Rail robot walking driving device compatible with side mounting and hoisting

Abstract

The utility model discloses a track robot walking driving device compatible with side mounting and hoisting, which comprises a track and a walking driving module mounted on a robot, and a first track surface and a second track surface which are perpendicular to each other are arranged on two sides of the track. The walking driving module comprises first driving wheels, second driving wheels, a transmission mechanism and a driving device, and the first driving wheels and the second driving wheels are arranged on the two sides of the track; when the robot is laterally installed on the track, the driving device drives the first driving wheels to run on the first track face through the transmission mechanism, and the second driving wheels located on the two sides of the track are used for being matched with the second track face to form limiting. When the robot is hoisted on the track, the driving device drives the second driving wheels to run on the second track surface through the transmission mechanism, and the first driving wheels located on the two sides of the track are used for being matched with the first track surface to form limiting. The side mounting and hoisting modes can be compatible at the same time, use is convenient, and the running stability of the robot is high.

Description

Technical Field

[0001] The utility model relates to the technical field of rail robots, in particular to a rail robot walking drive device compatible with side mounting and hoisting mounting. Background Art

[0002] With the continuous development of technology, the functions and performance of robots are constantly improving, and their application areas are becoming more and more extensive. Among them, track robots are robots that can move autonomously on tracks and perform various tasks. They are usually used for inspection, industrial production, logistics and transportation, etc.

[0003] At present, there are generally two ways to install a robot on a track: side installation and hoisting installation. Side installation means that the track is placed sideways, such as fixing the track to the side wall of a tunnel or a building, and the robot is on the front side of the track; hoisting means that the track is placed horizontally, such as fixing the track to the top wall of a tunnel or a building, and the robot is suspended below the track. Existing robots need to be configured with different tracks and corresponding travel drive devices for these two installation methods, which have poor compatibility and a single installation method, and thus cannot provide more options for on-site construction. Therefore, it is necessary to improve the existing technology to overcome the defects in the existing technology. Utility Model Content

[0004] The problem to be solved by the utility model is to provide a rail robot walking drive device which is compatible with side mounting and hoisting mounting, so as to overcome the defect that the existing robot walking drive device cannot be compatible with side mounting and hoisting mounting at the same time.

[0005] The technical solution adopted by the utility model to solve the technical problem is: a walking drive device of a rail robot compatible with side mounting and hoisting mounting, comprising:

[0006] A track, wherein both sides of the track are provided with a first track surface and a second track surface, and the first track surface and the second track surface are vertically distributed;

[0007] and a walking drive module installed on the robot, the walking drive module comprising a first driving wheel, a second driving wheel, a transmission mechanism and a driving device, the transmission mechanism is connected between the driving device and the first driving wheel and the second driving wheel, and at least one of the first driving wheel and at least one of the second driving wheels are arranged on both sides of the track;

[0008] When the robot is mounted on the track, the driving device can drive the first driving wheel to travel on the first track surface through the transmission mechanism, and the second driving wheels located on both sides of the track are used to cooperate with the second track surface to form a limit position;

[0009] When the robot is hoisted on the track, the driving device can drive the second driving wheel to travel on the second track surface through the transmission mechanism, and the first driving wheels located on both sides of the track are used to cooperate with the first track surface to form a limit.

[0010] As a further improvement of the present invention, the transmission mechanism includes a transmission box and a reversing mechanism, the transmission box is provided with first output shafts that are the same in number and correspond one-to-one with the first drive wheels and second output shafts that are the same in number and correspond one-to-one with the second drive wheels, the first drive wheels are mounted on the first output shafts, and the second drive wheels are connected to the second output shafts via the reversing mechanism.

[0011] As a further improvement of the present invention, the reversing mechanism includes a worm wheel and a worm, the worm is fixedly connected to the second output shaft, and the worm wheel is connected to the second drive wheel and meshes with the worm.

[0012] As a further improvement of the present invention, the reversing mechanism includes a first bevel gear and a second bevel gear, the first bevel gear is fixedly mounted on the second output shaft, and the second bevel gear is axially connected to the second drive wheel and meshes with the first bevel gear.

[0013] As a further improvement of the utility model, a changing mechanism and two first synchronous pulley mechanisms are provided in the transmission box, the first output shaft and the second output shaft are distributed on both sides of the track, the first output shaft and the second output shaft located on the same side are connected by the first synchronous pulley mechanism, and the two first synchronous pulley mechanisms are changed in direction by the changing mechanism.

[0014] As a further improvement of the present invention, the direction-changing mechanism includes two second synchronous pulley mechanisms and two transfer gears, the second synchronous pulley mechanisms are connected between the transfer gears and the corresponding first synchronous pulley mechanisms, and the two transfer gears are meshed with each other.

[0015] As a further improvement of the utility model, the driving device adopts a driving motor, which is connected to the transmission box through a third synchronous pulley mechanism.

[0016] As a further improvement of the present invention, the track is provided with a track body and a track plate integrally extending from both sides of the track body, the first track surface is located on the track body, and the second track surface is located on the track plate.

[0017] As a further improvement of the present invention, a limiting wheel is installed on the robot, and the limiting wheel is located on a side of the track facing the robot.

[0018] As a further improvement of the present invention, two first driving wheels and two second driving wheels are installed on both sides of the track, and the axis of the first driving wheel is perpendicular to the axis of the second driving wheel.

[0019] The beneficial effects of the utility model are as follows: the utility model provides a rail robot walking drive device that is compatible with side mounting and hoisting mounting, by arranging a first rail surface and a second rail surface on the rail, and arranging a first drive wheel and a second drive wheel on a walking drive module installed on the robot. When the robot is side mounted on the rail, the first drive wheel is driven by the drive device and runs on the first rail surface, and the second drive wheel is used for limiting. When the robot is hoisted on the rail, the second drive wheel is driven by the drive device and runs on the second rail surface, and the first drive wheel is used for limiting. Therefore, a rail robot walking drive device can be compatible with both side mounting and hoisting mounting, providing more options for on-site installation, convenient use, wider application range, and can greatly improve the stability of the robot operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a three-dimensional diagram of the side-mounted state of the walking drive device of the rail robot of the utility model;

[0021] Figure 2 A three-dimensional diagram of the track in the utility model;

[0022] Figure 3 A three-dimensional diagram of the robot and its walking drive module in the utility model;

[0023] Figure 4 A three-dimensional diagram of the robot and its walking drive module in the utility model from another perspective;

[0024] Figure 5 It is a three-dimensional diagram of the travel drive module in the utility model;

[0025] Figure 6 This is a three-dimensional diagram of the hoisting state of the walking drive device of the rail robot of the utility model;

[0026] Figure 7 It is a three-dimensional view of another embodiment of the rail robot walking drive device of the present utility model in a side-mounted state.

[0027] Combined with the attached drawings, the following description is given:

[0028] 1. track; 11. track body; 12. track plate; 101. first track surface;

[0029] 102. Second track surface; 2. Robot; 21. Limiting wheel; 22. Back plate; 23. Drive connecting block; 231. Cover plate; 3. First drive wheel; 31. Bearing; 4. Second drive wheel; 5. Transmission box; 51. First output shaft; 52. Second output shaft; 53. First synchronous pulley mechanism; 54. Second synchronous pulley mechanism; 55. Transfer gear; 56. Third synchronous pulley mechanism; 57. Fourth synchronous pulley mechanism; 6. Worm wheel; 7. Worm; 8. First bevel gear; 9. Second bevel gear; 10. Drive motor. DETAILED DESCRIPTION

[0030] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0031] Embodiment 1

[0032] See also Figures 1 to 7 The utility model provides a track robot walking drive device compatible with side mounting and hoisting mounting, comprising: a track 1 for a robot 2 to run and a walking drive module installed on the robot 2, and the robot 2 automatically travels on the track 1 through the walking drive module.

[0033] Figure 2 The track 1 is shown in a state where it is placed sideways. The track 1 is provided with a first track surface 101 and a second track surface 102 on both upper and lower sides, and the first track surface 101 and the second track surface 102 are vertically distributed.

[0034] by Figure 2 The orientation shown is for reference, the two first track surfaces 101 are distributed in the horizontal direction and are parallel to each other, and the two second track surfaces 102 are distributed in the vertical direction and are parallel to each other; wherein, the two second track surfaces 102 may be on the same vertical plane or may not be on the same vertical plane, and the former is preferred in this embodiment.

[0035] Furthermore, the walking drive module includes at least two first driving wheels 3, at least two second driving wheels 4, a transmission mechanism and a driving device. The transmission mechanism is connected between the driving device and the first driving wheel 3 and the second driving wheel 4. The driving device can drive the first driving wheel 3 and / or the second driving wheel 4 to rotate through the transmission mechanism.

[0036] At least one first driving wheel 3 and at least one second driving wheel 4 are arranged on both sides of the track 1 , and the axis of the first driving wheel 3 is perpendicular to the axis of the second driving wheel 4 .

[0037] When track 1 is placed sideways (such as Figure 1As shown), for example, the track 1 is fixed on the side wall of a tunnel or a building. At this time, the two first track surfaces 101 on the track 1 are one up and one down and are both distributed in the horizontal direction, and the two second track surfaces 102 on the track 1 are one up and one down and are both distributed in the vertical direction. The robot 2 is installed on the track 1, and the driving device can drive the first driving wheel 3 to travel on the first track surface 101 through the transmission mechanism, and the second driving wheels 4 located on the upper and lower sides of the track 1 are used to cooperate with the two second track surfaces 102 to form a limit, so as to prevent the robot 2 from falling off the track 1 and ensure the stability of the operation of the robot 2.

[0038] When track 1 is placed horizontally (such as Figure 6 As shown), for example, the track is fixed on the top wall of a tunnel or a building. At this time, the two first track surfaces 101 on the track 1 are one on the left and one on the right and are both distributed in the vertical direction, and the two second track surfaces 102 on the track 1 are one on the left and one on the right and are both distributed in the horizontal direction. The robot 2 is hoisted on the track 1, and the driving device can drive the second driving wheel 4 to travel on the second track surface 102 through the transmission mechanism, and the first driving wheels 3 located on both sides of the track 1 are used to cooperate with the two first track surfaces 101 to form a limit, so as to prevent the robot 2 from falling off the track 1 and ensure the stability of the operation of the robot 2.

[0039] It can be seen that the utility model provides a first track surface 101 and a second track surface 102 on the track 1, and provides a first drive wheel 3 and a second drive wheel 4 on the walking drive module installed on the robot 2. When the robot 2 is side-mounted on the track 1, the first drive wheel 3 is driven by the drive device and travels on the first track surface 101, and the second drive wheel 4 is used for limiting. When the robot 2 is hoisted on the track 1, the second drive wheel 4 is driven by the drive device and travels on the second track surface 102, and the first drive wheel 3 is used for limiting. Therefore, a track robot walking drive device can be compatible with both side mounting and hoisting, providing more options for on-site installation, convenient use, wider application range, and can greatly improve the stability of the robot 2 operation.

[0040] See also Figure 2 The track 1 is provided with a track body 11, which may be, but is not limited to, a rectangular profile, and a first track surface 101 is the top and bottom surfaces of the track body 11. Two track plates 12 are vertically extended from the rear edges of the top and bottom surfaces of the track body 11, and a vertical surface of the track plate 12 adjacent to the first track surface 101 is set as a second track surface 102.

[0041] See also Figures 3 to 5The robot 2 is provided with a back plate 22, and the transmission mechanism and the driving device are both mounted on the back plate 22. The transmission mechanism includes a transmission box 5 and a reversing mechanism with the same number and one-to-one correspondence as the second driving wheels 4. The transmission box 5 is provided with first output shafts 51 with the same number and one-to-one correspondence as the first driving wheels 3 and second output shafts 52 with the same number and one-to-one correspondence as the second driving wheels 4. The first output shafts 51 and the second output shafts 52 are distributed in parallel. The first driving wheels 3 are mounted on the first output shafts 51, and the second driving wheels 4 are connected to the second output shafts 52 through the reversing mechanism.

[0042] In this embodiment, the reversing mechanism includes a worm wheel 6 and a worm 7. A driving connection block 23 is fixed to the side of the back plate 22 facing the track 1. The worm wheel 6 and the worm 7 are rotatably mounted in the driving connection block 23 through bearings, and the worm wheel 6 and the worm 7 are meshed with each other. The worm 7 is fixedly connected to the second output shaft 52, and the worm wheel 6 is fixedly connected to the second driving wheel 4 through a rotating shaft. The utility model uses a reversing mechanism to convert the rotation of the second output shaft 52 around the horizontal axis into the rotation of the second driving wheel 4 around the vertical axis.

[0043] Furthermore, the transmission box 5 is also provided with a box shell, a direction-changing mechanism rotatably mounted in the box shell, and two first synchronous pulley mechanisms 53. In this embodiment, the transmission box 5 is specifically provided with two first output shafts 51 and two second output shafts 52, which correspond to the two first drive wheels 3 and the two second drive wheels 4 on both sides of the track 1, that is, a first output shaft 51 and a second output shaft 52 are distributed on both sides of the track 1. The first output shaft 51 and the second output shaft 52 on the same side are connected by the first synchronous pulley mechanism 53, and the two first synchronous pulley mechanisms 53 are changed in direction by the direction-changing mechanism.

[0044] like Figure 5 As shown, the direction-changing mechanism includes two second synchronous pulley mechanisms 54 and two transfer gears 55 . The second synchronous pulley mechanisms 54 are connected between the transfer gears 55 and the corresponding first synchronous pulley mechanisms 53 . The two transfer gears 55 are meshed with each other.

[0045] The utility model sets a direction-changing mechanism so that the first driving wheels 3 on both sides of the track 1 rotate in opposite directions, that is, the first driving wheel 3 on one side rotates in the counterclockwise direction, and the first driving wheel 3 on the other side rotates in the clockwise direction, so that in the side-mounted state, the first driving wheels 3 on both sides travel in the same direction on their respective first track surfaces 101. Since the second driving wheels 4 and the direction-changing mechanism on both sides of the track 1 are symmetrically distributed, the utility model sets a direction-changing mechanism so that the second driving wheels 4 on both sides of the track 1 rotate in the same direction, and then in the hoisted state, the second driving wheels 4 on both sides travel in the same direction on their respective second track surfaces 102.

[0046] In the present invention, the driving device uses a driving motor 10, specifically a servo motor, which is connected to a first synchronous pulley mechanism 53 in the transmission box 5 through a third synchronous pulley mechanism 56. The present invention uses a driving motor 10 to simultaneously drive two first output shafts 51 and two second output shafts 52 to rotate synchronously through the third synchronous pulley mechanism 56, the first synchronous pulley mechanism 53 and the direction-changing mechanism, thereby saving the number of driving devices and reducing costs.

[0047] Preferably, two first drive wheels 3 and two second drive wheels 4 are installed on both sides of the track 1. That is, two first drive wheels 3 are arranged on each first track surface 101, and two second drive wheels 4 are arranged on each second track surface 102 to ensure the stability of the robot 2 traveling on the track 1. Correspondingly, two transmission mechanisms are provided and are symmetrically distributed, and the transmission boxes 5 in the two transmission mechanisms are connected by a fourth synchronous pulley mechanism 57.

[0048] In addition, if Figure 3 As shown, a plurality of limiting wheels 21 are also installed on the back plate 22 of the robot 2. The plurality of limiting wheels 21 are located on the side of the track 1 facing the robot 2. The plurality of limiting wheels 21 and the second driving wheel 4 together play a limiting role on the robot 2. For example, in the side-mounted state, Figure 1 The shown orientation is for reference. The second driving wheel 4 cooperates with the second track surface 102 to form a limit, so that the robot 2 cannot move backward on the track 1; the limiting wheel 21 cooperates with the rear side surface of the track 1 to form a limit, so that the robot 2 cannot move forward on the track 1.

[0049] The utility model can adopt the first driving wheel 3 and the second driving wheel 4 of the same diameter, and ensure that the driving motor 10 drives the first driving wheel 3 and the second driving wheel 4 to rotate at the same speed, so that no matter in the side-mounted state or the hoisted state, the driving motor 10 can simultaneously drive the four first driving wheels 3 and the four second driving wheels 4 to rotate synchronously on their respective track surfaces, so as to jointly drive the robot 2 to operate.

[0050] Although the diameters of the first driving wheel 3 and the second driving wheel 4 in the drawings of the present invention are inconsistent, specifically, the diameter of the first driving wheel 3 is larger than the diameter of the second driving wheel 4, in order to avoid affecting the operation of the robot 2, the following solutions can be used:

[0051] When side mounted, the worm gear 6 can be removed (such as Figure 3 As shown, a cover plate 231 is provided on one side of the drive connection block 23, and the cover plate 231 can be removed to facilitate the removal of the internal worm gear 6), so that the second drive wheel 4 loses power and is used as a guide wheel. The drive motor 10 only drives the first drive wheel 3 to rotate. When hoisting, a bearing 31 (such as Figure 6 As shown), the first driving wheel 3 loses power and is used as a guide wheel. The driving motor 10 only drives the second driving wheel 4 to rotate.

[0052] Alternatively, a gearbox may be provided between the second output shaft 52 and the worm 7 to increase the rotation speed of the second drive wheel 4, so that the linear speed of the second drive wheel 4 is consistent with that of the first drive wheel 3, that is, the stroke is consistent, so that no matter in the side-mounted state or the hoisted state, the drive motor 10 can simultaneously drive the four first drive wheels 3 and the four second drive wheels 4 to rotate synchronously on their respective track surfaces, so as to jointly drive the robot 2 to operate.

[0053] Embodiment 2

[0054] See also Figure 7 , the difference between this embodiment and the first embodiment is that the reversing mechanism is different. Specifically, the reversing mechanism of this embodiment includes a first bevel gear 8 and a second bevel gear 9, both of which are rotatably mounted in the drive connection block 23 through bearings, and the first bevel gear 8 and the second bevel gear 9 are meshed with each other; the first bevel gear 8 is fixedly mounted on the second output shaft 52, and the second bevel gear 9 is fixedly connected to the second drive wheel 4 through a rotating shaft. The utility model can also transform the rotation of the second output shaft 52 around the horizontal axis into the rotation of the second drive wheel 4 around the vertical axis through this technical solution.

[0055] It can be seen that the track robot walking drive device compatible with side mounting and hoisting of the utility model is provided with a first track surface 101 and a second track surface 102 on the track 1, and a first driving wheel 3 and a second driving wheel 4 are provided on the walking drive module installed on the robot 2. When the robot 2 is side mounted on the track 1, the first driving wheel 3 is driven by the driving device and travels on the first track surface 101, and the second driving wheel 4 is used for limiting. When the robot 2 is hoisted on the track 1, the second driving wheel 4 is driven by the driving device and travels on the second track surface 102, and the first driving wheel 3 is used for limiting. Therefore, a track robot walking drive device can be compatible with both side mounting and hoisting, providing more options for on-site installation, convenient use, wider application range, and can greatly improve the stability of the operation of the robot 2.

[0056] In the above description, many specific details are described to facilitate a full understanding of the present invention. However, the above description is only a preferred embodiment of the present invention. The present invention can be implemented in many other ways different from those described herein, so the present invention is not limited by the specific implementation disclosed above. At the same time, any person familiar with the technical field can make many possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the scope of protection of the technical solution of the present invention.

Claims

1. A walking drive device for a rail robot compatible with side mounting and hoisting mounting, characterized in that: include: A track (1), wherein both sides of the track (1) are provided with a first track surface (101) and a second track surface (102), and the first track surface (101) and the second track surface (102) are vertically distributed; and a walking drive module installed on the robot (2), the walking drive module comprising a first driving wheel (3), a second driving wheel (4), a transmission mechanism and a driving device, the transmission mechanism being drivingly connected between the driving device and the first driving wheel (3) and the second driving wheel (4), and at least one of the first driving wheel (3) and at least one of the second driving wheels (4) being arranged on both sides of the track (1); When the robot (2) is mounted on the track (1), the driving device can drive the first driving wheel (3) to travel on the first track surface (101) through the transmission mechanism, and the second driving wheels (4) located on both sides of the track (1) are used to cooperate with the second track surface (102) to form a limit position; When the robot (2) is hoisted on the track (1), the driving device can drive the second driving wheel (4) to travel on the second track surface (102) through the transmission mechanism, and the first driving wheels (3) located on both sides of the track (1) are used to cooperate with the first track surface (101) to form a limit.

2. The walking drive device of a rail robot compatible with side mounting and hoisting mounting according to claim 1 is characterized in that: The transmission mechanism comprises a transmission box (5) and a reversing mechanism, wherein the transmission box (5) is provided with first output shafts (51) which are the same in number and correspond one-to-one with the first drive wheels (3) and second output shafts (52) which are the same in number and correspond one-to-one with the second drive wheels (4), wherein the first drive wheels (3) are mounted on the first output shafts (51), and the second drive wheels (4) are connected to the second output shafts (52) via the reversing mechanism.

3. The walking drive device of a rail robot compatible with side mounting and hoisting mounting according to claim 2 is characterized in that: The reversing mechanism comprises a worm wheel (6) and a worm (7), wherein the worm (7) is fixedly connected to the second output shaft (52), and the worm wheel (6) is axially connected to the second drive wheel (4) and meshes with the worm (7).

4. The walking drive device of a rail robot compatible with side mounting and hoisting mounting according to claim 2, characterized in that: The reversing mechanism comprises a first bevel gear (8) and a second bevel gear (9); the first bevel gear (8) is fixedly mounted on the second output shaft (52); the second bevel gear (9) is axially connected to the second driving wheel (4) and meshes with the first bevel gear (8).

5. The walking drive device of a rail robot compatible with side mounting and hoisting mounting according to claim 2, characterized in that: The transmission box (5) is provided with a direction-changing mechanism and two first synchronous pulley mechanisms (53); the first output shaft (51) and the second output shaft (52) are distributed on both sides of the track (1); the first output shaft (51) and the second output shaft (52) located on the same side are connected via the first synchronous pulley mechanism (53), and the two first synchronous pulley mechanisms (53) are changed in direction via the direction-changing mechanism.

6. The walking drive device of a rail robot compatible with side mounting and hoisting mounting according to claim 5, characterized in that: The direction-changing mechanism comprises two second synchronous pulley mechanisms (54) and two intermediate gears (55); the second synchronous pulley mechanisms (54) are connected between the intermediate gears (55) and the corresponding first synchronous pulley mechanisms (53); and the two intermediate gears (55) are meshed with each other.

7. The walking drive device of a rail robot compatible with side mounting and hoisting mounting according to claim 2, characterized in that: The driving device adopts a driving motor (10), which is connected to the transmission box (5) through a third synchronous pulley mechanism (56).

8. The walking drive device of a rail robot compatible with side mounting and hoisting mounting according to claim 1, characterized in that: The track (1) is provided with a track body (11) and a track plate (12) extending integrally from both sides of the track body (11); the first track surface (101) is located on the track body (11); and the second track surface (102) is located on the track plate (12).

9. The walking drive device of a rail robot compatible with side mounting and hoisting mounting according to claim 1, characterized in that: A limiting wheel (21) is installed on the robot (2), and the limiting wheel (21) is located on a side of the track (1) facing the robot (2).

10. The walking drive device of a rail robot compatible with side mounting and hoisting mounting according to claim 1, characterized in that: Two first driving wheels (3) and two second driving wheels (4) are installed on both sides of the track (1), and the axis of the first driving wheel (3) is perpendicular to the axis of the second driving wheel (4).

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