Anti-skid driving device of rail robot

Abstract

The utility model discloses an anti-skid driving device of a rail robot, the anti-skid driving device comprises a device frame used for being fixedly connected with the rail robot, and a chain, a driving wheel, a chain wheel and a driving structure which are respectively arranged on the device frame, the chain is laid on the first surface of a rail along the extension direction of the rail, and the driving wheel is located in the rail; the chain wheel is in synchronous rotating connection with the driving wheel and is in meshed connection with the chain, and the driving structure is in driving connection with the driving wheel so as to drive the driving wheel and the chain wheel to rotate synchronously, so that the chain wheel moves back and forth along the chain wheel in a meshed mode while the driving wheel moves back and forth along the first surface. According to the technical scheme, the technical problem that an existing rail robot is prone to slipping due to the fact that the existing rail robot is stuck with oil liquid in the process of walking along a rail can be effectively solved.

Description

Technical Field

[0001] This application relates to the technical field of rail robots, and particularly to an anti-slip driving device for a rail robot. Background Art

[0002] Currently, with the progress of technology, there are higher requirements for real-time monitoring of the safety aspects of the industrial production environment. In terms of safety, rail robots adopt a rail operation mode with a fixed operation route, which avoids the possibility of collision between people and robots on the inspection route in advance, reduces the interference of foreign objects to the operation of the robot, and improves the reliability of the robot. The robot is equipped with a variety of sensors, meeting the multi-functional requirements for real-time monitoring of the safety aspects of the industrial production environment.

[0003] Due to the complexity of the industrial production environment, the volatilization and dripping of oil fluid, and the situation of bringing oil fluid to other places during the production process are inevitable. It is inevitable that the rail robot and the rail will be stained with oil fluid, which will cause the problem of slipping when the rail robot walks along the rail. Utility Model Content

[0004] The embodiments of this application provide an anti-slip driving device for a rail robot, aiming to improve the technical problem that the existing rail robot is prone to slipping due to being stained with oil fluid during the process of walking along the rail.

[0005] To this end, the embodiments of this application provide an anti-slip driving device for a rail robot, which is used to drive the rail robot to move back and forth along the rail. The anti-slip driving device includes a device frame for firmly connecting with the rail robot, and a chain, a driving wheel, a sprocket and a driving structure respectively arranged on the device frame. The chain is laid on the first surface of the rail along the extending direction of the rail. The driving wheel is located inside the rail and is in movable abutment with the first surface of the rail. The sprocket is synchronously rotationally connected with the driving wheel and is meshed with the chain. The driving structure is drivingly connected with the driving wheel to drive the driving wheel and the sprocket to rotate synchronously, so that while the driving wheel moves back and forth along the first surface, the sprocket moves back and forth along the chain in a meshing manner.

[0006] Optionally, in some embodiments of this application, the anti-slip driving device is used to drive the rail robot to move back and forth along a double-rail structure. The double-rail structure includes two rails, and the extending directions of the two rails are the same;

[0007] The anti-slip driving device includes two chains, two driving wheels and two sprockets. Each chain is laid on the first surface of the corresponding track along the extension direction of the corresponding track. Each driving wheel is located in the corresponding track and is in movable abutment with the first surface of the corresponding track. Each sprocket is synchronously rotationally connected to the corresponding driving wheel and is meshed with the corresponding chain. The driving structure is simultaneously drivingly connected to the two driving wheels.

[0008] Optionally, in some embodiments of the present application, each chain includes a chain body and a plurality of chain fixing plates. The chain body is laid on the first surface of the track along the extension direction of the track and is fixedly connected to the second surface of the track through the plurality of chain fixing plates. The second surface of the track is perpendicularly arranged with the first surface of the track.

[0009] Optionally, in some embodiments of the present application, the device frame is a U-shaped structure. The device frame includes two vertical mounting portions and a horizontal connecting portion. The bottoms of the two vertical mounting portions are fixedly connected through the horizontal connecting portion. A driving wheel and a sprocket are respectively rotatably mounted at the tops of the two vertical mounting portions. And the two tracks are located between the tops of the two vertical mounting portions. The opening of each track faces the top of the corresponding vertical mounting portion, so that the anti-slip driving device is hung upside down on the two tracks through the two driving wheels and the two sprockets.

[0010] Optionally, in some embodiments of the present application, the driving structure includes a driving motor and two transmission components. The driving motor is arranged on the horizontal connecting portion. The two transmission components are respectively arranged between the horizontal connecting portion and the corresponding vertical mounting portion to respectively realize the transmission connection between the motor shaft of the driving motor and the corresponding driving wheel.

[0011] Optionally, in some embodiments of the present application, the anti-slip driving device further includes a first limiting component. The first limiting component is arranged on the side surface of the horizontal connecting portion facing the two tracks to limit the anti-slip driving device in the vertical direction through a sliding abutment structure in cooperation with the two driving wheels.

[0012] Optionally, in some embodiments of the present application, the first limiting component includes at least two elastic pressing wheels. At least one elastic pressing wheel is elastically arranged on the side surface of the horizontal connecting portion facing the two tracks and is in movable abutment with the bottom side of one track. At least one elastic pressing wheel is elastically arranged on the side surface of the horizontal connecting portion facing the two tracks and is in movable abutment with the bottom side of the other track.

[0013] Optionally, in some embodiments of the present application, the elastic tightening wheel includes a tightening wheel body, a tightening wheel base, and two elastic connectors. The bottom side of the tightening wheel base is elastically installed on one side surface of the horizontal connecting portion facing the two tracks through the two elastic connectors. The tightening wheel body is rotatably installed on the top side of the tightening wheel base, and one side of the tightening wheel body away from the tightening wheel base abuts against the bottom side of the corresponding track.

[0014] Optionally, in some embodiments of the present application, the anti-slip driving device further includes two second limiting components. The two second limiting components are arranged in one-to-one correspondence with the two vertical installation portions, and each second limiting component is respectively installed on one side surface of the corresponding vertical installation portion facing the two tracks, so as to limit the anti-slip driving device in the horizontal direction through the cooperation between the horizontally oppositely arranged guide wheel structures.

[0015] Optionally, in some embodiments of the present application, the second limiting component includes at least one guide wheel. The guide wheel is rotatably arranged on one side surface of the corresponding vertical installation portion facing the two tracks and is movably abutted against the opening edge of the corresponding one track.

[0016] For the anti-slip driving device of the track robot provided by the technical solution of the present application, through the above structural settings, when the anti-slip driving device drives the track robot to move back and forth along the track, on the one hand, it can be realized by the driving structure driving the driving wheel to rotate, so that the driving wheel moves back and forth along the first surface of the track. On the other hand, when there is oil on the track, while the driving wheel moves back and forth along the first surface of the track, the sprocket and the chain that rotate synchronously with the driving wheel are engaged with each other to transmit the rotation speed of the driving wheel, so that even if the driving wheel slips, the anti-slip driving device of the present application can still drive the track robot to move back and forth along the track through the engagement between the sprocket and the chain. It can be seen that the technical solution can effectively improve the technical problem that the existing track robot is prone to slip due to sticking oil during the process of walking along the track. Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0018] Figure 1 It is a schematic structural diagram of the anti-slip driving device of the track robot provided by the embodiment of the present application;

[0019] Figure 2 is Figure 1 a schematic side view structure diagram of the anti-slip drive device shown in the figure.

[0020] Explanation of the reference numerals in the attached drawings:

[0021] 100, anti-slip drive device; 110, device frame; 111, vertical mounting part; 112, horizontal connecting part; 120, chain; 121, chain body; 122, chain fixing plate; 130, driving wheel; 140, sprocket; 150, driving structure; 160, first limiting component; 161, elastic tightening wheel; 1611, tightening wheel body; 1612, tightening wheel base; 1613, elastic connecting piece; 170, second limiting component; 171, guiding wheel; 200, double-track structure; 210, track; 211, first surface; 212, second surface.

[0022] The realization of the purpose of this application, functional features and advantages will be further described in combination with the embodiments with reference to the attached drawings. Specific embodiments

[0023] Next, the technical solutions in the embodiments of this application will be clearly and completely described in combination with the attached drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0024] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of this application are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the attached drawings). If this specific posture changes, the directional indications will also change accordingly.

[0025] In addition, the descriptions involving "first", "second", etc. in this application are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0026] In one embodiment, as Figure 1 and Figure 2As shown in the figure, an anti-slip driving device 100 for a track robot is provided in an embodiment of the present application. The anti-slip driving device 100 may specifically include a device frame 110 for firmly connecting with the track robot, and a chain 120, a driving wheel 130, a sprocket 140, and a driving structure 150 respectively arranged on the device frame 110. Among them, the chain 120 may be specifically laid on the first surface 211 of the track 210 along the extending direction of the track 210. The driving wheel 130 may be specifically located inside the track 210 and be in movable abutment with the first surface 211 of the track 210. The sprocket 140 may be specifically rotationally connected with the driving wheel 130 synchronously and be in meshing connection with the chain 120. The driving structure 150 may be specifically drivingly connected with the driving wheel 130 to drive the driving wheel 130 and the sprocket 140 to rotate synchronously, so that while the driving wheel 130 moves back and forth along the first surface 211, the sprocket 140 moves back and forth along the sprocket 140 in a meshing manner.

[0027] It can be understood that the anti-slip driving device 100 of the track robot mentioned in the embodiment of the present application is mainly used to drive the track robot to move back and forth along the track 210, that is, taking this anti-slip driving device 100 as a power source, it can drive the corresponding track robot to move back and forth along the corresponding track 210. The above-mentioned device frame 110 can be used for installing and fixing various parts of this anti-slip driving device 100 on the one hand, and can realize the firm connection with the corresponding track robot on the other hand. The above-mentioned driving structure 150 can be a conventional motor driving structure 150, and can drive the driving wheel 130 to rotate clockwise or counterclockwise through the motor driving method, so that the driving wheel 130 moves back and forth along the first surface 211, thereby realizing the operation of this anti-slip driving device 100 moving back and forth along the track 210.

[0028] In this way, for the anti-slip driving device 100 of the track robot provided in the embodiment of the present application, through the above structural settings, when this anti-slip driving device 100 drives the track robot to move back and forth along the track 210, on the one hand, it can be realized by the driving structure 150 driving the driving wheel 130 to rotate, so that the driving wheel 130 moves back and forth along the first surface 211 of the track 210. On the other hand, when there is oil on the track 210, while the driving wheel 130 moves back and forth along the first surface 211 of the track 210, the sprocket 140 synchronously rotating with the driving wheel 140 meshes with the chain 120 to transmit the rotational speed of the driving wheel 130, so that even if the driving wheel 130 slips, this anti-slip driving device 100 can still drive the track robot to move back and forth along the track 210 through the meshing of the sprocket 140 and the chain 120.

[0029] In some examples, such as Figure 1 and Figure 2As shown in the figure, to make the track robot move back and forth along the corresponding track 210 more smoothly, the anti-slip driving device 100 of the embodiment of the present application can be specifically used to drive the track robot to move back and forth along the double-track structure 200. The double-track structure 200 includes two tracks 210, and the extending directions of the two tracks 210 are the same. The anti-slip driving device 100 includes two chains 120, two driving wheels 130 and two sprockets 140. Each chain 120 is laid on the first surface 211 of the corresponding track 210 along the extending direction of the corresponding track 210. Each driving wheel 130 is located in the corresponding track 210 and is in movable abutment with the first surface 211 of the corresponding track 210. Each sprocket 140 is synchronously rotationally connected to the corresponding driving wheel 130 and is meshed with the corresponding chain 120. The driving structure 150 is simultaneously drivingly connected to the two driving wheels 130. In this way, through the above structural arrangement, the entire anti-slip driving device 100 can be symmetrically arranged in the two tracks 210 of the double-track structure 200 to ensure that the track robot can move back and forth along the corresponding double-track structure 200 more smoothly.

[0030] It can be understood that in the double-track structure 200 of this example, the two tracks 210 are preferably arranged side by side, and both tracks 210 adopt an open groove structure, and the openings face two opposite directions respectively, that is, the opening of each track 210 faces away from the other track 210.

[0031] In some examples, such as Figure 1 and Figure 2 As shown in the figure, each chain 120 includes a chain body and a plurality of chain fixing plates. The chain body is laid on the first surface 211 of the track 210 along the extending direction of the track 210 and is fixedly connected to the second surface of the track 210 through a plurality of chain fixing plates. The second surface of the track 210 is perpendicularly arranged with the first surface 211 of the track 210. In this way, through the above structural arrangement, while ensuring a firmer connection between the chain body and the track 210, the setting of the chain fixing plates can be avoided from affecting the meshing connection between the sprocket 140 and the chain body.

[0032] It can be understood that the second surface of the track 210 in this example is preferably perpendicularly arranged with the first surface 211 of the track 210. At this time, the chain fixing plate in this example preferably adopts an L-shaped structure to better realize the firm connection between the chain body laid on the first surface 211 of the track 210 and the second surface of the track 210.

[0033] In some examples, such as Figure 1 and Figure 2As shown, the device frame 110 can specifically be a U-shaped structure. At this time, the device frame 110 specifically includes two vertical mounting portions 111 and a horizontal connecting portion 112. The bottoms of the two vertical mounting portions 111 are tightly connected through the horizontal connecting portion 112. A driving wheel 130 and a sprocket 140 are respectively rotatably mounted at the tops of the two vertical mounting portions 111. And the two tracks 210 are located between the tops of the two vertical mounting portions 111. The opening of each track 210 faces the top of a corresponding vertical mounting portion 111, so that the anti-slip driving device 100 is hung on the two tracks 210 through the two driving wheels 130 and the two sprockets 140. In this way, through the above structural arrangement, it can be further ensured that the entire anti-slip driving device 100 is symmetrically arranged in the two tracks 210 of the double-track structure 200, so as to ensure that the track robot can move back and forth more smoothly along the corresponding double-track structure 200. Further, the driving structure 150 includes a driving motor and two transmission components. The driving motor is arranged on the horizontal connecting portion 112, and the two transmission components are respectively arranged between the horizontal connecting portion 112 and the corresponding vertical mounting portion 111 to respectively realize the transmission connection between the motor shaft of the driving motor and the corresponding driving wheel 130. In this way, through the above structural arrangement, when the motor shaft of the driving motor rotates, the two driving wheels 130 on both sides can be simultaneously driven to rotate synchronously through the transmission of the two transmission components, thereby ensuring that the track robot can move back and forth more smoothly along the corresponding double-track structure 200.

[0034] It can be understood that the transmission component in this example can specifically realize the corresponding transmission connection through the cooperation of conventional structures such as synchronous belts and transmission wheels.

[0035] In some examples, such as Figure 1 and Figure 2As shown, the anti-slip driving device 100 further includes a first limiting component 160. The first limiting component 160 is arranged on one side surface of the horizontal connecting portion 112 facing the two tracks 210 to limit the anti-slip driving device 100 in the vertical direction by means of a sliding abutting structure in cooperation with the two driving wheels 130. In this way, through the above structural arrangement, the problem of the up-and-down movement of the anti-slip driving device 100 can be avoided, and the sprocket 140 will not be disengaged from the chain 120 in the vertical direction. Further, the first limiting component 160 includes at least two elastic pressing wheels 161. At least one elastic pressing wheel 161 is elastically arranged on one side surface of the horizontal connecting portion 112 facing the two tracks 210 and abuts against the bottom side of one track 210 movably. At least one elastic pressing wheel 161 is elastically arranged on one side surface of the horizontal connecting portion 112 facing the two tracks 210 and abuts against the bottom side of the other track 210 movably. In this way, through the above structural arrangement, the corresponding tracks 210 can be clamped up and down by the two driving wheels 130 and at least two elastic pressing wheels 161 to avoid the problem of the up-and-down movement of the anti-slip driving device 100, and while the sprocket 140 will not be disengaged from the chain 120 in the vertical direction, the wheel body structure of the elastic pressing wheel 161 will not affect the movement of the anti-slip driving device 100 along the direction of the track 210. Furthermore, the elastic pressing wheel 161 includes a pressing wheel body 1611, a pressing wheel base 1612 and two elastic connecting pieces 1613. The bottom side of the pressing wheel base 1612 is elastically arranged on one side surface of the horizontal connecting portion 112 facing the two tracks 210 through the two elastic connecting pieces 1613. The top side of the pressing wheel base 1612 is rotatably provided with the pressing wheel body 1611, and the side of the pressing wheel body 1611 away from the pressing wheel base 1612 abuts against the bottom side of the corresponding track 210. In this way, through the above structural arrangement, while ensuring that the pressing wheel body 1611 elastically presses against the bottom side of the corresponding track 210, the rotation of the pressing wheel body 1611 can be used to avoid the influence of its structure on the movement of the anti-slip driving device 100 along the direction of the track 210.

[0036] In some examples, such as Figure 1 and Figure 2As shown in the figure, the anti-slip driving device 100 further includes two second limiting components 170. The two second limiting components 170 are arranged in one-to-one correspondence with the two vertical mounting parts 111, and each second limiting component 170 is respectively installed on the surface of the corresponding vertical mounting part 111 facing the two tracks 210, so as to limit the anti-slip driving device 100 in the horizontal direction through the cooperation between the horizontally oppositely arranged guide wheel structures. In this way, through the above structural arrangement, the problem that the anti-slip driving device 100 moves horizontally can be avoided, and the sprocket 140 will not disengage from the chain 120 in the vertical direction. Further, the second limiting component 170 includes at least one guide wheel 171. The guide wheel 171 is rotatably arranged on the surface of the corresponding vertical mounting part 111 facing the two tracks 210 and is movably abutted against the opening edge of the corresponding one track 210. In this way, through the above structural arrangement, the anti-slip driving device 100 can be horizontally clamped by at least two guide wheels 171 to avoid the problem of horizontal movement of the anti-slip driving device 100, and while the sprocket 140 will not disengage from the chain 120 in the horizontal direction, the wheel body structure of the guide wheel 171 will not affect the movement of the anti-slip driving device 100 along the direction of the track 210.

[0037] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structural transformation made by using the content of the specification and drawings of the present application under the inventive concept of the present application, or any direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. An anti-skid driving device for a track robot, used to drive the track robot to move back and forth along a track, characterized in that: The anti-skid driving device includes a device frame for being fastened to the track robot, and a chain, a driving wheel, a sprocket and a driving structure respectively installed on the device frame, wherein the chain is laid on the first surface of the track along the extension direction of the track, the driving wheel is located in the track and movably abuts against the first surface of the track, the sprocket is connected to the driving wheel for synchronous rotation and is meshed with the chain, and the driving structure is drivingly connected to the driving wheel to drive the driving wheel and the sprocket to rotate synchronously, so that while the driving wheel moves back and forth along the first surface, the sprocket meshes and moves back and forth along the sprocket.

2. The anti-skid driving device according to claim 1, characterized in that: The anti-slip driving device is used to drive the track robot to move back and forth along a double track structure, wherein the double track structure includes two tracks, and the extension directions of the two tracks are the same; The anti-skid driving device includes two chains, two driving wheels and two sprockets. Each chain is laid on the first surface of the corresponding track along the extension direction of the corresponding track. Each driving wheel is located in the corresponding track and movably abuts against the first surface of the corresponding track. Each sprocket is synchronously rotatably connected with the corresponding driving wheel and meshedly connected with the corresponding chain. The driving structure is drivingly connected to the two driving wheels at the same time.

3. The anti-skid driving device according to claim 2, characterized in that: Each of the chains includes a chain body and a plurality of chain fixing plates. The chain body is laid on the first surface of the track along the extension direction of the track and is fastened to the second surface of the track through a plurality of chain fixing plates. The second surface of the track is perpendicular to the first surface of the track.

4. The anti-skid driving device according to claim 2, characterized in that: The device frame is a U-shaped structure, and the device frame includes two vertical mounting parts and a horizontal connecting part. The bottoms of the two vertical mounting parts are fastened together by the horizontal connecting part. The tops of the two vertical mounting parts are respectively provided with a driving wheel and a sprocket for rotation. The two tracks are located between the tops of the two vertical mounting parts, and the opening of each track faces the top of the corresponding vertical mounting part, so that the anti-skid drive device is hung upside down on the two tracks through the two driving wheels and the two sprockets.

5. The anti-skid driving device according to claim 4, characterized in that: The driving structure includes a driving motor and two transmission components. The driving motor is installed on the horizontal connecting part. The two transmission components are respectively installed between the horizontal connecting part and the corresponding vertical mounting part to respectively realize the transmission connection between the motor shaft of the driving motor and the corresponding driving wheel.

6. The anti-skid driving device according to claim 4, characterized in that: The anti-skid driving device also includes a first limiting component, which is installed on a side surface of the horizontal connecting portion facing the two rails, so as to cooperate with the two driving wheels through a sliding abutment structure to limit the anti-skid driving device in the vertical direction.

7. The anti-skid driving device according to claim 6, characterized in that: The first limiting assembly includes at least two elastic tensioning wheels, at least one of which is elastically installed on a side surface of the horizontal connecting portion facing the two rails and movably abuts against the bottom side of one rail, and at least one of which is elastically installed on a side surface of the horizontal connecting portion facing the two rails and movably abuts against the bottom side of the other rail.

8. The anti-skid driving device according to claim 7, characterized in that: The elastic tensioning wheel comprises a tensioning wheel body, a tensioning wheel base and two elastic connecting members, the bottom side of the tensioning wheel base is elastically mounted on a side surface of the horizontal connecting portion facing the two rails through the two elastic connecting members, the tensioning wheel body is rotatably mounted on the top side of the tensioning wheel base, and a side of the tensioning wheel body away from the tensioning wheel base abuts against the bottom side of the corresponding rail.

9. The anti-skid driving device according to claim 4, characterized in that: The anti-skid drive device also includes two second limiting components, and the two second limiting components are arranged in a one-to-one correspondence with the two vertical mounting parts, and each second limiting component is respectively installed on a side surface of the corresponding vertical mounting part facing the two rails, so as to limit the anti-skid drive device in the horizontal direction through the cooperation between the horizontally oppositely arranged guide wheel structures.

10. The anti-skid driving device according to claim 9, characterized in that: The second limiting assembly includes at least one guide wheel, which is rotatably arranged on a side surface of the corresponding vertical mounting portion facing the two rails and movably abuts against an opening edge of a corresponding one of the rails.

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