of the obstacle-crossing mechanisms. Each clamping component is respectively connected to the inside of four lifting grooves. The clamping guide rail is arranged inside the lifting grooves, and the length direction of the clamping guide rail is parallel to the width direction of the body. The lifting component is fixedly connected to the clamping guide rail.

[0009] By adopting the above technical solution, when the telescopic component extends the auxiliary roller from the body position, the clamping component can make the two groups of auxiliary rollers at the same end of the body move towards each other, so that the auxiliary rollers can tightly fit on the rail, achieving the purpose that the body is in rolling connection with the rail through the auxiliary rollers, and achieving the purpose that the robot can perform normal inspection when the rail is bent or damaged over a short distance.

[0010] Optionally, both ends of the clamping guide rail are slidably connected to the lifting grooves along the vertical direction. The lifting component includes a lifting slider and a lifting screw rod threadedly connected to the bottom of the lifting groove. The lifting screw rod is fixedly connected to the lifting slider, the clamping guide rail is fixedly connected to the lifting slider, the length direction of the lifting screw rod is parallel to the vertical direction, and the lifting slider is slidably connected to the inner wall of the lifting groove.

[0011] By adopting the above technical solution, when the track is in good condition, the lifting component controls the auxiliary roller to move along the direction close to or away from the track, so that the auxiliary roller can reduce the possibility of hindering the movement of the machine body. At the same time, when the clamping component controls the auxiliary roller to connect and clamp to the track, it can assist the main roller, making the movement of the machine body more stable; when the track is bent, the lifting component can control the auxiliary roller to move vertically, so that the auxiliary roller can approach the track and improve the applicability of the present application.

[0012] Optionally, the telescopic component includes a plurality of telescopic rods, which are slidably connected to each other. The plurality of telescopic rods are arranged in sequence along the vertical direction, and the telescopic rods are slidably connected to each other along the length direction of the machine body. The telescopic rod at the lowermost end is slidably connected to the lifting slider, and the auxiliary roller is rotatably connected to the telescopic rod at the uppermost end.

[0013] By adopting the above technical solution, the purpose of sending the auxiliary roller out of the position of the machine body is realized, so that the auxiliary roller can be connected to a good track, and the purpose of enabling the robot to perform normal inspection when the track is bent or damaged over a short distance is realized.

[0014] Optionally, it further includes a swing mechanism connected to the machine body. The swing mechanism includes a sliding component slidably connected to the machine body and a bearing component connected to the sliding component. The sliding component moves in an arc along the top of the machine body. The mounting block is fixedly connected to the bearing component. The sliding component drives both sides of the bearing component to move in opposite directions, and the mounting block is fixedly connected between both sides of the bearing component; the sliding component includes a sliding guide rail connected to the machine body and a sliding slider slidably connected to the sliding guide rail. The bearing component is connected between the sliding sliders. There are two swing grooves provided at the top of the machine body. The swing grooves are arc-shaped grooves, and the middle positions of the two swing grooves bend away from each other. The sliding guide rail and the slider are both arranged inside the swing grooves; the bearing component includes bearing columns and swing rods connected to the bearing columns. The number of bearing columns is three, and the number of swing rods is one. The three bearing columns are arranged in sequence along the length direction of the machine body. The bearing column in the middle is fixedly connected to the machine body, and the two bearing columns on both sides are fixedly connected to the sliding sliders. The swing rod is rotatably connected between the three bearing columns.

[0015] By adopting the above technical solutions, in the case of a small bending angle, the user can control the sliding component to make the two bearing columns at both ends twist under the limitation of the swinging groove, so that the main body roller can twist at the position of the track to find the angle at which the machine body can continue to walk, without immediately repairing the track, achieving the purpose that the robot can normally conduct inspection when the track bending condition is relatively light. When the bending is large, the user can make the main body roller disconnect from the track by twisting the bearing columns with each other, so that only the auxiliary roller is in rolling connection with the track. After the machine body smoothly passes through the damaged part of the track, the main body roller and the track are connected to each other by twisting the bearing columns with each other, realizing the crossing of the damaged and bent track, and achieving the purpose that the robot can normally conduct inspection when the track is bent or damaged.

[0016] Optionally, oil injection holes are respectively arranged on both sides of the wheel axle corresponding to the positions of the bearing flanges, and oil guide grooves are arranged outside the oil injection holes.

[0017] By adopting the above technical solutions, the lubricating oil can enter the oil guide groove through the oil injection hole, and fill the gap between the lip-shaped elastic sealing ring and the bearing flange through the oil guide groove, preventing the intrusion of foreign matters such as dust and water vapor.

[0018] Optionally, the lubricating electrical component includes a micro motor, a button battery and a control circuit board, and an eccentric cam is arranged on the micro motor.

[0019] By adopting the above technical solutions, when the micro motor starts, the centrifugal force generated by driving the eccentric wheel to rotate at a high speed throws the lubricating oil out through the oil injection hole into the oil guide groove, and fills the gap between the lip-shaped elastic sealing ring and the bearing flange through the oil guide groove, preventing the intrusion of foreign matters such as dust and water vapor.

[0020] Optionally, the lubricating electrical component is sealed by a lubricating oil chamber sealing ring, and the lubricating electrical component is fixed by a lubricating chamber end cover.

[0021] By adopting the above technical solutions, it prevents the intrusion of water vapor and dust into the installation inner cavity of the lubricating electrical component.

[0022] Optionally, the wheel axle and the bearing flange are in clearance fit, the wheel axle and the high-speed silent bearing are in interference fit, and the high-speed silent bearing and the hub are in interference fit.

[0023] By adopting the above technical solutions, it reduces the frictional loss generated between the wheel axle and the bearing flange when the rubber-coated wheel rotates; reduces the possibility of relative sliding between the wheel axle and the high-speed silent bearing when the rubber-coated wheel rotates; prevents the possibility of relative sliding between the high-speed silent bearing and the hub when the rubber-coated wheel rotates.

[0024] In summary, the present application includes at least one of the following beneficial technical effects: 1. In the present application, the swing mechanism, the installation guide rail, and the obstacle-crossing mechanism cooperate with each other, enabling the main roller to be disconnected from the track and the auxiliary roller to be connected to the track, achieving the crossing of curved and twisted sections, and realizing the purpose that the robot can conduct normal inspection when the track is curved or damaged over a short distance. 2. In the present application, the bearing is sealed by a specially designed wheel axle structure and a lip-shaped elastic sealing ring. The micro motor is regularly started through a preset program, driving the eccentric cam to rotate at high speed to generate centrifugal force, and the grease is thrown into the oil guide groove through the oil injection hole to lubricate between the bearing flange and the lip-shaped elastic sealing ring. Utilizing the characteristic that the lubricating grease is insoluble in water, it reduces wear and better prevents water vapor from invading the interior of the bearing, solving the problem that in a scenario with strong corrosion, high temperature, and harsh environment, the water vapor containing corrosive substances invades the interior of the bearing of the robot's rubber-coated wheel, resulting in the failure that the wheel cannot rotate due to bearing rust. Further, it improves the usage efficiency of the robot's rubber-coated wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic structural diagram of a hanging-rail robot disclosed in Embodiment 1 of the present application.

[0026] Figure 2 is a partial cross-sectional view of a hanging-rail robot in an embodiment of the present application.

[0027] Figure 3 is Figure 2 a partial enlarged view of A in

[0028] Figure 4 is Figure 2 a partial enlarged view of B in

[0029] Figure 5 is a schematic structural diagram of a hanging-rail robot disclosed in Embodiment 1 of the present application.

[0030] Figure 6 is Figure 5 a partial enlarged view of C in

[0031] Figure 7 is an exploded view of the rubber-coated wheel sealing structure in Embodiment 2 of the present application.

[0032] Figure 8 is a schematic structural diagram of the lubricating electrical components in Embodiment 2 of the present application.

[0033] Figure 9 is a schematic cross-sectional view of the rubber-coated wheel sealing and lubricating structure in Embodiment 2 of the present application.

[0034] Figure 10 is a schematic diagram of the working principle of the new rubber-coated wheel sealing and lubricating structure in Embodiment 2 of the present application.

[0035] Description of reference numerals: 1, track; 2, body; 21, lifting groove; 22, swinging groove; 3, main roller; 4, auxiliary roller; 5, mounting block; 51, mounting groove; 52, mounting guide rail; 6, obstacle-crossing mechanism; 61, clamping assembly; 611, clamping guide rail; 612, clamping slider; 62, lifting assembly; 621, lifting slider; 622, lifting screw; 63, telescopic assembly; 631, telescopic rod; 7, swinging mechanism; 71, sliding assembly; 711, sliding guide rail; 712, sliding slider; 72, bearing assembly; 721, bearing column; 722, swinging rod; 100, wheel axle; 1001, oil injection hole; 1002, oil guiding groove; 1003, mounting inner cavity; 200, high-speed silent bearing; 300, bearing end cover; 400, lip-shaped elastic sealing ring; 500, bearing flange; 600, wheel hub; 700, shaft snap ring; 800, lubricating electrical component; 8001, micro motor; 80011, eccentric cam; 8002, button battery; 8003, control circuit board. Detailed implementation manners

[0036] The following further Figure 1 - further Figure 10 describes the present application in detail in conjunction with the attached drawings.

[0037] Currently, in order for the robot to perform normal inspection when the track is bent or damaged over a short distance, an embodiment of the present application proposes a rail-mounted robot. Embodiment 1

[0038] Referring to the attached Figures 1-6 drawings, Embodiment 1 of the present application discloses a rail-mounted robot. Referring to Figures 1-3 FIG., a rail-mounted robot includes a track 1, a body 2, rollers rotatably connected to the body 2, a mounting block 5 connected to the body 2, an obstacle-crossing mechanism 6 connected to the body 2, and a swinging mechanism 7 connected to the body 2. The track 1 is an "I"-shaped track 1. The number of rollers is multiple. The rollers are in rolling connection with the track 1. The rollers are divided into main rollers 3 and auxiliary rollers 4. In the embodiment of the present application, the number of main rollers 3 and the number of auxiliary rollers 4 are both four. The body 2 is clamped and in rolling connection with the track 1 through four main rollers 3. When the main rollers 3 move, the movement of the body 2 is realized, and the purpose of inspection is achieved.

[0039] Furthermore, the number of mounting blocks 5 is equal to the number of main rollers 3. The mounting blocks 5 are connected to the swing mechanism 7, and the swing mechanism 7 drives the two sides of the mounting blocks 5 to twist, so as to adjust the orientation of the main rollers 3, changing the contact situation between the surface of the main rollers 3 and the track 1. The main rollers 3 are slidably connected to the mounting blocks 5 in the vertical direction. The surface of the mounting blocks 5 is provided with mounting grooves 51, and mounting guide rails 52 are arranged inside the mounting grooves 51. The mounting guide rails 52 are arranged in the vertical direction. The main rollers 3 are rotatably connected to the sliders of the mounting guide rails 52. When the user activates the swing mechanism 7 and the mounting guide rails 52, the driving rollers can be connected to or disconnected from the track 1, and cooperate with the obstacle-crossing mechanism 6 to achieve the purpose of the machine body 2 passing through the twisted and bent track 1.

[0040] Refer to Figures 4-5 , the number of the obstacle-crossing mechanisms 6 is four, and the four obstacle-crossing mechanisms 6 are respectively located at the four corners of the machine body 2. Since the auxiliary rollers 4 are connected to the obstacle-crossing mechanisms 6, the four auxiliary rollers 4 can respectively extend in the forward direction and the reverse direction of the machine body 2, improving the obstacle-crossing ability of the present application. The obstacle-crossing mechanism includes a clamping assembly 61 slidably connected to the machine body 2, a lifting assembly 62 connected to the clamping assembly 61, and a telescopic assembly 63 connected to the lifting assembly 62. The clamping assembly 61 moves along the width direction of the machine body 2, so that the auxiliary rollers 4 can clamp and fit the surface of the track 1, realizing the stable movement of the machine body 2. The lifting assembly 62 drives the telescopic assembly 63 to move in the vertical direction. The auxiliary rollers 4 are rotatably connected to the telescopic assembly 63, and the telescopic assembly 63 drives the auxiliary rollers 4 to move along the length direction of the machine body 2, so that the auxiliary rollers 4 approach the track 1, enabling the auxiliary rollers 4 to clamp and fit the surface of the track 1. When the track 1 is bent or damaged in a short distance, the robot can perform normal inspection.

[0041] Refer to Figures 4-5 , the clamping assembly 61 includes a clamping guide rail 611 connected to the machine body 2 and a clamping slider 612 slidably connected to the clamping guide rail 611. The machine body 2 is provided with lifting grooves 21, and the number of the lifting grooves 21 is equal to the number of the obstacle-crossing mechanisms 6. Each clamping assembly 61 is respectively connected to the inside of the four lifting grooves 21. The length direction of the clamping guide rail 611 is parallel to the width direction of the machine body 2. When the clamping slider 612 moves, it drives the telescopic assembly 63 and the auxiliary rollers 4 to move towards or away from the center direction of the machine body 2, achieving the purpose of clamping and connecting to the track 1. The clamping guide rail 611 is arranged inside the lifting groove 21, and the lifting assembly 62 is fixedly connected to the clamping guide rail 611 and drives the clamping guide rail 611 to move in the vertical direction. The two ends of the clamping guide rail 611 are slidably connected to the inner wall of the lifting groove 21, making the movement of the clamping guide rail 611 more stable.

[0042] Refer to Figures 4-5, the lifting assembly 62 includes a lifting slider 621 and a lifting screw 622 threadedly connected to the bottom of the lifting groove 21. The lifting screw 622 is fixedly connected to the lifting slider 621, the clamping guide rail 611 is fixedly connected to the lifting slider 621, and the length direction of the lifting screw 622 is parallel to the vertical direction. An electric rotating shaft is provided at the end of the lifting screw 622. When the user starts the rotating shaft, the lifting screw 622 is controlled to rotate, and the user can control the lifting slider 621 to drive the clamping guide rail 611 and the telescopic assembly 63 to rise from the inside of the lifting groove 21, reducing the influence of the lifting groove 21 on the telescopic assembly 63. At the same time, when the user does not need the auxiliary roller 4 to assist the movement of the entire body 2, the user can reduce the possibility of the obstacle-crossing mechanism 6 hindering the movement of the body 2 by retracting the telescopic assembly 63 into the inside of the lifting groove 21. When it is necessary to use the auxiliary roller 4 to achieve the purpose of crossing an obstacle, the telescopic assembly 63 is pushed out from the inside of the lifting groove 21 through the lifting assembly 62 to achieve the purpose of crossing an obstacle. At the same time, the lifting assembly 62 can also drive the auxiliary roller 4 on the telescopic assembly 63 to move towards the position of the track 1, so that when the track 1 is bent or damaged over a short distance, the robot can perform normal inspection.

[0043] In other embodiments of the present application, a plurality of lifting columns moving along the vertical direction may be provided at the bottom of the lifting groove 21. The lifting columns are evenly connected to the bottom of the lifting slide plate 621. The lifting columns may be moving rods actively controlled by high-pressure gas or moving rods that move passively when the lifting slide plate 621 rises, to support, guide, and limit the lifting slide plate 621, making the movement of the lifting slide plate 621 more stable.

[0044] Refer to Figures 4-5 , the telescopic assembly 63 includes a plurality of telescopic rods 631. The telescopic rods 631 are slidably connected through electric guide rails. The plurality of telescopic rods 631 are arranged in sequence along the vertical direction. The telescopic rods 631 are slidably connected to each other along the length direction of the body 2. The lowermost telescopic rod 631 is slidably connected to the lifting slider 621, and the auxiliary roller 4 is rotatably connected to the uppermost telescopic rod 631. When the plurality of telescopic rods 631 move relative to each other, the auxiliary roller 4 extends outward along the length direction of the body 2, so that the auxiliary roller 4 can be connected to a position where the track 1 is intact. Then, the user controls the lifting assembly 62 and the clamping assembly 61 to clamp the intact section of the track 1 with the auxiliary roller 4, so that when the track 1 is bent or damaged over a short distance, the robot can perform normal inspection.

[0045] Refer to Figures 5-6, the swing mechanism 7 includes a sliding component 71 slidably connected to the body 2 and a bearing component 72 connected to the sliding component 71. The sliding component 71 moves in an arc along the top of the body 2. The mounting block 5 is fixedly connected to the bearing component 72. The sliding component 71 drives the two sides of the bearing component 72 to move in opposite directions. The mounting block 5 is fixedly connected between the two sides of the bearing component 72. The sliding component 71 includes a sliding guide rail 711 connected to the body 2 and a sliding slider 712 slidably connected to the sliding guide rail 711. The bearing component 72 is connected between the sliding sliders 712. There are two swing grooves 22 provided on the top of the body 2. The swing grooves 22 are arc-shaped grooves. The middle position between the two swing grooves 22 bends away from each other. The sliding guide rail 711 and the slider are both arranged inside the swing grooves 22. The bearing component 72 includes bearing columns 721 and swing rods 722 connected to the bearing columns 721. The number of bearing columns 721 is three, and the number of swing rods 722 is one. The three bearing columns 721 are arranged in sequence along the length direction of the body 2. The bearing column 721 in the middle is fixedly connected to the body 2, and the two bearing columns 721 on both sides are fixedly connected to the sliding sliders 712. The swing rod 722 is rotatably connected between the three bearing columns 721.

[0046] When the user starts the sliding guide rail 711, the sliding slider 712 moves inside the arc-shaped swing groove 22. Under the limitation of the swing rod 722, the mounting block 5 can deflect, so that the main roller 3 deflects. Cooperating with the movement of the mounting guide rail 52, the main roller 3 is disengaged from or connected to the track 1, achieving the purpose of obstacle crossing of the present application. Embodiment Two

[0047] The difference between Embodiment Two and Embodiment One of the present application is: Refer to Figures 7-10, the roller is provided with a rubber-coated wheel sealing structure. The rubber-coated wheel sealing structure includes a high-speed silent bearing 200, a bearing end cover 300, two lip-shaped elastic sealing rings 400, a bearing flange 500, a hub 600, and a shaft circlip 700. The high-speed silent bearing 200 is installed on the roller axle 100 from the right side, and the high-speed silent bearing 200 is fixed with the bearing end cover 300; a lip-shaped elastic sealing ring 400 is installed on the axle 100, the axle 100 is installed on the bearing flange 500, and another lip-shaped elastic sealing ring 400 is installed on the high-speed silent bearing 200; the bearing flange 500 is installed on the hub 600, and the hub 600 and the bearing flange 500 are fixed with socket head cap screws M3. The lip-shaped elastic sealing ring 400 is fixed with the shaft circlip 700. Both the main roller 3 and the auxiliary roller 4 are connected with rubber-coated wheel sealing structures. On both sides of the position corresponding to the bearing flange 500 on the axle 100, there are respectively oil injection holes 1001, and outside the oil injection holes 1001, there are oil guide grooves 1002. On both sides of the position corresponding to the bearing flange 500 on the axle 100, there are respectively oil injection holes 1001. Along the axial direction of the axle 100, there is an installation inner cavity 1003 for the lubricating electrical component 800. The installation inner cavity 1003 is communicated with the oil injection holes 1001. Grease is regularly output from the oil injection holes 1001, and the grease fills the joint surface between the lip-shaped elastic sealing ring 400 and the bearing flange 500. The lubricating electrical component 800 includes a micro motor 8001, a button battery 8002, and a control circuit board 8003. An eccentric cam 80011 is provided on the micro motor 8001. The lubricating electrical component 800 is sealed by a lubricating oil cavity sealing ring, and the lubricating electrical component 800 is fixed with a lubricating cavity end cover. The axle 100 and the bearing flange 500 are in clearance fit, the axle 100 and the high-speed silent bearing 200 are in interference fit, and the high-speed silent bearing 200 and the hub 600 are in interference fit.

[0048] The structure of the axle 100 and the lip-shaped elastic sealing ring 400 seal the bearing. By regularly starting the micro motor 8001 through a preset program, the eccentric cam 80011 is driven to rotate at a high speed to generate centrifugal force, and the grease is thrown into the oil guide groove through the oil injection hole 1001 to lubricate between the bearing flange 500 and the lip-shaped elastic sealing ring 400. Utilizing the characteristic that the lubricating grease is insoluble in water, while reducing wear, it better prevents water vapor from invading the inside of the bearing, solving the problem that in a scenario with strong corrosion, high temperature, and harsh environment, the rubber-coated wheel of the robot is invaded by water vapor containing corrosive substances into the inside of the bearing, and the wheel cannot rotate due to bearing rust, and further improving the use efficiency of the rubber-coated wheel of the robot.

[0049] The implementation principle of the second embodiment of this application is: First, pre-install the lubricating electrical component 800: Install the button battery 8002, the control circuit board 8003, the micro motor 8001, the eccentric cam 80011, and the lubricating oil cavity sealing ring in the lubricating cavity inner shell in sequence.

[0050] Install the high-speed silent bearing 200 from the right side to the corresponding position of the axle 100, and fix its position with the bearing end cover 300; install a lip-shaped elastic sealing ring 400 from the left side of the axle 100, and install the bearing flange 500 after installation in place. At this time, install another lip-shaped elastic sealing ring 400; install the hub 600 on the right side of the axle 100, and fix the hub 600 and the bearing flange 500 with the socket head cap screw M3; use the shaft circlip 700 to fix the position of the lip-shaped elastic sealing ring 400; after the above steps are completed, perform the rubber coating process on the hub 600 to add a polyurethane rubber coating layer.

[0051] After the rubber coating of the hub 600 is completed, add lubricating oil inside the axle 100, and then install the installed lubricating electrical component 800 into the axle 100, and install the lubricating cavity end cover.

[0052] The hub 600 is a semi-closed structure, and the open side is sealed by two lip-shaped elastic sealing rings 400, which can effectively prevent the intrusion of substances such as water vapor and pulverized coal; the lubricating electrical component 800 starts the micro motor 8001 regularly through the set program. The micro motor 8001 drives the eccentric cam 80011 to generate centrifugal force to throw the lubricating oil into the oil injection hole 1001. The lubricating oil fills the joint surface between the lip-shaped elastic sealing ring 400 and the bearing flange 500 through the outer oil guide groove 1002, playing a long-term lubricating role and ensuring the service life of the rubber-coated wheel.

[0053] The above are all preferred embodiments of this application, and the protection scope of this application is not limited thereby. Therefore, all equivalent changes made according to the structure, shape, and principle of this application should be covered within the protection scope of this application.

Claims

1. A hanging-rail robot, comprising a rail (1), a body (2), rollers rotatably connected to the body (2), and a rubber-coated wheel sealing structure provided on the rollers. The rollers are in rolling connection with the rail (1), the body (2) is connected to the rail (1) through the rollers, and the rubber-coated wheel sealing structure includes a high-speed silent bearing (200), a bearing end cover (300), two lip-shaped elastic sealing rings (400), a bearing flange (500), a wheel hub (600), and a shaft circlip (700). The high-speed silent bearing (200) is installed on the roller axle (100) from the right side, and the high-speed silent bearing (200) is fixed with the bearing end cover (300); a lip-shaped elastic sealing ring (400) is installed on the axle (100), the axle (100) is installed on the bearing flange (500), and another lip-shaped elastic sealing ring (400) is installed on the high-speed silent bearing (200); the bearing flange (500) is installed on the wheel hub (600), the wheel hub (600) and the bearing flange (500) are fixed with socket head cap screws M3, and the lip-shaped elastic sealing ring (400) is fixed with the shaft circlip (700). It is characterized in that: The number of the rollers is multiple. The rollers are divided into main rollers (3) and auxiliary rollers (4). Both the main rollers (3) and the auxiliary rollers (4) are connected with the rubber-coated wheel sealing structure. A hanging-rail robot further includes a mounting block (5) connected to the body (2) and an obstacle-crossing mechanism (6) connected to the body (2). The number of the mounting blocks (5) is equal to that of the main rollers (3). The main rollers (3) are slidably connected to the mounting blocks (5) in the vertical direction. The surface of the mounting block (5) is provided with a mounting groove (51). An installation guide rail (52) is arranged inside the mounting groove (51). The installation guide rail (52) is arranged in the vertical direction. The main rollers (3) are rotatably connected to the sliders of the installation guide rail (52). The number of the obstacle-crossing mechanisms (6) is four. The four obstacle-crossing mechanisms (6) are respectively located at the four corners of the body (2). The obstacle-crossing mechanism (6) includes a clamping assembly (61) slidably connected to the body (2), a lifting assembly (62) connected to the clamping assembly (61), and a telescopic assembly (63) connected to the lifting assembly (62). The clamping assembly (61) moves along the width direction of the body (2). The lifting assembly (62) drives the telescopic assembly (63) to move in the vertical direction. The auxiliary rollers (4) are rotatably connected to the telescopic assembly (63). The telescopic assembly (63) drives the auxiliary rollers (4) to move along the length direction of the body (2); on both sides of the wheel shaft (100) corresponding to the position of the bearing flange (500), oil injection holes (1001) are respectively arranged. The wheel shaft (100) is provided with an installation inner cavity (1003) for a lubricating electrical component (800) along the axial direction. The installation inner cavity (1003) is communicated with the oil injection holes (1001). Grease is regularly output from the oil injection holes (1001), and the grease fills the joint surface between the lip-shaped elastic sealing ring (400) and the bearing flange (500).

2. The hanging-rail type robot according to claim 1, characterized in that: The clamping assembly (61) includes a clamping guide rail (611) connected to the body (2) and a clamping slider (612) slidably connected to the clamping guide rail (611). The body (2) is provided with lifting grooves (21). The number of the lifting grooves (21) is equal to that of the obstacle-crossing mechanisms (6). Each clamping assembly (61) is respectively connected to the inside of the four lifting grooves (21). The clamping guide rail (611) is arranged inside the lifting groove (21). The length direction of the clamping guide rail (611) is parallel to the width direction of the body (2). The lifting assembly (62) is fixedly connected to the clamping guide rail (611).

3. The hanging rail type robot according to claim 2, characterized in that: Both ends of the clamping guide rail (611) are slidably connected to the lifting groove (21) along the vertical direction. The lifting assembly (62) includes a lifting slider (621) and a lifting screw rod (622) threadedly connected to the bottom of the lifting groove (21). The lifting screw rod (622) is fixedly connected to the lifting slider (621). The clamping guide rail (611) is fixedly connected to the lifting slider (621). The length direction of the lifting screw rod (622) is parallel to the vertical direction. The lifting slider (621) is slidably connected to the inner wall of the lifting groove (21).

4. The hanging-rail type robot according to claim 3, characterized in that: The telescopic assembly (63) includes a plurality of telescopic rods (631). The telescopic rods (631) are slidably connected to each other. The plurality of telescopic rods (631) are arranged in sequence along the vertical direction. The telescopic rods (631) are slidably connected to each other along the length direction of the machine body (2). The lowermost telescopic rod (631) is slidably connected to the lifting slider (621). The auxiliary roller (4) is rotatably connected to the uppermost telescopic rod (631).

5. The hanging-rail type robot according to claim 4, wherein: It further includes a swing mechanism (7) connected to the machine body (2). The swing mechanism (7) includes a sliding assembly (71) slidably connected to the machine body (2) and a bearing assembly (72) connected to the sliding assembly (71). The sliding assembly (71) moves in an arc along the top of the machine body (2). The mounting block (5) is fixedly connected to the bearing assembly (72). The sliding assembly (71) drives both sides of the bearing assembly (72) to move in opposite directions. The mounting block (5) is fixedly connected between both sides of the bearing assembly (72). The sliding assembly (71) includes a sliding guide rail (711) connected to the machine body (2) and a sliding slider (712) slidably connected to the sliding guide rail (711). The bearing assembly (72) is connected between the sliding sliders (712). There are two swing grooves (22) provided at the top of the machine body (2). The swing grooves (22) are arc-shaped grooves. The middle positions of the two swing grooves (22) are bent away from each other. The sliding guide rail (711) and the slider are both arranged inside the swing groove (22). The bearing assembly (72) includes bearing columns (721) and a swing rod (722) connected to the bearing columns (721). The number of bearing columns (721) is three. The number of swing rods (722) is one. The three bearing columns (721) are arranged in sequence along the length direction of the machine body (2). The middle bearing column (721) is fixedly connected to the machine body (2). The two bearing columns (721) on both sides are fixedly connected to the sliding sliders (712). The swing rod (722) is rotatably connected between the three bearing columns (721).

6. The hanging-rail type robot according to claim 1, wherein: On both sides of the wheel shaft (100) corresponding to the positions of the bearing flanges (500), oil injection holes (1001) are respectively provided. An oil guiding groove (1002) is provided outside the oil injection holes (1001).

7. The hanging-rail type robot according to claim 1, wherein: The lubricating electrical component (800) includes a micro motor (8001), a button battery (8002), and a control circuit board (8003). An eccentric cam (80011) is provided on the micro motor (8001).

8. A hanging-rail type robot according to claim 1 or 7, characterized in that: The lubricating electrical component (800) is sealed by a lubricating oil chamber sealing ring, and the lubricating electrical component (800) is fixed by a lubricating chamber end cover.

9. The hanging-rail type robot according to claim 1 or 6, characterized in that: The wheel shaft (100) and the bearing flange (500) are in clearance fit, the wheel shaft (100) and the high-speed silent bearing (200) are in interference fit, and the high-speed silent bearing (200) and the wheel hub (600) are in interference fit.

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