Hub driving device and subway inspection vehicle with same

Abstract

The utility model discloses a hub driving device and a subway inspection vehicle with the same, the hub driving device comprises a driving wheel with a hub, a steering assembly and a suspension assembly, the suspension assembly comprises a suspension support, a swing plate, a suspension spring, a suspension arm and a hub pressing plate, the suspension support and the swing plate are arranged on the same side of the hub, and the suspension spring is arranged on the suspension support. The top of the suspension support is connected with the output end of the steering assembly, and the hub pressing plate is installed on the swing plate and right faces the center position of the hub. The suspension spring and the suspension arm are installed between the suspension support and the swing plate. The wheel hub driving device is suitable for automatic detection of the bottom of a subway and similar use scenes, and can meet the performance requirements of normal driving and obstacle crossing and climbing of the inspection trolley.

Description

Technical Field

[0001] The utility model relates to the technical field of rail transit inspection equipment, in particular to a wheel hub driving device and a subway inspection vehicle with the device. Background Art

[0002] Traditional daily inspections of subway vehicles are mainly based on manual inspections, which are labor-intensive and have high safety risks. In particular, the undercarriage components of subways are relatively complex and not convenient for manual visual inspection. Therefore, the undercarriage inspection work has low inspection efficiency and difficult quality control. With the development of large-scale line network operations, undercarriage inspection robots have emerged, which can realize automatic inspection of undercarriage conditions and improve inspection efficiency. However, the structure and depth of subway trenches are not exactly the same, and the existing undercarriage inspection robots cannot meet the needs of obstacle avoidance and climbing during the inspection process. Utility Model Content

[0003] Technical purpose: In view of the above technical problems, the utility model proposes a wheel hub drive device and a subway inspection vehicle having the device.

[0004] Technical solution: To achieve the above technical objectives, the utility model adopts the following technical solution:

[0005] A wheel hub drive device comprises a driving wheel provided with a wheel hub, a steering assembly and a suspension assembly, the suspension assembly comprises a suspension bracket, a swing plate, a suspension spring, a suspension arm and a wheel hub pressure plate, the driving wheel is integrated with a wheel hub drive motor, the suspension assembly comprises a suspension bracket, a swing plate, a suspension spring, a suspension arm and a wheel hub pressure plate, the suspension bracket and the swing plate are arranged on the same side of the wheel hub, the top of the suspension bracket is connected to the output end of the steering assembly, the swing plate is located directly below the suspension bracket, and the wheel hub pressure plate is used to press and fix the wheel hub drive motor on the swing plate; the top end of the suspension spring is hinged to one side of the bottom of the adapter plate, the top end of the suspension bracket is fixed to the other side of the bottom of the adapter plate, and the bottom ends of the suspension spring and the suspension bracket are respectively hinged to the two ends of the swing plate.

[0006] Preferably, the top end of the suspension arm is fixedly connected to the bottom of the suspension bracket, and the bottom end of the suspension arm is mounted on the swing plate by providing a first connection structure; the top end and the bottom end of the suspension spring are respectively provided with extensions, and each extension is respectively fixed to the suspension bracket and the swing plate by providing a second connection structure;

[0007] The first connection structure comprises: a pair of first baffles arranged at the bottom end of the suspension arm, a first through hole opened on each first baffle, a second through hole opened at one end of the swing plate, and a first pin passing through the first through hole and the second through hole;

[0008] The second connecting structure includes: a second baffle plate arranged at the bottom of the suspension bracket or the other end of the swing plate, a third through hole opened on each second baffle plate, a fourth through hole opened in the extension part at both ends of the suspension spring, and a second pin shaft passing through the third through hole and the fourth through hole.

[0009] Preferably, the steering assembly comprises a steering motor, a steering transmission mechanism and a reducer which are connected in sequence, and an output end of the reducer is connected to the top of the suspension bracket.

[0010] A subway inspection vehicle comprises a chassis and a plurality of driving wheels arranged below the chassis, each driving wheel adopts the wheel hub driving device.

[0011] Preferably, a lifting platform and a lifting drive mechanism for driving the lifting platform to move are provided on the chassis, an electronic warehouse for installing various sensors is arranged on the lifting platform, a lifting column and a mechanical arm are arranged on the top of the lifting platform, and a camera is installed on the mechanical arm.

[0012] Beneficial effects: Compared with the prior art, the utility model has the following beneficial effects:

[0013] The wheel hub drive device of the utility model can control the steering activities of the driving wheels within a certain range, is suitable for automatic inspection under the subway car and similar usage scenarios, and can meet the performance requirements of normal driving of the inspection vehicle and overcoming obstacles and climbing slopes. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a schematic structural diagram of the wheel hub drive device in the first embodiment;

[0015] Figure 2 This is a schematic diagram of the structure of a subway inspection vehicle in Embodiment 2;

[0016] Among them, 1-driving wheel, 2-suspension bracket, 3-swing plate, 4-suspension spring, 5-suspension arm, 6-wheel hub pressure plate, 7-steering motor, 8-steering transmission mechanism, 9-reducer, 10-chassis, 11-lifting platform, 12-electronic warehouse, 13-lifting column, 14-mechanical arm, 15-camera. DETAILED DESCRIPTION

[0017] The embodiments of the present utility model are described in detail below in conjunction with the accompanying drawings.

[0018] Embodiment 1

[0019] like Figure 1As shown, a wheel hub drive device comprises: a driving wheel 1 provided with a wheel hub, a steering assembly and a suspension assembly, wherein the steering assembly comprises a steering motor 7, a steering transmission mechanism 8 and a reducer 9 connected in sequence. The suspension assembly comprises a suspension bracket 2, a swing plate 3, a suspension spring 4, a suspension arm 5 and a wheel hub pressure plate 6, wherein the suspension bracket 2 and the swing plate 3 are arranged on the same side of the wheel hub, the top of the suspension bracket 2 is connected to the output end of the steering assembly, the swing plate 3 is located directly below the suspension bracket 2, and the wheel hub pressure plate 6 is installed on the swing plate 3 and directly facing the center of the wheel hub.

[0020] The wheel hub drive motor is integrated inside the driving wheel 1, and the wheel hub drive motor is pressed and fixed on the swing plate 3 through the wheel hub pressure plate 6. One side of the swing plate 3 is hinged to the suspension bracket, which can be recorded as hinge point a. The swing plate 3 can swing up and down around this connection point a; the other side of the swing plate 3 is hinged to the suspension spring 4, which is recorded as hinge point b; the suspension spring 4 has a spring plus damper, and the damper can reduce the shock after the spring rebounds, making the entire suspension assembly run more smoothly. The other side of the suspension bomb 4 is hinged to the suspension bracket 2, which is recorded as hinge point c.

[0021] The top ends of the suspension spring 4 and the suspension arm 5 are respectively installed on both sides of the bottom of the suspension bracket 2, and the bottom ends of the suspension spring 4 and the suspension arm 5 are respectively installed on the two ends of the swing plate 3. The top end of the suspension arm 5 is fixedly connected to the bottom of the suspension bracket 2, and the bottom end of the suspension arm 5 is installed on the swing plate 3 by setting a first connecting structure; the top and bottom ends of the suspension spring 4 are respectively provided with extensions, and each extension is fixed to the suspension bracket 2 and the swing plate 3 by setting a second connecting structure.

[0022] like Figure 1 As shown, in this embodiment, the first connecting structure includes: a pair of first baffles arranged at the bottom end of the suspension arm, a first through hole opened on each first baffle, a second through hole opened at one end of the swing plate, and a first pin shaft passing through the first through hole and the second through hole; the second connecting structure includes: a second baffle plate arranged at the bottom of the suspension bracket or the other end of the swing plate, a third through hole opened on each second baffle, a fourth through hole opened at the extension parts of both ends of the suspension spring, and a second pin shaft passing through the third through hole and the fourth through hole.

[0023] The wheel hub drive device of this embodiment can control the rotation of the wheel group in a full circle, so it can adapt to the automatic inspection of the bottom of the subway car and similar usage scenarios, adapt to the performance requirements of the normal driving of the inspection vehicle and overcoming obstacles and climbing slopes, and realize the inspection robot's on-the-spot U-turn and lateral movement.

[0024] Embodiment 2

[0025] like Figure 2As shown, this embodiment proposes a subway inspection vehicle, including a chassis 10 and four driving wheels 1 arranged below the chassis 10. Each driving wheel adopts the hub drive device described in the first embodiment, realizing a 4-wheel 8-drive, independently suspended inspection vehicle. A lifting platform 11 and a lifting drive mechanism for driving the lifting platform 10 are provided on the chassis 10. An electronic warehouse 12 for installing various sensors is provided on the lifting platform 11. A lifting column 13 and a mechanical arm 14 are provided on the top of the lifting platform 11. A camera 15 is installed on the mechanical arm 14.

[0026] The outer ring of the reducer 9 is fixed to the robot chassis, the inner ring output end is connected to the suspension bracket 2 through the adapter plate, and the input end is connected to the steering transmission mechanism 8, and the input of the steering transmission mechanism 8 is the steering motor 7. The power is input from the steering motor 7 and transmitted to the reducer 9 through the steering transmission mechanism 8. After the power is reduced by the reducer 9 and the torque is increased, it is output to the suspension bracket 2. The suspension bracket 2 drives the bottom suspension component and the driving wheel 1 to rotate together to realize the steering function.

[0027] When the robot is moving, it encounters a bumpy road surface. The uneven road surface causes the driving wheel to move up and down. The driving wheel drives the swing plate to swing around the hinge a. At this time, the hinge c on the other side of the swing plate compresses the suspension spring 4 to deform. The spring plus damper absorbs vibrations and shocks, so that the robot can drive smoothly on the bumpy road.

[0028] Different from conventional train bottom inspection vehicles, the inspection vehicle of the utility model, its electronic warehouse, mechanical arm and various functional components thereon can be raised and lowered in the vertical direction along with the lifting platform. Therefore, in addition to being able to adapt to the undercarriage inspection of subways with different trench depths, because the relative positions of various functional components remain unchanged, it also facilitates the processing of various detection data obtained by the inspection robot.

[0029] The above description is only a preferred specific implementation manner of the present utility model. It should be pointed out that the protection scope of the present utility model is not limited thereto. Any technician familiar with the technical field within the technical scope disclosed by the present utility model can make equivalent substitutions or changes based on the technical scheme and utility model concept of the present utility model, which should be covered by the protection scope of the present utility model.

Claims

1. A wheel hub drive device, characterized in that: The invention comprises a driving wheel (1) provided with a wheel hub, a steering assembly and a suspension assembly, wherein the driving wheel (1) is integrated with a wheel hub drive motor, and the suspension assembly comprises a suspension bracket (2), a swing plate (3), a suspension spring (4), a suspension arm (5) and a wheel hub pressure plate (6), wherein the suspension bracket (2) and the swing plate (3) are arranged on the same side of the wheel hub, the top of the suspension bracket (2) is connected to the output end of the steering assembly, the swing plate (3) is located directly below the suspension bracket (2), and the wheel hub pressure plate (6) is used to press and fix the wheel hub drive motor on the swing plate (3); the top end of the suspension spring (4) is hinged to one side of the bottom of the suspension bracket (2), the top end of the suspension arm (5) is fixed to the other side of the bottom of the suspension bracket (2), and the bottom ends of the suspension spring (4) and the suspension arm (5) are respectively hinged to the two ends of the swing plate (3).

2. A wheel hub drive device according to claim 1, characterized in that: The top end of the suspension arm (5) is fixedly connected to the bottom end of the suspension bracket (2), and the bottom end of the suspension arm (5) is mounted on the swing plate (3) by providing a first connection structure; the top end and the bottom end of the suspension spring (4) are respectively provided with extension parts, and each extension part is respectively fixed to the suspension bracket (2) and the swing plate (3) by providing a second connection structure; The first connection structure comprises: a pair of first baffles arranged at the bottom end of the suspension arm, a first through hole opened on each first baffle, a second through hole opened at one end of the swing plate, and a first pin passing through the first through hole and the second through hole; The second connecting structure includes: a second baffle plate arranged at the bottom of the suspension bracket or the other end of the swing plate, a third through hole opened on each second baffle plate, a fourth through hole opened in the extension part at both ends of the suspension spring, and a second pin shaft passing through the third through hole and the fourth through hole.

3. A wheel hub drive device according to claim 1, characterized in that: The steering assembly comprises a steering motor (7), a steering transmission mechanism (8) and a reducer (9) which are connected in sequence, and the output end of the reducer (9) is connected to the top of the suspension bracket (2).

4. A subway inspection vehicle, characterized in that: It comprises a chassis (10) and a plurality of drive wheels (1) arranged below the chassis (10), each drive wheel adopting a wheel hub drive device as claimed in any one of claims 1 to 3.

5. A subway inspection vehicle according to claim 4, characterized in that: The chassis (10) is provided with a lifting platform (11) and a lifting drive mechanism for driving the lifting platform (11) to move; an electronic warehouse (12) for installing a plurality of sensors is provided on the lifting platform (11); a lifting column (13) and a mechanical arm (14) are provided on the top of the lifting platform (11); and a camera (15) is installed on the mechanical arm (14).

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