Rail hanging type robot

Abstract

The utility model relates to the technical field of robots, and discloses a rail hanging type robot which comprises an upper shell, a lower shell, a driving structure and a guiding structure, an installation frame is fixed in the lower shell, the driving structure and the guiding structure are both arranged on the installation frame, the driving structure is used for driving the robot to walk, and the guiding structure is used for guiding and maintaining stable operation of the robot. The upper shell is fixed to the upper end of the lower shell and arranged on the outer side of the driving structure and the outer side of the guiding structure in a surrounding mode. The driving structure comprises a motor, a speed reducer, a driving shaft and a driving wheel, the motor and the speed reducer are located below the mounting frame, the driving end of the motor is connected with the driving shaft through the speed reducer, the driving shaft is vertically arranged, and the driving wheel is fixed to the top end of the driving shaft. The sensing device can stably walk on the guide rail all the time, derailing is avoided, shaking can be reduced, and the collecting quality of the sensing device is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a rail-hanging robot. Background Art

[0002] A rail-mounted robot is a robot that can be suspended on a track and move along the track. Due to its high flexibility and space utilization, it is widely used in large warehouses, distribution stations, substations, highway tunnels, underground pipeline corridors, closed coal yards and other places. It can perform special patrols and customized inspection tasks in special environments, thereby replacing manual inspections and solving the safety hazards brought about by traditional manual inspections in harsh environments such as high temperature, high humidity, toxicity and danger.

[0003] During operation, the rail-mounted robot must ensure that it walks stably on the rails. Avoiding derailment is the basis for its continuous and long-term safe use. If it is installed too tightly on the track, it will be inconvenient to turn and move in deformation areas. If it is installed too loosely, it will easily fall off after long-term movement and wear. In addition, since robots usually carry a lot of sensor equipment, reducing the shaking of the sensor equipment is of great significance to improving the collection quality of the sensor equipment.

[0004] There are also some rail-mounted robots in the prior art, such as the Chinese invention patent with application number CN202311830833.6, which is named a rail-mounted robot. The segmented design can make the center of the robot close to the track, and the robot is highly flexible when turning or climbing. It uses a sprocket drive when going up and down the track, so that the whole machine can climb at a large angle, making the overall operation of the robot more stable.

[0005] For example, the application number is CN202410249732.8, and the name is a Chinese invention patent for an intelligent inspection robot for use in cable tunnels. However, when it is mainly used to clean the accumulated water in the cable tunnel, it still requires manual entry into the cable tunnel to clean the accumulated water. It is not only convenient to use, but also highly efficient.

[0006] Another example is the Chinese invention patent with application number CN202410213741.1, which is named a rail-mounted tunnel inspection robot. The robot drives the adoptive slider to make a swinging motion through a reciprocating rotary mechanism, and the adoptive slider drives the inspection and detection mechanism to make a reciprocating swinging motion in the left and right directions, so that it can detect more areas and at the same time inspect the track on which it is hung. Utility Model Content

[0007] In order to overcome the shortcomings of the prior art, the purpose of the utility model is to provide a rail-mounted robot that is different from the existing structure and can ensure that it always walks stably on the guide rail to avoid derailment, while reducing shaking and improving the collection quality of the sensor equipment.

[0008] The utility model is implemented by the following technical scheme: a rail-mounted robot, comprising an upper shell, a lower shell, a driving structure and a guiding structure, a mounting frame is fixed inside the lower shell, the driving structure and the guiding structure are both arranged on the mounting frame, the driving structure is used to drive the robot to walk, the guiding structure is used to guide and keep its operation stable, the upper shell is fixed to the upper end of the lower shell, and the upper shell is arranged around the outside of the driving structure and the guiding structure.

[0009] Furthermore, the driving structure includes a motor, a reducer, a driving shaft and a driving wheel. The motor and the reducer are located below the mounting frame. The driving end of the motor is connected to the driving shaft through the reducer. The driving shaft is vertically arranged, and the driving wheel is fixed to the top of the driving shaft.

[0010] Furthermore, the guide structure includes a lower guide wheel frame, a lower guide shaft seat and a lower guide wheel, and the lower guide wheel is horizontally installed at the front end of the lower guide wheel frame through the lower guide shaft seat.

[0011] Furthermore, the guide structure also includes an upper support frame, a spring, an upper guide shaft frame, an upper guide shaft and an upper guide wheel. The upper support frame is fixed to the upper end of the lower guide wheel frame, the bottom end of the upper guide shaft frame is connected to the upper support frame through a spring, the upper guide shaft is installed at the front end of the upper guide shaft frame, and the upper guide wheel is installed at the front end of the upper guide shaft.

[0012] Furthermore, a threaded column is provided at the rear end of the lower guide wheel frame, and the threaded column is installed on the rear side of the slide seat through threaded cooperation. The two sides of the slide seat are located above the bottom end of the lower guide wheel frame, so that the bottom end of the lower guide wheel frame is clamped between the bottom ends of the two sides of the slide seat and the upper end of the mounting frame.

[0013] Furthermore, a vertical guide wheel frame is fixed to the outer side of the lower front end of the lower guide wheel frame, and a vertical guide wheel is rotatably installed in the vertical guide wheel frame.

[0014] Furthermore, two screw mounting seats are symmetrically fixed on both sides of the bottom end of the mounting frame, and a front compression spring frame is also arranged at the bottom end of the mounting frame in front of the screw mounting seat, a rotating shaft and a screw are respectively arranged between the two screw mounting seats, a screw nut is fixed on the front compression spring frame, and the screw nut is installed on the screw, and a rear compression spring frame is also arranged on the rotating shaft between the front compression spring frames, a compression spring is arranged between the rear compression spring frame and the front compression spring frame, a drive shaft sleeve is fixed on the rear compression spring frame and the front compression spring frame, and the reducer is fixed on the drive shaft sleeve.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] 1. The utility model is a rail-mounted robot, which drives the driving wheel to rotate through the motor in the driving structure, and uses the lower side end of the driving wheel to walk on the bottom ends of both sides of the guide rail. The left and right sides of the driving wheel are at a certain distance from the two sides of the guide rail to avoid getting stuck due to turning or deformation. At the same time, the lower guide wheel in the guide structure is located on the bottom ends of both sides of the guide rail, and the upper guide wheel is located below the top ends of both sides of the guide rail to maintain vertical stability; the vertical guide wheels are located on the left and right sides of the bottom end of the guide rail to maintain left and right stability, so that the driving wheel always walks stably on the guide rail to avoid derailment.

[0017] 2. The utility model is a rail-mounted robot, which is provided with a lead screw mounting seat, a front compression spring frame and a rear compression spring frame on both sides of the bottom end of the mounting frame, and a compression spring is provided between the rear compression spring frame and the front compression spring frame, so that the motor 31 and the reducer are flexibly mounted on the mounting frame, which can ensure the stability of the robot's movement, reduce the shaking of the sensor equipment, and improve the collection quality of the sensor equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the rail-mounted robot of the utility model;

[0019] Figure 2 It is a schematic diagram of the structure of the utility model after removing the upper shell and the lower shell;

[0020] Figure 3 It is a structural schematic diagram of the guide structure in the utility model;

[0021] Figure 4 This is a schematic diagram of the structure of the utility model after removing the upper shell, the lower shell and the driving structure;

[0022] Figure 5 It is a structural schematic diagram of the utility model installed on a guide rail.

[0023] In the figure: upper shell 1; lower shell 2; drive structure 3; guide structure 4; guide rail 5; mounting frame 21; motor 31; reducer 32; drive shaft 33; drive wheel 34; drive shaft sleeve 35; slide seat 41; threaded column 42; lower guide wheel frame 43; lower guide shaft seat 44; lower guide wheel 45; upper support frame 46; spring 47; upper guide shaft frame 48; upper guide shaft 49; upper guide wheel 410; vertical guide wheel frame 411; vertical guide wheel 412; screw mounting seat 51; front compression spring frame 52; rear compression spring frame 53; rotating shaft 54; compression spring 55; screw 56; screw nut 57. DETAILED DESCRIPTION

[0024] The following describes the implementation of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific implementations, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0025] The utility model aims to provide a rail-mounted robot in view of the defects of the prior art.

[0026] Embodiment 1

[0027] This embodiment provides a rail-mounted robot. Figure 1 , Figure 2 As shown, it includes an upper shell 1, a lower shell 2, a driving structure 3 and a guide structure 4. A mounting frame 21 is fixed inside the lower shell 2, and the driving structure 3 and the guide structure 4 are both arranged on the mounting frame 21. The driving structure 3 is used to drive the robot to walk, and the guide structure 4 is used for guiding to keep its operation stable. The upper shell 1 is fixed to the upper end of the lower shell 2, and the upper shell 1 is arranged around the outside of the driving structure 3 and the guide structure 4.

[0028] Reference Figure 2 As shown, specifically, the driving structure 3 includes a motor 31, a reducer 32, a driving shaft 33 and a driving wheel 34. The motor 31 and the reducer 32 are located below the mounting frame 21. The driving end of the motor 31 is connected to the driving shaft 33 through the reducer 32. The driving shaft 33 is vertically arranged, and the driving wheel 34 is fixed to the top of the driving shaft 33.

[0029] Reference Figure 2 , Figure 3 As shown, specifically, the guide structure 4 includes a lower guide wheel frame 43, a lower guide shaft seat 44 and a lower guide wheel 45, and the lower guide wheel 45 is horizontally mounted at the front end of the lower guide wheel frame 43 through the lower guide shaft seat 44. The guide structure 4 also includes an upper support frame 46, a spring 47, an upper guide shaft frame 48, an upper guide shaft 49 and an upper guide wheel 410, the upper support frame 46 is fixed to the upper end of the lower guide wheel frame 43, the bottom end of the upper guide shaft frame 48 is connected to the upper support frame 46 through the spring 47, the upper guide shaft 49 is mounted at the front end of the upper guide shaft frame 48, and the upper guide wheel 410 is mounted at the front end of the upper guide shaft 49.

[0030] Reference Figure 3As shown, a threaded column 42 is provided at the rear end of the lower guide wheel frame 43, and the threaded column 42 is installed on the rear side of the slide 41 through threaded engagement, and both sides of the slide 41 are located above the bottom end of the lower guide wheel frame 43, so that the bottom end of the lower guide wheel frame 43 is sandwiched between the bottom ends of both sides of the slide 41 and the upper end of the mounting frame 21. A vertical guide wheel frame 411 is also fixed to the outer side of the lower front end of the lower guide wheel frame 43, and a vertical guide wheel 412 is rotatably installed in the vertical guide wheel frame 411.

[0031] Reference Figure 4 As shown, two screw mounting seats 51 are symmetrically fixed on both sides of the bottom end of the mounting frame 21, and a front compression spring frame 52 is also arranged in front of the screw mounting seats 51 at the bottom end of the mounting frame 21, and a rotating shaft 54 ​​and a screw 56 are respectively arranged between the two screw mounting seats 51, a screw nut 57 is fixed on the front compression spring frame 52, and the screw nut 57 is installed on the screw 56, and a rear compression spring frame 53 is also arranged on the rotating shaft 54 ​​between the front compression spring frames 52, a compression spring 55 is arranged between the rear compression spring frame 53 and the front compression spring frame 52, and a drive shaft sleeve 35 is fixed on the rear compression spring frame 53 and the front compression spring frame 52, and the reducer 32 is fixed on the drive shaft sleeve 35.

[0032] Reference Figure 5 As shown, the rail-mounted robot of the utility model is installed on the guide rail 5, and the motor 31 in the driving structure 3 drives the driving wheel 34 to rotate through the reducer 32. The lower end of the driving wheel 34 walks on the bottom ends of both sides of the guide rail 5, and the left and right sides of the driving wheel 34 are at a certain distance from the two sides of the guide rail 5 to avoid getting stuck due to turning or deformation.

[0033] During movement, the lower guide wheels 45 in the guide structure 4 are located on the bottom ends of both sides of the guide rail 5, and the upper guide wheels 410 are located below the top ends of both sides of the guide rail 5 to maintain up and down stability; the vertical guide wheels 412 are located on the left and right sides of the bottom end of the guide rail 5 to maintain left and right stability, so that the driving wheel 34 always moves stably on the guide rail 5 to avoid derailment.

[0034] By arranging a screw mounting seat 51, a front compression spring frame 52 and a rear compression spring frame 53 on both sides of the bottom end of the mounting frame 21, and arranging a compression spring 55 between the rear compression spring frame 53 and the front compression spring frame 52, the motor 31 and the reducer 32 can be flexibly installed on the mounting frame 21, which can ensure the stability of the robot's movement, reduce the shaking of the mounted sensor equipment, and improve the collection quality of the sensor equipment.

[0035] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A rail-mounted robot, characterized in that: The robot comprises an upper shell (1), a lower shell (2), a driving structure (3) and a guiding structure (4); a mounting frame (21) is fixed inside the lower shell (2); the driving structure (3) and the guiding structure (4) are both arranged on the mounting frame (21); the driving structure (3) is used to drive the robot to walk; the guiding structure (4) is used to guide and maintain its stable operation; the upper shell (1) is fixed to the upper end of the lower shell (2); and the upper shell (1) is arranged around the outside of the driving structure (3) and the guiding structure (4).

2. The rail-mounted robot according to claim 1, characterized in that: The driving structure (3) comprises a motor (31), a reducer (32), a driving shaft (33) and a driving wheel (34); the motor (31) and the reducer (32) are located below the mounting frame (21); the driving end of the motor (31) is connected to the driving shaft (33) via the reducer (32); the driving shaft (33) is vertically arranged; and the driving wheel (34) is fixed to the top end of the driving shaft (33).

3. The rail-mounted robot according to claim 2, characterized in that: The guide structure (4) comprises a lower guide wheel frame (43), a lower guide shaft seat (44) and a lower guide wheel (45), and the lower guide wheel (45) is horizontally mounted at the front end of the lower guide wheel frame (43) via the lower guide shaft seat (44).

4. The rail-mounted robot according to claim 3, characterized in that: The guide structure (4) further comprises an upper support frame (46), a spring (47), an upper guide shaft frame (48), an upper guide shaft (49) and an upper guide wheel (410); the upper support frame (46) is fixed to the upper end of the lower guide wheel frame (43); the bottom end of the upper guide shaft frame (48) is connected to the upper support frame (46) via a spring (47); the upper guide shaft (49) is mounted at the front end of the upper guide shaft frame (48); and the upper guide wheel (410) is mounted at the front end of the upper guide shaft (49).

5. The rail-mounted robot according to claim 4, characterized in that: The rear end of the lower guide wheel frame (43) is provided with a threaded column (42), and the threaded column (42) is installed on the rear side of the slide seat (41) through threaded matching. The two sides of the slide seat (41) are located above the bottom end of the lower guide wheel frame (43), so that the bottom end of the lower guide wheel frame (43) is clamped between the bottom ends of the two sides of the slide seat (41) and the upper end of the mounting frame (21).

6. The rail-mounted robot according to claim 5, characterized in that: A vertical guide wheel frame (411) is also fixed to the outer side of the lower front end of the lower guide wheel frame (43), and a vertical guide wheel (412) is rotatably installed in the vertical guide wheel frame (411).

7. The rail-mounted robot according to claim 6, characterized in that: Two screw mounting seats (51) are symmetrically fixed on both sides of the bottom end of the mounting frame (21); a front compression spring frame (52) is also arranged at the bottom end of the mounting frame (21) in front of the screw mounting seat (51); a rotating shaft (54) and a screw (56) are respectively arranged between the two screw mounting seats (51); a screw nut (57) is fixed on the front compression spring frame (52); the screw nut (57) is installed on the screw (56); a rear compression spring frame (53) is also arranged on the rotating shaft (54) between the front compression spring frame (52); a compression spring (55) is arranged between the rear compression spring frame (53) and the front compression spring frame (52); a driving shaft sleeve (35) is fixed on the rear compression spring frame (53) and the front compression spring frame (52); and the reducer (32) is fixed on the driving shaft sleeve (35).

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