A hanging rail robot walking driving system suitable for angle steel track

Abstract

The application introduces a kind of overhead rail robot walking driving system suitable for angle steel track, relates to overhead rail robot technical field, including suspension assembly, driving assembly and walking steering assembly;Suspension assembly is arranged at the lower side of angle steel track, driving assembly is arranged at the two sides of suspension support respectively, walking steering assembly is arranged on the two ends of suspension support respectively.The application adopts driving assembly and walking steering assembly arranged in pairs on suspension assembly, through the structure cooperation of spring on driving support two and motor fixed sleeve, the hinged connection of motor fixed sleeve and driving support one, the rotary connection of steering support and connecting support, the overall structural cooperation degree is high, and the flexibility is strong;Can adapt to various operation conditions such as straight line, turning and slope;Through setting horizontal guide wheel group, upper support wheel group and lower limit wheel group, ensure the safety in moving process while moving flexibly.

Description

Technical Field

[0001] This invention relates to the field of overhead rail robot technology, and in particular to a walking drive system for overhead rail robots suitable for angle steel rails. Background Technology

[0002] The walking mechanism of a rail-mounted inspection robot consists of a guide wheel system, a support wheel system, and a drive wheel system. The guide wheels are responsible for traveling along the track without deviating from it, the support wheels bear the weight of the robot body, the drive wheels provide forward traction, and the compression springs provide the positive pressure between the drive wheels and the track. For rail-mounted inspection robots in general working conditions, they mainly travel on I-beam tracks. I-beam tracks can provide higher load capacity, but they also have the problems of large size and inconvenience in installation in confined spaces. Angle steel tracks are suitable for confined spaces, but the walking system of I-beam tracks cannot be directly used for angle steel tracks. Therefore, there is an urgent need for a walking drive system for angle steel tracks. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a walking drive system for a suspended robot suitable for angle steel rails. The system has a compact structure and can ensure smooth and stable robot movement on angle steel rails.

[0004] The technical solution adopted in this invention is:

[0005] A walking drive system for a suspended robot suitable for angle steel rails includes a suspension assembly, a drive assembly, and a walking and steering assembly;

[0006] The suspension assembly is located on the underside of the angle steel rail and includes a suspension bracket, a first drive bracket, a second drive bracket, screws, springs, and adjusting nuts. The first drive bracket and the second drive bracket are respectively located at both ends of the suspension bracket. The first drive bracket has C-shaped connecting ears at both ends, and the second drive bracket has an H-shaped structure. The screws are respectively located at the left and right ends of the second drive bracket via nuts. The springs are respectively located at the outer ends of the two screws via adjusting nuts.

[0007] The drive components are respectively installed on both sides of the suspension bracket. The drive components include a geared motor, a drive shaft, a motor mounting sleeve, and a drive wheel. One end of the drive shaft is connected to the output shaft of the geared motor. A bearing assembly is provided on the outer edge of the drive shaft and is located inside the motor mounting sleeve. The drive wheel is installed on the outer end of the drive shaft, and the outer edge of the drive wheel is fitted with the vertical plate of the angle steel rail. A connecting plate and a U-shaped groove are respectively provided on the outer edge of the motor mounting sleeve to connect to drive bracket one and drive bracket two. The connecting plate is hinged to the C-shaped connecting lug of drive bracket one by a pin. The U-shaped groove spans the screw, and the inner end of the spring rests on the U-shaped groove.

[0008] The travel steering assembly is respectively installed on both ends of the suspension bracket. The travel steering assembly includes a connecting bracket, a connecting shaft, a steering bracket, a support wheel frame, a horizontal guide wheel assembly, an upper support wheel assembly, and a lower limit wheel assembly. One end of the connecting bracket is installed on the lower side of the end of the suspension bracket by screws. The connecting shaft is installed on the outer end of the connecting bracket, and the steering bracket is rotatably installed on the connecting shaft by bearings. The support wheel frames are respectively installed on both ends of the steering bracket. The horizontal guide wheel assembly is located on both sides of the vertical plate of the angle steel track through the support wheel frames. The upper support wheel assembly and the lower limit wheel assembly are located on the upper and lower sides of the horizontal plate of the angle steel track through the support wheel frames.

[0009] Specifically, the drive assembly has a mounting flange and a rear cover on the outside of the geared motor. The mounting flange is connected to the motor mounting sleeve by screws, and the rear cover has a wire nozzle.

[0010] Specifically, retaining rings and sealing rings are respectively provided between the drive shafts on both sides of the bearing assembly and the motor fixing sleeve.

[0011] Specifically, the drive wheel is mounted on the drive shaft by screws and washers, and a drive wheel cover is provided on the outer end of the drive wheel.

[0012] Specifically, a copper sleeve is provided between the connecting plate of the motor fixing sleeve and the pin shaft to reduce wear during relative rotation.

[0013] Specifically, the steering bracket is also equipped with a bearing cover plate.

[0014] Specifically, limit sensors and RFID sensors are installed on the support wheel frame of the walking and steering assembly. The limit sensors stop the robot when it reaches the end point to prevent it from derailing. The RFID sensors read card data in real time during the robot's inspection process, execute corresponding commands, and complete the inspection operation.

[0015] More specifically, both the limit sensor and the RFID sensor are mounted on the support wheel frame via a mounting plate, which is provided with an adjustment elongated hole.

[0016] Due to the adoption of the technical solution described above, the present invention has the following advantages:

[0017] This invention employs a drive assembly and a travel steering assembly arranged in pairs on the suspension assembly. Through the structural cooperation between the spring on the second drive bracket and the motor fixing sleeve, the hinged connection between the motor fixing sleeve and the first drive bracket, and the rotational connection between the steering bracket and the connecting bracket, the overall structure has high compatibility and strong flexibility. It can adapt to various working conditions on angle steel rails, such as straight lines, turns, and slopes. By setting up horizontal guide wheel sets, upper support wheel sets, and lower limit wheel sets, safety is ensured during movement while maintaining flexibility. Attached Figure Description

[0018] Figure 1 This is an overall schematic diagram of the present invention installed on an angle steel rail.

[0019] Figure 2 This is a schematic diagram of the invention in another direction.

[0020] Figure 3 This is a schematic diagram of the connection between the suspension assembly and the travel steering assembly of the present invention.

[0021] Figure 4 This is a schematic diagram of the driving component of the present invention.

[0022] Figure 5 This is a cross-sectional view of the driving component.

[0023] In the diagram: 1-Suspension assembly, 11-Suspension bracket, 12-Drive bracket one, 13-Drive bracket two, 14-Screw, 15-Spring, 16-Adjusting nut, 2-Drive assembly, 21-Gear motor, 22-Drive shaft, 23-Motor mounting sleeve, 24-Drive wheel, 25-Pin shaft, 26-Mounting flange, 27-Rear cover, 28-Wire nozzle, 29-Bearing assembly, 210-Retaining ring, 211-Sealing ring, 212-Drive wheel cover, 213-Copper sleeve, 3-Travel steering assembly, 31-Connecting bracket, 32-Connecting shaft, 33-Steering bracket, 34-Support wheel frame, 35-Horizontal guide wheel assembly, 36-Upper support wheel assembly, 37-Lower limit wheel assembly, 38-Bearing, 39-Bearing cover plate, 310-Mounting plate, 4-Limit sensor, 5-RFID sensor, 6-Angle steel rail. Detailed Implementation

[0024] The present invention will be further explained and described below with reference to the accompanying drawings and embodiments. However, this should not be construed as limiting the scope of protection of the present invention. The purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention.

[0025] Combined with appendix Figure 1-5 The above describes a walking drive system for a suspended robot suitable for angle steel rails, which includes a suspension assembly 1, a drive assembly 2, and a walking and steering assembly 3.

[0026] The suspension assembly 1 is located on the underside of the angle steel rail 6 and includes a suspension bracket 11, a drive bracket one 12, a drive bracket two 13, screws 14, springs 15, and adjusting nuts 16. Drive bracket one 12 and drive bracket two 13 are respectively located on both ends of the suspension bracket 11. C-shaped connecting ears are respectively provided on the left and right ends of drive bracket one 12, and drive bracket two 13 has an H-shaped structure. Screws 14 are respectively located on the left and right ends of drive bracket two 13 through nuts. Springs 15 are respectively located on the outer ends of the two screws 14 through adjusting nuts 16.

[0027] The drive assembly 2 is respectively disposed on both sides of the suspension bracket 11. The drive assembly 2 includes a geared motor 21, a drive shaft 22, a motor mounting sleeve 23, and a drive wheel 24. One end of the drive shaft 22 is connected to the output shaft of the geared motor 21. The geared motor 21 is provided with a mounting flange 26 and a rear cover 27 on its outer side. The mounting flange is connected to the motor mounting sleeve 23 by screws. A wire nozzle 28 is provided on the rear cover 27. A bearing assembly 29 is provided on the outer edge of the drive shaft 22 and is located inside the motor mounting sleeve 23. Retaining rings 21 are respectively provided between the drive shaft 22 and the motor mounting sleeve 23 on both sides of the bearing assembly 29. 0 and sealing ring 211; drive wheel 24 is mounted on drive shaft 22 by screws and washers, drive wheel cover 212 is provided on the outer end of drive wheel 24, and the outer edge of drive wheel 24 is fitted with the vertical plate of angle steel rail 6; the outer edge of motor fixing sleeve 23 is respectively provided with connecting plate and U-shaped groove for connecting drive bracket 12 and drive bracket 23, the connecting plate and the C-shaped connecting ear of drive bracket 12 are hinged by pin 25, and copper sleeve 213 is provided in the connecting plate; to reduce wear during relative rotation, the U-shaped groove spans on screw 14, and the inner end of spring 15 is pressed against the U-shaped groove.

[0028] The travel steering assembly 3 is respectively installed on both ends of the suspension bracket 11. The travel steering assembly 3 includes a connecting bracket 31, a connecting shaft 32, a steering bracket 33, a support wheel frame 34, a horizontal guide wheel set 35, an upper support wheel set 36, and a lower limit wheel set 37. One end of the connecting bracket 31 is installed on the lower side of the end of the suspension bracket 11 by screws. The connecting shaft 32 is installed on the outer end of the connecting bracket 31. The steering bracket 33 is rotatably installed on the connecting shaft 32 by bearings 38. The steering bracket 33 is also provided with a bearing cover plate 39. The support wheel frames 34 are respectively installed on both ends of the steering bracket 33. The horizontal guide wheel set 35 is located on both sides of the vertical plate of the angle steel rail 6 through the support wheel frame 34. The upper support wheel set 36 and the lower limit wheel set 37 are located on the upper and lower sides of the horizontal plate of the angle steel rail 6 through the support wheel frame 34.

[0029] Preferably, mounting plates 310 are respectively installed on the support wheel frame 34 of the walking and steering assembly 3. The mounting plates 310 are provided with adjustment elongated holes. The limit sensor 4 and the RFID sensor 5 are respectively installed on the mounting plates 310 by screws. The limit sensor 4 stops the robot when it reaches the end point to prevent it from derailing. The RFID sensor 5 reads the card data in real time during the robot's inspection process, executes the corresponding command, and completes the inspection operation.

[0030] During operation, the drive assembly 2 is positioned on both sides of the angle steel track 6, with two drive wheels 24 respectively contacting the angle steel track 6. Driven by the reduction motor 21, the robot moves forward. The drive assembly 2 is mounted on the suspension assembly 1. The spring 15 of the suspension assembly 1 provides driving pressure to the drive assembly 2. Simultaneously, the tension is changed by adjusting the nut 16 to alter the distance between the spring 15 and the U-shaped groove of the drive bracket 13, i.e., the screwing depth of the screw 14. The distance from the axis of the spring 15 to the axis of the pin 25 exceeds the distance from the contact point between the drive wheel 24 and the angle steel track 6 to the pin 25. Based on the lever principle, the spring 15 can provide a larger driving pressure with a smaller compression. The walking and steering assembly 3 is positioned opposite each other at both ends of the suspension assembly 1. Its two symmetrically arranged sets of horizontal guide wheels 35 contact the track when the robot turns, preventing it from deflecting. In cases of excessive movement, the robot's inspection operations are mainly divided into three modes: straight-line travel, horizontal turning, and slope travel. In these modes, the upper support wheel assembly 36 bears the weight of the robot, and the drive assembly 2 drives the robot forward. When the robot is in the horizontal turning mode, one side of the horizontal guide wheel assembly 35 contacts the inner side of the track to limit excessive robot deflection. Under the action of the bearing 38, the steering bracket 33 of the walking steering assembly 3 begins to rotate with the robot, reducing steering resistance. When the robot is in the slope travel mode, the lower limit wheel assembly 37 contacts the lower side of the angle steel track 6 to limit the robot's movement when it swings too much, preventing the robot from derailing. When the robot is in the straight-line travel mode, the horizontal guide wheel assembly 35 and the lower limit wheel assembly 37 prevent the robot from swinging too much on bumpy sections, which could lead to derailment.

[0031] The parts of this invention not described in detail are prior art.

[0032] The embodiments selected herein for the purpose of disclosing the inventive objectives are currently considered suitable; however, it should be understood that the invention is intended to include all variations and modifications of the embodiments that fall within the scope of this concept and invention.

Claims

1. A walking drive system for a suspended rail robot suitable for angle steel rails, characterized in that: Includes suspension components, drive components, and travel and steering components; The suspension assembly is located on the underside of the angle steel rail and includes a suspension bracket, a first drive bracket, a second drive bracket, screws, springs, and adjusting nuts. The first drive bracket and the second drive bracket are respectively located on both ends of the suspension bracket. The first drive bracket has C-shaped connecting ears on both the left and right ends, and the second drive bracket has an H-shaped structure. The screws are respectively located on the left and right ends of the second drive bracket. The springs are respectively located on the outer ends of the two screws through adjusting nuts. The drive components are respectively installed on both sides of the suspension bracket. The drive components include a geared motor, a drive shaft, a motor mounting sleeve, and a drive wheel. The geared motor has a mounting flange and a rear cover on its outer side. The mounting flange is connected to the motor mounting sleeve by screws. The rear cover has a wire nozzle. The lower end of the drive shaft is connected to the output shaft of the geared motor. The motor mounting sleeve is installed on the outer edge of the drive shaft through a bearing assembly. A retaining ring and a sealing ring are respectively installed between the drive shaft and the motor mounting sleeve on both sides of the bearing assembly. The outer edge of the motor mounting sleeve has a connecting plate and a U-shaped groove that connect to drive bracket one and drive bracket two, respectively. The connecting plate is hinged to the C-shaped connecting lug of drive bracket one by a pin. A copper sleeve is installed between the connecting plate and the pin. The U-shaped groove spans the screw, and the inner end of the spring rests on the U-shaped groove. The drive wheel is installed on the upper end of the drive shaft, and the outer edge of the drive wheel is fitted with the vertical plate of the angle steel rail. The walking and steering components are respectively installed on both ends of the suspension bracket. The walking and steering components include a connecting bracket, a connecting shaft, a steering bracket, a support wheel frame, a horizontal guide wheel assembly, an upper support wheel assembly, and a lower limit wheel assembly. One end of the connecting bracket is fixed to the lower side of the end of the suspension bracket by screws. The connecting shaft is installed on the outer end of the connecting bracket, and the steering bracket is rotatably mounted on the connecting shaft by bearings. The steering bracket is also provided with a bearing cover plate. The support wheel frames are respectively installed on both ends of the steering bracket. The horizontal guide wheel assembly is located on both sides of the vertical plate of the angle steel track through the support wheel frames. The upper support wheel assembly and the lower limit wheel assembly are located on the upper and lower sides of the horizontal plate of the angle steel track through the support wheel frames. Limit sensors and RFID sensors are installed on the support wheel frames through mounting plates. The mounting plates are provided with adjustment elongated holes. The limit sensors stop the robot when it reaches the end point to prevent derailment. The RFID sensors read card data in real time during the robot's inspection process, execute corresponding commands, and complete the inspection operation.

2. The walking drive system for a suspended rail robot suitable for angle steel rails according to claim 1, characterized in that: The drive wheel is mounted on the drive shaft by screws and washers, and a drive wheel cover is provided on the outer end of the drive wheel.

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