Overhead rail type inspection robot driving structure

Abstract

The utility model discloses an overhead rail type inspection robot driving structure. The overhead rail type inspection robot driving structure comprises a base plate, a driving roller assembly and an auxiliary roller assembly. The number of the base plates is two, the number of the driving roller assemblies is two, and a mounting gap used for mounting the driving roller assemblies is formed between the two base plates. The driving roller assemblies are symmetrically arranged, are mounted in the mounting gap in a sliding manner, and are tightly attached to the outer wall of the sliding rail through elastic pieces; the auxiliary roller assembly is arranged on the base plate and can be attached to the outer wall of the sliding rail in an extrusion mode. The utility model relates to the technical field of inspection robots, and through the arrangement, the stability of the inspection robot in the moving process can be effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to a driving structure of a hanging rail type inspection robot. Background Art

[0002] Wastewater treatment is an essential component of urban infrastructure. To ensure the proper functioning of rainwater storage tanks, urban underground pipeline corridors, and underground or semi-underground sewage treatment plants, regular site patrols, water quality monitoring, equipment operation monitoring, equipment status monitoring, immediate detection of any visual anomalies, and water sampling testing are essential.

[0003] In the existing technology, inspection robots are usually used to complete the above-mentioned tasks. However, actual applications have found that they have certain defects: for example, most of the current inspection robots use a top-driven method to cooperate with the slide rail to achieve the function of mobile operation. However, when operating in working conditions with water such as sewage pools, the side where the slide rail contacts the drive component (i.e., the lower surface of the slide rail) is easily contaminated with sludge, which in turn causes the drive device to drive the inspection robot to walk, which can easily cause the inspection robot to slip, affecting normal inspection operations.

[0004] Therefore, a driving structure of a hanging rail type inspection robot is needed to solve the above problems. Utility Model Content

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art; to this end, the present invention proposes a hanging rail type inspection robot drive structure to improve the stability of the inspection robot during movement. The present invention arranges a driving roller assembly and an auxiliary roller assembly, and makes the driving roller assembly and the auxiliary roller assembly squeeze and fit with the outer wall of the slide rail. Therefore, compared with the top drive method in the prior art, this structure adopts dual lateral drive and can also perform auxiliary guidance, so it can effectively improve the stability of the inspection robot when walking.

[0006] To achieve the above-mentioned object, the first aspect of the present utility model provides a driving structure of a rail-mounted inspection robot, comprising a base plate, a driving roller assembly, and an auxiliary roller assembly;

[0007] There are two base plates and two driving roller assemblies, and a mounting gap for mounting the driving roller assembly is formed between the two base plates;

[0008] The driving roller assembly is symmetrically arranged and slidably installed in the installation gap and is tightly attached to the outer wall of the slide rail through an elastic member;

[0009] The auxiliary roller assembly is arranged on the base plate and can be pressed and fitted with the outer wall of the slide rail.

[0010] Furthermore, two fixed mounting seats are provided on the side where the two base plates are close to each other;

[0011] The two fixed mounting seats are fixedly connected via a shaft, and the shaft slides through the side walls of the two driving roller assemblies, so that the two driving roller assemblies can move relative to each other.

[0012] Furthermore, the shaft includes a polished rod and a fixed rod, which are used for moving and supporting the driving roller assembly respectively;

[0013] Wherein, the elastic member is sleeved on the outer wall of the fixing rod and is connected to one of the driving roller assemblies, so that the two driving roller assemblies can clamp and fit the outer wall of the slide rail.

[0014] Furthermore, the driving roller assembly includes a motor mounting seat, an output motor and a driving wheel;

[0015] Slide blocks matching the polished rod are fixedly mounted on the bottom walls of both sides of the motor mounting seat;

[0016] The output motor is placed inside the motor mounting seat, and the output end extends to the outside of the motor mounting seat and is connected to the driving wheel.

[0017] Furthermore, the auxiliary roller assembly includes a symmetrically arranged roller module and a rotating shaft connecting bracket;

[0018] The two ends of the rotating shaft connecting bracket are respectively fixedly connected to the bottom walls of the two roller modules, and the axis of the rotating shaft connecting bracket is rotationally connected to the base plate through a torsion spring, so that when the two roller modules are not subjected to external force, the output end of the roller module can be tightly attached to the outer wall of the slide rail.

[0019] Furthermore, the roller module includes a connecting plate and an auxiliary roller frame;

[0020] The auxiliary roller frame is fixedly installed on both sides of the outer wall of the connecting plate, and the auxiliary roller is rotated toward one side of the slide rail. Under the action of the torsion spring, the auxiliary roller can rotate until it is in close contact with the outer wall of the slide rail.

[0021] Furthermore, the auxiliary roller frame is configured as a spring seat.

[0022] Furthermore, the roller module further includes a bearing roller;

[0023] The carrying roller is rotatably mounted on the inner side of the connecting plate and is in close contact with the outer wall of the outer slide rail, and its rotation direction is perpendicular to the rotation direction of the auxiliary roller frame.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] By installing two drive roller assemblies on two base plates, each of which is in close contact with the outer wall of the slide rail via an elastic member, the inspection robot is driven from both sides. Compared to the top-drive method used in the prior art, this effectively prevents slipping caused by mud on the track surface, thereby improving the robot's stability during movement. Furthermore, an auxiliary roller assembly, which is pressed against the outer wall of the slide rail and acts as a guide and limiter, further improves the robot's stability during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 This is a schematic structural diagram of a driving structure of a rail-mounted inspection robot in one embodiment of the present invention;

[0028] Figure 2 This is a structural diagram of a driving roller assembly of a driving structure of a rail-mounted inspection robot in one embodiment of the present invention;

[0029] Figure 3 This is a cross-sectional view of a driving roller assembly of a driving structure of a rail-mounted inspection robot in one embodiment of the present invention;

[0030] Figure 4 This is a structural diagram of the auxiliary roller assembly of the driving structure of the overhead rail inspection robot in one embodiment of the present utility model;

[0031] Figure 5 This is a top view of the auxiliary roller assembly of the driving structure of the overhead rail inspection robot in one embodiment of the present invention.

[0032] Figure Number:

[0033] 1. Base plate; 2. Driving roller assembly; 21. Motor mounting seat; 211. Slider; 22. Output motor; 23. Driving wheel; 3. Auxiliary roller assembly; 31. Roller module; 311. Connecting plate; 312. Auxiliary roller frame; 313. Auxiliary roller; 314. Load-bearing roller; 32. Rotating shaft connecting bracket; 4. Elastic member; 5. Fixed mounting seat; 6. Polished rod; 7. Fixed rod. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the embodiments. Obviously, the embodiments described are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0035] See also Figures 1 to 5 As shown, an embodiment of the first aspect of the present utility model provides a driving structure of a rail-mounted inspection robot, comprising a base plate 1 , a driving roller assembly 2 and an auxiliary roller assembly 3 .

[0036] There are two of each of the base plate 1 and the driving roller assembly 2 , and an installation gap for installing the driving roller assembly 2 is formed between the two base plates 1 .

[0037] It should be noted that the base plate 1 passes through the lower surface of the slide rail in a direction perpendicular to the length of the slide rail, so that the installation gap passes through the slide rail horizontally, which is convenient for setting the drive roller assembly 2 on both sides of the slide rail to better abut and fit with the side wall of the slide rail to improve stability.

[0038] Specifically, the driving roller assembly 2 is symmetrically arranged and slidably installed in the installation gap, and is tightly attached to the outer wall of the slide rail through the elastic member 4, that is, the elastic property of the elastic member 4 is utilized to enable the driving roller assembly 2 to be tightly attached to the slide rail in real time, so that when the driving roller assembly 2 is running, it can drive the substrate 1 to move better along the predetermined trajectory.

[0039] In addition, the auxiliary roller assembly 3 is arranged on the base plate 1 and can be pressed and fitted with the outer wall of the slide rail.

[0040] This device utilizes two drive roller assemblies 2, each mounted on two base plates 1. These assemblies are in close contact with the outer wall of the slide rail via elastic members 4, enabling the robot to move via dual lateral drive. Compared to the conventional top-drive method, this device effectively prevents slippage caused by mud on the track surface, thereby improving the robot's stability. Furthermore, an auxiliary roller assembly 3, which compresses against the outer wall of the slide rail and serves as a guide and limiter, further enhances the robot's operational stability.

[0041] like Figure 2 and Figure 3 As shown, in this embodiment, the installation position of the elastic member 4 is further limited to better enable the driving roller assembly 2 to fit tightly against the outer wall of the slide rail.

[0042] Specifically, two fixed mounting seats 5 are provided on the side of the two substrates 1 that are close to each other.

[0043] The two fixed mounting seats 5 are fixedly connected via a shaft, and the shaft slides through the side walls of the two driving roller assemblies 2, so that the two driving roller assemblies 2 can move relative to each other.

[0044] It should be noted that the shaft includes a light rod 6 and a fixed rod 7, which are respectively used for the movement and support of the drive roller assembly 2, that is, the drive roller assembly 2 can move relatively along the light rod 6, and the fixed rod 7 is mainly used for auxiliary support of the drive roller assembly 2.

[0045] The elastic member 4 is sleeved on the outer wall of the fixing rod 7 and connected to one of the drive roller assemblies 2, so that the two drive roller assemblies 2 can clamp and fit the outer wall of the slide rail. Therefore, the elastic force exerted by the elastic member 4 on one of the drive roller assemblies 2 can meet the requirement of real-time fit with the outer wall of the slide rail in different situations (such as when the drive roller assembly 2 moves to the arc section of the slide rail).

[0046] Please continue reading Figure 3 , wherein the driving roller assembly 2 includes a motor mounting seat 21, an output motor 22 and a driving wheel 23.

[0047] Slide blocks 211 matching the polished rod 6 are fixedly mounted on the bottom walls of both sides of the motor mounting seat 21 , and the driving wheel 23 is brought into close contact with the outer wall of the slide rail in real time through the relative movement of the motor mounting seat 21 and the polished rod 6 .

[0048] The output motor 22 is placed inside the motor mounting base 21, and the output end extends to the outside of the motor mounting base 21 and is connected to the driving wheel 23. Therefore, through the operation of the output motor 22, the rotation of the driving wheel 23 can be controlled, and the power generated by the rotation of the driving wheel 23 is used to push the substrate 1 to move relative to the slide rail.

[0049] It should be noted that, in this embodiment, the motor mounting base 21 is configured as a waterproof housing to prevent the operation of the output motor 22 from being affected by a humid environment.

[0050] like Figure 4 and Figure 5 As shown, in this embodiment, a specific auxiliary roller assembly 3 is also proposed to better cooperate with the driving roller assembly 2 to improve the stability of the operation of this structure.

[0051] Specifically, the auxiliary roller assembly 3 includes a symmetrically arranged roller module 31 and a rotating shaft connecting bracket 32 ​​.

[0052] The two ends of the rotating shaft connecting bracket 32 ​​are fixedly connected to the bottom walls of the two roller modules 31. The axis of the rotating shaft connecting bracket 32 ​​is rotatably connected to the base plate 1 via a torsion spring. This allows the output ends of the two roller modules 31 to be in close contact with the outer wall of the slide rail when no external force is applied. In other words, by ensuring that the roller modules 31 are always in close contact with the outer wall of the slide rail, the guiding effect is effectively improved, further preventing slipping during movement.

[0053] In addition, the roller module 31 includes a connecting plate 311 and an auxiliary roller frame 312 .

[0054] The auxiliary roller frame 312 is fixedly installed on both sides of the outer wall of the connecting plate 311, and the auxiliary roller 313 is rotatably installed toward one side of the slide rail. Under the action of the torsion spring, the auxiliary roller 313 can rotate until it is in close contact with the outer wall of the slide rail.

[0055] Among them, the auxiliary roller frame 312 is set as a spring seat, so that the auxiliary roller 313 can move relative to the slide rail, so that when moving to different slide rail positions, the auxiliary roller 313 can use the torsion spring and the spring seat to adaptively compensate for the angle and distance, thereby fitting tightly to the slide rail and further improving the guiding effect.

[0056] In addition, the roller module 31 also includes a supporting roller 314 for providing support for the entire structure, that is, the support force between the supporting roller 314 and the slide rail is used to complete the support of this structure and prevent the structure from falling off when installed on the slide rail.

[0057] Specifically, the carrying roller 314 is rotatably mounted on the inner side of the connecting plate 311 and is in close contact with the outer wall of the outer slide rail, and its rotation direction is perpendicular to the rotation direction of the auxiliary roller frame 312 .

[0058] In other embodiments, the supporting roller 314 is connected to the connecting plate 311 by an elastic telescopic rod, and the elastic telescopic rod and the supporting roller 314 are movably connected by a universal ball (not shown in the figure), so that the supporting roller 314 can be adapted to pass through different positions of the slide rail, with greater adaptability.

[0059] The above embodiments are only used to illustrate the technical method of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A driving structure of a hanging rail inspection robot, characterized in that: It comprises a base plate (1), a driving roller assembly (2) and an auxiliary roller assembly (3); Two of the base plates (1) and two of the driving roller assemblies (2) are provided, and a mounting gap for mounting the driving roller assembly (2) is formed between the two base plates (1); The driving roller assembly (2) is symmetrically arranged and slidably mounted in the mounting gap, and is in close contact with the outer wall of the slide rail via an elastic member (4); The auxiliary roller assembly (3) is arranged on the base plate (1) and is capable of being pressed and fitted with the outer wall of the slide rail; Two fixed mounting seats (5) are provided on a side where the two base plates (1) are close to each other; the two fixed mounting seats (5) are fixedly connected by a shaft, and the shaft comprises a light rod (6) and a fixed rod (7), which are respectively used for moving and supporting the driving roller assembly (2), and the shaft slides through the side walls of the two driving roller assemblies (2), so that the two driving roller assemblies (2) can move relative to each other; The driving roller assembly (2) comprises a motor mounting seat (21), an output motor (22) and a driving wheel (23); sliders (211) matching the polished rod (6) are fixedly mounted on both side bottom walls of the motor mounting seat (21); the output motor (22) is placed inside the motor mounting seat (21), and the output end extends to the outside of the motor mounting seat (21) and is connected to the driving wheel (23); The auxiliary roller assembly (3) includes symmetrically arranged roller modules (31) and a rotating shaft connecting bracket (32); the two ends of the rotating shaft connecting bracket (32) are respectively fixedly connected to the bottom walls of the two roller modules (31), and the axis of the rotating shaft connecting bracket (32) is rotationally connected to the base plate (1) through a torsion spring, so that when the two roller modules (31) are not subjected to external force, the output end of the roller module (31) can be in close contact with the outer wall of the slide rail.

2. The driving structure of the overhead rail inspection robot according to claim 1, characterized in that: The elastic member (4) is sleeved on the outer wall of the fixing rod (7) and is connected to one of the driving roller assemblies (2), so that the two driving roller assemblies (2) can clamp and fit the outer wall of the slide rail.

3. The driving structure of the overhead rail inspection robot according to claim 1, characterized in that: The roller module (31) comprises a connecting plate (311) and an auxiliary roller frame (312); The auxiliary roller frame (312) is fixedly mounted on both sides of the outer wall of the connecting plate (311), and the auxiliary roller (313) is rotatably mounted toward one side of the slide rail. Under the action of the torsion spring, the auxiliary roller (313) can rotate until it is in close contact with the outer wall of the slide rail.

4. The driving structure of the overhead rail inspection robot according to claim 3, characterized in that: The auxiliary roller frame (312) is configured as a spring seat.

5. The driving structure of the overhead rail inspection robot according to claim 3, characterized in that: The roller module (31) further includes a bearing roller (314); The bearing roller (314) is rotatably mounted on the inner side of the connecting plate (311) and is in close contact with the outer wall of the outer slide rail, and its rotation direction is perpendicular to the rotation direction of the auxiliary roller frame (312).

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