Overhead rail type inspection robot driving device and overhead rail type inspection robot

Abstract

The utility model relates to the technical field of robot driving, in particular to an overhead rail type inspection robot driving device and an overhead rail type inspection robot. The overhead rail type inspection robot driving device provided by the utility model provides stronger power and more stable driving capability for a rail inspection robot, reduces the situation that the inspection robot cannot perform normal inspection due to frosting, icing and slippery conditions in rainy and snowy weather, and can greatly improve the inspection efficiency.

Description

Technical Field

[0001] The utility model relates to the technical field of robot driving, in particular to a driving device of a hanging rail type inspection robot and a hanging rail type inspection robot. Background Art

[0002] The existing driving methods of hanging rail inspection robots adopt two solutions: hanging drive or side clamp drive. Compared with hanging drive, side clamp drive has low power output efficiency, low fault tolerance, difficulty in synchronizing the left and right drive wheels, and high maintenance investment. The hanging drive currently only has single-axis two-wheel drive. In outdoor rain and snow conditions, the track is slippery, frosted and iced, which will cause the drive wheel to slip, thereby reducing the utilization rate of the inspection robot. Therefore, the driving structure of the inspection robot needs to be improved. Utility Model Content

[0003] Therefore, the technical problem to be solved by the present invention is to overcome the problem of poor stability of the hanging drive structure in the prior art.

[0004] In order to solve the above technical problems, the utility model provides a hanging rail type inspection robot driving device comprising:

[0005] A first driving structure, the first driving structure comprising a driving motor, the driving motor is connected to a first driving shaft, and the first driving shaft is connected to a first driving output gear;

[0006] A second driving structure, wherein the second driving structure comprises a plurality of gears meshing with each other, wherein the first gear meshes with the first drive output gear, and the two ends of the last gear shaft are respectively connected to a driving sprocket and a main driving rubber-coated wheel;

[0007] The third driving structure comprises a transmission chain, one end of the transmission chain is connected to the driving sprocket, and the other end is connected to a driven sprocket, wherein the driven sprocket is connected to a driven sprocket gear shaft, and the other end of the driven sprocket gear shaft is provided with a driven rubber-coated wheel.

[0008] In one embodiment of the present invention, the first driving structure comprises:

[0009] Drive motor;

[0010] A reducer connected to the driving motor, wherein the reducer output shaft is connected to the reducer output bevel gear via a reducer bevel gear connection key;

[0011] A first drive shaft, wherein the first drive shaft hammer gear is meshed with the reducer output bevel gear, and the first drive shaft is connected to the first drive output gear through a first drive output bearing.

[0012] In one embodiment of the present utility model, the second driving structure comprises:

[0013] A primary gear, wherein the primary gear is fixed with a hexagonal bolt and connected to the primary gear shaft through an axial thread, and the primary gear is meshed with the first drive output gear;

[0014] A secondary gear, wherein the secondary gear is fixed with a hexagonal bolt and connected to the secondary gear shaft through an axial thread, and the secondary gear is meshed with the primary gear;

[0015] A third-stage gear, wherein the third-stage gear is connected to a third-stage gear bearing and meshes with the second-stage gear;

[0016] A driving sprocket, wherein the driving sprocket is connected to the third-stage gear shaft via a third-stage gear shaft connecting key;

[0017] A main driving rubber-coated wheel is connected to the three-stage gear shaft through a connecting key.

[0018] In one embodiment of the present utility model, the second driving structure further includes:

[0019] A drive frame side plate is provided with an opening adapted to the first drive shaft, a sealed bearing is provided at the connection between the first drive shaft and the drive frame side plate, and a retaining ring and a sealing gasket are provided at one end of the first drive shaft away from the drive frame side plate, which are adapted to form a sealing structure with the drive frame cover plate.

[0020] In one embodiment of the utility model, a main auxiliary rubber-coated wheel is provided next to the main driving rubber-coated wheel, and the main auxiliary rubber-coated wheel is fixed on an auxiliary wheel mounting base, and the auxiliary wheel mounting base is fixed to the side plate of the driving frame by a base fixing hexagon socket bolt.

[0021] In one embodiment of the present utility model, the third driving structure comprises:

[0022] A transmission chain has one end connected to the driving sprocket and the other end connected to a driven sprocket. The driven sprocket is connected to a driven sprocket shaft via a driven sprocket key. A driven rubber-coated wheel is provided on the driven sprocket shaft.

[0023] In one embodiment of the present utility model, the third driving structure further includes:

[0024] A driven frame side plate is provided with an opening adapted to the driven sprocket shaft, a sealed bearing is provided at the connection between the driven sprocket shaft and the driven frame side plate, and a retaining ring and a sealing gasket are provided at one end of the driven sprocket shaft away from the driven frame side plate, which are adapted to the driven frame cover plate to form a sealing structure.

[0025] In one embodiment of the utility model, a slave rubber-coated wheel is provided next to the slave driving rubber-coated wheel, and the slave auxiliary rubber-coated wheel is fixed on an auxiliary wheel mounting base, and the auxiliary wheel mounting base is fixed to the side plate of the driven frame by a base fixing hexagon socket bolt.

[0026] The utility model also provides a rail-mounted inspection robot, comprising the rail-mounted inspection robot driving device as described above.

[0027] In one embodiment of the present utility model, the overhead rail inspection robot comprises two overhead rail inspection robot driving devices, which are symmetrically arranged on both sides of the guide rail.

[0028] The above technical solution of the utility model has the following advantages compared with the prior art:

[0029] The utility model provides a hanging rail inspection robot driving device, which provides the rail inspection robot with stronger power and more stable driving ability, reduces the inspection robot's inability to conduct normal inspections due to frost, ice and slippery conditions in rainy and snowy weather, and can greatly improve the inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to make the content of the utility model easier to understand, the utility model is further described in detail according to the specific embodiments of the utility model in combination with the accompanying drawings, wherein

[0031] Figure 1 It is a schematic diagram of a driving device of a hanging rail type inspection robot provided by an embodiment of the utility model;

[0032] Figure 2 is a schematic diagram of a first driving structure provided by an embodiment of the utility model;

[0033] Figure 3 is a schematic diagram of a second driving structure provided by an embodiment of the utility model;

[0034] Figure 4 is a schematic diagram of a third driving structure provided by an embodiment of the utility model;

[0035] Figure numerals: 101-driving motor; 102-reducer; 103-first driving output bearing; 104-first driving output gear; 105-reducer bevel gear connecting key; 106-reducer output bevel gear; 107-first driving shaft; 108-first driving shaft bevel gear key; 109-first driving shaft hammer gear; 110-sealed bearing; 200-driving frame side plate; 201-retaining ring; 202-second driving primary gear; 203-second driving primary gear fixing hexagonal bolt; 204-second driving secondary gear; 205-second driving secondary gear Wheel fixing hexagonal bolt; 206-second drive three-stage gear; 207-second drive three-stage gear bearing; 208-second drive three-stage gear shaft; 209-second drive three-stage gear connecting key; 210-driving sprocket, 211-main and auxiliary rubber-coated wheels; 212-main drive rubber-coated wheels; 213-base fixing hexagonal bolt; 214-main and auxiliary rubber-coated wheel shafts; 215-auxiliary wheel mounting base; 301-transmission chain; 302-driven frame side plate; 303-driven sprocket shaft; 304-driven sprocket key; 305-driven sprocket; 306-driven frame cover. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0037] Reference Figure 1 As shown, the utility model provides a hanging rail type inspection robot driving device comprising:

[0038] A first driving structure, the first driving structure comprising a driving motor, the driving motor is connected to a first driving shaft, and the first driving shaft is connected to a first driving output gear;

[0039] A second driving structure, wherein the second driving structure comprises a plurality of gears meshing with each other, wherein the first gear meshes with the first drive output gear, and the two ends of the last gear shaft are respectively connected to a driving sprocket and a main driving rubber-coated wheel;

[0040] The third driving structure comprises a transmission chain, one end of the transmission chain is connected to the driving sprocket, and the other end is connected to a driven sprocket, wherein the driven sprocket is connected to a driven sprocket gear shaft, and the other end of the driven sprocket gear shaft is provided with a driven rubber-coated wheel.

[0041] like Figure 2 Based on the above embodiments, this embodiment describes the first driving structure in detail:

[0042] The first driving structure comprises:

[0043] Drive motor;

[0044] A reducer connected to the driving motor, wherein the reducer output shaft is connected to the reducer output bevel gear via a reducer bevel gear connection key;

[0045] A first drive shaft, wherein the first drive shaft hammer gear is meshed with the reducer output bevel gear, and the first drive shaft is connected to the first drive output gear through a first drive output bearing.

[0046] The first drive structure includes a driving motor 101 as the main power source, and a reducer 102 that reduces the output speed of the driving motor 101 to achieve the purpose of increasing torque and reducing speed. The output shaft of the reducer 102 is connected to the reducer output bevel gear 106 through the reducer bevel gear connecting key 105, and the output power is output to the reducer output bevel gear 106. The reducer output bevel gear 106 is meshed with the first drive shaft hammer gear 109 to convert the horizontal and lateral power of the guide rail into the longitudinal power perpendicular to the guide rail, wherein the first drive output bearing 103 connects the first drive shaft 107 and the first drive output gear 104. In the first drive mechanism, the power is finally transmitted to the first drive output gear 104.

[0047] like Figure 3 Based on the above embodiments, this embodiment describes the second driving structure in detail:

[0048] The second driving structure comprises:

[0049] A primary gear, wherein the primary gear is fixed with a hexagonal bolt and connected to the primary gear shaft through an axial thread, and the primary gear is meshed with the first drive output gear;

[0050] A secondary gear, wherein the secondary gear is fixed with a hexagonal bolt and connected to the secondary gear shaft through an axial thread, and the secondary gear is meshed with the primary gear;

[0051] A third-stage gear, wherein the third-stage gear is connected to a third-stage gear bearing and meshes with the second-stage gear;

[0052] A driving sprocket, wherein the driving sprocket is connected to the third-stage gear shaft via a third-stage gear shaft connecting key;

[0053] A main driving rubber-coated wheel is connected to the three-stage gear shaft through a connecting key.

[0054] A main auxiliary rubber-coated wheel is arranged beside the main driving rubber-coated wheel. The main auxiliary rubber-coated wheel is fixed on an auxiliary wheel mounting base. The auxiliary wheel mounting base is fixed to the side plate of the driving frame by a base fixing hexagon socket bolt.

[0055] A drive frame side plate is provided with an opening adapted to the first drive shaft, a sealed bearing 110 is provided at the connection between the first drive shaft and the drive frame side plate, and a retaining ring and a sealing gasket are provided at one end of the first drive shaft away from the drive frame side plate, which are adapted to form a sealing structure with the drive frame cover plate.

[0056] The second driving mechanism includes a driving frame side plate 200, which provides a frame for the second driving mechanism. The driving frame cover is used to seal the second driving mechanism. The retaining ring 201 and the sealing gasket at the end of the first driving shaft 107 form a sealing structure with the driving frame cover. The second driving primary gear 202 is meshed with the first driving output gear 104 to transmit the output power to the second driving primary gear 202. The second driving primary gear fixing hexagonal bolt 203 is connected to the second driving secondary shaft through the axial thread of the second driving primary shaft, so that the second The first-stage drive gear 202 is displaced in the axial direction, and is kept in correct axial meshing with the first drive output gear 104. The second-stage drive gear 204 is meshed with the second-stage drive gear 202, and the output power is transmitted to the second-stage drive gear 204. The second-stage drive gear fixing hexagonal bolt 205 is connected to the second-stage drive gear 204 through the axial thread of the second-stage drive gear 204, so as to limit the axial displacement of the second-stage drive gear 204 and keep the correct axial meshing with the second-stage drive gear 202. The second-stage drive gear 206 The second drive secondary gear 204 meshes with the second drive secondary gear, and transmits the output power to the second drive tertiary gear 206. The second drive tertiary gear bearing 207 limits the second drive tertiary gear 206 in the axial direction, and keeps the second drive tertiary gear 206 and the second drive secondary gear 204 correctly meshed in the axial direction. The second drive tertiary gear 206 outputs power to the second drive tertiary gear shaft 208 through a key connection. The driving sprocket 210 is connected to the second drive tertiary gear shaft 208 through the second drive tertiary gear connecting key 209. At this point, the motor output The power is transmitted to the driving sprocket 210, and the main driving rubber-coated wheel 212 is connected to the second driving three-stage gear shaft 208 through a key. At the same time, the power is transmitted to the main driving rubber-coated wheel 212, and the main auxiliary rubber-coated wheel 211 is fixed to the auxiliary wheel mounting base 214 through the main and auxiliary rubber-coated wheel shafts 214. The auxiliary wheel mounting base is fixed to the driving frame side plate 200 through two base fixing hexagon socket bolts 213. At this point, the motor output driving force is transmitted to the main driving rubber-coated wheel 212, and the main driving rubber-coated wheel 212 rubs against the guide rail to complete the driving of the inspection robot on the guide rail.

[0057] like Figure 4 Based on the above embodiments, this embodiment describes the third driving structure in detail:

[0058] The third driving structure comprises:

[0059] A transmission chain has one end connected to the driving sprocket and the other end connected to a driven sprocket. The driven sprocket is connected to a driven sprocket shaft via a driven sprocket key. A driven rubber-coated wheel is provided on the driven sprocket shaft.

[0060] A driven frame side plate is provided with an opening adapted to the driven sprocket shaft, a sealed bearing is provided at the connection between the driven sprocket shaft and the driven frame side plate, and a retaining ring and a sealing gasket are provided at one end of the driven sprocket shaft away from the driven frame side plate, which are adapted to the driven frame cover plate to form a sealing structure.

[0061] A slave rubber-coated wheel is provided next to the slave driving rubber-coated wheel. The slave rubber-coated wheel is fixed on an auxiliary wheel mounting base. The auxiliary wheel mounting base is fixed to the side plate of the driven frame by a base fixing hexagon socket bolt.

[0062] The third drive mechanism transmits power to the driven sprocket 305 through the transmission chain 301. The driven sprocket 305 is connected to the driven sprocket shaft 303 through the driven sprocket key 304. The slave driving rubber-coated wheel is connected to the driven sprocket shaft 303 through the key. At this point, the motor output power is synchronously transmitted to the slave driving rubber-coated wheel, and the slave driving rubber-coated wheel rubs against the guide rail to complete the driving of the inspection robot on the guide rail.

[0063] The utility model also provides a rail-mounted inspection robot, including a rail-mounted inspection robot driving device symmetrically arranged on both sides of the guide rail, forming a four-wheel drive eight-wheel drive structure, wherein two drive frame side panels 200 on both sides are connected by drive frame side panels on both sides of the drive frame connecting member, and the drive frame cover plate seals the drive frame side panels.

[0064] The utility model provides a track inspection robot with stronger power and more stable driving ability, reduces the inspection robot's inability to conduct normal inspections due to frost, ice and slippery conditions in rainy and snowy weather, and can greatly improve the inspection efficiency; the utility model also reduces the inspection robot's stopping of work due to uneven or misaligned tracks.

[0065] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention of the utility model.

Claims

1. A driving device for a hanging rail inspection robot, characterized in that: include: A first driving structure, wherein the first driving structure comprises a driving motor, wherein the driving motor is connected to a first driving shaft, the first driving shaft being connected to a first driving output gear; A second driving structure, wherein the second driving structure comprises a plurality of gears meshing with each other, wherein the first gear meshes with the first drive output gear, and the two ends of the last gear shaft are respectively connected to a driving sprocket and a main driving rubber-coated wheel; The third driving structure comprises a transmission chain, one end of the transmission chain is connected to the driving sprocket, and the other end is connected to a driven sprocket, wherein the driven sprocket is connected to a driven sprocket gear shaft, and the other end of the driven sprocket gear shaft is provided with a driven rubber-coated wheel.

2. The driving device of the overhead rail inspection robot according to claim 1, characterized in that: The first driving structure comprises: Drive motor; A reducer connected to the driving motor, wherein the reducer output shaft is connected to the reducer output bevel gear via a reducer bevel gear connection key; The first drive shaft, wherein the first drive shaft hammer gear is meshed with the reducer output bevel gear, The first drive shaft is connected to the first drive output gear through a first drive output bearing.

3. The driving device of the overhead rail inspection robot according to claim 1, characterized in that: The second driving structure comprises: A primary gear, wherein the primary gear is fixed with a hexagonal bolt and connected to the primary gear shaft through an axial thread, and the primary gear is meshed with the first drive output gear; A secondary gear, wherein the secondary gear is fixed with a hexagonal bolt and connected to the secondary gear shaft through an axial thread, and the secondary gear is meshed with the primary gear; A third-stage gear, wherein the third-stage gear is connected to a third-stage gear bearing and meshes with the second-stage gear; A driving sprocket, wherein the driving sprocket is connected to the third-stage gear shaft via a third-stage gear shaft connecting key; A main driving rubber-coated wheel is connected to the three-stage gear shaft through a connecting key.

4. The driving device of the overhead rail inspection robot according to claim 3, characterized in that: The second driving structure further includes: A drive frame side plate is provided with an opening adapted to the first drive shaft, a sealed bearing is provided at the connection between the first drive shaft and the drive frame side plate, and a retaining ring and a sealing gasket are provided at one end of the first drive shaft away from the drive frame side plate, which are adapted to form a sealing structure with the drive frame cover plate.

5. The driving device of the overhead rail inspection robot according to claim 4, characterized in that: A main auxiliary rubber-coated wheel is arranged beside the main driving rubber-coated wheel. The main auxiliary rubber-coated wheel is fixed on an auxiliary wheel mounting base. The auxiliary wheel mounting base is fixed to the side plate of the driving frame by a base fixing hexagon socket bolt.

6. The driving device of the overhead rail inspection robot according to claim 1, characterized in that: The third driving structure comprises: A transmission chain has one end connected to the driving sprocket and the other end connected to a driven sprocket. The driven sprocket is connected to a driven sprocket shaft via a driven sprocket key. A driven rubber-coated wheel is provided on the driven sprocket shaft.

7. The driving device of the overhead rail inspection robot according to claim 6, characterized in that: The third driving structure further includes: A driven frame side plate is provided with an opening adapted to the driven sprocket shaft, a sealed bearing is provided at the connection between the driven sprocket shaft and the driven frame side plate, and a retaining ring and a sealing gasket are provided at one end of the driven sprocket shaft away from the driven frame side plate, which are adapted to the driven frame cover plate to form a sealing structure.

8. The driving device of the overhead rail inspection robot according to claim 7, characterized in that: A slave rubber-coated wheel is provided next to the slave driving rubber-coated wheel. The slave rubber-coated wheel is fixed on an auxiliary wheel mounting base. The auxiliary wheel mounting base is fixed to the side plate of the driven frame by a base fixing hexagon socket bolt.

9. A rail-mounted inspection robot, characterized in that: It comprises a rail-mounted inspection robot driving device as described in any one of claims 1 to 8.

10. The rail-mounted inspection robot according to claim 9, characterized in that: The hanging rail type inspection robot comprises two hanging rail type inspection robot driving devices, which are symmetrically arranged on both sides of the guide rail.

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