Wheel set structure and walking mechanism

Abstract

The utility model belongs to the technical field of robots, and particularly discloses a wheel set structure which comprises double guide rails arranged in parallel and wheel sets symmetrically arranged on the two sides of the guide rails, each wheel set comprises a wheel set seat wheel train, a wheel set seat is installed on a robot body, the number of the wheel trains is two, and the wheel trains are symmetrically arranged on the two inner sides of the wheel set seat. The wheel train comprises a bearing wheel, a guide wheel and a clamping wheel; the bearing wheels abut against the inner wall of the guide rail bottom, the guide wheels abut against the outer side wall of the guide rail bottom, the clamping wheels abut against the inner wall of the guide rail side, the bearing wheels and the guide wheels prevent the robot body from being separated from the guide rail in the vertical direction, and the clamping wheels prevent the robot body from being separated from the guide rail in the horizontal direction. Therefore, the hanging rail inspection robot does not break away from the guide rail when turning and moving on a slope section, and the operation is relatively stable and reliable. The utility model further discloses a walking mechanism.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of robot, concretely relates to a wheel set structure and walking mechanism. BACKGROUND

[0002] In the places such as machine room, substation, mine plant, tunnel and chemical plant, because the space is limited and the environment is relatively special, when the staff enters the above-mentioned place to carry out inspection, many inconveniences will be caused, therefore the track-hung inspection robot is widely applied in the above-mentioned place.

[0003] The track-hung inspection robot usually moves along the specific track installed in the air, and completes the inspection operation content in the moving process. The track-hung inspection robot needs to be configured with a walking device, and the walking device cooperates with the track to realize the functions of walking driving, guiding and load bearing.

[0004] For example, the application publication number CN112572475A and the name of a suspension type tunnel inspection walking mechanism and system disclose a walking assembly including a motor, a gear set, a differential, and a wheel set. The wheel surface of the wheel set is an inner concave surface matched with a circular track. The wheel set includes a driving wheel, a driven wheel, a clamping wheel, and a guide wheel. The clamping wheel contacts the bottom of the suspension track. The clamping wheel cooperates with the driving wheel and the driven wheel to clamp the suspension track, so as to limit the relative position between the driving wheel, the driven wheel, and the suspension track. However, due to the space of the place, the track is not always straight, and it is often connected alternately by straight tracks and curved tracks, and needs to climb and descend slopes. For example, the wheel set only relies on the inner concave surface of the wheel surface matched with the circular track, which cannot completely ensure that the wheel set always adheres to the track, especially when the track-hung inspection robot turns along the track and climbs and descends the slope, the wheel set has the risk of separating from the guide rail. UTILITY MODEL CONTENTS

[0005] The utility model aims to provide a wheel set structure, so that the track-hung inspection robot does not have the risk of separating from the guide rail when turning and moving on the slope, and runs relatively stably and reliably.

[0006] The utility model is realized by the technical scheme, and specifically provides a wheel set structure, which includes double guide rails arranged in parallel and wheel sets symmetrically arranged on both sides of the guide rails. The wheel set includes:

[0007] A wheel set seat is installed on the robot body.

[0008] A wheel train is provided with two groups and is symmetrically arranged on the inner sides of the wheel set seat. The wheel train includes load bearing wheels, guide wheels, and clamping wheels. The load bearing wheels abut against the inner wall of the guide rail bottom, the guide wheels abut against the outer wall of the guide rail bottom, and the clamping wheels abut against the inner wall of the guide rail.

[0009] The load bearing wheels and the guide wheels prevent the wheel set from separating from the guide rail from the vertical direction, and the clamping wheels prevent the wheel set from separating from the guide rail from the horizontal direction.

[0010] Preferably, the wheel set seat comprises two groups of side plates, a bottom plate, a top seat and a mounting column; the top seat is mounted on the robot body and is provided with a stepped hole; the mounting column is mounted in the stepped hole, and the two groups of side plates are connected with the bottom plate, and the bottom plate is sleeved on the upper end of the mounting column.

[0011] Preferably, the upper end of the side plate is provided with a bending part bent towards the inner wall of the guide rail side.

[0012] Preferably, the inner wall of the side plate is provided with a lightening groove.

[0013] Preferably, the outer diameter of the load wheel is matched with the height of the inner wall of the guide rail side.

[0014] The wheel set structure of the utility model, the load wheel and the guide wheel and the clamping point of the guide rail are on the same straight line under the assistance of the wheel set seat, the load wheel and the guide wheel prevent the wheel set from being separated from the guide rail from the vertical direction, and the two groups of symmetrical clamping wheels prevent the wheel set from being separated from the guide rail from the horizontal direction. When the rail-mounted inspection robot moves at a bend and a slope section, the wheel set will not have the risk of being separated from the guide rail, and the operation is relatively stable and reliable.

[0015] Another object of the utility model is to provide a walking mechanism, so that the rail-mounted inspection robot can move stably and reliably on the guide rail.

[0016] Another object of the utility model is realized through the technical scheme, and specifically provides a walking mechanism, which comprises a wheel set structure, further comprises a driving wheel and a driving assembly for driving the driving wheel to move, and the driving wheel is closely attached to the guide rail.

[0017] Preferably, the driving assembly comprises a motor, a differential, a first wheel disc, a second wheel disc and a belt, the motor is drivingly connected with the driving wheel through the differential, the first wheel disc, the belt and the second wheel disc, and is used for driving the driving wheel to drive the robot body to move along the guide rail.

[0018] Preferably, the driving wheel is located between the wheel sets on the same side.

[0019] The walking mechanism drives the driving wheel through the driving assembly, and the driving wheel drives the wheel set to move stably and reliably on the guide rail. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the specific embodiment of the utility model, the drawings needed in the specific embodiment will be briefly introduced below. In all the drawings, the elements or parts are not necessarily drawn according to the actual proportion.

[0021] Figure 1 It is a structural schematic view of the wheel set structure of the utility model;

[0022] Figure 2 It is a schematic view of the wheel set and the driving assembly on the robot body.

[0023] Figure 3 schematic view of the robot body on the guide rail;

[0024] Figure 4 schematic view of the guide rail;

[0025] Figure 5 schematic view of the driving assembly;

[0026] Figure 6 schematic view of the top seat;

[0027] Figure 7 schematic view of the side plate.

[0028] Reference signs:

[0029] 1 - wheel set, 11 - wheel set seat, 111 - side plate, 112 - bottom plate, 113 - top seat, 114 - mounting column, 115 - step hole, 116 - mounting part, 117 - bending part, 118 - lightening groove, 12 - wheel train, 121 - load wheel, 122 - guide wheel, 123 - clamping wheel,

[0030] 2 - robot body, 21 - base plate, 211 - mounting groove,

[0031] 3 - guide rail, 31 - guide rail bottom inner wall, 32 - guide rail bottom outer side wall, 33 - guide rail side inner wall,

[0032] 4 - driving wheel, 41 - driving wheel shaft,

[0033] 5 - driving assembly, 51 - motor, 511 - fourth bevel gear, 52 - differential, 521 - first bevel gear, 522 - second bevel gear, 523 - differential shaft, 524 - differential output shaft, 53 - first wheel disc, 54 - second wheel disc, 55 - belt, 56 - differential housing. DETAILED DESCRIPTION

[0034] Please refer to Figures 1 to 4A wheel set structure, comprising parallel double guide rails and wheel sets 1 symmetrically arranged on both sides of the guide rails 3, the wheel set 1 comprising a wheel set seat 11 and a wheel train 12, the wheel set seat 11 being mounted on a robot body 2, the wheel train 12 being provided with two groups of wheel trains symmetrically arranged on both inner sides of the wheel set seat 11, the wheel train 12 comprising a load wheel 121, a guide wheel 122 and a clamping wheel 123; the load wheel 121 abutting against an inner bottom wall 31 of the guide rail, the guide wheel 122 abutting against an outer bottom wall 32 of the guide rail, and the clamping wheel 123 abutting against an inner side wall 33 of the guide rail; the load wheel 121 and the guide wheel 122 preventing the wheel set 1 from separating from the guide rail 3 from the vertical direction, and the clamping wheel 123 preventing the wheel set 1 from separating from the guide rail 3 from the horizontal direction. Specifically, the robot body 2 is suspended on the double guide rails, and the guide rail 3 is a I-shaped rail. Each guide rail 3 has the inner bottom wall 31, the outer bottom wall 32 and the inner side wall 33 arranged oppositely on both sides of the guide rail 3. Each guide rail 3 is provided with a plurality of wheel sets 1, the wheel set seat 11 is provided with a plurality of rotationally matched shaft holes and shafts, the load wheel 121, the guide wheel 122 and the clamping wheel 123 are mounted in the corresponding shafts and freely rotate around the corresponding shafts. Preferably, each group of wheel trains 12 is provided with two clamping wheels 123, one guide wheel 122 and one load wheel 121. The load wheel 121 is located between the two clamping wheels 123, and the shaft center of the load wheel 121 is perpendicular to the shaft center of the clamping wheel 123. The shaft centers of the guide wheel 122 and the load wheel 121 are parallel, and the load wheel 121 is directly above the guide wheel 122. Preferably, the robot body 2 is provided with one wheel set 1 at each corner, and each wheel set 1 is provided with two groups of wheel trains 11.

[0035] The wheel set structure of the utility model, when in use, the clamping points of the load wheel 121 and the guide wheel 122 and the guide rail 3 are on the same straight line, the two groups of clamping wheels 123 are symmetrical to the guide rail 3, therefore the load wheel 121 and the guide wheel 122 prevent the wheel set 1 from separating from the guide rail 3 from the vertical direction, the clamping wheel 123 prevents the wheel set 1 from separating from the guide rail 3 from the horizontal direction, and each wheel set 1 symmetrically arranged prevents the robot body 2 from separating from the guide rail 3 from the horizontal direction and the vertical direction. Since the double guide rails are used, the wheel sets 1 prevent the wheel set 1 from separating from the guide rail 3 from the horizontal direction, and the robot body 2 moves relatively stably and reliably when turning and on a slope.

[0036] Please refer to Figure 1 and Figure 6, further, the wheel group seat 11 comprises two groups of side plates 111, a bottom plate 112, a top seat 113 and a mounting column 114; the top seat 113 is mounted on the robot body 2 and is provided with a stepped hole 115, the mounting column 114 is mounted in the stepped hole 115, the two groups of side plates 111 are connected with the bottom plate 112, and the bottom plate 112 is sleeved and mounted on the upper end of the mounting column 114. Specifically, the top seat 113 is a circular tube, one end of which is provided with a mounting portion 116, the mounting portion 116 is provided with mounting holes at intervals along the circumference thereof, and the mounting portion 116 is mounted on the robot body 2 by bolts, the robot body 2 is provided with a base plate 21, the base plate 21 is provided with a mounting groove 211 matched with the top seat 113, and the end of the top seat 113 away from the mounting portion 116 penetrates through the mounting groove 211. The mounting column 114 is mounted in the stepped hole 115. The bottom plate 112 is mounted on the other end of the mounting column 114. Preferably, the mounting column 114 is in a cylindrical shape to reduce the weight. With this structure, the top seat 113 is mounted on the end of the base plate 21 away from the guide rail 3, and the mounting strength is increased. The mounting column 114 is coaxially mounted with the top seat 113, so as to ensure that the wheel group seat 11 is perpendicular to the robot body 2.

[0037] Please refer to Figure 1 , further, the upper end of the side plate 111 is provided with a bending portion 117 bent towards the inner wall 33 of the guide rail side. Specifically, the two side plates 111, the bending portion 117 and the bottom plate 112 are arranged around the outer side of the guide rail 3, which helps to prevent the wheel group seat 11 from being separated from the guide rail 3.

[0038] Please refer to Figure 7 , further, the inner wall of the side plate 111 is provided with a weight-reducing groove 118. The weight of the wheel group seat 11 is reduced while the strength of the wheel group seat 11 is ensured.

[0039] Further, the outer diameter of the load wheel 121 is matched with the height of the guide rail side inner wall 33. Since the load wheel 121 bears the weight of the robot body 2, the diameter and thickness of the load wheel 121 are as large as possible to increase the contact area of the load wheel 121 with the guide rail 3. Preferably, the outer diameter of the load wheel 121 is slightly smaller than the height of the guide rail side inner wall 33, so that the load wheel 121 can freely roll on the guide rail side inner wall 33.

[0040] Please refer to Fig. 2, a walking mechanism comprising a wheel group structure, further comprising a driving wheel 4 and a driving assembly 5 driving the driving wheel 4 to move, the driving wheel 4 being closely attached to the guide rail 3. Specifically, the driving assembly 5 drives the driving wheel 4 to move on the outer side wall 32 of the guide rail, thereby driving the robot body 2 and the wheel group 1

[0041] Please refer to Figure 5, further, the driving assembly 5 includes a motor 51, a differential 52, a first pulley 53, a second pulley 54, a belt 55 and a differential housing 56, the motor 51 is drivingly connected with the driving wheel 4 through the differential 52, the first pulley 53, the belt 55 and the second pulley 54, for driving the driving wheel 4 to drive the robot body 2 to move along the guide rail 3. Specifically, the differential 52 is installed in the differential housing 56, which protects the differential 52. The motor 51 and the differential 52 are installed inside the robot body 2, the differential 52 is connected with the output end of the motor 51, the differential 52 includes four first bevel gears 521, a second bevel gear 522, a differential shaft 523 and a differential output shaft 524. The output end of the motor 51 is provided with a fourth bevel gear 511, the fourth bevel gear 511 is engaged with the second bevel gear 522, the four first bevel gears 521 are engaged with each other, one pair of first bevel gears 521 is connected through the differential shaft 523, the other pair of first bevel gears 521 is connected with the first pulley 53 through the differential output shaft 524, the second pulley 54 is connected with the first pulley 53 through the belt 55, and the driving wheel 4 is connected with the second pulley 54 through the driving wheel shaft 41. In use, the motor 18 outputs torque, the torque is redistributed by the differential 52, and then transmitted to the driving wheel 4 through the differential output shaft 524, the first pulley 53, the belt 55, the second pulley 54 and the driving wheel shaft 41, so as to transmit the torque to the two driving wheels 4 and provide forward power. The differential 52 is a differential transmission mechanism, which ensures the power transmission of the driving wheel 4 under various motion conditions, so that the left and right driving wheels 4 can move at different speeds, avoids the sliding between the driving wheel 4 and the contact surface of the guide rail 3, and enables the walking mechanism to realize smoother turning.

[0042] Further, the driving wheel 4 is located between the same side wheel groups 1.

[0043] The wheel group structure of the utility model, the clamping point of the load wheel 121 and the guide wheel 122 with the guide rail 3 is on the same straight line under the assistance of the wheel group seat 11, and the two sets of clamping wheels 123 are symmetrical to the guide rail 3, so that the load wheel 121 and the guide wheel 122 prevent the wheel group 1 from separating from the guide rail 3 from the vertical direction, and the clamping wheel 123 prevents the wheel group 1 from separating from the guide rail 3 from the horizontal direction. Thus, the robot body 2 is prevented from separating from the guide rail 3. The upper end of the side plate 111 is provided with a bending part 117, which helps to prevent the wheel group seat 11 from separating from the guide rail 3. The robot body 2 drives the driving wheel 4 to rotate directly on the guide rail 3 by the driving assembly 5, the differential 52 is responsible for distributing torque between the two output shafts (differential transmission shaft 524), avoids the sliding between the driving wheel 4 and the contact surface of the guide rail 3, and enables the walking mechanism to realize smoother turning.

[0044] The above-described specific embodiments have further detailed the purposes, technical solutions and beneficial effects of the present application, and it should be understood that the above-described embodiments are merely specific implementation methods of the present application and are not intended to limit the present application, and any modifications, equivalent replacements and improvements, etc. made within the spirit of the present application shall be included in the protection scope of the present application.

Claims

1. A wheel set structure, characterized by, The wheel set (1) comprises a double guide rail arranged in parallel and a wheel set (1) symmetrically arranged on both sides of the guide rail (3), and the wheel set (1) comprises: A wheel set seat (11) is mounted on the robot body (2); A wheel train (12) is provided with two groups and is symmetrically arranged on both inner sides of the wheel set seat (11), and the wheel train (12) comprises a load wheel (121), a guide wheel (122) and a clamping wheel (123); the load wheel (121) abuts against the inner wall (31) of the guide rail bottom, the guide wheel (122) abuts against the outer wall (32) of the guide rail bottom, and the clamping wheel (123) abuts against the inner wall (33) of the guide rail side; the load wheel (121) and the guide wheel (122) prevent the wheel set (1) from being separated from the guide rail (3) from the vertical direction, and the clamping wheel (123) prevents the wheel set (1) from being separated from the guide rail (3) from the horizontal direction. The wheel set seat (11) comprises two groups of side plates (111), a bottom plate (112), a top seat (113) and a mounting column (114); the top seat (113) is mounted on the robot body (2), and the top seat (113) is provided with a stepped hole (115); the mounting column (114) is mounted in the stepped hole (115), and the two groups of side plates (111) are connected with the bottom plate (112), and the bottom plate (112) is mounted on the upper end of the mounting column (114).

2. The wheel set structure according to claim 1, characterized in that, The upper end of the side plate (111) is provided with a bending part (117) bent towards the inner wall (33) of the guide rail side.

3. The wheel set structure according to claim 2, characterized in that, The inner wall of the side plate (111) is provided with a lightening groove (118).

4. The wheel set structure according to claim 2 or 3, characterized in that, The outer diameter of the load wheel (121) is matched with the height of the inner wall (33) of the guide rail side.

5. The wheel set arrangement according to claim 1, 2 or 3, characterized in that, The wheel set structure of any one of claims 1-5 further comprises a driving wheel (4) and a driving assembly (5) for driving the movement of the driving wheel (4), and the driving wheel (4) is tightly attached to the guide rail (3).

6. A walking mechanism characterized by comprising: The driving assembly (5) comprises a motor (51), a differential (52), a first pulley (53), a second pulley (54) and a belt (55), and the motor (51) is drivingly connected with the driving wheel (4) through the differential (52), the first pulley (53), the belt (55) and the second pulley (54), and is used for driving the driving wheel (4) to drive the movement of the robot body (2) along the guide rail (3).

7. The walking mechanism according to claim 6, characterized in that The driving wheel (4) is located between the same side wheel sets (1).

8. The walking mechanism according to claim 6 or 7, characterized in that ​

Images