Bearing and guiding cleaning device for rail robot

Abstract

The utility model relates to a bearing and guiding cleaning device for a rail robot. Comprising a rotating shaft seat with a rotating shaft, a bearing wheel frame is installed at the top of the rotating shaft, two bearing wheels are installed at the top of the bearing wheel frame, the two bearing wheels are located on the two sides of a middle plate of an I-shaped rail respectively and fall on a bottom side plate of the I-shaped rail, and a guide wheel frame is installed on one side of the bearing wheel frame. Guide wheels are mounted at the two ends of the guide wheel frame, and the two guide wheels are located on the two sides of the bearing wheel respectively; a transmission box is arranged on the outer side of the top of the bearing wheel frame, a sweeping shaft seat is installed on the inner side of the outer end of the transmission box, a sweeping brush is installed at the lower end of an output shaft of the sweeping shaft seat, and a transmission assembly for transmitting rotation of the bearing wheel to the sweeping brush is arranged in the transmission box. The rail robot has the adaptive capacity to the camber and gradient changes of the I-shaped rail and the online cleaning capacity, the continuity and stability of the rail robot in the running process are improved, and the online cleaning effect is guaranteed.

Description

Technical Field

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

[0002] A track robot is a robot that travels along a set track, usually used for inspections, and is increasingly widely used in modern industry. Track robots usually travel along a specific path determined by an I-track, completing tasks such as inspections while moving. Track robots need to be equipped with a drive device, which cooperates with the I-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-track to achieve the effect of load-bearing and guiding. At the same time, in some application scenarios, the accumulation of dust on the I-track can easily have an adverse effect on the displacement of the track robot, and in severe cases, it can cause problems such as displacement jamming or slipping. Therefore, online cleaning of the track robot when it is traveling on the I-track is also an important requirement.

[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 and guiding devices that provide the rail robot with load-bearing and guiding functions 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 and guiding devices can achieve the technical effect of continuous and stable displacement. At the same time, the configured cleaning device should be able to complete continuous and effective cleaning operations. The load-bearing and guiding devices and cleaning devices of existing rail robots do not have the aforementioned characteristics and need to be developed and designed according to needs. Utility Model Content

[0004] The purpose of the utility model is to provide a load-bearing guided cleaning device for a rail robot. On the basis of having a basic load-bearing function, it has the ability to adapt to changes in the curvature and slope of an I-rail and the ability to perform online cleaning of the I-rail. 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, and the online cleaning effect is ensured by maintaining the relative position relationship between the cleaning mechanism and the I-rail.

[0005] The technical solution adopted by the utility model is: a load-bearing guide cleaning device for a rail robot, comprising a swivel shaft seat with a swivel shaft, a V-shaped load-bearing wheel frame installed on the top of the swivel shaft, two load-bearing wheels installed on the top of the load-bearing wheel frame, and the two load-bearing wheels are respectively located on both sides of the middle plate of the I-shaped rail and fall on the bottom side plate of the I-shaped rail, a guide wheel frame is 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; a transmission box is provided on the outer side of the top of the load-bearing wheel frame, a cleaning shaft seat is installed on the inner side of the outer end of the transmission box, a cleaning brush is installed on the lower end of the output shaft of the cleaning shaft seat, and a transmission component for transmitting the rotation of the load-bearing wheel to the cleaning brush is provided inside the transmission box.

[0006] Preferably, the transmission box includes a transmission box body and a transmission box cover fixedly connected to the transmission box body by screws, the driving assembly includes a driving gear, a coaxial driving gear and a driving pulley and a driven pulley, the driving gear is connected to the outer end of the axle of the load-bearing wheel, the driving gear is meshed with the driving gear for transmission, the driving pulley and the driven pulley are connected by belt drive, and the axle of the driven pulley and the output shaft of the cleaning shaft seat are driven by a bevel gear set.

[0007] Preferably, a torsion spring is installed between the root of the transmission box and the load-bearing wheel frame; a swing limiter is also installed on the inner side of the transmission box, and the upper end of the swing limiter contacts the lower surface of the top side plate of the I-rail.

[0008] Preferably, the swing limiter includes a limiter bracket and a limit wheel installed on the top of the limiter bracket, the lower end of the limiter bracket is fixedly connected to the transmission box body, and the top wheel rim of the limit wheel rolls along the lower surface of the top side plate of the I-rail.

[0009] 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.

[0010] 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 portion, and the lock nut is located in the groove of the load-bearing wheel frame; a plurality of mounting holes are provided on the outer edge of the swivel shaft seat and a mounting bolt is provided in each mounting hole.

[0011] The advantages and positive effects of the utility model are:

[0012] The utility model provides a load-bearing guide cleaning device for a rail robot with a reasonable structural design. Compared with the existing load-bearing guide device and cleaning device, the load-bearing guide cleaning device in the utility model has load-bearing wheels 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 cleaning 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 cleaning device can adaptively rotate and adjust its posture according to the change of the curvature of the I-shaped track. The two load-bearing wheels 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 cleaning device can adaptively rise or fall according to the change of the slope of the I-shaped track.

[0013] On the basis of having the basic load-bearing function, the utility model has the ability to adapt to the changes in the curvature and slope of the I-shaped track and the ability to perform online cleaning of the I-shaped track. In the process of the track robot shifting along the I-shaped track, the track robot is directed toward the extension direction of the I-shaped track to improve the continuity and stability of the track robot during its movement, and the online cleaning effect is ensured by maintaining the relative position relationship between the cleaning mechanism and the I-shaped track. The utility model improves the compactness of the structure by integrating the load-bearing, guiding and cleaning mechanisms into one, and can be installed and used on the main body of the track robot in the form of an integral component. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the rear perspective structure of the utility model;

[0015] Figure 2 It is a front view structural schematic diagram of the utility model;

[0016] Figure 3 yes Figure 1 Schematic diagram of the internal structure of the transmission box.

[0017] In the figure:

[0018] 1. Rotating shaft seat; 2. Rotating shaft; 3. Load-bearing wheel frame; 4. Guide wheel; 5. Guide wheel frame; 6. Transmission box; 6-1. Transmission box body; 6-2. Transmission box cover; 6-3. Driving gear; 6-4. Driving gear; 6-5. Driving pulley; 6-6. Belt; 6-7. Driven pulley; 7. Cleaning shaft seat; 8. Swing limiter; 8-1. Limiter bracket; 8-2. Limit wheel; 9. Cleaning brush; 10. Load-bearing wheel; 11. Torsion spring. DETAILED DESCRIPTION

[0019] In order to further understand the content, features and effects of the present invention, the following embodiments are given to explain in detail.

[0020] See also Figure 1 , Figure 2 and Figure 3 The load-bearing guide cleaning device for a rail robot of the utility model comprises a rotary shaft seat 1 with a rotary shaft 2, a V-shaped load-bearing wheel frame 3 is installed on the top of the rotary shaft 2, the rotary shaft seat 1 is fixed on the main body of the rail robot, and the load-bearing wheel frame 3 and its attached parts can rotate around the rotary shaft 2. Specifically, a rotary bearing is installed inside the rotary shaft seat 1, and the lower end of the rotary shaft 2 is fixedly connected to the inner ring of the rotary bearing.

[0021] 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.

[0022] In this embodiment, a plurality of mounting holes are provided on the outer edge of the rotary shaft seat 1 and mounting bolts are provided in each mounting hole. The load-bearing guide cleaning device is fixedly connected to the main body of the track 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.

[0023] Two load-bearing wheels 10 are installed on the top of the load-bearing wheel frame 3, and the two load-bearing wheels 10 are respectively located on both sides of the middle plate of the I-shaped track and fall on the bottom side plate of the I-shaped track, and the two load-bearing wheels 10 can rotate flexibly. The two load-bearing wheels 10 are respectively located on both sides of the middle plate of the I-shaped track, and the two load-bearing wheels 10 fall on the bottom side plate of the I-shaped track. When the rail robot moves along the I-shaped track, the two load-bearing wheels 10 roll along the upper surface (also called the track surface) of the bottom side plate of the I-shaped track.

[0024] A guide wheel frame 5 is 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, and the two guide wheels 4 are respectively located on both sides of the load-bearing wheel 10 on this side. When the rail robot is installed on the I-shaped rail, the two guide wheels 4 of the load-bearing guide cleaning device contact the same side of the I-shaped rail, playing a guiding role in the process of displacement of the rail robot.

[0025] 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.

[0026] A transmission box 6 is provided on the top outer side of the load-bearing wheel frame 3, a cleaning shaft seat 7 is installed on the inner side of the outer end of the transmission box 6, a cleaning brush 9 is installed on the lower end of the output shaft of the cleaning shaft seat 7, and a transmission assembly for transmitting the rotation of the load-bearing wheel 10 to the cleaning brush 9 is provided inside the transmission box 6. Two cleaning brushes 9 are respectively located on both sides of the middle plate of the I-shaped track and act on the upper surface of the bottom side plate of the I-shaped track (i.e., the track surface). When the track robot moves along the I-shaped track, the load-bearing wheel 10 contacts the track surface, so the load-bearing wheel 10 and its wheel axle rotate, and the rotation effect is transmitted to the output shaft of the cleaning shaft seat 7 by the transmission box 6 and the transmission assembly inside, so the cleaning brush 9 continues to rotate to produce a cleaning effect on the track surface, so the two cleaning brushes 9 rotate automatically as the track robot moves.

[0027] See also Figure 2 and Figure 3 , we can see that:

[0028] The transmission box 6 includes a transmission box body 6-1 and a transmission box cover 6-2 fixedly connected to the transmission box body 6-1 by screws, and the driving assembly includes a driving gear 6-3, a coaxial driving gear 6-4 and a driving pulley 6-5 and a driven pulley 6-7, the driving gear 6-3 is connected to the outer end of the axle of the load-bearing wheel 10, the driving gear 6-3 is meshed with the driving gear 6-4 for transmission, the driving pulley 6-5 and the driven pulley 6-7 are connected by a belt 6-6 for transmission, and the axle of the driven pulley 6-7 and the output shaft of the cleaning shaft seat 7 are driven by a bevel gear set. Specifically, the bevel gear is arranged inside the cleaning shaft seat 7, and converts the horizontal rotation of the driven pulley 6-7 into the driving action in the vertical direction required by the cleaning brush 9.

[0029] In this embodiment, a torsion spring 11 is installed between the root of the transmission box 6 and the load-bearing wheel frame. The two torsion springs 11 provide elastic force for the two transmission boxes 6 and their accessories respectively. Therefore, the two transmission boxes 6 are not fixedly installed structures, but can swing up and down with the axle of the corresponding load-bearing wheel 10 as the center (it can also be called a floating installation of the cleaning brush 9).

[0030] A swing limiter 8 is also installed on the inner side of the transmission box 6, and the upper end of the swing limiter 8 contacts the lower surface of the top side plate of the I-rail. Therefore, when the rail robot moves along the I-rail, due to the limiting effect of the two swing limiters 8, the two transmission boxes 6 will not collide with the I-rail.

[0031] In this embodiment, the two swing limiters 8 have the same structure, both of which include a limit bracket 8-1 and a limit wheel 8-2 installed on the top of the limit bracket 8-1. The bottom end of the limit bracket 8-1 is fixedly connected to the transmission box body 6-1 of the transmission box 6 on this side, and the top wheel edge of the limit wheel 8-2 rolls along the lower surface of the top side plate of the I-shaped track. Under the elastic force of the torsion spring 11, the limit wheels 8-2 on the top of the two swing limiters 8 maintain continuous contact with the lower surface of the top side plate of the I-shaped track. When the I-shaped track where the track robot is located changes in slope, the two swing limiters 8 can effectively prevent the transmission box 6 on this side from contacting and colliding with the I-shaped track.

Claims

1. A load-bearing guide cleaning device for a rail robot, characterized in that: The invention comprises a slewing shaft seat (1) with a slewing shaft (2); a V-shaped load-bearing wheel frame (3) is installed on the top of the slewing shaft (2); two load-bearing wheels (10) are installed on the top of the load-bearing wheel frame (3), and the two load-bearing wheels (10) are respectively located on both sides of the middle plate of the I-shaped rail and fall on the bottom side plate of the I-shaped rail; a guide wheel frame (5) is installed on one side of the load-bearing wheel frame (3); guide wheels (4) are installed at 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 (10); a transmission box (6) is provided on the outer side of the top of the load-bearing wheel frame (3); a cleaning shaft seat (7) is installed on the inner side of the outer end of the transmission box (6); a cleaning brush (9) is installed at the lower end of the output shaft of the cleaning shaft seat (7); and a transmission component for transmitting the rotation of the load-bearing wheel (10) to the cleaning brush (9) is provided inside the transmission box (6).

2. The load-bearing guide cleaning device for a rail robot according to claim 1, characterized in that: The transmission box (6) comprises a transmission box body (6-1) and a transmission box cover (6-2) fixedly connected to the transmission box body (6-1) by screws. The driving assembly comprises a driving gear (6-3), a coaxial driving gear (6-4), a driving pulley (6-5) and a driven pulley (6-7). The driving gear (6-3) is connected to the outer end of the wheel shaft of the load-bearing wheel (10). The driving gear (6-3) and the driving gear (6-4) are meshed for transmission. The driving pulley (6-5) and the driven pulley (6-7) are connected by a belt (6-6) for transmission. The wheel shaft of the driven pulley (6-7) and the output shaft of the cleaning shaft seat (7) are driven by a bevel gear set.

3. The load-bearing guide cleaning device for a rail robot according to claim 2, characterized in that: A torsion spring (11) is installed between the root of the transmission box (6) and the load-bearing wheel frame (3); a swing limiter (8) is also installed on the inner side of the transmission box (6), and the upper end of the swing limiter (8) contacts the lower surface of the top side plate of the I-shaped track.

4. The load-bearing guide cleaning device for a rail robot according to claim 3, characterized in that: The swing limiter (8) comprises a limiter bracket (8-1) and a limit wheel (8-2) mounted on the top of the limiter bracket (8-1); the lower end of the limiter bracket (8-1) is fixedly connected to the transmission box body (6-1); and the top wheel edge of the limit wheel (8-2) rolls along the lower surface of the top side plate of the I-shaped rail.

5. The load-bearing guide cleaning device for a rail robot according to claim 4, 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.

6. The load-bearing guide cleaning device for a rail robot as claimed in claim 5, 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 slewing shaft (2) is located in the mounting hole and has an external thread. The slewing 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). A plurality of mounting holes are provided on the outer edge of the slewing shaft seat (1), and mounting bolts are provided in each mounting hole.

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