Load-bearing guide device of rail robot

Abstract

The utility model relates to a bearing guide device of a rail robot. Comprising a pivotal bearing seat and a pivotal bearing mounted in the pivotal bearing seat, and further comprises a V-shaped load-bearing wheel carrier with a pivotal rotating shaft mounted at the bottom, and the lower end of the pivotal rotating shaft is fixedly connected with an inner ring of the pivotal bearing; axle bearing seats and axle bearings mounted in the axle bearing seats are mounted on two sides of the top of the load-bearing wheel carrier, a first load-bearing axle and a first load-bearing wheel are fixedly mounted on an inner ring of one axle bearing, and a second load-bearing axle and a second load-bearing wheel are fixedly mounted on an inner ring of the other axle bearing; the first bearing wheel and the second bearing wheel are located on the two sides of a middle plate of the I-shaped rail respectively. A guide wheel frame is further installed on one side of the bearing wheel frame, guide wheels are installed at the two ends of the guide wheel frame, and the two guide wheels are located on the two sides of the bearing wheel on the side respectively. According to the utility model, the track robot can track the camber and gradient changes of the I-shaped track when walking and moving.

Description

Technical Field

[0001] The utility model belongs to the technical field of track robots, and in particular relates to a load-bearing guide device of a track robot. Background Art

[0002] Track robots are robots that travel along a set track and are usually used for inspections. They are increasingly widely used in modern industry. Track robots usually travel along a specific path determined by an I-shaped track, completing tasks such as inspections while moving. Track robots need to be equipped with a drive device, which cooperates with the I-shaped track to achieve the walking drive of the track robot. Track robots also need to be equipped with a load-bearing guide device, which is combined with the I-shaped track to achieve the effect of load-bearing and guiding.

[0003] In actual applications, the I-rails that serve as the moving path of the rail robot are not all straight. They may also have curvature and slope depending on the different working conditions on site. The rail robot adjusts the moving direction at the curvature of the rail and adjusts the height at the slope of the rail. Therefore, the load-bearing guide device that provides load-bearing and guiding functions for the rail robot should have the ability to adapt to the changes in the curvature and slope of the I-rail. When the rail robot moves on the I-rail, the curvature and slope adaptability provided by the load-bearing guide device can achieve the technical effect of continuous and stable displacement. The load-bearing guide device of the existing rail robot does not have the above characteristics and needs to be developed and designed according to needs. Utility Model Content

[0004] The purpose of the utility model is to provide a load-bearing and guiding device for a rail robot, which, on the basis of having a basic load-bearing function, has the ability to adapt to changes in the curvature and slope of an I-rail, and in the process of the rail robot shifting along the I-rail, the rail robot is directed toward the extension direction of the I-rail to improve the continuity and stability of the rail robot during its movement.

[0005] The technical solution adopted by the utility model is: a load-bearing and guiding device of a rail robot, comprising a slewing bearing seat and a slewing bearing installed in the slewing bearing seat, and also comprising a V-shaped load-bearing wheel frame with a slewing shaft installed at the bottom, and the lower end of the slewing shaft is fixedly connected to the inner ring of the slewing bearing; wheel axle bearing seats and wheel axle bearings installed in the wheel axle bearing seats are installed on both sides of the top of the load-bearing wheel frame, a first load-bearing wheel axle is fixedly installed on the inner ring of one of the wheel axle bearings and a first load-bearing wheel is installed on the first load-bearing wheel axle, a second load-bearing wheel axle is fixedly installed on the inner ring of the other wheel axle bearing and a second load-bearing wheel is installed on the second load-bearing wheel axle, and the first load-bearing wheel and the second load-bearing wheel are respectively located on both sides of the middle plate of the I-shaped track; a guide wheel frame is also installed on one side of the load-bearing wheel frame, guide wheels are installed at both ends of the guide wheel frame, and the two guide wheels are respectively located on both sides of the load-bearing wheel on this side.

[0006] Preferably, the guide wheel frame includes a base plate, with upper and lower wheel support arms respectively provided on the left and right sides of the base plate. The base plate is fixedly connected to the load-bearing wheel frame by bolts. The guide wheel is located between the two wheel support arms on this side and is vertically penetrated with a pin shaft.

[0007] Preferably, an encoder is also installed on the outside of one side of the load-bearing wheel frame, and the input shaft of the encoder is butt-connected to the outer end of the load-bearing wheel shaft on this side.

[0008] Preferably, a groove is provided in the middle of the bottom of the load-bearing wheel frame and a mounting hole is provided in the center of the groove. The upper end of the swivel shaft is located in the mounting hole and has an external thread. The swivel shaft is fixedly connected to the load-bearing wheel frame by a lock nut located on the external threaded part, and the lock nut is located in the groove of the load-bearing wheel frame.

[0009] Preferably, a plurality of mounting holes are provided on the outer edge of the slewing bearing seat and a mounting bolt is provided in each mounting hole.

[0010] The advantages and positive effects of the utility model are:

[0011] The utility model provides a load-bearing guide device of a rail robot with a reasonable structural design. Compared with the existing load-bearing guide device, the load-bearing guide device in the utility model has a first load-bearing wheel and a second load-bearing wheel respectively located on both sides of the middle plate of the I-shaped track, which are installed on a load-bearing wheel frame centered on a rotating shaft, so that the main part of the load-bearing guide device can rotate. In the process of the rail robot moving along the I-shaped track, the guide wheel that keeps in contact with the middle plate of the I-shaped track plays a guiding role, so that the load-bearing guide device can adaptively rotate and adjust its posture according to the change of the curvature of the I-shaped track. The first load-bearing wheel and the second load-bearing wheel fall on the bottom side plate of the I-shaped track, so that in the process of the rail robot moving along the I-shaped track, the load-bearing guide device can adaptively rise or fall according to the change of the slope of the I-shaped track.

[0012] Compared with the existing load-bearing guide device used in rail robots, the load-bearing guide device in the utility model has the ability to adapt to the curvature and slope changes of the I-shaped track on the basis of having the basic load-bearing function. When the rail robot moves along the I-shaped track, the rail robot is directed toward the extension direction of the I-shaped track to improve the continuity and stability of the rail robot during its movement. The utility model improves the compactness of the structure by integrating the load-bearing and guide mechanisms into one, and can be installed and used on the main body of the rail robot in the form of an integral component. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the structure of the utility model from an upper viewing angle;

[0014] Figure 2 It is a schematic diagram of the lower viewing angle structure of the utility model.

[0015] In the figure:

[0016] 1. Slewing bearing seat; 2. Slewing shaft; 3. Load-bearing wheel frame; 4. Guide wheel; 5. Guide wheel bracket; 6. First load-bearing wheel; 7. Second load-bearing wheel; 8. Encoder; 9. Wheel axle bearing seat; 10. First load-bearing wheel axle; 11. Second load-bearing wheel axle; 12. Slewing bearing; 13. Wheel axle bearing. DETAILED DESCRIPTION

[0017] In order to further understand the content, features and effects of the present invention, the following embodiments are given to explain in detail.

[0018] See also Figure 1 and Figure 2 The load-bearing guide device of the rail robot of the utility model comprises a slewing bearing seat 1 and a slewing bearing 12 installed in the slewing bearing seat 1, and also comprises a V-shaped load-bearing wheel frame 3 with a slewing shaft 2 installed at the bottom, and the lower end of the slewing shaft 2 is fixedly connected to the inner ring of the slewing bearing 12. The slewing bearing seat 1 is fixedly mounted on the main body of the rail robot, and the load-bearing wheel frame 3 and its attached parts can slew and rotate around the slewing shaft 2.

[0019] In this embodiment, a groove is provided in the middle of the bottom of the load-bearing wheel frame 3 and a mounting hole is provided in the center of the groove. The upper end of the rotating shaft 2 is located in the mounting hole and has an external thread. The rotating shaft 2 is fixedly connected to the load-bearing wheel frame 3 by a lock nut located on the external threaded portion, and the lock nut is located in the groove of the load-bearing wheel frame 3.

[0020] In this embodiment, a plurality of mounting holes are provided on the outer edge of the slewing bearing seat 1 and mounting bolts are provided in each mounting hole. The load-bearing guide device is fixedly connected to the main body of the rail robot by the aforementioned plurality of mounting bolts. Figure 1 The posture shown in is installed and fixed on the top of the main part of the track robot, so that the track robot is located below the I-track in a hanging installation manner.

[0021] A wheel bearing seat 9 and a wheel bearing 13 installed in the wheel bearing seat 9 are installed on both sides of the top of the load-bearing wheel frame 3. A first load-bearing wheel axle 10 is fixedly installed on the inner ring of one of the wheel bearings 13, and a first load-bearing wheel 6 is installed on the first load-bearing wheel axle 10. A second load-bearing wheel axle 11 is fixedly installed on the inner ring of the other wheel bearing 13, and a second load-bearing wheel 7 is installed on the second load-bearing wheel axle 11. The first load-bearing wheel 6 and the second load-bearing wheel 7 can rotate flexibly. The first load-bearing wheel 6 and the second load-bearing wheel 7 are respectively located on both sides of the middle plate of the I-shaped track, and the first load-bearing wheel 6 and the second load-bearing wheel 7 fall on the bottom side plate of the I-shaped track. When the track robot moves along the I-shaped track, the first load-bearing wheel 6 and the second load-bearing wheel 7 roll along the upper surface (also called the track surface) of the bottom side plate of the I-shaped track.

[0022] A guide wheel frame 5 is also installed on one side of the load-bearing wheel frame 3, and guide wheels 4 are installed at both ends of the guide wheel frame 5. The two guide wheels 4 are respectively located on both sides of the load-bearing wheel on this side. The figure shows a structure in which the two guide wheels 4 are respectively located on both sides of the first load-bearing wheel 6. When the rail robot is installed on the I-shaped rail, the two guide wheels 4 of the load-bearing guide device are in contact with the same side of the I-shaped rail, playing a guiding role during the displacement of the rail robot.

[0023] In this embodiment, the guide wheel frame 5 includes a base plate, and two upper and lower wheel support arms are respectively provided on the left and right sides of the base plate. The base plate is fixedly connected to the load-bearing wheel frame 3 with bolts. The guide wheel 4 is located between the two wheel support arms on this side and is vertically penetrated with a pin shaft, so that the guide wheel 4 can rotate flexibly.

[0024] In this embodiment, an encoder 8 is also installed on the outside of one side of the load-bearing wheel frame 3, and the input shaft of the encoder 8 is docked and connected to the outer end of the load-bearing wheel axle on this side. The figure shows the structure in which the encoder 8 is docked and connected to the outer end of the first load-bearing wheel axle 10.

[0025] The purpose of setting the encoder 8 is to measure the moving distance and moving position of the rail robot. Since the rim of the first load-bearing wheel 6 maintains stable and reliable contact with the I-rail, the number of rotations of the first load-bearing wheel 6 can reflect the distance moved by the rail robot on the I-rail, and further judge the specific position of the rail robot on the I-rail by the moving distance. The function of the encoder 8 is to detect the number of rotations of the first load-bearing wheel 6, and the detection signal of the encoder 8 is sent to the controller of the rail robot through a cable.

Claims

1. A load-bearing guide device for a rail robot, characterized in that: The invention comprises a slewing bearing seat (1) and a slewing bearing (12) installed in the slewing bearing seat (1), and also comprises a V-shaped load-bearing wheel frame (3) with a slewing shaft (2) installed at the bottom, wherein the lower end of the slewing shaft (2) is fixedly connected to the inner ring of the slewing bearing (12); a wheel axle bearing seat (9) and a wheel axle bearing (13) installed in the wheel axle bearing seat (9) are installed on both sides of the top of the load-bearing wheel frame (3); a first load-bearing wheel axle (10) is fixedly installed on the inner ring of one of the wheel axle bearings (13) and a first wheel axle bearing (10) is fixedly installed on the inner ring of the first wheel axle bearing (13). A first load-bearing wheel (6) is mounted on the load-bearing wheel axle (10), a second load-bearing wheel axle (11) is mounted and fixed on the inner ring of another wheel axle bearing (13), and a second load-bearing wheel (7) is mounted on the second load-bearing wheel axle (11), and the first load-bearing wheel (6) and the second load-bearing wheel (7) are respectively located on both sides of the middle plate of the I-shaped track; a guide wheel frame (5) is also mounted on one side of the load-bearing wheel frame (3), and guide wheels (4) are mounted on both ends of the guide wheel frame (5), and the two guide wheels (4) are respectively located on both sides of the load-bearing wheel on this side.

2. The load-bearing guide device of the rail robot according to claim 1, characterized in that: The guide wheel frame (5) comprises a base plate, and two upper and lower wheel support arms are respectively arranged on the left and right sides of the base plate. The base plate is fixedly connected to the load-bearing wheel frame (3) by bolts. The guide wheel (4) is located between the two wheel support arms on this side and is vertically penetrated with a pin shaft.

3. The load-bearing guide device of the rail robot as claimed in claim 2, characterized in that: An encoder (8) is also installed on the outside of one side of the load-bearing wheel frame (3), and the input shaft of the encoder (8) is butt-connected to the outer end of the load-bearing wheel shaft on this side.

4. The load-bearing guide device of the rail robot as claimed in claim 3, characterized in that: A groove is provided in the middle of the bottom of the load-bearing wheel frame (3) and a mounting hole is provided in the center of the groove. The upper end of the rotary shaft (2) is located in the mounting hole and has an external thread. The rotary shaft (2) is fixedly connected to the load-bearing wheel frame (3) by a lock nut located on the external threaded portion. The lock nut is located in the groove of the load-bearing wheel frame (3).

5. The load-bearing guide device of the rail robot according to claim 4, characterized in that: A plurality of mounting holes are arranged on the outer edge of the slewing bearing seat (1), and mounting bolts are arranged in each mounting hole.

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