A rail-mounted robot

Abstract

The application relates to the technical field of industrial robots, in particular to a hanging rail type robot which comprises a rail, a body, a roller, a rubber-coated wheel sealing structure, a mounting block and an obstacle crossing mechanism, a bearing end cover is used for fixing a high-speed mute bearing; a lip-shaped elastic sealing ring is mounted on an axle shaft, the axle shaft is mounted on a bearing flange, the bearing is provided with the lip-shaped elastic sealing ring; the bearing flange is mounted on a wheel hub, the wheel hub is fixed with the bearing flange, the lip-shaped elastic sealing ring is fixed with an axle clamp spring, a main body roller is slidingly connected to the mounting block, the main body roller is rotatably connected to a sliding block of a mounting guide rail, the obstacle crossing mechanism comprises a clamping assembly, a lifting assembly and a telescopic assembly, an auxiliary roller moves along the length direction of the body; oil injection holes are arranged on both sides of the bearing flange position on the axle shaft, an installation inner cavity is arranged on the axle shaft in the axial direction, the installation inner cavity is communicated with the oil injection holes, and grease is output from the oil injection holes. The application has the advantages that when the rail is bent and damaged in a short distance, the robot can normally patrol.

Description

Technical Field

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

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

[0003] Currently, track-mounted robots consist of an overhead track and a robot body connected to the track by rollers. The robot body moves along the track pre-set by the user to inspect and monitor the factory area and other environments.

[0004] Regarding the aforementioned technologies, it can be seen that when the track is deformed or twisted, the robot body cannot move off the track and must wait until the repair is completed before it can continue to work, which seriously reduces the robot's work efficiency. Summary of the Invention

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

[0006] The rail-mounted robot provided in this application adopts the following technical solution:

[0007] A track-mounted robot includes a track, a body, rollers rotatably connected to the body, and a rubber-coated wheel sealing structure disposed on the rollers. The rollers are rotatably connected to the track, and the body is connected to the track via the rollers. The rubber-coated wheel sealing structure includes a high-speed silent bearing, a bearing end cap, two lip-shaped elastic seals, a bearing flange, a hub, and a shaft retaining ring. The high-speed silent bearing is mounted on the roller axle from the right side and is fixed by the bearing end cap. A lip-shaped elastic seal is mounted on the axle, and the axle is mounted to the bearing flange. Above, the high-speed silent bearing is equipped with another lip-shaped elastic seal ring; the bearing flange is mounted on the hub, and the hub and bearing flange are fixed with M3 hexagon socket screws; the lip-shaped elastic seal ring is fixed with a shaft snap ring; there are multiple rollers, which are divided into main rollers and auxiliary rollers; both the main rollers and auxiliary rollers are connected to the rubber-coated wheel sealing structure; a rail-mounted robot also includes mounting blocks connected to the body and obstacle-crossing mechanisms connected to the body; the number of mounting blocks is equal to the number of main rollers. The number of rollers: The main roller is slidably connected to the mounting block in the vertical direction. The mounting block has a mounting groove on its surface, and a mounting guide rail is set inside the mounting groove. The mounting guide rail is set in the vertical direction. The main roller is rotatably connected to the slider of the mounting guide rail. There are four obstacle-crossing mechanisms, which are located at the four corners of the machine body. Each obstacle-crossing mechanism includes a clamping assembly slidably connected to the machine 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 machine body. The lifting assembly drives the telescopic assembly to move in the vertical direction. An auxiliary roller is rotatably connected to the telescopic assembly. The telescopic assembly drives the auxiliary roller to move along the length direction of the machine body. The axle has oil injection holes on both sides corresponding to the bearing flange position. The axle has a lubrication electrical component mounting cavity along the axial direction. The mounting cavity communicates with the oil injection holes. Grease is periodically output from the oil injection holes, and the grease fills the mating surface between the lip-shaped elastic seal ring and the bearing flange.

[0008] By adopting the above technical solution, when the rail-mounted robot moves to a damaged bend in the track, the user can control the clamping and telescopic components to extend the auxiliary rollers away from the robot body. This allows the auxiliary rollers to cross the bend and roll onto the intact section of the track, enabling the robot to move back on the track. This allows for inspection of the factory area and other work environments without waiting for track repairs, achieving the goal of normal robot inspection even when the track is bent or damaged over a short distance. Robot rubber-coated wheels are frequently invaded by moisture containing corrosive substances, quickly leading to wheel malfunctions and inability to rotate. Traditional robot rubber-coated wheels can no longer meet long-term production needs. Therefore, this robot rubber-coated wheel with a new sealing and lubrication structure is designed. It possesses multiple characteristics such as wear resistance, high temperature resistance, corrosion resistance, self-sealing, self-lubrication, and easy disassembly and assembly. While meeting the daily inspection requirements of the robot, it can increase service life, reduce personnel maintenance, and achieve cost reduction and efficiency improvement.

[0009] Optionally, the clamping assembly includes a clamping guide rail connected to the machine body and a clamping slider slidably connected to the clamping guide rail. The machine body is provided with lifting slots, the number of which is equal to the number of obstacle-crossing mechanisms. Each clamping assembly is connected to the interior of four lifting slots. The clamping guide rail is disposed inside the lifting slot, and the length direction of the clamping guide rail is parallel to the width direction of the machine body. The lifting assembly is fixedly connected to the clamping guide rail.

[0010] By adopting the above technical solution, when the telescopic component extends the auxiliary roller from the body position, the clamping component enables the two sets of auxiliary rollers located at the same end of the body to move towards each other, so that the auxiliary rollers can fit tightly on the track, achieving the purpose of the body being connected to the track by the auxiliary rollers rolling, and enabling the robot to perform normal inspections even when the track is bent or damaged over a short distance.

[0011] Optionally, the two ends of the clamping guide rail are slidably connected to the lifting groove along the vertical direction. The lifting assembly includes a lifting slider and a lifting screw threaded to the bottom of the lifting groove. The lifting screw is fixedly connected to the lifting slider, and the clamping guide rail is fixedly connected to the lifting slider. The length direction of the lifting screw is parallel to the vertical direction, and the lifting slider is slidably connected to the inner wall of the lifting groove.

[0012] By adopting the above technical solution, when the track is intact, the lifting component controls the auxiliary roller to move in a direction close to or away from the track, so that the auxiliary roller can reduce the possibility of obstructing 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 curved, the lifting component can control the auxiliary roller to move vertically, so that the auxiliary roller can move closer to the track, improving the applicability of this application.

[0013] Optionally, the telescopic assembly includes multiple telescopic rods that are slidably connected to each other. The multiple telescopic rods are arranged sequentially along the vertical direction and are slidably connected to each other along the length of the machine body. The telescopic rod at the bottom is slidably connected to the lifting slider, and the auxiliary roller is rotatably connected to the telescopic rod at the top.

[0014] By adopting the above technical solution, the auxiliary roller is sent out of the machine body position, so that the auxiliary roller can be connected to the intact track, so that the robot can carry out normal inspection when the track is bent or damaged in a short distance.

[0015] Optionally, it also includes a swing mechanism connected to the body. The swing mechanism includes a sliding component slidably connected to the body and a support component connected to the sliding component. The sliding component moves in an arc along the top of the body. The mounting block is fixedly connected to the support component. The sliding component drives the two sides of the support component to move in opposite directions. The mounting block is fixedly connected between the two sides of the support component. The sliding component includes a sliding guide rail connected to the body and a sliding slider slidably connected to the sliding guide rail. The support component is connected between the sliding slider and the top of the body is provided with two swing grooves. The swing grooves are arc-shaped and bend away from each other at the middle position. The sliding guide rail and the slider are both disposed inside the swing grooves. The support component includes a support column and a swing rod connected to the support column. There are three support columns and one swing rod. The three support columns are arranged sequentially along the length of the body. The middle support column is fixedly connected to the body, and the two support columns on both sides are fixedly connected to the sliding slider. The swing rod is rotatably connected between the three support columns.

[0016] By adopting the above technical solution, when the bending angle is small, the user can control the sliding component to control the two bearing columns at both ends to twist under the limit of the swing groove, so that the main roller can twist at the position of the track and find the angle at which the robot can continue to move. There is no need to repair the track immediately. This achieves the purpose of the robot being able to inspect normally when the track bending is minor. When the bending is large, the user can use the mutual twisting of the bearing columns to disengage the main roller from the track, so that only the auxiliary roller and the track are connected to each other. After the robot successfully passes through the damaged section of the track, the mutual twisting of the bearing columns can reconnect the main roller and the track, enabling the robot to cross the damaged or bent section of the track and achieve the purpose of the robot being able to inspect normally when the track is bent or damaged.

[0017] Optionally, the axle is provided with oil injection holes on both sides corresponding to the bearing flange position, and an oil guide groove is provided on the outside of the oil injection holes.

[0018] By adopting the above technical solution, lubricating oil can enter the oil guide groove through the oil injection hole, and fill the gap between the lip-shaped elastic seal ring and the bearing flange mating surface through the oil guide groove, preventing the intrusion of foreign objects such as dust and water vapor.

[0019] Optionally, the lubrication electrical assembly includes a micro motor, a button battery, and a control circuit board, wherein the micro motor is equipped with an eccentric cam.

[0020] By adopting the above technical solution, when the micro motor starts, the centrifugal force generated by the high-speed rotation of the eccentric wheel will throw the lubricating oil through the oil injection hole into the oil guide groove. The oil guide groove will fill the gap between the lip-shaped elastic seal ring and the bearing flange mating surface, preventing the intrusion of foreign objects such as dust and water vapor.

[0021] Optionally, the lubrication electrical assembly is sealed by a lubrication chamber sealing ring, and the lubrication electrical assembly is fixed by a lubrication chamber end cap.

[0022] By adopting the above technical solution, moisture and dust can be prevented from entering the internal cavity of the lubricated electrical components.

[0023] Optionally, the axle and the bearing flange are clearance-fitted, the axle and the high-speed silent bearing are interference-fitted, and the high-speed silent bearing and the wheel hub are interference-fitted.

[0024] By adopting the above technical solutions, the frictional loss generated by the wheel axle and bearing flange during the rotation of the rubber-coated wheel is reduced; the possibility of relative slippage between the wheel axle and the high-speed silent bearing during the rotation of the rubber-coated wheel is reduced; and the possibility of relative slippage between the high-speed silent bearing and the wheel hub during the rotation of the rubber-coated wheel is prevented.

[0025] In summary, this application includes at least one of the following beneficial technical effects:

[0026] 1. The swing mechanism, mounting rail and obstacle crossing mechanism in this application cooperate with each other to disengage the main roller from the track and establish a connection between the auxiliary roller and the track, thereby enabling the robot to cross bends and twists and achieve the purpose of normal inspection when the track is bent or damaged over a short distance.

[0027] 2. This application utilizes a specially designed wheel and axle structure and a lip-shaped elastic seal ring to seal the bearing. A pre-programmed micro-motor periodically starts, driving an eccentric cam to rotate at high speed, generating centrifugal force. This force propels grease through the oil injection hole into the oil guide groove, lubricating the bearing flange and the lip-shaped elastic seal ring. By leveraging the water-insoluble nature of the lubricating grease, wear is reduced while effectively preventing moisture intrusion into the bearing. This solves the problem of water vapor containing corrosive substances penetrating the bearing of the robot's rubber-coated wheel in highly corrosive, high-temperature, and harsh environments, causing the wheel to malfunction due to bearing corrosion. This further improves the efficiency of the robot's rubber-coated wheel. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of a rail-mounted robot disclosed in Embodiment 1 of this application.

[0029] Figure 2 This is a partial cross-sectional view of a rail-mounted robot according to an embodiment of this application.

[0030] Figure 3 yes Figure 2 A magnified view of a portion of point A in the middle.

[0031] Figure 4 yes Figure 2 A magnified view of a section at point B.

[0032] Figure 5 This is a schematic diagram of the structure of a rail-mounted robot disclosed in Embodiment 1 of this application.

[0033] Figure 6 yes Figure 5 A magnified view of a section at point C.

[0034] Figure 7 This is an exploded view of the rubber-coated wheel sealing structure in Embodiment 2 of this application.

[0035] Figure 8 This is a schematic diagram of the structure of the lubrication electrical component in Embodiment 2 of this application.

[0036] Figure 9 This is a cross-sectional schematic diagram of the rubber-coated wheel sealing and lubrication structure in Embodiment 2 of this application.

[0037] Figure 10This is a schematic diagram illustrating the working principle of the new rubber-coated wheel sealing and lubrication structure in Embodiment 2 of this application.

[0038] Explanation of reference numerals in the attached drawings: 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... 72. Slider; 721. Bearing assembly; 722. Bearing column; 723. Swing rod; 100. Axle; 1001. Oil injection hole; 1002. Oil guide groove; 1003. Mounting cavity; 200. High-speed silent bearing; 300. Bearing end cover; 400. Lip-shaped elastic seal ring; 500. Bearing flange; 600. Hub; 700. Shaft snap ring; 800. Lubrication electrical assembly; 8001. Micro motor; 80011. Eccentric cam; 8002. Button battery; 8003. Control circuit board. Detailed Implementation

[0039] The following is in conjunction with the appendix Figure 1 - Appendix Figure 10 This application will be described in further detail.

[0040] Currently, in order for robots to perform normal inspections even when the track is curved or damaged over a short distance, this application proposes a track-mounted robot. Example 1

[0041] See attached document Figure 1-6 Embodiment 1 of this application discloses a rail-mounted robot. (Refer to...) Figure 1-3 A track-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, and there are multiple rollers. The rollers are rotatably connected to the track 1. The rollers are divided into main rollers 3 and auxiliary rollers 4. In this embodiment, there are four main rollers 3 and four auxiliary rollers 4. The body 2 is clamped and rotatably connected to the track 1 by four main rollers 3. When the main rollers 3 move, the body 2 moves to achieve the purpose of inspection.

[0042] 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. The swing mechanism 7 drives the two sides of the mounting blocks 5 to twist, thereby adjusting the orientation of the main rollers 3. This changes the contact between the surface of the main rollers 3 and the track 1. The main rollers 3 slide vertically to the mounting blocks 5. The surface of the mounting blocks 5 is provided with mounting grooves 51. The inside of the mounting grooves 51 is provided with mounting guide rails 52. The mounting guide rails 52 are set vertically. The slider of the main rollers 3 is rotatably connected to the mounting guide rails 52. When the user starts the swing mechanism 7 and the mounting guide rails 52, the active rollers can connect or disconnect from the track 1. This, in conjunction with the obstacle crossing mechanism 6, enables the machine body 2 to pass through the twisted and bent track 1.

[0043] Reference Figure 4-5 There are four obstacle-crossing mechanisms 6, which are located at the four corners of the body 2. Since the auxiliary rollers 4 are connected to the obstacle-crossing mechanisms 6, the four auxiliary rollers 4 can extend in the forward direction and the opposite direction of the body 2, respectively, improving the obstacle-crossing capability of this application. The obstacle-crossing mechanism includes a clamping component 61 slidably connected to the body 2, a lifting component 62 connected to the clamping component 61, and a telescopic component 63 connected to the lifting component 62. The clamping component 61 moves along the width direction of the body 2, so that the auxiliary rollers 4 can clamp and fit against the surface of the track 1, realizing the stable movement of the body 2. The lifting component 62 drives the telescopic component 63 to move in the vertical direction. The auxiliary rollers 4 are rotatably connected to the telescopic component 63. The telescopic component 63 drives the auxiliary rollers 4 to move along the length direction of the body 2, so that the auxiliary rollers 4 move closer to the track 1, so that the auxiliary rollers 4 can clamp and fit against the surface of the track 1. When the track 1 is bent or damaged in a short distance, the robot can perform normal inspection.

[0044] Reference Figure 4-5 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 which is equal to the number of obstacle crossing mechanisms 6. Each clamping assembly 61 is connected to the interior of four lifting grooves 21. The length direction of the clamping guide rail 611 is parallel to the width direction of the body 2. When the clamping slider 612 moves, it drives the telescopic assembly 63 and the auxiliary roller 4 to move towards or away from the center of the body 2, thereby achieving the purpose of clamping and connecting to the track 1. The clamping guide rail 611 is located inside the lifting groove 21. 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.

[0045] Reference Figure 4-5The 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, and the clamping guide rail 611 is fixedly connected to the lifting slider 621. 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 rotated. The user can control the lifting slider 621 to drive the clamping guide rail 611 and the telescopic component 63 to rise from the inside of the lifting groove 21, reducing the impact of the lifting groove 21 on the telescopic component 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 component 63 into the lifting groove 21. When the auxiliary roller 4 is needed to achieve the purpose of crossing obstacles, the telescopic component 63 is pushed out from the inside of the lifting groove 21 by the lifting component 62 to achieve the purpose of crossing obstacles. At the same time, the lifting component 62 can also drive the auxiliary roller 4 on the telescopic component 63 to move towards the position of the track 1, so that the robot can carry out normal inspection when the track 1 is bent or damaged over a short distance.

[0046] In other embodiments of this application, the bottom of the lifting groove 21 may be provided with multiple lifting columns that move in a vertical direction. The lifting columns are evenly connected to the bottom of the lifting slide plate 621. The lifting columns may be actively controlled by high-pressure gas or passively moved as the lifting slide plate 621 rises, to support, guide and limit the movement of the lifting slide plate 621, making the movement of the lifting slide plate 621 more stable.

[0047] Reference Figure 4-5 The telescopic assembly 63 includes multiple telescopic rods 631, which are slidably connected by an electric guide rail. The multiple telescopic rods 631 are arranged in sequence along the vertical direction and are slidably connected to each other along the length of the body 2. The telescopic rod 631 at the bottom is slidably connected to the lifting slider 621. The auxiliary roller 4 is rotatably connected to the telescopic rod 631 at the top. When the multiple telescopic rods 631 move relative to each other, the auxiliary roller 4 extends outward along the length of the body 2, so that the auxiliary roller 4 can be connected to the intact position of the track 1. Then, the user controls the lifting assembly 62 and the clamping assembly 61 to make the auxiliary roller 4 clamp the intact section of the track 1, so that the robot can perform normal inspection when the track 1 is bent or damaged in a short distance.

[0048] Reference Figure 5-6The swing mechanism 7 includes a sliding component 71 slidably connected to the body 2 and a supporting 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 supporting component 72. The sliding component 71 drives the two sides of the supporting component 72 to move in opposite directions. The mounting block 5 is fixedly connected between the two sides of the supporting 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 supporting component 72 is connected between the sliding slider 712. The top of the body 2 is provided with two swing grooves 22. The moving groove 22 is an arc-shaped groove, and the two swing grooves 22 are bent in the middle towards each other. The sliding guide rail 711 and the slider are both set inside the swing groove 22. The bearing assembly 72 includes a bearing column 721 and a swing rod 722 connected to the bearing column 721. There are three bearing columns 721 and one swing rod 722. The three bearing columns 721 are arranged sequentially along the length 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 slider 712. The swing rod 722 is rotatably connected between the three bearing columns 721.

[0049] When the user activates the sliding guide rail 711, the sliding slider 712 moves inside the arc-shaped swing groove 22. Under the limit of the swing rod 722, the mounting block 5 can deflect, causing the main roller 3 to deflect. In conjunction with the movement of the mounting guide rail 52, the main roller 3 is disengaged from or connected to the track 1, thus achieving the obstacle crossing purpose of this application. Example 2

[0050] The difference between Embodiment 2 of this application and Embodiment 1 described above is that: (Refer to...) Figure 7-10The roller is equipped with a rubber-coated wheel sealing structure, which includes a high-speed silent bearing 200, a bearing end cap 300, two lip-shaped elastic seals 400, a bearing flange 500, a hub 600, and a shaft retaining ring 700. The high-speed silent bearing 200 is installed on the roller axle 100 from the right side and is fixed by the bearing end cap 300. One lip-shaped elastic seal 400 is installed on the axle 100, which is then installed on the bearing flange 500. The high-speed silent bearing 200 is also equipped with another lip-shaped elastic seal 400. The bearing flange 500 is installed on the hub 600, and the hub 600 and bearing flange 500 are connected by a round-head hex socket head cap screw M. 3. Fixing: The lip-shaped elastic seal ring 400 is fixed by a shaft retainer 700. Both the main roller 3 and the auxiliary roller 4 are connected to a rubber-coated wheel sealing structure. Oil injection holes 1001 are provided on both sides of the axle 100 corresponding to the bearing flange 500. An oil guide groove 1002 is provided on the outer side of the oil injection hole 1001. A lubrication electrical component 800 mounting cavity 1003 is provided on the axle 100 along its axial direction. The mounting cavity 1003 communicates with the oil injection holes 1001, periodically outputting grease from the oil injection holes 1001. The grease fills the mating surface between the lip-shaped elastic seal ring 400 and the bearing flange 500. The lubrication 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 lubrication electrical assembly 800 is sealed by a lubrication chamber sealing ring and fixed by a lubrication chamber end cover. The wheel axle 100 and bearing flange 500 are clearance-fitted, the wheel axle 100 and high-speed silent bearing 200 are interference-fitted, and the high-speed silent bearing 200 and wheel hub 600 are interference-fitted.

[0051] The axle 100 structure and the lip-shaped elastic seal ring 400 seal the bearing. The micro motor 8001 is periodically started by a preset program, which drives the eccentric cam 80011 to rotate at high speed and generate centrifugal force. This force throws grease into the oil guide groove through the oil injection hole 1001, lubricating the bearing flange 500 and the lip-shaped elastic seal ring 400. By utilizing the water-insoluble property of lubricating grease, wear is reduced while better preventing water vapor from entering the bearing. This solves the problem of water vapor containing corrosive substances entering the bearing of the robot's rubber-coated wheel in highly corrosive, high-temperature, and harsh environments, causing the wheel to be unable to rotate due to bearing corrosion. This further improves the utilization efficiency of the robot's rubber-coated wheel.

[0052] The implementation principle of Embodiment 2 of this application is as follows: First, the lubrication electrical assembly 800 is pre-installed: the button battery 8002, the control circuit board 8003, the micro motor 8001, the eccentric cam 80011, and the lubrication chamber sealing ring are sequentially installed in the inner housing of the lubrication chamber.

[0053] Install the high-speed silent bearing 200 from the right side onto the corresponding position of the axle 100, and fix its position with the bearing end cap 300; install a lip-shaped elastic seal ring 400 from the left side of the axle 100, and after it is in place, install the bearing flange 500, and then install another lip-shaped elastic seal ring 400; install the hub 600 on the right side of the axle 100, and fix the hub 600 to the bearing flange 500 with a semi-circular head hexagonal screw M3; fix the position of the lip-shaped elastic seal ring 400 with a shaft retaining spring 700; after the above steps are completed, perform a polyurethane coating process on the hub 600 to add a polyurethane coating layer.

[0054] After the wheel hub 600 is coated with rubber, lubricating oil is added inside the wheel axle 100, and then the installed lubrication electrical assembly 800 is installed inside the wheel axle 100, and the lubrication chamber end cover is installed.

[0055] The hub 600 has a semi-enclosed structure, with the open side sealed by two lip-shaped elastic sealing rings 400, which can effectively prevent the intrusion of substances such as water vapor and coal dust. The lubrication electrical component 800 starts the micro motor 8001 at regular intervals through a set program. The micro motor 8001 drives the eccentric cam 80011 to generate centrifugal force to throw lubricating oil into the oil filling hole 1001. The lubricating oil fills the mating surface between the lip-shaped elastic sealing ring 400 and the bearing flange 500 through the outer oil guide groove 1002, which plays a long-term lubricating role and ensures the service life of the rubber-coated wheel.

[0056] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A hanging rail robot, comprising a rail (1), a body (2), a roller rotatably connected to the body (2), and a rubberized roller sealing structure provided on the roller, the roller being rollingly connected to the rail (1), the body (2) being connected to the rail (1) through the roller, the rubberized roller sealing structure comprising 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 clamp spring (700), the high-speed silent bearing (200) being mounted on a roller shaft (100) from the right side, the high-speed silent bearing (200) being fixed by the bearing end cover (300); one lip-shaped elastic sealing ring (400) being mounted on the roller shaft (100), the roller shaft (100) being mounted on the bearing flange (500), the high-speed silent bearing (200) being mounted with the other lip-shaped elastic sealing ring (400); the bearing flange (500) being mounted on the hub (600), the hub (600) and the bearing flange (500) being fixed by a half-round head internal hexagonal screw M3, the lip-shaped elastic sealing ring (400) being fixed by the shaft clamp spring (700), characterized in that: The number of the rollers is multiple, the rollers are divided into main rollers (3) and auxiliary rollers (4), the main rollers (3) and the auxiliary rollers (4) are connected with the rubber wheel sealing structure, a hanging rail type robot further comprises a mounting block (5) connected to the machine body (2), a barrier crossing mechanism (6) connected to the machine body (2), the number of the mounting block (5) is equal to the number of the main rollers (3), the main rollers (3) are slidingly connected to the mounting block (5) along the vertical direction, the surface of the mounting block (5) is provided with a mounting groove (51), the inside of the mounting groove (51) is provided with a mounting guide rail (52), the mounting guide rail (52) is arranged along the vertical direction, the main roller (3) is rotatably connected to the sliding block of the mounting guide rail (52), the number of the barrier crossing mechanism (6) is four, four barrier crossing mechanisms (6) are respectively located at the four corners of the machine body (2), the barrier crossing mechanism (6) comprises a clamping assembly (61) slidingly 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), the lifting assembly (62) drives the telescopic assembly (63) to move along the vertical direction, the auxiliary roller (4) is rotatably connected to the telescopic assembly (63), the telescopic assembly (63) drives the auxiliary roller (4) to move along the length direction of the machine body (2); The wheel shaft (100) is provided with an oil injection hole (1001) on both sides of the position corresponding to the bearing flange (500), the wheel shaft (100) is provided with a lubricating electrical assembly (800) mounting inner cavity (1003) along the axis direction, the mounting inner cavity (1003) is communicated with the oil injection hole (1001), and the oil injection hole (1001) outputs grease regularly, and the grease fills between the combined surface of the lip-shaped elastic sealing ring (400) and the bearing flange (500).

2. The overhead track-mounted robot of claim 1, wherein: The clamping assembly (61) comprises a clamping guide rail (611) connected to the machine body (2) and a clamping sliding block (612) slidingly connected to the clamping guide rail (611), the machine body (2) is provided with a lifting groove (21), the number of the lifting groove (21) is equal to the number of the barrier crossing mechanism (6), each clamping assembly (61) is connected to the inside of four lifting grooves (21) respectively, the clamping guide rail (611) is arranged in the inside of the lifting groove (21), the length direction of the clamping guide rail (611) is parallel to the width direction of the machine body (2), and the lifting assembly (62) is fixedly connected to the clamping guide rail (611).

3. The overhead track-mounted robot of claim 2, wherein: Two ends of the clamping guide rail (611) are connected to the lifting groove (21) in the vertical direction, the lifting assembly (62) comprises a lifting sliding block (621) and a lifting screw (622) screwed to the bottom of the lifting groove (21), the lifting screw (622) is fixedly connected to the lifting sliding block (621), the clamping guide rail (611) is fixedly connected to the lifting sliding block (621), the length direction of the lifting screw (622) is parallel to the vertical direction, and the lifting sliding block (621) is connected to the inner wall of the lifting groove (21) in a sliding manner.

4. The overhead track-mounted robot of claim 3, wherein: The telescopic assembly (63) comprises a plurality of telescopic rods (631) which are connected in a sliding manner, and the plurality of telescopic rods (631) are arranged in the vertical direction in sequence, the telescopic rods (631) are connected in a sliding manner along the length direction of the machine body (2), and the telescopic rod (631) at the lowermost end is connected to the lifting sliding block (621) in a sliding manner, and the auxiliary roller (4) is rotatably connected to the telescopic rod (631) at the uppermost end.

5. A track-mounted robot according to claim 4, characterized in that: The swing mechanism (7) connected to the machine body (2) is further provided, the swing mechanism (7) comprises a sliding assembly (71) 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 shape 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 the two sides of the bearing assembly (72) to move in opposite directions, and the mounting block (5) is fixedly connected between the two sides of the bearing assembly (72); the sliding assembly (71) comprises a sliding guide rail (711) connected to the machine body (2) and a sliding sliding block (712) connected to the sliding guide rail (711), and the bearing assembly (72) is connected between the sliding sliding blocks (712); the top of the machine body (2) is provided with two swing grooves (22), the swing grooves (22) are arc grooves, the middle positions of the two swing grooves (22) are bent away from each other, and the sliding guide rail (711) and the sliding block are arranged in the interiors of the swing grooves (22); the bearing assembly (72) comprises a bearing column (721) and a swing rod (722) connected to the bearing column (721), the number of the bearing columns (721) is three, the number of the swing rod (722) is one, the three bearing columns (721) are sequentially arranged along the length direction of the machine body (2), the middle bearing column (721) is fixedly connected to the machine body (2), and the two bearing columns (721) on the two sides are fixedly connected to the sliding sliding blocks (712); and the swing rod (722) is rotatably connected between the three bearing columns (721).

6. The overhead track-mounted robot of claim 1, wherein: Oil injection holes (1001) are arranged on both sides of the position corresponding to the bearing flange (500) on the wheel shaft (100), and oil guide grooves (1002) are arranged outside the oil injection holes (1001).

7. The overhead track-mounted robot of claim 1, wherein: The lubricated electrical assembly (800) comprises a micro motor (8001), a button cell (8002), and a control circuit board (8003), and the micro motor (8001) is provided with an eccentric cam (80011).

8. The overhead track-mounted robot according to claim 1 or 7, wherein: The lubricated electrical assembly (800) is sealed by a lubricating oil cavity sealing ring, and the lubricated electrical assembly (800) is fixed by a lubricating cavity end cover.

9. The track-mounted 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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