Overhead rail type walking driving device based on rail robot

Abstract

The utility model relates to the technical field of rail robots, in particular to an overhead rail type walking driving device based on a rail robot. Comprising a driving mechanism and a walking track used for supporting the driving mechanism, the walking track comprises a track body and a rack, and the rack is fixed to the upper surface of the track body; the driving mechanism comprises an outer rotor hub motor and motor mounting seats, the outer rotor hub motor is connected with the motor mounting seats, the motor mounting seats are symmetrically distributed on the two sides of the track body and are slidably connected with the track body through the outer rotor hub motor, the output end of the outer rotor hub motor is connected with a driving gear, and the driving gear is connected with the motor mounting seats. The outer rotor hub motor is engaged with the rack in a rolling mode through a driving gear, and a rail side edge limiting wheel is installed on the outer side of the outer rotor hub motor. According to the technical scheme, the complexity of a traditional structure can be reduced, and higher applicability and reliability are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of rail robots, in particular to a hanging rail type walking drive device based on a rail robot. Background Art

[0002] In the prior art, due to the special structure of the suspended rail type walking drive device, the rail robot can adapt to complex working environments and space limitations, and can move freely in a small space, and walk through curved tracks or complex paths, thereby achieving more flexible and efficient work. Based on the above characteristics, the suspended rail type walking drive device and the rail robot can provide stable and efficient walking capabilities in specific application scenarios, such as industrial production lines, warehousing and logistics, etc., but the current rail robots still have problems such as complex drive device structure, heavy weight, low reliability, small climbing angle and small movement speed adjustment range. With the widespread application of suspended rail type walking drive devices and rail robots, the industry has increasingly stringent performance requirements for robots. At this stage, there is a need for a suspended rail type walking drive device based on a rail robot. Utility Model Content

[0003] In order to solve the problems of complex structure, heavy weight and low reliability of a walking drive device of a rail robot, the utility model provides a hanging rail type walking drive device based on the rail robot.

[0004] The utility model provides a hanging rail type walking drive device based on a rail robot, which adopts the following technical solutions:

[0005] A suspended rail type walking drive device based on a rail robot comprises: a driving mechanism and a walking track for supporting the driving mechanism, wherein the walking track comprises a track body and a rack, and the rack is fixed to the upper surface of the track body;

[0006] The driving mechanism includes an outer rotor hub motor and a motor mounting seat, the outer rotor hub motor is connected to the motor mounting seat, the motor mounting seats are symmetrically distributed on both sides of the track body, the motor mounting seat is slidably connected to the track body through the outer rotor hub motor, the output end of the outer rotor hub motor is connected to the driving gear, the outer rotor hub motor is rollingly engaged with the rack through the driving gear, and the outer side of the outer rotor hub motor is installed with a track side limiting wheel.

[0007] Furthermore, spring positioning shafts are respectively provided on both sides of the track side limiting wheel, one end of the track side limiting wheel is connected to the motor mounting seat through the spring positioning shaft, and the other end of the track side limiting wheel abuts against the inner walls of both sides of the track body.

[0008] Furthermore, a driving base plate is provided below the motor mounting seat, the motor mounting seat is symmetrically distributed about the horizontal midline of the track body, and the driving base plate is mounted to the lower surface of the track body.

[0009] Furthermore, connecting brackets are provided on both sides of the motor mounting seat, and the driving end of the outer rotor hub motor is connected to the connecting brackets on both sides of the motor mounting seat through fixing bolts.

[0010] Furthermore, an adjustment hole is provided on the upper surface of the driving base plate, the adjustment hole passes through the driving base plate, and the motor mounting seat is connected to the adjustment hole by an adjustment bolt.

[0011] Furthermore, the rack is fixed to the upper surface of the track body, including the track body adopting an I-beam track, and the rack is installed to the upper end of the bottom support surface of the I-beam track.

[0012] Furthermore, a track bottom edge limiting wheel is installed at the midline of the driving base plate, and the upper end of the track bottom edge limiting wheel is slidably connected to the bottom of the track body.

[0013] Furthermore, the track bottom edge limiting wheel includes a wheel axle and a limiting wheel bracket, and the wheel axle is installed inside the limiting wheel bracket.

[0014] Furthermore, the wheel axle is installed inside the limiting wheel bracket, including adjusting slots on both sides of the inner wall of the limiting wheel bracket, and the wheel axle is inserted into both sides of the inner wall of the limiting wheel bracket through the adjusting slots.

[0015] Furthermore, a bolt hole is provided at the bottom of the limiting wheel bracket, and the limiting wheel bracket is fixedly connected to the driving base plate by bolts.

[0016] In summary, the utility model has the following beneficial technical effects:

[0017] 1. The power transmission of the utility model adopts an outer rotor hub motor, which has its own tire directly contacting the track, eliminating the complex structure of the motor connecting the drive wheel through gears or belts, reducing the mechanical transmission components in the traditional center drive motor, and thus reducing the weight of the drive device itself, making the control of the walking device more precise and sensitive, and better able to adapt to various walking speeds and tracks of different angles.

[0018] 2. The front end of the outer rotor hub motor of the utility model is directly connected to the gear, which meshes with the rack fixed on the track when climbing a slope. Compared with the friction transmission, the driving efficiency is significantly improved. The outer rotor hub motor has a larger rotor diameter and can provide greater torque and power output capabilities. The high power output enables the walking device to have stronger walking ability and carrying capacity, ensuring that the robot can climb a larger angle slope and increase its reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the planar structure of a hanging rail type walking drive device based on a rail robot according to an embodiment of the utility model.

[0020] Figure 2 It is a schematic diagram of the overall structure of a hanging rail type walking drive device based on a rail robot according to an embodiment of the utility model.

[0021] Among them, 1. fixing bolts; 2. track body; 3. driving gear; 4. outer rotor hub motor; 5. driving base plate; 6. spring positioning shaft; 7. track side limiting wheel; 8. track bottom limiting wheel; 81. limiting wheel bracket; 82. wheel axle; 9. motor mounting seat. DETAILED DESCRIPTION

[0022] The utility model is further described in detail below in conjunction with the accompanying drawings.

[0023] Example 1

[0024] Reference Figure 1 , a rail-type walking drive device based on a rail robot in this embodiment includes:

[0025] A driving mechanism and a travel track for supporting the driving mechanism, wherein the travel track comprises a track body 2 and a rack, and the rack is fixed to the upper surface of the track body 2;

[0026] The driving mechanism includes an outer rotor hub motor 4 and a motor mounting seat, the outer rotor hub motor 4 is connected to the motor mounting seat, the motor mounting seats 9 are symmetrically distributed on both sides of the track body 2, the motor mounting seat 9 is slidably connected to the track body 2 through the outer rotor hub motor 4, the output end of the outer rotor hub motor 4 is connected to the driving gear 3, the outer rotor hub motor 4 is rollingly engaged with the rack through the driving gear 3, and the outer side of the outer rotor hub motor 4 is installed with a track side limiting wheel 7.

[0027] Spring positioning shafts 6 are respectively provided on both sides of the track side limiting wheel 7, one end of the track side limiting wheel 7 is connected to the motor mounting seat through the spring positioning shaft 6, and the other end of the track side limiting wheel 7 abuts against the inner walls of both sides of the track body 2.

[0028] A driving base plate 5 is provided below the motor mounting seat 9 , and the motor mounting seat is symmetrically distributed about the horizontal midline of the track body 2 , and the driving base plate 5 is mounted to the lower surface of the track body 2 .

[0029] The motor mounting seat 9 is provided with connecting brackets on both sides, and the driving end of the outer rotor hub motor 4 is connected to the connecting brackets on both sides of the motor mounting seat through fixing bolts 1.

[0030] An adjustment hole is provided on the upper surface of the driving base plate 5 , and the adjustment hole passes through the driving base plate 5 . The motor mounting seat is connected to the adjustment hole via an adjustment bolt.

[0031] The rack is fixed to the upper surface of the track body 2, including the track body 2 using an I-beam track, and the rack is installed to the upper end of the bottom support surface of the I-beam track.

[0032] A track bottom edge limiting wheel 8 is installed at the midline of the driving base plate 5 , and the upper end of the track bottom edge limiting wheel 8 is slidably connected to the bottom of the track body 2 .

[0033] The track bottom edge limiting wheel 8 includes a wheel axle 82 and a limiting wheel bracket 81 , and the wheel axle 82 is installed inside the limiting wheel bracket 81 .

[0034] The wheel axle 82 is installed inside the limiting wheel bracket 81 , including adjusting notches on both sides of the inner wall of the limiting wheel bracket 81 , and the wheel axle 82 is inserted into both sides of the inner wall of the limiting wheel bracket 81 through the adjusting notches.

[0035] A bolt hole is provided at the bottom of the limiting wheel bracket 81 , and the limiting wheel bracket 81 is fixedly connected to the driving base plate 5 by bolts.

[0036] Specifically,

[0037] A rail-type walking drive device based on a rail robot in this embodiment includes the following contents:

[0038] like Figure 1 As shown, a driving base plate 5 is provided below the motor mounting seat 9, and two groups of motor mounting seats 9 are symmetrically distributed about the horizontal median line of the track body 2, so that the entire driving device is evenly stressed, and the driving base plate 5 is installed to the lower surface of the track body 2. Before the driving device is installed, an adjustment hole needs to be pre-designed on the driving base plate 5 according to the width of the track body 2, and the motor mounting seat 9 is placed on the driving base plate 2. The motor mounting seat 9 is connected to the adjustment hole by an adjusting bolt, and the position of the motor mounting seat 9 is moved so that the output end of the outer rotor hub motor 4 falls just above the track body 2. After the position is determined, the adjusting bolt is tightened. After the connection is completed, necessary tests and inspections are performed to ensure that the connection quality between the motor mounting seat and the driving base plate is good.

[0039] After the motor mounting seat is fixed, the outer rotor hub motor 4 is fixed. The motor mounting seat 9 has a symmetrical structure and is provided with two groups of connecting brackets on both sides. Each group of connecting brackets is respectively connected to the outer rotor hub motor 4. The driving end of the outer rotor hub motor 4 is connected to the connecting brackets on both sides of the motor mounting seat through the fixing bolts 1, so that the hub of the outer rotor hub motor 4 is in good contact with the track body 2. The front end of the outer rotor hub motor 4 is directly connected to the driving gear 3. When climbing a slope, it meshes with the rack fixed on the track for transmission, which is used to increase the driving efficiency when climbing a slope. In addition, track side limiting wheels 7 are installed on both sides of the outer rotor hub motor 4 to limit To control the lateral movement of vehicles or mechanical devices, a track bottom edge limiting wheel 8 is installed at the median line of the driving base plate 5, and the upper end of the track bottom edge limiting wheel 8 is slidably connected to the bottom of the track body 2, and the track bottom edge limiting wheel 8 is fixedly installed in the middle position of the driving base plate through a limiting wheel bracket 81. Adjustment notches are provided on the inner walls of both sides of the limiting wheel bracket 81. Before installing the track bottom edge limiting wheel, insert the wheel axle 82 into the adjusting notch, adjust the height of the wheel axle 82, and make the track bottom edge limiting wheel 8 just contact the bottom of the track, tighten the nut to clamp the wheel axle position to fix it, thereby providing additional stability for the driving device.

[0040] like Figure 2 As shown, spring positioning shafts 6 are respectively provided on both sides of the track side limiting wheel 7, one end of the track side limiting wheel 7 is connected to the motor mounting seat through the spring positioning shaft 6, and the other end is in contact with the inner walls on both sides of the track body 2, so that the top of the track side limiting wheel 7 is in contact with one side of the track body, so that it can slide well, and the spring positioning shafts 6 are respectively installed on both sides of the track side limiting wheel. The spring positioning shaft 6 will be used to connect one end of the track side limiting wheel 8 and the motor mounting seat 9. One end of the track side limiting wheel 8 is connected to the motor mounting seat through the spring positioning shaft 6. Ensure that the connection is tight, so that the track side limiting wheel is connected to the motor mounting seat, and adjust the position of the track side limiting wheel 8 so that the other end is in contact with the inner walls on both sides of the track body to provide additional support and stability. After the installation is completed, test and adjust to ensure that the contact between the track side limiting wheel and the track is normal and can appropriately limit the lateral movement to limit the lateral movement of the hanging rail type walking drive device.

[0041] The above are all preferred embodiments of the present utility model, and are not intended to limit the protection scope of the present utility model. Therefore, any equivalent changes made based on the structure, shape, and principle of the present utility model should be included in the protection scope of the present utility model.

Claims

1. A hanging rail type walking drive device based on a rail robot, characterized in that: It comprises a driving mechanism and a running track for supporting the driving mechanism, wherein the running track comprises a track body (2) and a rack, and the rack is fixed to the upper surface of the track body (2); The driving mechanism comprises an outer rotor hub motor (4) and a motor mounting seat (9), wherein the outer rotor hub motor (4) is connected to the motor mounting seat, the motor mounting seats (9) are symmetrically distributed on both sides of the track body (2), the motor mounting seat is slidably connected to the track body (2) via the outer rotor hub motor (4), the output end of the outer rotor hub motor (4) is connected to the driving gear (3), the outer rotor hub motor (4) is rollingly meshed with the rack via the driving gear (3), and a track side limiting wheel (7) is installed on the outer side of the outer rotor hub motor (4).

2. The hanging rail type walking drive device based on a rail robot according to claim 1, characterized in that: Spring positioning shafts (6) are respectively provided on both sides of the track side limiting wheel (7); one end of the track side limiting wheel (7) is connected to the motor mounting seat via the spring positioning shaft (6); and the other end of the track side limiting wheel (7) abuts against the inner walls of both sides of the track body (2).

3. The hanging rail type walking drive device based on a rail robot according to claim 1, characterized in that: A driving base plate (5) is provided below the motor mounting seat, the motor mounting seat is symmetrically distributed about the horizontal midline of the track body (2), and the driving base plate (5) is mounted to the lower surface of the track body (2).

4. The hanging rail type walking drive device based on a rail robot according to claim 3, characterized in that: Connecting brackets are provided on both sides of the motor mounting seat, and the driving end of the outer rotor hub motor (4) is connected to the connecting brackets on both sides of the motor mounting seat through fixing bolts (1).

5. The hanging rail type walking drive device based on a rail robot according to claim 4, characterized in that: An adjustment hole is provided on the upper surface of the driving base plate (5), the adjustment hole passes through the driving base plate (5), and the motor mounting seat is connected to the adjustment hole via an adjustment bolt.

6. The hanging rail type walking driving device based on a rail robot according to claim 1, characterized in that: The rack is fixed to the upper surface of the track body (2), including the track body (2) using an I-beam track, and the rack is installed to the upper end of the bottom support surface of the I-beam track.

7. The hanging rail type walking drive device based on a rail robot according to claim 5, characterized in that: A track bottom edge limiting wheel (8) is installed at the midline of the driving bottom plate (5), and the upper end of the track bottom edge limiting wheel (8) is slidably connected to the bottom of the track body (2).

8. The hanging rail type walking drive device based on a rail robot according to claim 7, characterized in that: The track bottom edge limiting wheel (8) comprises a wheel axle (82) and a limiting wheel bracket (81), and the wheel axle (82) is installed inside the limiting wheel bracket (81).

9. The hanging rail type walking drive device based on a rail robot according to claim 8, characterized in that: Adjustment notches are provided on both sides of the inner wall of the limiting wheel bracket (81), and the wheel shaft (82) is inserted into both sides of the inner wall of the limiting wheel bracket (81) through the adjustment notches.

10. The hanging rail type walking driving device based on a rail robot according to claim 9, characterized in that: The bottom of the limiting wheel bracket (81) is provided with a bolt hole, and the limiting wheel bracket (81) is fixedly connected to the driving base plate (5) by means of bolts.

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