Drive device

Abstract

The utility model provides a driving device. The driving device comprises a fixing structure and a driving structure, the driving assembly is fixed to the fixing structure, the driving assembly comprises a driving structure and a rolling structure, the rolling structure is used for abutting against the walking track, and the driving structure is in driving connection with the rolling structure; the first reset structure is arranged between the driving assembly and the fixing structure; the first limiting wheel set is fixed to the fixing structure, the first limiting wheel set is used for abutting against the walking track, and a first adjusting structure is arranged between the first limiting wheel set and the fixing structure; the second limiting wheel set is fixed to the fixing structure, the second limiting wheel set is used for abutting against the walking track, and the first limiting wheel set and the second limiting wheel set are matched to be used for clamping the walking track; the second reset structure is arranged between the second limiting wheel set and the fixing structure. Through the technical scheme provided by the invention, the problem that a driving device in the prior art is relatively poor in adaptability to a severe working environment can be solved.

Description

Technical Field

[0001] The utility model relates to the technical field of drive devices, in particular to a drive device. Background Art

[0002] Nowadays, inspection robots are widely used in harsh environments such as high dust and high humidity. However, this will make the walking tracks slippery and reduce the friction between the inspection robot and the walking tracks, which will cause the driving device of the inspection robot to slip easily when traveling on the walking tracks, thereby affecting the inspection work of the inspection robot. Utility Model Content

[0003] The utility model provides a driving device to solve the problem that the driving device in the prior art has poor adaptability to harsh working environments.

[0004] The cam is connected to the driving mechanism, and the cam is connected to the driving mechanism by the support structure and the control structure, and the cam is connected to the driving mechanism by the support structure.

[0005] Furthermore, the driving device includes two driving components, four first limiting wheel groups and two second limiting wheel groups, and the fixing structure includes: a fixed seat; two first connecting parts, the two first connecting parts are respectively located on both sides of the fixed seat, the first connecting part is swingably arranged on the fixed seat, the two first connecting parts are arranged in one-to-one correspondence with the two driving components, and the driving components are fixed on the corresponding first connecting parts; four second connecting parts, two of the second connecting parts are located on one side of the fixed seat, and the other two second connecting parts are located on the other side of the fixed seat, and the first connecting part is located between the two second connecting parts on the same side, the second connecting part is fixed on the fixed seat, the four second connecting parts are arranged in one-to-one correspondence with the four first limiting wheel groups, and the first limiting wheel group is fixed on the corresponding second connecting parts; two third connecting parts, the two third connecting parts are respectively located at both ends of the fixed seat, the third connecting part is swingably arranged on the fixed seat, the two third connecting parts are arranged in one-to-one correspondence with the two second limiting wheel groups, and the second limiting wheel group is fixed on the corresponding second connecting parts.

[0006] Furthermore, the fixed seat includes a main body, two first fixed shafts and two second fixed shafts, the two first fixed shafts are respectively located on both sides of the main body, the first fixed shaft extends along the extension direction of the main body, the two second fixed shafts are respectively located at both ends of the body, and there is an angle between the first fixed shaft and the second fixed shaft, the two first fixed shafts are arranged in one-to-one correspondence with the two first connecting parts, the first connecting part is swingably arranged on the corresponding first fixed shafts, the two second fixed shafts are arranged in one-to-one correspondence with the two third connecting parts, and the third connecting part is swingably arranged on the corresponding second fixed shafts; the first reset structure includes a first torsion spring, the first torsion spring is sleeved on the first fixed shaft, one end of the first torsion spring abuts against the main body, and the other end of the first torsion spring abuts against the first connecting part; the second reset structure includes a second torsion spring, the second torsion spring is sleeved on the second fixed shaft, one end of the second torsion spring abuts against the main body, and the other end of the first torsion spring abuts against the third connecting part.

[0007] Furthermore, a first adjustment hole is provided on the second connecting part, and the first limiting wheel group includes: a fixing frame, a connecting hole is provided on the fixing frame, the connecting hole and the first adjustment hole are connected by a locking piece, and the connecting hole, the first adjustment hole and the locking piece cooperate to form a first adjustment structure; a first wheel body, which is rotatably provided on the fixing frame, and when the fixing frame moves along the extension direction of the first adjustment hole, the first wheel body can approach or move away from the walking track.

[0008] Furthermore, the second position-limiting wheel group includes a bracket and a second wheel body, the second wheel body is rotatably arranged on the bracket, and the bracket is rotatably arranged on the corresponding third connecting portion for changing the angle between the second wheel body and the walking track.

[0009] Furthermore, the second limiting wheel group also includes a transmission shaft, which is passed through the bracket, and the second wheel body is sleeved on the outside of the transmission shaft, and the second wheel body is fixedly connected to the transmission shaft so that the transmission shaft and the second wheel body rotate synchronously. The driving device also includes: a speed measuring wheel group, which is fixedly connected to the transmission shaft to calculate the rotational speed of the second wheel body.

[0010] Furthermore, the speed measuring wheel assembly includes: a speed measuring magnet, fixed on the end of the transmission shaft; a shell, fixed on the bracket, and the cover is arranged on the outside of the speed measuring magnet, and the shell has a connecting port; a speed measuring control board, located in the shell, and the speed measuring control board is fixed on the shell, and the speed measuring control board is arranged opposite to the speed measuring magnet; a cable, one end of the cable is electrically connected to the speed measuring control board through the connecting port.

[0011] Furthermore, the driving device also includes: a commutation sensor fixed on a fixed structure; two magnet assemblies, the magnet assemblies are used to be fixed on the walking track, the two magnet assemblies are respectively located on both sides of the fixed structure, and the position of the magnet assemblies relative to the walking track is adjustable, and the magnet assemblies cooperate with the commutation sensor to control the moving direction of the driving assembly.

[0012] Furthermore, the driving device also includes: a positioning sensor, fixed on the fixed structure; a positioning component, the positioning component is used to be fixed on the walking track, and the positioning component is arranged at one end of the fixed structure to fix the positioning sensor, and the positioning sensor cooperates with the positioning component to determine the position of the driving component.

[0013] Furthermore, the rolling structure includes: a connecting sleeve, a driving structure is drivably connected to the connecting sleeve, and the driving structure can drive the connecting sleeve to rotate; a roller, which is sleeved on the outside of the connecting sleeve, and a first groove is provided on the roller, and the first groove is used to abut against the walking track, and the first groove is adapted to the structure of the walking track.

[0014] By applying the technical solution of the present invention, the drive assembly can drive the fixed structure to move along the extension direction of the walking track. Since the first limiting wheel group and the second limiting wheel group are fixed to the fixed structure, the drive assembly can drive the first limiting wheel group and the second limiting wheel group to move along the extension direction of the walking track, thereby driving the movement of the main body of the inspection robot. Through the coordinated use of the first limiting wheel group and the second limiting wheel group, the walking track can be effectively clamped to prevent the drive device from skidding or derailing during travel, thereby improving the stability and reliability of the drive device in complex environments. The presence of the first adjustment structure allows the position of the first limiting wheel group relative to the walking track to be adjusted. This adjustability helps the drive device adapt to walking tracks of different diameters or shapes. The first reset structure and the second reset structure can automatically drive the drive assembly and the second limiting wheel group to move in the direction close to the walking track when the drive device deviates from the walking track, thereby achieving rapid reset of the drive assembly and the second limiting wheel group, reducing manual intervention by staff and improving the continuity and efficiency of inspection operations. In addition, the first reset structure, the first adjustment structure and the second reset structure can respectively effectively ensure the tightness of the abutment between the driving component, the first limiting wheel group and the second limiting wheel group and the walking track, thereby ensuring that the driving component moves normally along the walking track, and at the same time can ensure the firmness of the first limiting wheel group and the second limiting wheel group in clamping the walking track, thereby preventing the driving device from falling from the walking track, thereby preventing the driving device from slipping when traveling on the walking track, improving the adaptability of the driving device to harsh working environments such as high dust and high humidity, thereby ensuring the reliable operation of the inspection robot throughout its life cycle. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting part of this application are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0016] Figure 1 It shows a schematic structural diagram of the driving device provided by the utility model in cooperation with the walking track;

[0017] Figure 2 Shown Figure 1 A partial enlarged view of point A in the middle;

[0018] Figure 3 Shows a structural schematic diagram of the fixing structure provided by the utility model;

[0019] Figure 4 A structural schematic diagram showing another perspective of the fixing structure provided by the present invention;

[0020] Figure 5 Shows a schematic structural diagram of the driving device provided by the utility model;

[0021] Figure 6 Shows a front view of the driving device provided by the utility model;

[0022] Figure 7 A schematic diagram showing the structure of the second position-limiting wheel assembly and the speed-measuring wheel assembly provided by the present invention;

[0023] Figure 8 A schematic diagram showing the structure of the second limiting wheel set and the third connecting portion provided by the present invention;

[0024] Figure 9 Shows a schematic structural diagram of the drive assembly provided by the utility model;

[0025] Figure 10 The figure shows a structural diagram of the commutation sensor provided by the present utility model.

[0026] The above drawings include the following reference numerals:

[0027] 10. Fixed structure;

[0028] 11. Fixed seat; 111. Main body; 112. First fixed shaft; 113. Second fixed shaft;

[0029] 12. a first connecting portion;

[0030] 13. Second connecting portion; 131. First adjusting hole;

[0031] 14. Third connecting portion;

[0032] 141, rotating hole;

[0033] 20. Drive assembly;

[0034] 21. Drive structure;

[0035] 211, driving motor; 212, speed reducer;

[0036] 22. Rolling structure;

[0037] 221, connecting sleeve;

[0038] 222, roller; 2221, first groove;

[0039] 223. First bearing; 224. Second bearing; 225. Bearing sleeve; 226. Washer; 227. Locknut; 31. First torsion spring; 32. Second torsion spring;

[0040] 40. First limiting wheel set;

[0041] 41. Fixing frame; 411. Connection hole;

[0042] 42. The first wheel body;

[0043] 50. Second limiting wheel set;

[0044] 51. Bracket;

[0045] 52. Second wheel body; 521. Second groove;

[0046] 53. Drive shaft;

[0047] 54. Third bearing; 55. Flat washer; 56. Fixing screw;

[0048] 60. Speed ​​measuring wheel set;

[0049] 61. Speed ​​measuring magnet; 62. Housing; 63. Speed ​​measuring control board; 64. Cable;

[0050] 71. Commutation sensor;

[0051] 711. Housing; 712. Magnetic switch;

[0052] 72. Magnet assembly;

[0053] 721. Commutation magnet; 722. First connecting frame;

[0054] 73. First frame; 74. Second frame;

[0055] 81. Positioning sensor;

[0056] 82. Positioning component;

[0057] 821. Positioning card; 822. Second connecting frame;

[0058] 83. The third frame; 84. The fourth frame;

[0059] 91. Locking piece;

[0060] 100. Walking track. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. 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.

[0062] like Figures 1 to 6 As shown, an embodiment of the present invention provides a drive device, which includes a fixed structure 10, a drive assembly 20, a first reset structure, a first limiting wheel group 40, a second limiting wheel group 50, and a second reset structure. The drive assembly 20 is fixed to the fixed structure 10, and the drive assembly 20 includes a drive structure 21 and a rolling structure 22. The rolling structure 22 is used to abut against the running track 100. The drive structure 21 is driven and connected to the rolling structure 22 to drive the rolling structure 22 to move along the extension direction of the running track 100. The drive structure 21 drives the fixed structure 10 to move through the rolling structure 22. The first reset structure is arranged between the drive assembly 20 and the fixed structure 10, and the first reset structure is used to drive the drive assembly 20 to move in a direction close to the running track 100. The first limiting wheel group 40 is fixed to the fixed structure 10, and the first limiting wheel group 40 is used to abut against the running track 100. A first adjustment structure is provided between the first limiting wheel group 40 and the fixed structure 10, and the first adjustment structure is used to adjust the position of the first limiting wheel group 40 relative to the running track 100. The second limiting wheel set 50 is fixed to the fixed structure 10 and is used to abut the travel track 100. The first limiting wheel set 40 and the second limiting wheel set 50 cooperate to clamp the travel track 100. A second reset structure is provided between the second limiting wheel set 50 and the fixed structure 10 and is used to drive the second limiting wheel set 50 toward the travel track 100. During use of the drive device, the main body 111 of the inspection robot is fixed to the drive device.

[0063] By applying the technical solution of the present application, the drive assembly 20 can drive the fixed structure 10 to move along the extension direction of the walking track 100. Since the first limiting wheel group 40 and the second limiting wheel group 50 are fixed on the fixed structure 10, the drive assembly 20 can drive the first limiting wheel group 40 and the second limiting wheel group 50 to move along the extension direction of the walking track 100, and thus can drive the movement of the main body 111 of the inspection robot. By using the first limiting wheel group 40 and the second limiting wheel group 50 in coordination, the walking track 100 can be effectively clamped to prevent the drive device from skidding or derailing during driving, thereby improving the stability and reliability of the drive device in complex environments. The presence of the first adjustment structure allows the position of the first limiting wheel group 40 relative to the walking track 100 to be adjusted. This adjustability helps the drive device adapt to walking tracks 100 of different diameters or shapes. The first reset structure and the second reset structure can automatically drive the drive assembly 20 and the second limiting wheel set 50 to move closer to the walking track 100 when the drive device deviates from the walking track 100, thereby achieving a rapid reset of the drive assembly 20 and the second limiting wheel set 50, reducing manual intervention by staff and improving the continuity and efficiency of the inspection operation. In addition, the first reset structure, the first adjustment structure, and the second reset structure can respectively effectively ensure the tight contact between the drive assembly 20, the first limiting wheel set 40, and the second limiting wheel set 50 and the walking track 100, thereby ensuring that the drive assembly 20 moves normally along the walking track 100, and at the same time ensure that the first limiting wheel set 40 and the second limiting wheel set 50 cooperate to clamp the walking track 100 firmly, thereby preventing the drive device from falling off the walking track 100, thereby preventing the drive device from slipping when traveling on the walking track 100, improving the adaptability of the drive device to harsh working environments such as high dust and high humidity, thereby ensuring the reliable operation of the inspection robot throughout its life cycle.

[0064] Furthermore, since a driving device is used to drive the inspection robot to move, the workers are prevented from being exposed to a dangerous working environment. Therefore, the use of the driving device makes the inspection robot suitable for dangerous working environments such as those prone to corrosion and explosion.

[0065] Optionally, the running track 100 is preferably a round tube, or a steel wire rope.

[0066] like Figures 3 to 6 As shown, the driving device includes two driving assemblies 20 , four first limiting wheel sets 40 and two second limiting wheel sets 50 .

[0067] The fixing structure 10 includes a fixing seat 11 , two first connecting portions 12 , four second connecting portions 13 and two third connecting portions 14 .

[0068] The two first connection parts 12 are respectively located on both sides of the fixing base 11 . The first connection parts 12 are swingably arranged on the fixing base 11 . The two first connection parts 12 are arranged in a one-to-one correspondence with the two driving components 20 . The driving components 20 are fixed on the corresponding first connection parts 12 .

[0069] Specifically, in the present application, the first connecting portion 12 is a clamp structure, which is configured to facilitate fixing of the drive assembly 20 while ensuring the stability of fixing the drive assembly 20 .

[0070] Furthermore, the two drive assemblies 20 are respectively arranged on both sides of the fixed structure 10 , which can distribute the driving power more evenly, avoid the deviation or wear that may be caused by unilateral driving, and ensure the smooth operation of the driving device on the walking track 100 .

[0071] In this application, the angle between the axes of the two drive assemblies 20 is set to 60°.

[0072] Two of the second connection parts 13 are located on one side of the fixed base 11, and the other two second connection parts 13 are located on the other side of the fixed base 11, and the first connection part 12 is located between the two second connection parts 13 on the same side, and the second connection parts 13 are fixed on the fixed base 11. The four second connection parts 13 are arranged in a one-to-one correspondence with the four first limiting wheel groups 40, and the first limiting wheel groups 40 are fixed on the corresponding second connection parts 13.

[0073] The two third connecting parts 14 are respectively located at both ends of the fixing base 11. The third connecting parts 14 are swingably set on the fixing base 11. The two third connecting parts 14 are set in a one-to-one correspondence with the two second limiting wheel groups 50. The second limiting wheel groups 50 are fixed on the corresponding second connecting parts 13.

[0074] In this way, through the arrangement of four first limiting wheel groups 40 and two second limiting wheel groups 50, the lateral displacement of the driving device on the walking track 100 can be effectively limited, ensuring that the inspection robot can remain stable when running at high speed or encountering external interference such as wind and vibration, avoiding derailment of the driving device and improving safety performance.

[0075] In addition, the swingable design of the first connecting part 12 and the third connecting part 14 enables the drive assembly 20 and the second limiting wheel group 50 to self-adjust according to the slight bending and undulations of the walking track 100, thereby maintaining good contact and operation even on uneven walking track 100, thereby enhancing the adaptability of the drive device to different walking track 100 conditions.

[0076] Specifically, the fixing base 11 includes a body 111 , two first fixing shafts 112 and two second fixing shafts 113 .

[0077] The two first fixed shafts 112 are respectively located on both sides of the main body 111, and the first fixed shafts 112 extend along the extension direction of the main body 111. The two second fixed shafts 113 are respectively located at both ends of the main body 111. There is an angle between the first fixed shaft 112 and the second fixed shaft 113. The two first fixed shafts 112 are arranged in a one-to-one correspondence with the two first connecting parts 12, and the first connecting parts 12 can be swingably arranged on the corresponding first fixed shafts 112. The two second fixed shafts 113 are arranged in a one-to-one correspondence with the two third connecting parts 14, and the third connecting parts 14 can be swingably arranged on the corresponding second fixed shafts 113.

[0078] The first reset structure includes a first torsion spring 31 . The first torsion spring 31 is sleeved on the first fixed shaft 112 . One end of the first torsion spring 31 abuts against the body 111 , and the other end of the first torsion spring 31 abuts against the first connecting portion 12 .

[0079] The second reset structure includes a second torsion spring 32 . The second torsion spring 32 is sleeved on the second fixed shaft 113 . One end of the second torsion spring 32 abuts against the body 111 , and the other end of the first torsion spring 31 abuts against the third connecting portion 14 .

[0080] With such an arrangement, the first torsion spring 31 and the second torsion spring 32 can automatically restore the drive assembly 20 and the second limiting wheel assembly 50 to their initial positions respectively after the external force disappears, thereby ensuring the stability of the fixing seat 11, reducing the displacement caused by vibration or external force, and ensuring the reliable operation of the fixing seat 11 and its connected equipment.

[0081] At the same time, the above structure is adopted to facilitate the assembly of the first reset structure and the second reset structure, and can ensure the reset effect of the first reset structure and the second reset structure at the same time, with a simple structure and easy operation.

[0082] like Figure 8 As shown, a rotation hole 141 is provided at the end of the third connecting portion 14 , and the rotation hole 141 is rotatably sleeved on the second fixed shaft 113 .

[0083] like Figure 2 As shown, a first adjustment hole 131 is provided on the second connection portion 13 , and the first position-limiting wheel assembly 40 includes a fixing frame 41 and a first wheel body 42 .

[0084] The fixing frame 41 is provided with a connecting hole 411 , which is connected to the first adjustment hole 131 via a locking member 91 . The connecting hole 411 , the first adjustment hole 131 and the locking member 91 cooperate to form a first adjustment structure.

[0085] The first wheel body 42 is rotatably disposed on the fixing frame 41 . When the fixing frame 41 moves along the extending direction of the first adjustment hole 131 , the first wheel body 42 can move closer to or farther away from the travel track 100 .

[0086] Thus, the first adjustment structure allows the first wheel body 42 to move along the extension direction of the first adjustment hole 131, thereby achieving fine adjustment of the distance between the first wheel body 42 and the running track 100. This adjustment capability ensures that the first wheel body 42 can accurately adapt to the running track 100 and maintain good contact and positioning even in the event of minor irregularities or wear on the running track 100.

[0087] The first adjustment structure allows the drive device to adapt to different sizes or shapes of running tracks 100, increasing its flexibility and applicability in different working environments. This design enables the drive device to operate stably on various types of running tracks 100 without the need to frequently replace or adjust the first limiting wheel assembly 40.

[0088] The use of the first adjustment hole 131 and the locking member 91 simplifies maintenance. Workers can easily adjust the position of the first limiting wheel assembly 40 without disassembling the entire drive unit, reducing maintenance costs and time while also minimizing potential malfunctions caused by improper adjustment. Furthermore, machining of the first limiting wheel assembly 40 and the second connecting portion 13 is facilitated, resulting in a simple structure and easy operation.

[0089] like Figure 7 and Figure 8 As shown, the second limiting wheel group 50 includes a bracket 51 and a second wheel body 52. ​​The second wheel body 52 is rotatably set on the bracket 51, and the bracket 51 is rotatably set on the corresponding third connecting part 14 to change the angle between the second wheel body 52 and the walking track 100.

[0090] This arrangement allows the drive unit to adjust the angle between the second wheel 52 and the track 100, allowing it to adapt to tracks 100 with varying curvatures and inclinations, enhancing its ability to navigate complex terrain. This design allows the second wheel 52 to automatically adjust its angle when the track 100 curves or navigates up and down slopes, ensuring stable contact with the track 100 and improving its adaptability and flexibility.

[0091] Moreover, in the present application, a second groove 521 is provided on the second wheel body 52, and the second groove 521 abuts against the walking track 100. The second groove 521 is adapted to the structure of the walking track 100. Such a setting can ensure the tightness of the cooperation between the second wheel body 52 and the walking track 100.

[0092] Furthermore, the second limiting wheel assembly 50 further includes a transmission shaft 53, which is disposed on the bracket 51. The second wheel body 52 is sleeved on the outside of the transmission shaft 53, and the second wheel body 52 is fixedly connected to the transmission shaft 53 so that the transmission shaft 53 and the second wheel body 52 rotate synchronously. The driving device also includes a tachometer wheel assembly 60, which is fixedly connected to the transmission shaft 53 to calculate the rotational speed of the second wheel body 52.

[0093] With this arrangement, by combining the speed-measuring wheel assembly 60 with the drive shaft 53, the rotational speed of the second wheel 52 can be monitored in real time, thereby calculating the actual movement speed of the inspection robot. This precise speed measurement is crucial for controlling the movement speed of the inspection robot and ensuring its stable operation on the travel track 100, especially in applications requiring precise positioning or speed regulation.

[0094] In this application, the second wheel body 52 is connected to the transmission shaft 53 through a keyway structure.

[0095] Specifically, in the present application, a fixing hole is provided at the end of the third connecting part 14, a connecting part is provided on the bracket 51, a fastening hole is provided on the connecting part, the fixing hole is sleeved on the connecting part, and a third bearing 54 is provided between the fixing hole and the connecting part, the fixing screw 56 is threadedly connected to the fastening hole, and a flat washer 55 is provided between the fixing screw 56 and the third bearing 54 to achieve the fixation of the third bearing 54 and complete the connection between the third connecting part 14 and the bracket 51 at the same time.

[0096] like Figure 7 As shown, the speed measuring wheel assembly 60 includes a speed measuring magnet 61 , a housing 62 , a speed measuring control board 63 and a cable 64 .

[0097] The speed measuring magnet 61 is fixed to the end of the transmission shaft 53 .

[0098] The housing 62 is fixed on the bracket 51 and covers the outer side of the speed measuring magnet 61 . The housing 62 has a communication port.

[0099] The speed control board 63 is located in the housing 62 and is fixed on the housing 62 . The speed control board 63 is arranged opposite to the speed magnet 61 .

[0100] One end of the cable 64 is electrically connected to the speed control board 63 through the communication port.

[0101] With this arrangement, the speed-measuring magnet 61 is fixed to the end of the transmission shaft 53 and rotates with the transmission shaft 53. The relative motion with the speed-measuring control board 63 generates a changing magnetic field, enabling the speed-measuring control board 63 to accurately detect the rotational speed and direction of the transmission shaft 53. This non-contact detection method avoids mechanical wear and improves the accuracy and stability of speed measurement.

[0102] At the same time, the shell 62 is covered on the outside of the speed measuring magnet 61, and the cable 64 is electrically connected to the speed measuring control board 63 through the connecting port, which not only protects the internal speed measuring magnet 61 and the speed measuring control board 63 from the influence of the external environment such as dust, liquid, and corrosive gas, but also isolates electromagnetic interference, ensuring the accuracy of the speed measuring data and the reliability of the speed measuring system.

[0103] The speed measuring magnet 61 is embedded in the groove at the shaft end of the transmission shaft 53 , and the speed measuring magnet 61 is preferably a radial magnet.

[0104] like Figure 1 As shown, the driving device further includes a commutation sensor 71 and two magnet assemblies 72 .

[0105] The reversing sensor 71 is fixed to the fixed structure 10 .

[0106] The magnet assembly 72 is used to be fixed on the walking track 100. The two magnet assemblies 72 are respectively located on both sides of the fixed structure 10, and the position of the magnet assembly 72 relative to the walking track 100 is adjustable. The magnet assembly 72 cooperates with the reversing sensor 71 to control the moving direction of the drive assembly 20.

[0107] With this arrangement, the commutation sensor 71 can detect the magnetic field changes of the magnet assembly 72, thereby accurately controlling the movement direction of the drive assembly 20. This non-contact detection method makes the steering control more sensitive and accurate, and can achieve automatic direction switching without physical contact.

[0108] Furthermore, the adjustability of the magnet assembly 72 means that the magnetic field strength and position can be adjusted based on the characteristics of the track 100, such as its location and material, to ensure the effective operation of the commutation sensor 71. This is particularly important for inspection robots operating in complex and changing working conditions, improving their adaptability and reliability in different environments.

[0109] In the present application, the reversing sensor 71 is fixed on the first frame 73 , and the first frame 73 is detachably connected to the fixing frame 41 .

[0110] Furthermore, in the present application, the driving device includes two commutation sensors 71 , which are respectively located on both sides of the fixed structure 10 , and the two magnet assemblies 72 are arranged in a back-to-back manner. Such an arrangement can further ensure the accuracy of the detection of the commutation sensor 71 .

[0111] In this application, the magnet assembly 72 includes a commutation magnet 721 and a first connecting frame 722. The commutation magnet 721 is fixed on the first connecting frame 722. A second adjustment hole is provided on the first connecting frame 722. A second frame 74 is provided on the walking track 100. The first connecting frame 722 is adjustably arranged on the second frame 74 through the second adjustment hole.

[0112] like Figure 10 As shown, the commutation sensor 71 is composed of a housing 711 and a magnetic switch 712. The magnetic switch 712 is composed of two normally open reed switches and is installed parallel to the commutation magnet 721 of the magnet assembly 72. When the commutation sensor 71 moves to a distance less than or equal to 50 mm from the magnet assembly 72, the reed switch in the magnetic switch 712 changes from a normally open point to a normally closed point, and the signal is triggered.

[0113] Specifically, the housing 711 is made of non-metallic material.

[0114] like Figure 1 As shown, the driving device further includes a positioning sensor 81 and a positioning component 82.

[0115] The positioning sensor 81 is fixed on the fixed structure 10 .

[0116] The positioning assembly 82 is used to be fixed on the travel track 100 , and the positioning assembly 82 is arranged at one end of the fixed structure 10 to fix the positioning sensor 81 . The positioning sensor 81 cooperates with the positioning assembly 82 to determine the position of the driving assembly 20 .

[0117] With this arrangement, the positioning sensor 81, in conjunction with the positioning assembly 82 fixed to the travel track 100, can monitor and determine the specific position of the drive assembly 20 on the travel track 100 in real time, thereby achieving precise control of the inspection robot's movement. This is crucial for accurate navigation and positioning over long distances on the travel track 100 or between multiple workstations.

[0118] In the present application, the positioning sensor 81 is fixed on the third frame 83 , and the third frame 83 is detachably connected to the fixing frame 41 .

[0119] Among them, in the present application, the positioning assembly 82 includes a positioning card 821 and a second connecting frame 822, the positioning card 821 is fixed on the second connecting frame 822, the second connecting frame 822 is provided with a third adjustment hole, and a fourth frame 84 is provided on the walking track 100, and the second connecting frame 822 is adjustably set on the fourth frame 84 through the third adjustment hole.

[0120] Furthermore, in the present application, the positioning card 821 is arranged parallel to the positioning sensor 81, and the positioning card 821 triggers the positioning sensor 81 in a contactless manner. The positioning sensor 81 is an RFID card reader, which is installed parallel to the positioning card 821. When the positioning sensor 81 moves to a distance of less than or equal to 100 mm from the positioning component 82, the positioning sensor 81 detects the information of the positioning card 821.

[0121] The reversing sensor 71 and the positioning sensor 81 are respectively located at two ends of the fixed structure 10 .

[0122] like Figure 9 As shown, the rolling structure 22 includes a connecting sleeve 221 and a roller 222 .

[0123] The driving structure 21 is drivingly connected to the connecting sleeve 221 , and the driving structure 21 can drive the connecting sleeve 221 to rotate.

[0124] The roller 222 is sleeved on the outside of the connecting sleeve 221 . The roller 222 is provided with a first groove 2221 . The first groove 2221 is used to abut against the running track 100 . The first groove 2221 is adapted to the structure of the running track 100 .

[0125] With this arrangement, the roller 222 is sleeved on the outside of the connecting sleeve 221. The connecting sleeve 221 is driven to rotate by the driving structure 21, thereby driving the roller 222 to move along the running track 100. The contact between the roller 222 and the running track 100 is achieved through the first groove 2221. The design of the first groove 2221 ensures that the roller 222 fits tightly with the running track 100, reducing lateral slippage during rolling and improving the driving efficiency and stability of the drive device.

[0126] Specifically, in the present application, the driving structure 21 includes a driving motor 211 and a reducer 212 . The rolling structure 22 also includes a first bearing 223 , a second bearing 224 , a bearing sleeve 225 , a washer 226 and a locking nut 227 .

[0127] The drive motor 211 and the reducer 212 are combined into an integrated structure, forming a reduction motor. A first bearing 223 is mounted on the output shaft of the reducer 212, along with a washer 226. A bearing sleeve 225 is mounted on the outer ring of the first bearing 223, which is positioned and fixed to the end stop of the reducer 212. A second bearing 224 is mounted within the connecting sleeve 221, the outer ring of which is bonded to the roller 222. The connecting sleeve 221 and the second bearing 224 are sleeved onto the output shaft of the reducer 212, with the second bearing 224 in contact with the bearing sleeve 225 and secured by a locknut 227.

[0128] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0129] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0130] In the description of the present invention, it needs to be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0131] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0132] In addition, it should be noted that the use of words such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above words have no special meaning and therefore cannot be understood as limiting the scope of protection of this utility model.

[0133] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A driving device, characterized in that: The driving device comprises: Fixed structure (10); A drive assembly (20) is fixed on the fixed structure (10), the drive assembly (20) comprising a drive structure (21) and a rolling structure (22), the rolling structure (22) being used to abut against the travel track (100), the drive structure (21) being drivingly connected to the rolling structure (22) to drive the rolling structure (22) to move along the extension direction of the travel track (100), and the drive structure (21) drives the fixed structure (10) to move via the rolling structure (22); a first reset structure, disposed between the driving assembly (20) and the fixed structure (10), the first reset structure being used to drive the driving assembly (20) to move in a direction close to the walking track (100); A first limiting wheel set (40) is fixed on the fixed structure (10), the first limiting wheel set (40) is used to abut against the walking track (100), and a first adjustment structure is provided between the first limiting wheel set (40) and the fixed structure (10), the first adjustment structure is used to adjust the position of the first limiting wheel set (40) relative to the walking track (100); A second limiting wheel set (50) is fixed on the fixed structure (10), the second limiting wheel set (50) is used to abut against the walking track (100), and the first limiting wheel set (40) and the second limiting wheel set (50) cooperate to clamp the walking track (100); The second reset structure is arranged between the second limiting wheel set (50) and the fixed structure (10), and the second reset structure is used to drive the second limiting wheel set (50) to move in a direction close to the walking track (100).

2. The driving device according to claim 1, characterized in that The driving device comprises two driving assemblies (20), four first position-limiting wheel assemblies (40) and two second position-limiting wheel assemblies (50), and the fixing structure (10) comprises: Fixed seat (11); Two first connecting parts (12), the two first connecting parts (12) are respectively located on both sides of the fixing seat (11), the first connecting parts (12) are swingably arranged on the fixing seat (11), the two first connecting parts (12) are arranged in a one-to-one correspondence with the two driving assemblies (20), and the driving assemblies (20) are fixed on the corresponding first connecting parts (12); Four second connecting parts (13), wherein two of the second connecting parts (13) are located on one side of the fixing seat (11), and the other two of the second connecting parts (13) are located on the other side of the fixing seat (11), and the first connecting part (12) is located between the two second connecting parts (13) on the same side, the second connecting part (13) is fixed on the fixing seat (11), the four second connecting parts (13) are arranged in a one-to-one correspondence with the four first limiting wheel groups (40), and the first limiting wheel groups (40) are fixed on the corresponding second connecting parts (13); Two third connecting parts (14), the two third connecting parts (14) are respectively located at two ends of the fixing seat (11), the third connecting parts (14) are swingably arranged on the fixing seat (11), the two third connecting parts (14) are arranged in a one-to-one correspondence with the two second limiting wheel groups (50), and the second limiting wheel groups (50) are fixed on the corresponding second connecting parts (13).

3. The driving device according to claim 2, characterized in that The fixing seat (11) comprises a body (111), two first fixing shafts (112) and two second fixing shafts (113), the two first fixing shafts (112) are respectively located on both sides of the body (111), the first fixing shaft (112) extends along the extension direction of the body (111), the two second fixing shafts (113) are respectively located at both ends of the body (111), an angle is formed between the first fixing shaft (112) and the second fixing shaft (113), the two first fixing shafts (112) are arranged in a one-to-one correspondence with the two first connecting parts (12), the first connecting part (12) is swingably arranged on the corresponding first fixing shaft (112), the two second fixing shafts (113) are arranged in a one-to-one correspondence with the two third connecting parts (14), and the third connecting part (14) is swingably arranged on the corresponding second fixing shaft (113); The first reset structure includes a first torsion spring (31), the first torsion spring (31) is sleeved on the first fixed shaft (112), one end of the first torsion spring (31) abuts against the body (111), and the other end of the first torsion spring (31) abuts against the first connecting portion (12); The second reset structure includes a second torsion spring (32), which is sleeved on the second fixed shaft (113), one end of the second torsion spring (32) abuts against the body (111), and the other end of the first torsion spring (31) abuts against the third connecting portion (14).

4. The driving device according to claim 2, characterized in that The second connecting portion (13) is provided with a first adjustment hole (131), and the first limiting wheel assembly (40) comprises: A fixing frame (41), wherein a connecting hole (411) is provided on the fixing frame (41), wherein the connecting hole (411) and the first adjusting hole (131) are connected via a locking member (91), and the connecting hole (411), the first adjusting hole (131) and the locking member (91) cooperate to form the first adjusting structure; The first wheel body (42) is rotatably arranged on the fixing frame (41). When the fixing frame (41) moves along the extending direction of the first adjustment hole (131), the first wheel body (42) can approach or move away from the walking track (100).

5. The driving device according to claim 2, characterized in that The second limiting wheel assembly (50) comprises a bracket (51) and a second wheel body (52), wherein the second wheel body (52) is rotatably arranged on the bracket (51), and the bracket (51) is rotatably arranged on the corresponding third connecting portion (14) for changing the angle between the second wheel body (52) and the walking track (100).

6. The driving device according to claim 5, characterized in that The second limiting wheel assembly (50) further includes a transmission shaft (53), the transmission shaft (53) is passed through the bracket (51), the second wheel body (52) is sleeved on the outside of the transmission shaft (53), and the second wheel body (52) is fixedly connected to the transmission shaft (53) so that the transmission shaft (53) and the second wheel body (52) rotate synchronously. The driving device further includes: The speed measuring wheel assembly (60) is fixedly connected to the transmission shaft (53) to calculate the rotation speed of the second wheel body (52).

7. The driving device according to claim 6, characterized in that The speed measuring wheel set (60) comprises: A speed measuring magnet (61) is fixed to the end of the transmission shaft (53); A shell (62) is fixed on the bracket (51) and covers the outside of the speed measuring magnet (61), and the shell (62) has a communication port; A speed control board (63) is located in the housing (62), and the speed control board (63) is fixed on the housing (62), and the speed control board (63) is arranged opposite to the speed measuring magnet (61); A cable (64), one end of the cable (64) is electrically connected to the speed control board (63) through the communication port.

8. The driving device according to claim 1, characterized in that The driving device further comprises: a reversing sensor (71) fixed on the fixed structure (10); Two magnet assemblies (72), the magnet assemblies (72) are used to be fixed on the walking track (100), the two magnet assemblies (72) are respectively located on both sides of the fixed structure (10), and the position of the magnet assemblies (72) relative to the walking track (100) is adjustable, and the magnet assemblies (72) cooperate with the reversing sensor (71) to control the moving direction of the driving assembly (20).

9. The driving device according to claim 1, characterized in that The driving device further comprises: a positioning sensor (81) fixed on the fixed structure (10); A positioning assembly (82) is used to be fixed on the walking track (100), and the positioning assembly (82) is arranged at one end of the fixed structure (10) to fix a positioning sensor (81), and the positioning sensor (81) cooperates with the positioning assembly (82) to determine the position of the driving assembly (20).

10. The driving device according to claim 1, characterized in that The rolling structure (22) comprises: A connecting sleeve (221), a driving structure (21) being drivingly connected to the connecting sleeve (221), and the driving structure (21) being capable of driving the connecting sleeve (221) to rotate; The roller (222) is sleeved on the outside of the connecting sleeve (221). The roller (222) is provided with a first groove (2221). The first groove (2221) is used to abut against the walking track (100). The first groove (2221) is adapted to the structure of the walking track (100).

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