Rail type inspection robot driving device

Abstract

The utility model discloses a rail type inspection robot driving device which comprises a chassis structure used for installing an inspection robot, the right side of the bottom of the chassis structure is fixedly connected with drooping plates, and one sides of every two drooping plates are provided with driving wheel mounting rods through bearings. A driving rod is mounted on the other side between every two drooping plates through a bearing, a driving wheel is mounted at the end of each driving wheel mounting rod, and a spring is mounted on the outer ring of each driving wheel mounting rod in a sleeving manner. According to the rail type inspection robot driving device, when the whole inspection robot works, especially turns, by means of the design and use of the flexible couplings and the springs, on one hand, the driving wheels can be pulled to be tightly pressed on the ground rail, and the friction force between the driving wheels and the ground rail is increased; therefore, the problem that the inspection robot is easy to derail during turning is effectively solved.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to a driving device for an orbital inspection robot. Background Technique

[0002] At present, in many energy-related industries that require inspection operations, orbital inspection robots are widely used. Many enterprises have designed various orbital robots with different structures according to their own situations. Generally speaking, the basic structures are similar, all including an orbit, a moving trolley arranged on the orbit, and an inspection device carried on the moving trolley. Generally speaking, orbital robots are divided into ground-rail type and suspended-rail type according to the fixing method of their orbits.

[0003] When a ground-rail type inspection robot is in use, the guide wheel structure of the inspection robot is directly clamped on the ground rail, and the driving structure of the ground-rail type inspection robot mainly provides power through a motor, and realizes the "pushing" or "pulling" action through one group of guide wheels, and then makes the inspection robot move on the orbit.

[0004] For the guide rails of the existing ground-rail type inspection robots, especially a group of guide rails in the driving structure, the inspection robot is completely placed on the guide rail by relying on the depressions that fit between the guide wheels and the ground rail. When the inspection robot is working and traveling, it can travel normally on a straight section. When turning, the friction between the guide wheels and the ground rail will change, and then the problem of derailment of the guide wheels will occur.

[0005] Therefore, we propose a driving device for an orbital inspection robot, especially a ground-rail type inspection robot, to solve the above problems. Content of the Utility Model

[0006] The purpose of the utility model is to provide a driving device for an orbital inspection robot to solve the problems put forward in the above background technique.

[0007] To achieve the above purpose, the utility model provides the following technical solutions:

[0008] A driving device for an orbital inspection robot includes a chassis structure for installing the inspection robot. A drooping plate is fixedly connected to the right side of the bottom of the chassis structure. One side of each two drooping plates is provided with a driving wheel mounting rod through a bearing, and the other side between each two drooping plates is provided with a driving rod through a bearing. A driving wheel is installed at the end of the driving wheel mounting rod, and a spring is sleeved on the outer ring of the driving wheel mounting rod.

[0009] Preferably, one end of the driving wheel mounting rod is butt - mounted with the end of the driving rod through a flexible coupling. The spring is always in a compressed state and always has a pulling force on the driving wheel mounting rod.

[0010] Preferably, one end of the spring abuts against the side surface of the drooping plate, and the other end of the spring is fixedly connected to the outer wall of the driving wheel mounting rod.

[0011] Preferably, a driving gear is installed at the opposite first end of the driving rod. A power shaft is installed through the top of the chassis structure, and a gear structure matching the driving gear is installed at the bottom of the power shaft.

[0012] Preferably, a protective cover is installed at the bottom of the chassis structure through fasteners, and the protective cover is installed in the area between every two drooping plates.

[0013] Preferably, a support plate is fixedly installed on one side of the top of the chassis structure, and a translation opening is formed on the top of the chassis structure and on the side of the support plate.

[0014] Preferably, a lead screw is installed through the side surface of the support plate by means of a bearing. Threaded blocks are thread - connected to the threaded sections at both ends of the lead screw. A wheel frame is fixedly connected to the bottom of the threaded block, and a load - bearing wheel is installed at the bottom of the wheel frame.

[0015] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0016] 1. For this track - type inspection robot driving device, when the entire inspection robot is working, especially when turning, relying on the design and use of the flexible coupling and the spring, on the one hand, it can pull the driving wheel 5 tightly against the ground rail, increasing the friction with the ground rail, thus effectively solving the problem that the inspection robot is prone to derailment when turning.

[0017] 2. For this track - type inspection robot driving device, during the turning process of the inspection robot, it can achieve turning in a flexible turning mode. The flexible turning mode has a larger turning radius range and is more flexible in operation, which can meet the limited working space of the inspection robot and the requirements for the adaptability of the inspection robot.

[0018] 3. For this track - type inspection robot driving device, first, the load - bearing wheel and the driving wheel are separately stressed, which is beneficial for control and has a longer service life and better adaptability. Second, when the load - bearing wheel is initially used, it can be adjusted on - site according to different ground rail sizes and spacings to meet the normal use and operation of the inspection robot on the ground rail, with better adaptability. Description of the Drawings

[0019] Figure 1Schematic diagram of the structure of the present utility model;

[0020] Figure 2 Exploded view of the structure of the present utility model;

[0021] Figure 3 For the present utility model Figure 2 Front view of the structure;

[0022] Figure 4 For the present utility model Figure 2 Enlarged view of the structure at position A in the present utility model.

[0023] In the figure: 1. Chassis structure; 2. Drooping plate; 3. Driving wheel mounting rod; 4. Driving rod; 5. Driving wheel; 6. Spring; 7. Driving gear; 8. Protective cover; 9. Support frame plate; 10. Translation port; 11. Lead screw; 12. Translation block; 13. Wheel frame; 14. Load-bearing wheel. Specific implementation manner

[0024] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0025] The present utility model provides a technical solution for a driving device of an orbital inspection robot:

[0026] Embodiment 1:

[0027] As Figure 1 shown, the driving device of this technical solution mainly includes a chassis structure 1 for installing an inspection robot. On the right side of the bottom of the chassis structure 1, drooping plates 2 are integrally arranged at equal distances. On one side of every two drooping plates 2, a driving wheel mounting rod 3 is installed through a bearing, and on the other side of every two drooping plates 2, a driving rod 4 is installed through a bearing. A driving wheel 5 is installed at one end of the driving wheel mounting rod 3.

[0028] Among them, the driving wheel mounting rod 3 and the driving rod 4 are butt-connected and installed through a flexible coupling.

[0029] Among them, as Figure 4 shown, a spring 6 is sleeved on the outer ring of the driving wheel mounting rod 3, and one end of the spring 6 abuts against the side surface of the drooping plate 2, and the other end is fixedly connected to the outer wall of the driving wheel mounting rod 3.

[0030] Among them, as Figure 2 and Figure 3As shown in the figure, a driving gear 7 is installed at the end of the driving rod 4, and a protective cover 8 is installed at the bottom of the chassis structure 1 and between every two drooping plates 2 through fasteners. The main function of the protective cover 8 is to cover and protect the flexible coupling, the spring 6, the driving wheel mounting rod 3, the driving rod 4, and the driving gear 7, avoiding problems such as internal structure deformation, damage, and jamming caused by impact on the internal structure or entry of debris.

[0031] Among them, the spring 6 is initially in a compressed state, and when the inspection robot is working, it always pulls the driving wheel mounting rod 3 to move towards the center.

[0032] In this embodiment, when in use, first install the inspection robot on the chassis structure 1, then place the entire inspection robot on the inspection rail, so that the concave area of the driving wheel 5 just engages with the rail, and then the power source of the entire inspection robot, that is, the motor structure, can be started. The motor structure drives the two meshing teeth in the vertical state as Figure 2 shown to rotate, respectively driving the two groups of driving wheel structures to rotate, achieving the purpose of moving on the rail.

[0033] When the entire inspection robot is working, especially when turning, relying on the design and use of the flexible coupling and the spring 6, on the one hand, it can pull the driving wheel 5 tightly against the rail, increasing the friction with the rail, thus effectively solving the problem that the inspection robot is prone to derailment when turning.

[0034] Secondly, during the turning process of the inspection robot, it can achieve turning in a flexible turning mode. The flexible turning mode has a larger turning radius range and is more flexible in operation, which can meet the limited working space of the inspection robot and the requirements for the adaptive ability of the inspection robot.

[0035] Embodiment 2:

[0036] As Figure 2 shown, a support plate 9 is fixedly installed at one end of the top of the chassis structure 1, and a translation opening 10 is provided at the top of the chassis structure 1 and at the side position of the support plate 9.

[0037] Among them, a lead screw 11 is installed through the side of the support plate 9 by bearings. A translation block 12 is threadedly connected to the outer circle of the threaded part of the lead screw 11. A wheel frame 13 is integrally installed at the bottom of the translation block 12, and a load-bearing wheel 14 is installed at the bottom of the wheel frame 13.

[0038] Among them, a hexagonal structure for adjusting the rotation of the lead screw 11 is provided in the middle of the lead screw 11, and the threaded structure directions at both ends of the lead screw 11 are opposite.

[0039] In this embodiment, based on Embodiment 1, first, the load-bearing wheel 14 and the driving wheel 5 are separately stressed, which is beneficial for control and has a longer service life and better adaptability. Secondly, when the load-bearing wheel 14 is initially used, it can be adjusted on-site according to different track sizes and spacings to meet the normal use and operation of the inspection robot on the track.

[0040] In the description of the present utility model, it should also be noted that, unless otherwise clearly specified and defined, the terms "set", "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0041] Although the embodiments of the present utility model have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.

Claims

1. A track-type inspection robot driving device, comprising a chassis structure (1) for mounting the inspection robot, characterized in that: A drooping plate (2) is fixedly connected to the right side of the bottom of the chassis structure (1); a driving wheel mounting rod (3) is mounted on one side of each two drooping plates (2) via a bearing; a driving rod (4) is mounted on the other side between each two drooping plates (2) via a bearing; a driving wheel (5) is mounted at the end of the driving wheel mounting rod (3); and a spring (6) is sleeved on the outer ring of the driving wheel mounting rod (3).

2. A track-type inspection robot driving device according to claim 1, characterized in that: One end of the driving wheel mounting rod (3) is butt-jointed with the end of the driving rod (4) via a flexible coupling, and the spring (6) is always in a compressed state and always exerts a pulling force on the driving wheel mounting rod (3).

3. A track-type inspection robot driving device according to claim 2, characterized in that: One end of the spring (6) abuts against the side surface of the drooping plate (2), and the other end of the spring (6) is fixedly connected to the outer wall of the driving wheel mounting rod (3).

4. The track-type inspection robot driving device according to claim 3, characterized in that: A driving gear (7) is installed at the first end opposite to the driving rod (4), a power shaft is installed through the top of the chassis structure (1), and a gear structure matching the driving gear (7) is installed at the bottom of the power shaft.

5. The track-type inspection robot driving device according to claim 4, characterized in that: A protective cover (8) is installed at the bottom of the chassis structure (1) via fasteners, and the protective cover (8) is installed in the area between every two of the drooping plates (2).

6. The track-type inspection robot driving device according to claim 5, characterized in that: A support frame plate (9) is fixedly mounted on one side of the top of the chassis structure (1), and a translation opening (10) is provided at the top of the chassis structure (1) and on the side of the support frame plate (9).

7. The track-type inspection robot driving device according to claim 6, characterized in that: A screw rod (11) is installed on the side of the support frame plate (9) through a bearing, and the threaded sections at both ends of the screw rod (11) are threadedly connected to a translation block (12), and the bottom of the translation block (12) is fixedly connected to a wheel frame (13), and a load-bearing wheel (14) is installed at the bottom of the wheel frame (13).

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