Robot driving wheel train
By designing a robot drive wheel train including an active wheel train and a driven wheel train, the problem that the prior art cannot achieve vertical climbing in towering and narrow spaces is solved, and the robot's full coverage detection capability in structures such as bridge towers is realized.
Patent Information
- Application Number
- CN202420994523.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-09
- Publication Date
- 2025-02-28
- Estimated Expiration
- 2034-05-09
AI Technical Summary
The existing robot drive system cannot achieve vertical climbing in towering and narrow spaces, resulting in the inability to detect structures such as bridge towers in full coverage.
A robotic drive wheel train is designed, including a driving wheel train and a driven wheel train. The driving wheel train drives the transmission wheel to crawl along the transmission chain through the drive, achieving vertical movement of the vehicle body. The driven wheel train is closely connected to the track through the upper and lower rail-holding wheel sets, enhancing the robot's climbing ability in the vertical direction.
The robot climbing ability on a vertical route is realized, the phenomenon of capsizing backwards during vertical movement is avoided, the vertical climbing requirements under load required in towering structures are met, and the space accessibility and ability to adapt to complex working conditions is improved.
Smart Images
Figure 00000000_0000_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robots, in particular to a robot driving gear system. Background Art
[0002] Since bridge towers are tall structural components that are mainly under pressure in cable-supported bridges, the robot needs to perform inspections in tall, enclosed, and narrow arch tower structures. In order to ensure full coverage of tall bridge towers during the inspection robot operation, it is necessary to use an active gear train to drive the inspection equipment to achieve accessibility to the entire interior of the arch tower.
[0003] The existing driving methods include three types, namely wheel drive, crawler drive and rotor drive. Wheel drive is mainly used in open and flat inspection environments. It has good motion stability, but it can only crawl by overcoming part of the slope through the friction of the wheels and cannot climb vertically. Crawler drive has good terrain adaptability and can better cross gullies and other defective terrains. It is less affected by the environment during operation, but it is also unable to perform vertical inspection operations. Rotor drive is mainly used for surface inspection of tall structures in open surroundings. It has good spatial accessibility, but is easily affected by the environment and has poor operation stability. At the same time, it cannot operate in a small space and is prone to equipment damage. Therefore, the existing robot drive system cannot support the robot to move forward with load in tall and narrow spaces, resulting in the inability to achieve surface disease detection inside the entire arch tower.
[0004] In view of this, it is necessary to propose a robot active gear train to solve the above-mentioned defects. Utility Model Content
[0005] The main purpose of the utility model is to provide a robot driving wheel system, aiming to solve the problem that the existing robots cannot climb vertically and thus have poor spatial accessibility.
[0006] To achieve the above-mentioned purpose, the utility model provides a robot driving wheel train including an active wheel train and a driven wheel train installed on a vehicle body, wherein the active wheel train includes a driver, a rotating shaft, a transmission wheel and a transmission chain, the driver is connected to the rotating shaft, the rotating shaft is installed on the vehicle body, the transmission wheel is axially installed on the rotating shaft, the transmission wheel is meshed with the transmission chain for transmission, and the vehicle body is driven to crawl along the transmission chain under the drive of the driver.
[0007] The driven wheel system includes an upper rail-holding wheel group and a lower rail-holding wheel group fixedly connected to the vehicle body and spaced apart up and down. The upper rail-holding wheel group and the lower rail-holding wheel group are respectively mounted on the upper and lower rail surfaces of the rail.
[0008] Preferably, the rotating shaft is a gear shaft, the transmission wheel is a sprocket with meshing teeth on the inner ring, the transmission chain is a chain, the sprocket meshes with the chain, and the gear shaft rotates under the drive of the driver and drives the sprocket to crawl on the chain.
[0009] Preferably, the driver is a motor.
[0010] Preferably, the driving gear train further includes a driving flange and a spline, the driver is connected to the rotating shaft via the driving flange, and the rotating shaft is connected to the driving flange via the spline.
[0011] Preferably, the upper rail-holding wheel group and the lower rail-holding wheel group both include a rail-holding wheel axle, a single-sided wheel and an axial limit member, the rail-holding wheel axle is mounted on the vehicle body, the single-sided wheel is axially mounted on the rail-holding wheel axle, the inner surface of the edge of the single-sided wheel coincides with the edge of the track, and the limit member is axially mounted between the single-sided wheel and the vehicle body.
[0012] Preferably, the vertical spacing between the upper rail-holding wheel set and the lower rail-holding wheel set is less than the rail height.
[0013] Preferably, the rail-holding wheel axle on the upper rail-holding wheel set is a whole axle, and the rail-holding wheel axle on the lower rail-holding wheel set is two sections arranged at intervals.
[0014] Preferably, the upper rail-holding wheel group and the lower rail-holding wheel group have the same structure.
[0015] Preferably, the axial limiting member is a spring.
[0016] Compared with the prior art, the robot driving gear system provided by the utility model has the following beneficial effects:
[0017] The robot driving wheel system provided by the utility model is provided with a transmission wheel driven by a driver on the rotating shaft, so that the transmission wheel can move along the driving chain, and the upper rail-holding wheel group and the lower rail-holding wheel group are simultaneously engaged with the upper and lower rail surfaces of the track to achieve clamping, so that the body and the track are tightly connected, which can effectively prevent the robot from loosening, thereby realizing the robot's climbing ability on a vertical route and avoiding the phenomenon of the robot tipping over backwards when performing vertical movement. The robot with vertical climbing ability meets the vertical climbing requirements under a certain load in tall structures such as bridge towers, has good spatial accessibility, and can be suitable for more complex working conditions. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.
[0019] Figure 1 This is a schematic diagram of the structure of the robot driving gear system provided by the utility model;
[0020] Figure 2 for Figure 1 The structural schematic diagram of the driving gear train shown;
[0021] Figure 3 for Figure 1 The structural schematic diagram of the driven gear train is shown.
[0022] The purpose, features and advantages of the present invention will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION
[0023] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.
[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0025] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.
[0026] In addition, the descriptions of "first", "second", etc. in the present utility model are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.
[0027] See also Figure 1 The utility model provides a robot driving wheel train. The robot driving wheel train is tightly attached to the track 1. The robot driving wheel train 5 includes a driving wheel train 5 and a driven wheel train 7 installed on the vehicle body 3. The driving wheel train 5 drives the vehicle body 3 to move, and the driven wheel train 7 cooperates with the track 1 and crawls along the track 1 driven by the driving wheel train 5. Specifically, in this embodiment, the vehicle body 3 is assembled from a plurality of plate structures, and the plates are arranged relative to each other at intervals to form a plurality of rotatably connected carriages.
[0028] Please refer to 1 and Figure 2 The driving gear train 5 includes a driver 51, a rotating shaft 53, a transmission wheel 55 and a transmission chain 57. The driver 51 is fixed on the plate of the vehicle body 3, and the driver 51 is connected to the rotating shaft 53 to drive the rotating shaft 53 to move. The rotating shaft 53 is installed on two plates of the vehicle body 3. The transmission wheel 55 is axially installed on the rotating shaft 53, and the transmission wheel 55 is meshed with the transmission chain 57 for transmission. The transmission wheel 55 drives the vehicle body 3 to crawl along the transmission chain 57 under the drive of the driver 51.
[0029] Specifically, the rotating shaft 53 is a gear shaft, the transmission wheel 55 is a sprocket with meshing teeth on the inner ring, the transmission chain 57 is a chain, and has the same route as the track 1, the sprocket meshes with the chain, the gear shaft rotates under the drive of the driver 51 and drives the sprocket to crawl on the chain, so that the entire body 3 moves along the transmission chain 57, and the mutual coupling of the chain and the sprocket provides the robot with vertical climbing force. The sprocket and the chain are stably meshed, and there will be no tooth jumping or stuck during operation, which satisfies both the vertical climbing operation with a certain load capacity in a tall structure and the smoothness of the movement.
[0030] Specifically, in this embodiment, the driver 51 is a motor. The driver 51 is a power source for the robot to move, and provides power for the vehicle body 3 to move.
[0031] The driving gear train 5 further includes an axial stopper 58 and an axial displacement compensator 59. Both the axial displacement compensator 59 and the axial stopper 58 are axially mounted on the rotating shaft 53. The axial displacement compensator 59 is located between the transmission wheel 55 and the axial stopper 58, and the two ends of the axial displacement compensator 59 are respectively in contact with the transmission wheel 55 and the axial stopper 58. The axial displacement compensator 59 can apply a thrust to straighten the transmission wheel 55 close thereto. Specifically, the axial displacement compensator 59 is a spring, and the spring maintains the motion state of the transmission wheel 55 through a preload force. When turning, the transmission wheel 55 deflects and moves along the transmission chain 57. When the vehicle tends to move in a straight line after turning, the axial displacement compensator 59 pushes the transmission wheel 55 to adapt to the straight track. In this way, the driving gear train 5 can move in any curved and straight conditions, and can adapt to complex driving routes, so that it can work in narrow spaces and can also drive smoothly in complex routes. Specifically, the axial stopper 58 is a positioning sleeve, and the positioning sleeve is used to limit and position the axial displacement compensation member.
[0032] The driving gear train 5 further includes a driving flange 510 and a spline, and the driver 51 is connected to the rotating shaft 53 via the driving flange. Preferably, the rotating shaft 53 is a stepped gear shaft, one end of the rotating shaft 53 is connected to the driving flange via the spline, and the other end of the rotating shaft 53 is mounted on the plate of the vehicle body 3 via a bearing. It should be noted that an axis positioning sleeve is also mounted on the rotating shaft 53, and the axis positioning sleeve is used to axially stop the axial movement of the transmission wheel 55 mounted on the rotating shaft 53, thereby strengthening the axial positioning of the transmission wheel 55.
[0033] See also Figure 3 The driven wheel system 7 includes an upper rail-holding wheel set 71 and a lower rail-holding wheel set 73 which are fixedly connected to the vehicle body 3 and spaced apart from each other. The upper rail-holding wheel set 71 and the lower rail-holding wheel set 73 are respectively mounted on the upper and lower rail surfaces of the track 1. The upper rail-holding wheel set 71 and the lower rail-holding wheel set 73 cooperate with the upper and lower rail surfaces of the track 1 to achieve a tight fit between the robot and the track 1, and at the same time, compress the transmission wheel 55 and the drive chain to achieve stability and smoothness of the robot's movement in the vertical direction.
[0034] The upper rail-holding wheel set 71 is fixedly mounted on the vehicle body 3, and the lower rail-holding wheel set 73 is mounted on the vehicle body 3 through a swing arm mechanism 75 that can swing up and down along the height of the vehicle body 3. Both the upper rail-holding wheel set 71 and the lower rail-holding wheel set 73 include a rail-holding wheel axle 711, a single-sided wheel 713, and an axial stopper 715. The rail-holding wheel axle 711 is mounted on the vehicle body 3, and the single-sided wheel 713 is axially mounted on the rail-holding wheel axle 711. The inner side surface of the edge of the single-sided wheel 713 coincides with the edge of the track 1, and the stopper is axially mounted between the single-sided wheel 713 and the vehicle body 3. The two single-sided wheels 713 clamp the track 1 from the left and right directions, which can effectively ensure the connection between the vehicle body 3 and the track 1.
[0035] The swing arm mechanism 75 includes a swing arm 751 and a height displacement compensation member 753. The swing arm is arranged along the height direction of the vehicle body 3. One end of the swing arm 751 is rotatably connected to the bottom of the vehicle body 3, and the other end is connected to the top of the vehicle body 3 through one end of the height displacement compensation member 753. The lower rail-holding wheel set 73 is installed on the inner side of the swing arm 751. It can be understood that when the track 1 is longitudinally bent, the rail-holding angle between the lower rail-holding wheel set 73 and the upper rail-holding wheel set 71 changes, and the spacing between the upper rail-holding wheel set 71 and the lower rail-holding wheel set 73 is enlarged. The swing arm 751 rotates around the connection with the vehicle body 3 to adapt to the movement of the lower rail-holding wheel set 73. The height displacement compensation member 753 pulls the swing arm back, so that the upper rail-holding wheel set 71 and the lower rail-holding wheel set 73 are always in contact with the track 1. In this way, during the climbing process, the vehicle body 3 always moves along the track 1. Specifically, the height displacement compensation member 753 is a spring, which pulls the swing arm to pull back through a preload force.
[0036] In one embodiment, the structures of the upper rail-holding wheel group 71 and the lower rail-holding wheel group 73 are different. Specifically, the rail-holding wheel axle 711 on the upper rail-holding wheel group 71 is a whole axle, and both ends of the whole axle of the upper rail-holding wheel group 71 are axially equipped with single-sided wheels 713 through bearings, and the rail-holding wheel axle 711 on the lower rail-holding wheel group 73 is composed of two sections arranged at intervals, and the two sections of the axle are fixed on different plates, and the two rail-holding wheel axles 711 on the lower rail-holding wheel group 73 are respectively axially equipped with single-sided wheels 713 through bearings.
[0037] In another embodiment, the upper rail-holding wheel set 71 and the lower rail-holding wheel set 73 have the same structure. That is, the rail-holding wheel axle 711 of the upper rail-holding wheel set 71 and the lower rail-holding wheel set 73 is a whole axle or a two-section axle.
[0038] Specifically, in this embodiment, the axial stopper 715 is a spring. The spring has a certain preload force, which can effectively prevent the unilateral wheel 713 from axial movement, and promote the two unilateral wheels 713 to clamp from both sides of the track 1, so that the unilateral wheel 713 and the track 1 have a better fit.
[0039] It is worth mentioning that the vertical spacing between the upper rail-holding wheel group 71 and the lower rail-holding wheel group 73 is smaller than the height of the track 1, that is, the vertical spacing between the contact wheel surface of the single-sided wheel 713 on the upper rail-holding wheel group 71 and the contact wheel surface of the single-sided wheel 713 on the lower rail-holding wheel group 73 is smaller than the height of the track 1, forming an interference fit, so that the upper rail-holding wheel group 71 and the lower rail-holding wheel group 73 are tightly held on the upper and lower rail surfaces of the track 1, thereby increasing the friction between the wheels and the track 1 during vertical climbing, thereby greatly enhancing the vertical climbing function of the robot.
[0040] The robot driving wheel system provided by the utility model is provided with a transmission wheel 55 driven by a driver 51 on the rotating shaft 53, so that the transmission wheel 55 can move along the driving chain, and the upper rail-holding wheel group 71 and the lower rail-holding wheel group 73 are simultaneously engaged with the upper and lower rail surfaces of the track 1 to achieve clamping, so that the body 3 and the track 1 are tightly connected, which can effectively prevent the robot from getting loose, so that the robot's climbing ability in a vertical route can be realized, and the phenomenon of the robot tipping over backwards when performing vertical movement can be avoided. The robot with vertical climbing ability meets the vertical climbing requirements under a certain load in tall structures such as bridge towers, has good spatial accessibility, and can be suitable for more complex working conditions.
[0041] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.
Claims
1. A robot drive wheel system, tightly attached to a track, characterized in that: It includes a driving gear train and a driven gear train installed on the vehicle body, wherein: The driving wheel system includes a driver, a rotating shaft, a transmission wheel and a transmission chain, wherein the driver is connected to the rotating shaft, the rotating shaft is mounted on the vehicle body, the transmission wheel is axially mounted on the rotating shaft, the transmission wheel is meshed with the transmission chain for transmission, and driven by the driver, the vehicle body is driven to crawl along the transmission chain; The driven wheel system includes an upper rail-holding wheel group and a lower rail-holding wheel group which are fixedly connected to the vehicle body and spaced apart from each other. The upper rail-holding wheel group and the lower rail-holding wheel group respectively hold the upper and lower rail surfaces of the rail.
2. The robot drive gear train according to claim 1, characterized in that: The rotating shaft is a gear shaft, the transmission wheel is a sprocket with meshing teeth on the inner ring, the transmission chain is a chain, the sprocket meshes with the chain, and the gear shaft rotates under the drive of the driver and drives the sprocket to crawl on the chain.
3. The robot drive gear train according to claim 2, characterized in that: The driver is a motor.
4. The robot drive gear train according to claim 2, characterized in that: The driving gear train further includes a driving flange and a spline. The driver is connected to the rotating shaft via the driving flange, and the rotating shaft is connected to the driving flange via the spline.
5. The robot drive gear train according to claim 1, characterized in that: The upper rail-holding wheel group and the lower rail-holding wheel group both include a rail-holding wheel axle, a single-sided wheel and an axial limiter. The rail-holding wheel axle is mounted on the vehicle body, the single-sided wheel is axially mounted on the rail-holding wheel axle, the inner surface of the edge of the single-sided wheel coincides with the edge of the track, and the limiter is axially mounted between the single-sided wheel and the vehicle body.
6. The robot drive gear train according to claim 5, characterized in that: The vertical distance between the upper rail-holding wheel set and the lower rail-holding wheel set is less than the rail height.
7. The robot drive gear train according to claim 5, characterized in that: The rail-holding wheel axle on the upper rail-holding wheel set is a whole axle, and the rail-holding wheel axle on the lower rail-holding wheel set is two sections arranged at intervals.
8. The robot drive gear train according to claim 5, characterized in that: The upper rail-holding wheel set and the lower rail-holding wheel set have the same structure.
9. The robot drive gear train according to claim 5, characterized in that: The axial limiting member is a spring.