Traveling mechanism of rail robot

Abstract

The utility model provides a walking mechanism of a track robot, which relates to the technical field of track inspection robots and comprises a shell, a plurality of hinges are fixedly connected to the upper surface of the shell, a cover plate is fixedly connected to one side of each hinge, and a guide moving mechanism is mounted in the shell; wherein guiding movement comprises a two-way motor, the bottom of the two-way motor is fixedly connected with the bottom side of the shell, the output end of the two-way motor is fixedly connected with a first bevel gear, one side of the first bevel gear is meshed with a second bevel gear, a rotating shaft is fixedly connected in the second bevel gear, and the two ends of the rotating shaft are fixedly connected with transmission wheels; the outer side of the shell is fixedly connected with a plurality of supporting arms, and one side of each supporting arm is fixedly connected with an upper limit. The guide moving mechanism is arranged to guide the movement of the shell to a certain extent, and when the movement of the shell inclines, the shell is limited on the track through the supporting arm and the lower limiting block, so that the stability of the movement of the track robot is kept, and the situation that the track robot derails is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of track inspection robots, in particular to a traveling mechanism of a track robot. Background Technique

[0002] Track inspection robots are mainly used for track inspection. Since robots have basic characteristics such as perception, decision-making, and execution, they can assist or even replace humans to complete this dangerous, heavy, and complex work of track inspection, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities.

[0003] Most of the existing track inspection robots have complex structures, cumbersome installation and maintenance, excessive weight, low transmission efficiency, and cannot achieve climbing and turning.

[0004] After retrieval, a traveling mechanism of a new type of track inspection robot disclosed in a Chinese patent with the application number CN202121386030.2. This utility model makes the traveling mechanism of the robot operate stably and with high reliability by setting a driving wheel set and a driven wheel set, reduces the probability of safety accidents, has a simple structure and is easy to install and debug, is convenient for later maintenance, and has high traveling efficiency.

[0005] When the above traveling mechanism is actually used, when the robot moves quickly on a curved track, the center of gravity of the robot will shift, resulting in the robot tipping over, causing errors in the robot's work and affecting work efficiency. Summary of the Utility Model

[0006] The technical problem to be solved by this utility model is to overcome the deficiencies in the prior art and provide a traveling mechanism of a track robot.

[0007] This utility model is realized through the following technical solutions:

[0008] A traveling mechanism of a track robot includes a housing. A plurality of hinges are fixedly connected to the upper surface of the housing. One side of the hinge is fixedly connected to a cover plate. A guiding and moving mechanism is installed inside the housing; the guiding and moving mechanism includes a bidirectional motor. The bottom of the bidirectional motor is fixedly connected to the bottom side of the housing. The output ends of the bidirectional motor are both fixedly connected to a first bevel gear. One side of the first bevel gear is engaged with a second bevel gear. A rotating shaft is fixedly connected inside the second bevel gear. Transmission wheels are fixedly connected to both ends of the rotating shaft; a plurality of support arms are fixedly connected to the outside of the housing. An upper limit block is fixedly connected to one side of the support arm. A pressing block is arranged on one side of the upper limit block. A lower limit block is movably connected to the bottom of the upper limit block. A plug board is fixedly connected to the upper surface of the lower limit block. Two springs are fixedly installed inside the plug board. A limiting ball is movably connected to one side of the spring.

[0009] It can be seen that in the above technical solution, during the movement of the outer shell, the outer shell is tractioned to a certain extent by the support arm and the lower limit block to avoid the situation of the outer shell tilting and derailing. At the same time, the upper limit block and the lower limit block can be separated from the track by pressing the pressing block, so as to facilitate the disassembly and installation of the track robot.

[0010] Optionally, in a possible implementation manner, a plurality of auxiliary balls are arranged inside each of the plurality of lower limit blocks, and the plurality of auxiliary balls are evenly distributed inside the lower limit blocks. A positioning seat is fixedly connected to the top of the lower limit block, and three auxiliary rollers are arranged on the outside of the positioning seat.

[0011] It can be seen that in the above technical solution, the plurality of auxiliary balls and the auxiliary rollers assist in reducing the friction between the lower limit block and the track, making the movement of the upper limit block and the lower limit block on the track smoother.

[0012] Optionally, in a possible implementation manner, a cleaning mechanism is arranged on one side of the plurality of support arms. The cleaning mechanism includes a cleaning scraper. One side of the cleaning scraper is movably connected to the outside of the support arm. A pull rod is fixedly connected to the bottom of the cleaning scraper. An expansion rod is movably connected to the outside of the support arm, and a pull ring is fixedly connected to one end of the expansion rod.

[0013] It can be seen that in the above technical solution, the cleaning scraper cleans the top of the track, so that the driving wheel is kept in close contact with the track, maintaining the transmission efficiency.

[0014] Optionally, in a possible implementation manner, a track robot main body is installed on the top of the outer shell. Two tracks are arranged at the bottom of the plurality of driving wheels, and a plurality of positioning plates are fixedly connected to the bottom of the tracks.

[0015] It can be seen that in the above technical solution, the tracks and the positioning plates guide the movement of the outer shell.

[0016] The beneficial effects of the present utility model are:

[0017] 1. By setting a guiding and moving mechanism, compared with the prior art, the movement of the outer shell is guided to a certain extent. When the movement of the outer shell is inclined, the outer shell is restricted on the track by the support arm and the lower limit block, maintaining the stability of the movement of the track robot and avoiding the situation of the track robot derailing;

[0018] 2. By setting a cleaning mechanism, compared with the prior art, the impurities on the surface of the track can be cleaned, avoiding the situation of slipping when the driving wheel rubs against the track, improving the transmission efficiency of the driving wheel to a certain extent, and at the same time increasing the service life of the track robot. Description of the Drawings

[0019] Figure 1 Shows the overall structural schematic diagram of the present utility model;

[0020] Figure 2 Shows the partial schematic diagram of the connection of the outer shell in the present utility model;

[0021] Figure 3 Shows the internal structural schematic diagram of the outer shell in the present utility model;

[0022] Figure 4 Shows the partial schematic diagram of the connection of the cleaning scraper in the present utility model;

[0023] Figure 5 Shows the sectional structural schematic diagram of the lower limit block in the present utility model;

[0024] Figure 6 Shows the partial schematic diagram of the connection of the track in the present utility model;

[0025] Explanation of reference numerals:

[0026] 1. Outer shell; 2. Hinge; 3. Cover plate; 4. Bidirectional motor; 5. First bevel gear; 6. Second bevel gear; 7. Rotating shaft; 8. Driving wheel; 9. Support arm; 10. Upper limit block; 11. Pressing block; 12. Lower limit block; 13. Insertion plate; 14. Spring; 15. Limit ball; 16. Auxiliary ball; 17. Positioning seat; 18. Auxiliary roller; 19. Cleaning scraper; 20. Pull rod; 21. Telescopic rod; 22. Pulling ring; 23. Track robot main body; 24. Track; 25. Positioning plate. Detailed implementation manners

[0027] In order to enable those skilled in the art of the present technology to better understand the technical solution of the present utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and the best embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the scope of protection of the utility model.

[0028] In the description of the utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the utility model.

[0029] Embodiment 1

[0030] A walking mechanism for an orbital robot, comprising a housing 1, on the upper surface of the housing 1, a plurality of hinges 2 are fixedly connected, on one side of the hinge 2, a cover plate 3 is fixedly connected, and a guiding and moving mechanism is installed inside the housing 1;

[0031] The guiding and moving mechanism includes a bidirectional motor 4, the bottom of the bidirectional motor 4 is fixedly connected to the bottom side of the housing 1, on the output ends of the bidirectional motor 4, first bevel gears 5 are fixedly connected, on one side of the first bevel gear 5, a second bevel gear 6 is engaged, inside the second bevel gear 6, a rotating shaft 7 is fixedly connected, and on both ends of the rotating shaft 7, transmission wheels 8 are fixedly connected;

[0032] On the outside of the housing 1, a plurality of support arms 9 are fixedly connected, on one side of the support arm 9, an upper limit block 10 is fixedly connected, on one side of the upper limit block 10, a pressing block 11 is arranged, at the bottom of the upper limit block 10, a lower limit block 12 is movably connected, on the upper surface of the lower limit block 12, a plug board 13 is fixedly connected, the bidirectional motor 4 drives the two first bevel gears 5 to engage and drive with the second bevel gear 6, thereby driving the two rotating shafts 7 and the corresponding transmission wheels 8 to rotate, and then during the movement of the housing 1, through the upper limit block 10 and the lower limit block 12 to limit the outside of the track 24, the housing 1 can move stably on the surface of the track 24, the pressing block 11 can be pressed to separate the upper limit block 10 and the plug board 13, and then the lower limit block 12 is pulled to separate from the upper limit block 10, which is convenient to remove the orbital robot from the track 24.

[0033] Embodiment 2

[0034] Inside the plug board 13, two springs 14 are fixedly installed, on one side of the spring 14, a limit ball 15 is movably connected, inside a plurality of the lower limit blocks 12, a plurality of auxiliary balls 16 are arranged, the plurality of auxiliary balls 16 are evenly distributed inside the lower limit block 12, on the top of the lower limit block 12, a positioning seat 17 is fixedly connected, on the outside of the positioning seat 17, three auxiliary rollers 18 are arranged, on one side of the plurality of support arms 9, a cleaning mechanism is arranged, the cleaning mechanism includes a cleaning scraper 19, one side of the cleaning scraper 19 is movably connected to the outside of the support arm 9, at the bottom of the cleaning scraper 19, a pull rod 20 is fixedly connected, on the outside of the support arm 9, a telescopic rod 21 is movably connected, one end of the telescopic rod 21 is fixedly connected with a pull ring 22, on the top of the housing 1, an orbital robot main body 23 is installed, at the bottom of the plurality of transmission wheels 8, two tracks 24 are arranged, at the bottom of the track 24, a plurality of positioning plates 25 are fixedly connected, the telescopic rod 21 can drive the cleaning scraper 19 to fit above the track 24, and then during the movement of the housing 1, the cleaning scraper 19 clears the dust above the track 24 from the track groove, so that the transmission wheels 8 can keep good contact with the track 24 during the movement.

[0035] The working principle of the present utility model: The present utility model designs a walking mechanism for an orbital robot, and the specific structure is as shown in the attached Figures 1-5As shown in the figure, in this technical solution, through the mutual cooperation between various structures, during the walking process of the track robot, the bidirectional motor 4 drives two first bevel gears 5 to rotate. The two first bevel gears 5 are engaged with the corresponding second bevel gears 6 for transmission, so that the two second bevel gears 6 can drive the rotating shafts 7 to rotate in the same direction. The two rotating shafts 7 drive the two transmission wheels 8 to perform friction transmission above the track 24. During the process that the outer shell 1 moves along the arc-shaped track 24 through the four transmission wheels 8, a certain gravity offset will occur to the outer shell 1. At this time, multiple upper limit blocks 10 and lower limit blocks 12 on the outer side of the outer shell 1 form a certain limit to the track. The multiple auxiliary balls 16 and auxiliary rollers 18 assist the upper limit blocks 10 and lower limit blocks 12 to smoothly slide on the surface of the track 24, so that the outer shell 1 maintains a stable movement. Then, when it is necessary to remove the track robot from the track 24, press the two pressing blocks 11 to separate the pressing blocks 11 from the bayonet on one side of the plug board 13, and then pull the lower limit block 12 to pull out the plug board 13 from the inside of the pressing block 11, so that the upper limit block 10 and the lower limit block 12 can be separated from the outside of the track 24, facilitating the removal of the track robot from the track 24;

[0036] During the driving process of the track robot, the telescopic rod 21 pulls the cleaning scraper 19 to rotate downward through the pull ring 22, so that the cleaning scraper 19 can clean the outer wall of the track 24, and clean the accumulated impurities and dust above the track 24. The transmission wheel 8 can be kept in close contact with the track 24, making the movement of the track robot more stable.

[0037] Obviously, the above embodiments are only examples clearly described and not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope of the present invention.

Claims

1. A walking mechanism of an orbital robot, characterized in that, It includes a housing (1), on the upper surface of the housing (1), a plurality of hinges (2) are fixedly connected, on one side of the hinge (2), a cover plate (3) is fixedly connected, and a guiding and moving mechanism is installed inside the housing (1); The guiding and moving mechanism includes a bidirectional motor (4), the bottom of the bidirectional motor (4) is fixedly connected to the bottom side of the housing (1), on the output ends of the bidirectional motor (4), first bevel gears (5) are fixedly connected, on one side of the first bevel gear (5), a second bevel gear (6) is engaged, inside the second bevel gear (6), a rotating shaft (7) is fixedly connected, and on both ends of the rotating shaft (7), transmission wheels (8) are fixedly connected; On the outside of the housing (1), a plurality of support arms (9) are fixedly connected, on one side of the support arm (9), an upper limit block (10) is fixedly connected, on one side of the upper limit block (10), a pressing block (11) is arranged, at the bottom of the upper limit block (10), a lower limit block (12) is movably connected, and on the upper surface of the lower limit block (12), a plug board (13) is fixedly connected.

2. The walking mechanism of the rail robot according to claim 1, characterized in that, Inside the plug board (13), two springs (14) are fixedly installed, and on one side of the spring (14), a limiting ball (15) is movably connected.

3. The walking mechanism of the track robot according to claim 1, characterized in that, Inside a plurality of the lower limit blocks (12), a plurality of auxiliary balls (16) are arranged, and the plurality of auxiliary balls (16) are evenly distributed inside the lower limit block (12).

4. The walking mechanism of the rail robot according to claim 1, characterized in that, On the top of the lower limit block (12), a positioning seat (17) is fixedly connected, and on the outside of the positioning seat (17), three auxiliary rollers (18) are arranged.

5. The walking mechanism of the track robot according to claim 1, characterized in that, On one side of the plurality of support arms (9), a cleaning mechanism is arranged, the cleaning mechanism includes a cleaning scraper (19), one side of the cleaning scraper (19) is movably connected to the outside of the support arm (9), and at the bottom of the cleaning scraper (19), a pull rod (20) is fixedly connected.

6. The walking mechanism of the track robot according to claim 1, characterized in that, On the outside of the support arm (9), a telescopic rod (21) is movably connected, and at one end of the telescopic rod (21), a pull ring (22) is fixedly connected.

7. The traveling mechanism of the rail robot according to claim 1, characterized in that, On the top of the housing (1), a track robot main body (23) is installed, at the bottom of the plurality of transmission wheels (8), two tracks (24) are arranged, and at the bottom of the track (24), a plurality of positioning plates (25) are fixedly connected.

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