Traveling mechanism of hanging rail inspection robot and robot

Abstract

The invention discloses a walking mechanism of a rail hanging inspection robot and the robot, the walking mechanism comprises a driving wheel set (2), a driven wheel set (3), a robot body (4) and a pivotal bearing (5), the driving wheel set (2) and the driven wheel set (3) are used for being hung on a rail and are connected with the robot body (4) through the pivotal bearing (5), and the driving wheel set (2) and the driven wheel set (3) are used for being hung on the rail and are connected with the robot body (4) through the pivotal bearing (5); the driving wheel set (2) and the driven wheel set (3) can rotate relative to the robot body (4). The universality, the stability and the durability of the hanging rail inspection robot in a complex rail environment are provided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inspection robots, in particular to a walking mechanism of a rail-mounted inspection robot and the robot. BACKGROUND

[0002] The rail-mounted inspection robot is an intelligent and automatic device for environmental monitoring, equipment state detection, safety monitoring, data management and analysis. The rail-mounted inspection robot can carry out daily inspection work on tunnels, pipe corridors and other scenes through a high-definition camera, an infrared thermal imager and various sensors such as gas, temperature and humidity.

[0003] However, in the related art, the walking rail of the rail-mounted inspection robot is heavy, high in cost and difficult to install. In addition, the driving mechanism of the rail-mounted inspection robot is complex, low in transmission efficiency and short in maintenance cycle. SUMMARY

[0004] The embodiments of the present application provide a walking mechanism of a rail-mounted inspection robot and the robot, which improves the versatility, stability and durability of the robot in a complex rail environment through the walking mechanism.

[0005] The embodiments of the present application adopt the following technical solutions:

[0006] In a first aspect, the embodiments of the present application provide a walking mechanism of a rail-mounted inspection robot, wherein the walking mechanism comprises a driving wheel set (2), a driven wheel set (3), a robot body (4) and a rotary bearing (5), the driving wheel set (2) and the driven wheel set (3) are used to be mounted on a rail and are connected with the robot body (4) through the rotary bearing (5) respectively, and the driving wheel set (2) and the driven wheel set (3) can rotate relative to the robot body (4).

[0007] In some embodiments, the driving wheel set (2) comprises a motor (219), a speed reducer (220) and a cover plate (215), the motor (219) is connected with the speed reducer (220), the cover plate (215) is connected with the speed reducer (220), and the driving wheel set (2) further comprises a boom (202) and a load wheel (203), the load wheel (203) is installed on the boom (202).

[0008] In some embodiments, the driving wheel set (2) further comprises a driving shaft (211) and a connecting plate (213), one end of the driving shaft (211) is provided with a third gear (218), and the connecting plate (213) is provided with a second gear (217) and engages with the third gear (218).

[0009] In some embodiments, the driving wheel set (2) further comprises a speed reducer (220) connected with the motor (219) through a driving support (204) and fixedly connected with the connecting plate (213).

[0010] In some embodiments, the speed reducer (220) is further provided with a first gear (216) and engaged with a second gear (217), and the cover plate (215) is mounted on the connecting plate (213).

[0011] In some embodiments, the boom (202) comprises at least two booms, and a pull rod (221) is arranged between the two booms (202), and the pull rod (221) comprises two pull rods fixed between the booms (202).

[0012] In some embodiments, the driven wheel set (3) comprises a driven support (301) and a base (201), and the driven support (301) is connected with the base (201).

[0013] In some embodiments, the driven wheel set (3) further comprises a driving wheel (210), and the height of the driven support (301) can be adjusted by adjusting the compression amount of the spring.

[0014] In some embodiments, the height of the driving support (204) can be adjusted by adjusting the compression amount of the spring.

[0015] In the second aspect, the embodiments of the present application provide a robot, comprising the walking mechanism of the overhead rail inspection robot in the first aspect.

[0016] The above at least one technical scheme adopted by the embodiments of the present application can achieve the following beneficial effects: since the walking mechanism comprises a driving wheel set (2), a driven wheel set (3), a robot body (4) and a rotary bearing (5), and the driving wheel set (2) and the driven wheel set (3) are used to be mounted on a rail and are connected with the robot body (4) through the rotary bearing (5) respectively, the driving wheel set (2) and the driven wheel set (3) can rotate relative to the robot body (4). The whole walking mechanism can improve the passing and stability of the robot in a complex environment, and has high durability and does not need to be maintained frequently. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings, which are included to provide a further understanding of the present application, constitute a part of the present application and illustrate the illustrative embodiments of the present application and their description serve to explain the present application, and do not constitute improper limitations on the present application. In the drawings:

[0018] Figure 1 Figure 1 is a schematic diagram of the walking mechanism of the track-hung inspection robot in the embodiment of the present application installed on the track;

[0019] Figure 2 Figure 2 is a schematic diagram of the installation of the driving mechanism and the track in the walking mechanism of the track-hung inspection robot in the embodiment of the present application;

[0020] Figure 3 Figure 3 is a schematic diagram of the installation of the driven mechanism and the track in the walking mechanism of the track-hung inspection robot in the embodiment of the present application;

[0021] Figure 4 Figure 4 is a schematic diagram of the structure of the driving wheel set in the walking mechanism of the track-hung inspection robot in the embodiment of the present application;

[0022] Figure 5 Figure 5 is an exploded schematic diagram of the driving wheel set in the walking mechanism of the track-hung inspection robot in the embodiment of the present application;

[0023] Figure 6 Figure 6 is a schematic diagram of the structure of the driven wheel set in the walking mechanism of the track-hung inspection robot in the embodiment of the present application;

[0024] Figure 7 Figure 7 is an exploded schematic diagram of the driven wheel set in the walking mechanism of the track-hung inspection robot in the embodiment of the present application.

[0025] In the figure, 1 is the track; 2 is the driving wheel set; 3 is the driven wheel set; 4 is the robot body; 5 is the rotary bearing;

[0026] 201 is the base; 202 is the boom; 203 is the load wheel; 204 is the driving support; 205 is the pin shaft; 206 is the rectangular spring; 207 is the bolt; 208 is the adjusting nut; 209 is the gasket; 210 is the driving wheel; 211 is the driving shaft; 212 is the bearing; 213 is the connecting plate; 214 is the cantilever pin; 215 is the cover plate; 216 is the first gear; 217 is the second gear; 218 is the third gear; 219 is the motor; 220 is the speed reducer; 221 is the pull rod; 301 is the driven support; 302 is the driven shaft. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described clearly and completely below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts fall within the scope of protection of the present application.

[0028] The technical solutions provided by the embodiments of the present application will be described in detail below in combination with the drawings.

[0029] As Figure 1 shown, the application provides a walking mechanism of a rail-mounted inspection robot, wherein the walking mechanism comprises a driving wheel set 2, a driven wheel set 3, a robot body 4, and a rotary bearing 5, the driving wheel set 2 and the driven wheel set 3 are used to be mounted on a rail and are connected to the robot body 4 through the rotary bearing 5 respectively, and the driving wheel set 2 and the driven wheel set 3 can rotate relative to the robot body 4.

[0030] As Figure 2 , Figure 3 shown, the rail 1 is a carrier connected to the robot body 4, and the robot body 4 runs on the rail 1. The driving wheel set 2 and the driven wheel set 3 are arranged on the robot body 4, the rotary bearing 5 is connected to the robot body 4, the driving wheel set 2 and the driven wheel set 3 can be mounted on the rail and are connected to the robot body 4 through the rotary bearing 5 respectively, and the driving wheel set 2 and the driven wheel set 3 can rotate relative to the robot body 4.

[0031] Optionally, the driving wheel set and the driven wheel set in the walking mechanism of the rail-mounted inspection robot in the application can rotate relative to the robot body.

[0032] Optionally, the cross section of the rail in the application is similar to T-shaped, and has inclined surfaces or arc surfaces on both sides and a mounting groove in the middle. Figure 2 as shown or Figure 3 as shown.

[0033] Optionally, the inclined surfaces or arc surfaces of the cross section of the rail in the application cooperate with corresponding load wheels, have a centering and turning guiding effect, and force the robot to always walk in the middle of the rail.

[0034] The walking mechanism of the rail-mounted inspection robot has the advantages of simple structure, no redundant structure, stable and reliable operation, low cost, simple maintenance, and obvious cost reduction in batch production.

[0035] Unlike the complex rail environment such as curves, slopes, water accumulation, or snow accumulation in the related art, the traditional wheel type or track type walking mechanism is prone to slipping and derailing, has poor stability, and thus has the problem of insufficient adaptability. Through the driving wheel set 2 and the driven wheel set 3, the driving wheel set 2 and the driven wheel set 3 are used to be mounted on a rail and are connected to the robot body 4 through the rotary bearing 5 respectively, so that the walking mechanism is simple and reliable, and walking is realized through the cooperation of the driving wheel set 2 and the driven wheel set 3.

[0036] Unlike the related art, the walking mechanism relies on a complex transmission system, which is prone to wear and tear, consumes a lot of energy, and has high maintenance costs due to poor economic efficiency over a long period of use. The deployment of the driving wheel set 2, the driven wheel set 3, the robot body 4, and the rotary bearing 5 facilitates the walking mechanism to walk on the track.

[0037] Unlike the related art, the positioning accuracy is low: vibration or sliding during walking may cause the detection device to deviate, affecting the accuracy of the inspection data. The driving wheel set 2 and the driven wheel set 3 can rotate relative to the robot body 4, which can improve the stability of data acquisition.

[0038] The walking mechanism of the hanging rail inspection robot and the simple and lightweight track form are easy to install and have low cost.

[0039] In an embodiment of the present application, the driving wheel set 2 includes a motor 219, a speed reducer 220, and a cover plate 215, the motor 219 is connected with the speed reducer 220, the cover plate 215 is connected with the speed reducer 220, and further includes a boom 202 and a load wheel 203, the load wheel 203 is installed on the boom 202.

[0040] As shown in Figure 4 The walking mechanism mainly includes a driving wheel set 2 and a driven wheel set 3, the driving wheel set 2 mainly includes a motor 219, a speed reducer 220, and a cover plate 215, the motor 219 is connected with the speed reducer 220, which can reduce the speed and increase the torque. The speed reducer converts the high-speed low-torque of the motor into low-speed high-torque through gear, worm gear and other transmission components. For example, when low-speed heavy-load operation is required, the speed reducer can reduce the motor speed to the required value while increasing the output torque to meet the heavy-load working condition requirement. The cover plate 215 is connected with the speed reducer 220 to encapsulate the gear.

[0041] In an embodiment of the present application, the driving wheel set 2 further includes a driving shaft 211 and a connecting plate 213, one end of the driving shaft 211 is provided with a third gear 218, and the connecting plate 213 is provided with a second gear 217 and engaged with the third gear 218.

[0042] As shown in Figure 5 The driving wheel set 2 further includes the driving shaft 211 and the connecting plate 213, the third gear 218 is arranged at one end of the driving shaft 211, and the second gear 217 is arranged above the connecting plate 213 and engaged with the third gear 218, and the motor 219 and the speed reducer 220 are connected through the above structure.

[0043] In an embodiment of the present application, the driving wheel set 2 further comprises a speed reducer 220, which is connected with the motor 219 through the driving support 204 and fixedly connected with the connecting plate 213.

[0044] As shown in Figure 5 , the driving wheel set 2 further comprises a speed reducer 220, which is a mechanical transmission device for matching the power source and the working machine demand by reducing the rotating speed and increasing the torque. The core function of the speed reducer is to realize the rotating speed and torque adjustment in power transmission. The speed reducer is a precision transmission device between the prime mover such as motor, internal combustion engine and working machine, which reduces the input rotating speed of the power source and increases the output torque in proportion through mechanical structures such as gears and worms. Therefore, the speed reducer 220 is connected with the motor 219 through the driving support 204 and fixedly connected with the connecting plate 213, so as to reduce the rotating speed and increase the torque to match the mechanical transmission of the power source and the working machine demand.

[0045] In an embodiment of the present application, the speed reducer 220 is further provided with a first gear 216 and engaged with a second gear 217, and the cover plate 215 is installed on the connecting plate 213.

[0046] As shown in Figure 5 , in addition, the first gear 216 installed on the speed reducer 220 is engaged with the second gear 217 to cooperate with each other. The cover plate 215 is installed on the connecting plate 213 to cover the gears.

[0047] In an embodiment of the present application, the boom 202 comprises at least two, and a pull rod 221 is arranged between the two booms 202. The pull rod 221 comprises two, and the two pull rods 221 are fixed between the booms 202.

[0048] As shown in Figure 5 , the boom 202 is provided with two booms fixed with the base respectively, and a load bearing wheel is installed on the boom. The load bearing wheel is inclined or arc-shaped, one end is large and the other end is small, which is matched with the inclined surface or arc surface of the track.

[0049] In an embodiment of the present application, the driven wheel set 3 comprises a driven support 301 and a base 201, and the driven support 301 is connected with the base 201.

[0050] As shown in Figure 6As shown, the driven bracket 301 is connected to the base 201 via a pin 205, and a bolt 207 is fixed to the base 201. An adjusting nut 208 and a washer 209 are screwed onto the bolt 207. A rectangular spring 206 passes through the bolt 207 and presses between the washer 209 and the driven bracket 301. There are two drive wheels 210, both of which pass through the driven shaft 302 and are connected to the driven bracket 301 via a bearing 212. There are two tie rods 221, which are fixed between the two booms.

[0051] In one embodiment of this application, the driven wheel assembly 3 further includes a drive wheel 210, and the height of the driven bracket 301 can be adjusted by adjusting the compression of the spring.

[0052] like Figure 7 As shown, the driven bracket 301 can adjust the height of the drive bracket by adjusting the compression of the spring, and further adjust the pressure between the drive wheel and the track.

[0053] In one embodiment of this application, the height of the drive bracket 204 can be adjusted by adjusting the compression of the spring.

[0054] like Figure 5 As shown, the height of the drive bracket 204 can be adjusted by adjusting the compression of the spring, thereby further adjusting the pressure between the drive wheel 210 and the track 1.

[0055] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A walking mechanism for a rail-mounted inspection robot, wherein, The walking mechanism includes a drive wheel assembly (2), a driven wheel assembly (3), a robot body (4), and a rotary bearing (5). The drive wheel assembly (2) and the driven wheel assembly (3) are mounted on a track and are respectively connected to the robot body (4) through the rotary bearing (5). Both the drive wheel assembly (2) and the driven wheel assembly (3) can rotate relative to the robot body (4).

2. The walking mechanism as described in claim 1, wherein, The drive wheel assembly (2) includes a motor (219), a reducer (220), and a cover plate (215). The motor (219) is connected to the reducer (220), and the cover plate (215) is connected to the reducer (220). It also includes a boom (202) and load-bearing wheels (203). The load-bearing wheels (203) are mounted on the boom (202).

3. The walking mechanism as described in claim 2, wherein, The drive wheel assembly (2) also includes a drive shaft (211) and a connecting plate (213). One end of the drive shaft (211) is provided with a third gear (218), and the connecting plate (213) is provided with a second gear (217) that meshes with the third gear (218).

4. The walking mechanism as described in claim 3, wherein, The drive wheel assembly (2) also includes a speed reducer (220), which is connected to the motor (219) via a drive bracket (204) and fixedly connected to the connecting plate (213).

5. The walking mechanism as described in claim 3, wherein, The reducer (220) is also equipped with a first gear (216) that meshes with the second gear (217), and the cover plate (215) is mounted on the connecting plate (213).

6. The walking mechanism as described in claim 2, wherein, The boom (202) includes at least two, and a tie rod (221) is provided between the two booms (202). The tie rod (221) includes two, and the two tie rods (221) are fixed between the booms (202).

7. The walking mechanism as described in claim 4, wherein, The driven wheel assembly (3) includes a driven bracket (301) and a base (201), wherein the driven bracket (301) is connected to the base (201).

8. The walking mechanism as described in claim 7, wherein, The driven wheel assembly (3) also includes a drive wheel (210), and the height of the driven bracket (301) can be adjusted by adjusting the compression of the spring.

9. The walking mechanism as described in claim 4, wherein, The height of the drive bracket (204) can be adjusted by adjusting the compression of the spring.

10. A robot, wherein, Including the walking mechanism of the rail-mounted inspection robot as described in any one of claims 1 to 9.

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