Rail-mounted walking robot

Abstract

The utility model discloses a track-hanging walking robot, which belongs to the field of patrol operation robots, and comprises a track, a base, and a power wheel assembly, a walking wheel and a positioning wheel which are arranged on the base, the power wheel assembly and the walking wheel are respectively positioned on the upper side and the lower side of the track and are respectively connected with the track in a rolling manner, and the positioning wheel is obliquely arranged. The positioning wheel is provided with a positioning groove used for abutting against the corner of the rail, and the positioning wheel is in rolling connection with the rail. According to the rail-hanging walking robot, on the basis that the power wheel assemblies and the walking wheels are arranged, positioning is carried out through matching of the positioning wheels and the rails, and it is guaranteed that the rail-hanging walking robot does not shift when subjected to wind pressure, turning and operation.

Description

Technical Field

[0001] The utility model belongs to the field of patrolling robots, and particularly relates to a rail-mounted walking robot. Background Art

[0002] With the development of intelligence and demands, the rail-mounted patrolling robot has evolved from patrolling inspection to patrolling operation, and is widely used in security protection of power mining, metallurgy, petrochemical industry, factory areas, airports, computer rooms, pipe galleries, warehouses, etc., for mobile, all-round, blind-spot-free monitoring, inspection, recording and feedback of the operation status of facilities, and can perform operations to contain accidents in the first time to ensure safety.

[0003] At present, the rail-mounted patrolling robot is composed of a rail-mounted walking robot and a patrolling operation device. Due to the long mechanical arm of the patrolling operation device, when turning, operating or being affected by wind pressure outdoors, the contact surface (point) between the walking wheels and / or driving wheels of the rail-mounted walking robot and the rail surface will move, affecting the subsequent fine work and walking of the rail-mounted patrolling robot. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a rail-mounted walking robot to overcome at least one of the above-mentioned defects in the prior art.

[0005] To achieve this purpose, the utility model adopts the following technical solutions:

[0006] A rail-mounted walking robot provided by the utility model includes a rail, a base, and a driving wheel assembly, walking wheels, and positioning wheels arranged on the base. The driving wheel assembly and the walking wheels are respectively located on the upper and lower sides of the rail and are both in rolling connection with the rail. The positioning wheels are arranged obliquely and have positioning grooves for abutting against the corners of the rail. The positioning wheels are in rolling connection with the rail.

[0007] Preferably, there is at least one group of positioning wheels, and each group of positioning wheels includes two positioning wheels distributed on opposite sides in the width direction of the rail.

[0008] Preferably, the positioning groove is V-shaped or trapezoidal.

[0009] Preferably, the base includes a bottom plate, a rotating table, and a first mounting bracket. The bottom plate is provided with at least one rotating table, and the rotating end of the rotating table is fixed with a first mounting bracket. The walking wheels are rotatably connected to the first mounting bracket.

[0010] Preferably, it further includes a mounting seat and a fastener. The positioning wheels are rotatably connected to the mounting seat. The first mounting bracket has an adjustment hole arranged vertically. The fastener passes through the adjustment hole and is connected to the mounting seat to fix the mounting seat to the first mounting bracket.

[0011] Preferably, the driving wheel assembly includes a hub motor, a first swinging seat, a first spring, and a first guiding member. The first swinging seat and the first guiding member are arranged on the bottom plate. The hub motor is installed on the first swinging seat. The first guiding member passes through the first swinging seat. A first spring is arranged between the first swinging seat and the bottom plate, and the first spring is arranged around the first guiding member.

[0012] Preferably, it further includes a first gear, a second gear, a second mounting bracket, a 90° commutator, a third gear, and a rack. The output shaft of the hub motor is connected with the first gear. The second mounting bracket is fixed on a side wall of the first swinging seat. The 90° commutator is installed on the second mounting bracket. The input shaft of the 90° commutator is connected with the second gear. The second gear meshes with the first gear. The output shaft of the 90° commutator is connected with the third gear. A rack is fixed on a side wall of the track, and the third gear meshes with the rack.

[0013] Preferably, it further includes a current collector and a trolley wire. The trolley wire is arranged on the other side wall of the track. The current collector is installed on the bottom plate. The input end of the current collector is electrically connected with the trolley wire, and the output end of the current collector is electrically connected with the hub motor to supply power to the hub motor.

[0014] Preferably, it further includes a second swinging seat, a second spring, a second guiding member, and an elastic wheel. The second swinging seat is arranged on the bottom plate. The elastic wheel is rotatably connected to the second swinging seat. The elastic wheel is in rolling connection with the track. The second guiding member passes through the second swinging seat and is connected with the rotating end of the rotating table. A second spring is arranged between the second swinging seat and the rotating end of the rotating table, and the second spring is arranged around the second guiding member.

[0015] Preferably, it further includes a fourth gear, a fifth gear, a sixth gear, and an encoder. A fourth gear is fixed to the rotating end of the elastic wheel. The fifth gear is rotatably connected to the second swinging seat. The fifth gear meshes with the fourth gear. The encoder is fixed to the second swinging seat. A sixth gear is fixed to the input shaft of the encoder, and the sixth gear meshes with the fifth gear.

[0016] Preferably, the outer surfaces of the walking wheels, the positioning wheels, and the hub motor, and the material of the elastic wheel are all plastic, plastic or rubber, and the track is a 4080 profile track.

[0017] The beneficial effects of the present utility model are as follows:

[0018] 1. On the basis of the driving wheel assembly and the walking wheels, positioning is carried out through the cooperation of the positioning wheels and the track to ensure that the rail-mounted walking robot does not shift during turning, operation, or when affected by wind pressure.

[0019] 2. Through the setting of the positioning groove, the rail-mounted walking robot is prevented from shifting up, down, left, and right.

[0020] 3. Install the positioning wheel and the walking wheel on the first mounting bracket and cooperate with the rotating table, which can not only position the hanging-rail walking robot during straight-line travel, but also position the hanging-rail walking robot during turning, avoiding displacement of the hanging-rail walking robot during turning.

[0021] 4. Through the setting of the fastener and the adjustment hole, the up-and-down position of the positioning wheel can be adjusted to meet different operation requirements.

[0022] 5. Through the setting of the first swing seat and the first spring, ensure that the hub motor always abuts against the track, ensuring the rolling connection between the hub motor and the track.

[0023] 6. Through the meshing of the third gear and the rack, improve the stability during walking; improve the ability to go uphill and downhill, without slipping uphill and not affected by gravity downhill.

[0024] 7. When the hanging-rail walking robot travels along the track, the input end of the current collector has a relative displacement with the trolley wire, and the current collector takes power from the trolley wire and supplies power to the hub motor.

[0025] 8. By pressing the elastic wheel against the bottom of the track and combining the setting of the second swing seat and the second spring, ensure that the elastic wheel always abuts against the track, ensuring the rolling connection between the elastic wheel and the track.

[0026] 9. Through the setting of the elastic wheel combined with the fourth gear, the fifth gear, the sixth gear, and the encoder, the step counting function is realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is the top view structural schematic diagram of the present utility model.

[0028] Figure 2 is Figure 1 the enlarged structural schematic diagram of A in

[0029] Figure 3 is Figure 2 the front view structural schematic diagram of

[0030] Figure 4 is the partial three-dimensional structural schematic diagram of the present utility model (the first perspective).

[0031] Figure 5 is the partial three-dimensional structural schematic diagram of the present utility model (the second perspective).

[0032] Figure 6 is the three-dimensional structural schematic diagram of the base, the driving wheel assembly, the walking wheel, and the positioning wheel of the present utility model.

[0033] Figure 7 is the three-dimensional structural schematic diagram of the base, the walking wheel, and the positioning wheel of the present utility model.

[0034] Figure 8 It is a three-dimensional structural schematic diagram of the base and the power wheel assembly of the present utility model.

[0035] Figure 9 It is a three-dimensional structural schematic diagram of the second swing seat, elastic wheel, fourth gear, fifth gear, sixth gear, and encoder of the present utility model.

[0036] The reference signs in the drawings are: 1 - track, 2 - traveling wheel, 3 - positioning wheel, 4 - base, 5 - power wheel assembly, 31 - positioning groove, 41 - bottom plate, 42 - rotating table, 43 - first mounting bracket, 6 - mounting seat, 7 - fastener, 44 - adjustment hole, 51 - hub motor, 52 - first swing seat, 53 - first spring, 54 - first guide, 8 - first gear, 9 - second gear, 10 - second mounting bracket, 11 - 90° commutator, 12 - third gear, 13 - rack, 14 - current collector, 15 - sliding contact wire, 16 - second swing seat, 17 - second spring, 18 - second guide, 19 - elastic wheel, 20 - fourth gear, 21 - fifth gear, 22 - sixth gear, 23 - encoder. Detailed implementation manners

[0037] The present utility model will be further described below in conjunction with the drawings and specific implementation manners.

[0038] Contents not described in detail in this specification belong to the prior art well-known to those skilled in the art. In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present 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 thus cannot be construed as a limitation to the present utility model. In addition, terms such as "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0039] Such as Figures 1 to 9As shown in the figure, a hanging-rail walking robot provided in this embodiment includes a rail 1, a base 4, and a driving wheel assembly 5, a walking wheel 2, and a positioning wheel 3 provided on the base 4. The driving wheel assembly 5 and the walking wheel 2 are respectively located on the upper and lower sides of the rail 1, and are both in rolling connection with the rail 1. The driving wheel assembly of this embodiment is located in the middle of the lower side of the rail 1, and the walking wheels 2 are located on both sides of the upper side of the rail 1. The positioning wheel 3 is inclined and has a positioning groove 31 for abutting against the lower corners on the left and right sides of the rail 1. The positioning wheel 3 is in rolling connection with the rail 1. The positioning groove 31 of this embodiment is trapezoidal, and the shape of the positioning groove 31 is selected according to the shape of the corners of the rail 1. The outer surfaces of the walking wheel, the positioning wheel, and the hub motor, as well as the material of the elastic wheel, are all rubber with light weight, high strength, wear resistance, and high friction coefficient. In other embodiments, it can also be plastic or plastic. The rail 1 is a 4080 aluminum profile, which is convenient for material taking and has reasonable force. The rail 1 is hoisted on the ceiling or bracket by a suspension rod.

[0040] The driving wheel assembly is used as the main power source to drive the entire hanging-rail walking robot to move along the rail 1. The walking wheel 2 provided on the upper side of the rail 1 is used as a load-bearing wheel to bear the weight of the hanging-rail walking robot. On the basis of the setting of the driving wheel assembly 5 and the walking wheel 2, positioning is carried out through the cooperation of the positioning wheel 3 and the rail 1 to ensure that the hanging-rail walking robot will not shift when being affected by wind pressure, turning, and operating. Through the setting of the positioning groove 31, the hanging-rail walking robot is prevented from shifting up, down, left, and right.

[0041] There are two groups of positioning wheels 3 in this embodiment. The two groups of positioning wheels 3 are distributed on the front and rear sides of the driving wheel assembly 5, and each group of positioning wheels 3 is evenly arranged on the lower corners on the left and right sides of the rail 1. By setting the positioning wheels 3 at various positions in the front, rear, left, and right of the driving wheel assembly 5 to cooperate with the rail 1, the positioning effect is better, greatly improving the horizontal force of the hanging-rail walking robot against wind pressure, turning, or operating, and ensuring accurate walking and operation.

[0042] Among them, the base 4 includes a bottom plate 41, a rotating table 42, and a first mounting bracket 43. The bottom plate 41 is provided with two rotating tables 42. The two rotating tables 42 are distributed on the front and rear sides of the driving wheel assembly 5. The rotating end of the rotating table 42 is fixed with a first mounting bracket 43, and the walking wheel 2 is rotatably connected to the first mounting bracket 43. Through the setting of the rotating table 42, it is convenient for the hanging-rail walking robot to turn. A patrol and operation device can be installed below the bottom plate 41 of the hanging-rail walking robot. The patrol and operation device includes a manipulator, a camera, a monitoring instrument, etc.

[0043] Further included are a mounting base 6 and a fastener 7. The positioning wheel 3 is rotatably connected to the mounting base 6. The first mounting bracket 43 has an adjustment hole 44 arranged vertically. The fastener 7 passes through the adjustment hole 44 and is threadedly connected to the mounting base 6, fixing the mounting base 6 to the first mounting bracket 43. The fastener in this embodiment is a bolt. Through the arrangement of the fastener and the adjustment hole 44, the up-and-down position of the positioning wheel 3 can be adjusted to meet different operation requirements. Installing the positioning wheel 3 and the walking wheel 2 on the first mounting bracket 43 and cooperating with the rotating platform 42 can not only position the rail-mounted walking robot during straight travel but also position it during turning, preventing the rail-mounted walking robot from shifting during turning.

[0044] Further included are a driving wheel assembly 5 including a hub motor 51, a first swing seat 52, a first spring 53, and a first guide member 54. The hub motor 51 serves as a driving wheel. The first swing seat 52 and the first guide member 54 are arranged on the bottom plate 41. The hub motor 51 is installed on the first swing seat 52. The first guide member 54 passes through the first swing seat 52. A first spring 53 is arranged between the first swing seat 52 and the bottom plate 41, and the first spring 53 is arranged around the first guide member 54. By using the hub motor 51 as the main power source and combining the arrangements of the first swing seat 52 and the first spring 53, it is ensured that the hub motor 51 always abuts against the track 1, ensuring the rolling connection between the hub motor 51 and the track 1. Through the arrangement of the first guide member 54, the smoothness of the first swing seat 52 during swinging is ensured.

[0045] Further included are a first gear 8, a second gear 9, a second mounting bracket 10, a 90° commutator 11, a third gear 12, and a rack 13. The output shaft of the hub motor 51 is connected to the first gear 8. The second mounting bracket 10 is fixed to a side wall of the first swing seat 52. The 90° commutator 11 is installed on the second mounting bracket 10. The input shaft of the 90° commutator 11 is connected to the second gear 9. The second gear 9 meshes with the first gear 8. The output shaft of the 90° commutator 11 is connected to the third gear 12. The rack 13 is fixed to the inner side wall of the track 1. The third gear 12 meshes with the rack 13. When the hub motor 51 rotates, it drives the first gear 8 to rotate, and then drives the second gear 9 to rotate. After commutation by the 90° commutator 11, it drives the third gear 12 to rotate. Through the meshing of the third gear 12 and the rack 13, the stability during walking is improved. Especially when climbing and descending slopes, the climbing ability is improved, no slipping occurs, and the speed is uniform during descending without gravitational acceleration. The rack 13 can be arranged on the entire inner side wall of the track 1 or only on the slope section.

[0046] Further, it also includes a current collector 14 and a sliding contact wire 15. The sliding contact wire 15 is arranged on the outer side wall of the track 1. The current collector 14 is installed on the bottom plate 41. The input end of the current collector 14 is electrically connected to the sliding contact wire 15, and the output end of the current collector 14 is electrically connected to the hub motor 51 to supply power to the hub motor 51. When the suspended rail walking robot travels along the track 1, relative displacement occurs between the input end of the current collector 14 and the sliding contact wire 15, and the current collector 14 draws electricity from the sliding contact wire 15 and supplies power to the hub motor 51.

[0047] Further, it also includes a second swing seat 16, a second spring 17, a second guide member 18, and an elastic wheel 19. The second swing seat 16 is arranged on the bottom plate 41. The elastic wheel 19 is rotatably connected to the second swing seat 16. The elastic wheel 19 is in rolling connection with the track 1. The second guide member 18 passes through the second swing seat 16 and is connected to the rotating end of the rotating table 42. A second spring 17 is arranged between the second swing seat 16 and the rotating end of the rotating table 42, and the second spring 17 is arranged around the second guide member 18. By pressing the bottom of the track 1 with the elastic wheel 19 and combining the settings of the second swing seat 16 and the second spring 17, it is ensured that the elastic wheel 19 is always in contact with the track 1, ensuring the rolling connection between the elastic wheel 19 and the track 1. Through the setting of the second guide member 18, the smoothness during the swinging process of the second swing seat 16 is ensured.

[0048] Further, it also includes a fourth gear 20, a fifth gear 21, a sixth gear 22, and an encoder 23. The rotating end of the elastic wheel 19 is fixed with the fourth gear 20. The fifth gear 21 is rotatably connected to the second swing seat 16. The fifth gear 21 meshes with the fourth gear 20. The encoder 23 is fixed on the second swing seat 16. The input shaft of the encoder 23 is fixed with the sixth gear 22. The sixth gear 22 meshes with the fifth gear 21. When the elastic wheel 19 rotates, it drives the fourth gear 20 to rotate, causing the fifth gear 21 to rotate, and further driving the sixth gear 22 to rotate, causing the input shaft of the encoder 23 to rotate, realizing the step counting function.

[0049] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that; they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A hanging-rail walking robot, characterized in that: It includes a rail, a base, and a driving wheel assembly, walking wheels, and positioning wheels provided on the base; The driving wheel assembly and the walking wheels are respectively located on the upper and lower sides of the rail, and are both in rolling connection with the rail; The positioning wheel is inclined and has a positioning groove for abutting against the corner of the rail, and the positioning wheel is in rolling connection with the rail.

2. The hanging-rail walking robot according to claim 1, characterized in that: There is at least one group of the positioning wheels, and each group of the positioning wheels includes two positioning wheels distributed on opposite sides in the width direction of the rail; The positioning groove is V-shaped or trapezoidal.

3. The hanging-rail walking robot according to claim 1, characterized in that: The base includes a bottom plate, a rotating table, and a first mounting bracket; The bottom plate is provided with at least one rotating table; The rotating end of the rotating table is fixed with a first mounting bracket, and the walking wheels are rotatably connected to the first mounting bracket.

4. The hanging-rail walking robot according to claim 3, characterized in that: It further includes a mounting seat and a fastener; The positioning wheel is rotatably connected to the mounting seat; The first mounting bracket has an adjustment hole provided vertically, and the fastener passes through the adjustment hole and is connected to the mounting seat to fix the mounting seat to the first mounting bracket.

5. The hanging-rail walking robot according to claim 3, characterized in that: The driving wheel assembly includes a hub motor, a first swing seat, a first spring, and a first guide member; The first swing seat and the first guide member are provided on the bottom plate; The hub motor is mounted on the first swing seat; The first guide member passes through the first swing seat, and a first spring is provided between the first swing seat and the bottom plate, and the first spring is arranged around the first guide member.

6. The hanging-rail walking robot according to claim 5, characterized in that: It further includes a first gear, a second gear, a second mounting bracket, a 90° commutator, a third gear, and a rack; The output shaft of the hub motor is connected with a first gear; The second mounting bracket is fixed to a side wall of the first swing seat; The 90° commutator is mounted on the second mounting bracket; The input shaft of the 90° commutator is connected with a second gear, the second gear meshes with the first gear, and the output shaft of the 90° commutator is connected with a third gear; A rack is fixed to a side wall of the rail, and the third gear meshes with the rack.

7. The hanging-rail walking robot according to claim 5, characterized in that: It further includes a current collector and a sliding contact wire; The sliding contact wire is provided on the other side wall of the rail, and the current collector is mounted on the bottom plate; The input end of the current collector is electrically connected to the sliding contact wire, and the output end of the current collector is electrically connected to the hub motor to supply power to the hub motor.

8. The hanging-rail walking robot according to claim 3, characterized in that: It further includes a second swing seat, a second spring, a second guide member, and an elastic wheel; The second swing seat is provided on the bottom plate; The elastic wheel is rotatably connected to the second swing seat, and the elastic wheel is in rolling connection with the rail; The second guiding member passes through the second swing seat and is connected to the rotating end of the rotating table; A second spring is arranged between the second swing seat and the rotating end of the rotating table, and the second spring is arranged around the second guiding member.

9. The hanging rail walking robot according to claim 8, wherein: It further includes a fourth gear, a fifth gear, a sixth gear, and an encoder; A fourth gear is fixed to the rotating end of the elastic wheel, the fifth gear is rotatably connected to the second swing seat, and the fifth gear meshes with the fourth gear; The encoder is fixed to the second swing seat, a sixth gear is fixed to the input shaft of the encoder, and the sixth gear meshes with the fifth gear.

10. The hanging rail walking robot according to claim 5, wherein: The outer surfaces of the walking wheel, the positioning wheel, and the hub motor, and the material of the elastic wheel are all plastic, plastic, or rubber, and the track is a 4080 profile track.

Images