Driving mechanism for crossing track joint based on track robot

Abstract

The utility model discloses a driving mechanism for crossing a track joint based on a track robot, the driving mechanism comprises a power module and at least one roller module, the roller module comprises at least two power driving wheels and at least two driven walking wheels, the diameter of the driven walking wheels is smaller than that of the power driving wheels, and the diameter of the driven walking wheels is smaller than that of the power driving wheels. The at least two power driving wheels are arranged at intervals in the length direction of the preset track, a driven walking wheel is arranged on the same side of each power driving wheel, and the roller module is used for rolling and walking along a single-side track of the preset track; and the power module is in driving connection with the at least two power driving wheels of each roller module so as to drive the at least two power driving wheels of each roller module to rotate synchronously. According to the technical scheme, it can be ensured that at least one power driving wheel conducts power output when each roller module of the driving mechanism crosses the track joint, and therefore it is ensured that the track robot normally walks on the corresponding track.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of track robot crossing track joints, in particular to a driving mechanism for track robot crossing track joints. BACKGROUND

[0002] The track robot can quickly patrol according to the route of the preset track, is not affected by factors such as terrain and environment, and can complete a large-area patrol task in a short time. Meanwhile, the track robot has the ability of uninterrupted work for 24 hours without rest, which can effectively improve the patrol frequency and timely find potential problems. In the application scenario of the track robot, the above-mentioned preset track is mainly composed of multiple track segments, and therefore, the track joint is easily affected by temperature, expands and contracts to form a large track joint. At this time, the driving mechanism of the existing track robot is prone to problems such as power failure caused by driving wheel suspension and slipping when the driving wheel moves to the large track joint, so that the track robot cannot continue to walk along the track, thereby greatly affecting the timeliness of the track robot. CONTENT OF THE UTILITY MODEL

[0003] The embodiment of the present application provides a driving mechanism for track robot crossing track joints, aiming at improving the technical problem that the driving mechanism of the existing track robot is prone to problems such as power failure caused by driving wheel suspension and slipping due to large track joints and the like, so that the track robot cannot continue to walk along the track, thereby greatly affecting the timeliness of the track robot.

[0004] Therefore, the embodiment of the present application provides a driving mechanism for track robot crossing track joints, which is used for driving the track robot to walk along a preset track, the preset track includes multiple track segments, and the multiple track segments are connected in series, the driving mechanism includes a power module and at least one roller module,

[0005] The roller module includes at least two power driving wheels and at least two driven walking wheels, the diameter of the driven walking wheel is smaller than the diameter of the power driving wheel, at least two power driving wheels are arranged in series along the length direction of the preset track, one driven walking wheel is arranged on the same side of each power driving wheel, and the roller module is used for rolling walking along the single-side track of the preset track.

[0006] The power module is drivingly connected with at least two power driving wheels of each roller module respectively, so as to drive at least two power driving wheels of each roller module to rotate synchronously.

[0007] Optionally, in some embodiments of the present application, the diameter of the driven walking wheel is 4mm-5mm smaller than the diameter of the power driving wheel.

[0008] Optionally, in some embodiments of the present application, the power module comprises a power motor, a first transmission assembly and a second transmission assembly, the power motor is drivingly connected with one of the power drive wheels of each of the roller modules through the first transmission assembly, and at least two of the power drive wheels of each of the roller modules are drivingly connected through the second transmission assembly, so as to realize the driving connection between the power module and at least two of the power drive wheels of each of the roller modules.

[0009] Optionally, in some embodiments of the present application, the first transmission assembly is a gear transmission structure, and the second transmission assembly is a synchronous belt gear transmission structure.

[0010] Optionally, in some embodiments of the present application, the roller module comprises a first power drive wheel, a second power drive wheel, a first driven walking wheel and a second driven walking wheel, the first power drive wheel and the second power drive wheel are arranged at intervals along the length direction of the preset track, and the same side of the first power drive wheel and the second power drive wheel is respectively provided with the first driven walking wheel and the second driven walking wheel.

[0011] Optionally, in some embodiments of the present application, the diameter of the first driven walking wheel is smaller than the diameter of the first power drive wheel by 4mm-5mm, and the diameter of the second driven walking wheel is smaller than the diameter of the second power drive wheel by 4mm-5mm.

[0012] Optionally, in some embodiments of the present application, the power module comprises a power motor, a first transmission assembly and a second transmission assembly, the power motor is drivingly connected with the first power drive wheel of each of the roller modules through the first transmission assembly, and the first power drive wheel and the second power drive wheel of each of the roller modules are drivingly connected through the second transmission assembly.

[0013] Optionally, in some embodiments of the present application, the first transmission assembly is a gear transmission structure, the gear transmission structure comprises a first bevel gear, a second bevel gear, a first transmission shaft, a second transmission shaft and at least one set of gear transmission assembly.

[0014] The first bevel gear is sleeved and fixed on the motor shaft of the power motor, the second bevel gear is sleeved and fixed on the first transmission shaft, and the second bevel gear is meshingly connected with the first bevel gear.

[0015] The gear transmission assembly comprises at least two first transmission gears which are sequentially meshingly connected, one of the first transmission gears is sleeved and fixed on the second transmission shaft together with the first power drive wheel, and the other first transmission gear is sleeved and fixed on the first transmission shaft.

[0016] Optionally, in some embodiments of the present application, the second transmission assembly is a synchronous belt gear transmission structure, the synchronous belt gear transmission structure comprises a third transmission shaft, a synchronous chain and two second transmission gears, one of the second transmission gears is fixedly sleeved on the second transmission shaft, the other second transmission gear is fixedly sleeved on the third transmission shaft together with the second power driven wheel, and the two second transmission gears are synchronously connected through the synchronous chain.

[0017] Optionally, in some embodiments of the present application, the preset track comprises two side tracks, and the driving mechanism comprises two roller modules, wherein one roller module is arranged to roll on one side track of the preset track, and the other roller module is arranged to roll on the other side track of the preset track.

[0018] The driving mechanism for the track robot to cross the track joint provided by the technical scheme of the present application, through the above structure, when the roller module rolls and walks on the flat track without joint, at least two power driven wheels on the roller module can simultaneously bear all the weight of the track robot, so that at least two power driven wheels on the roller module can serve as power output to make the roller module roll and walk on the corresponding track. When one of the power driven wheels crosses the track joint, even if the power driven wheel is suspended or slips due to the large joint, etc., resulting in power failure, the other power driven wheels on the roller module and some driven walking wheels can also bear all the weight of the track robot, that is, the other power driven wheels on the roller module serve as power output to make the roller module normally roll and walk on the corresponding track. In this way, the driving mechanism can ensure that at least one power driven wheel outputs power when each roller module of the driving mechanism crosses the track joint, to ensure the normal walking of the track robot on the corresponding track. It can be seen that the technical scheme can effectively improve the technical problem that the driving mechanism of the existing track robot is prone to power failure due to large joint, etc., resulting in suspension or slip of the driving wheel, so that the track robot cannot continue to walk along the track, thereby greatly affecting the timeliness of the track robot. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed in the description of the embodiments or the prior art will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings according to the structures shown in the drawings without creative labor.

[0020] Figure 1 A schematic diagram of the drive mechanism for a track robot crossing a track joint, provided in an embodiment of this application;

[0021] Figure 2 for Figure 1 A partial structural schematic diagram of the drive mechanism shown;

[0022] Figure 3 for Figure 1 The diagram shown illustrates the working principle of the drive mechanism that crosses the track joint.

[0023] Explanation of icon numbers:

[0024] 100. Drive mechanism; 110. Power module; 111. Power motor; 112. First transmission assembly; 1121. First bevel gear; 1122. Second bevel gear; 1123. First drive shaft; 1124. Second drive shaft; 1125. First transmission gear; 113. Second transmission assembly; 1131. Third drive shaft; 1132. Synchronous chain; 1133. Second transmission gear; 120. Roller module; 121. First power drive wheel; 122. Second power drive wheel; 123. First driven wheel; 124. Second driven wheel; 200. Preset track; 210. Track section; 220. Joint.

[0025] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0027] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0028] In addition, the descriptions involving "first", "second", and the like in the present application are only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist and is not within the protection scope required by the present application.

[0029] In one embodiment, as shown in Figure 1 and Figure 2 The embodiment of the present application provides a driving mechanism 100 for the track robot to cross the track joint 220, which specifically can include a power module 110 and at least one roller module 120. The roller module 120 includes at least two power driving wheels and at least two driven walking wheels, the diameter of the driven walking wheels is smaller than the diameter of the power driving wheels, the at least two power driving wheels are arranged at intervals along the length direction of the preset track 200, and one driven walking wheel is arranged on the same side of each power driving wheel. The roller module 120 is used for rolling walking along the single-side track of the preset track 200. The power module 110 is drivingly connected with the at least two power driving wheels of each roller module 120, so as to drive the at least two power driving wheels of each roller module 120 to rotate synchronously.

[0030] It can be understood that the driving mechanism 100 for the track robot to cross the track joint 220 mentioned in the embodiment of the present application is mainly used for driving the track robot to walk along the preset track 200, the preset track 200 includes a plurality of track segments 210, and the plurality of track segments 210 are spliced to form a preset track 200 with a preset length. Due to the reasons of splicing process or splicing environment, there will be a certain gap joint 220 between the adjacent track segments 210, and the gap of the joint is generally controlled to be ≤0.8 times of the diameter of the power driving wheel. In order to better realize the support of the power module 110 and the roller module 120, the driving mechanism 100 further includes a mechanism frame (not marked in the figure), and the at least two power driving wheels and the at least two driven walking wheels are rotatably arranged on the mechanism frame, and the power module 110 is fixedly arranged on the mechanism frame.

[0031] In this way, the driving mechanism 100 provided by the embodiment of the present application, through the above structure, when the roller module 120 rolls and walks on the track without the track joint 220, at least two power driving wheels on the roller module 120 can simultaneously bear all the weight of the track robot, so that at least two power driving wheels on the roller module 120 can be used as power output to make the roller module 120 roll and walk on the corresponding track. When one of the power driving wheels crosses the track joint 220, even if the power driving wheel is suspended or slips due to the joint 220 being too large, etc., resulting in power failure, the other power driving wheels on the roller module 120 and some driven walking wheels can still bear all the weight of the track robot, that is, the other power driving wheels on the roller module 120 are used as power output to make the roller module 120 normally roll and walk on the corresponding track. In this way, the driving mechanism 100 can ensure that at least one power driving wheel is used for power output when each roller module 120 of the driving mechanism 100 crosses the track joint 220, to ensure the normal walking of the track robot on the corresponding track.

[0032] In some examples, as shown in Figure 1 and Figure 3 The diameter of the driven walking wheel is 4mm-5mm smaller than that of the power driving wheel. In this way, through this parameter setting, when the adjacent two track segments 210 have a height difference and the roller module 120 crosses the two track segments 210 to walk, at least one driven walking wheel can cooperate with at least one power driving wheel to simultaneously bear all the weight of the track robot, to ensure the normal walking of the track robot on the corresponding track.

[0033] In some examples, as shown in Figure 1 and Figure 2As shown, the power module 110 includes a power motor 111, a first transmission assembly 112 and a second transmission assembly 113. The power motor 111 is drivingly connected to one of the power driving wheels of each of the roller modules 120 through the first transmission assembly 112. The at least two power driving wheels of each of the roller modules 120 are drivingly connected through the second transmission assembly 113. In this way, the single power motor 111 can ensure that all the power driving wheels of each of the roller modules 120 can rotate synchronously. Further, the first transmission assembly 112 is a gear transmission structure. The power motor 111 is drivingly connected to one of the power driving wheels of each of the roller modules 120 through the meshing transmission between the gears. The second transmission assembly 113 is a synchronous belt gear transmission structure. The at least two power driving wheels of each of the roller modules 120 are drivingly connected through the meshing transmission between the gears and the synchronous belt 1132.

[0034] It can be understood that the specific structure of the first transmission assembly 112 and the specific structure of the second transmission assembly 113 in the present example can also be fully or partially interchanged. That is, the first transmission assembly 112 can also fully or partially adopt the synchronous belt gear transmission structure to drivingly connect the power motor 111 to one of the power driving wheels of each of the roller modules 120. The second transmission assembly 113 can also fully or partially adopt the gear transmission structure to drivingly connect the at least two power driving wheels of each of the roller modules 120.

[0035] In some examples, as shown in FIG. 1, the first transmission assembly 112 and the second transmission assembly 113 are arranged on the same side of the power motor 111. Figures 1 to 3 As shown, the roller module 120 includes a first power driving wheel 121, a second power driving wheel 122, a first driven walking wheel 123 and a second driven walking wheel 124. The first power driving wheel 121 and the second power driving wheel 122 are arranged at intervals along the length direction of the preset track 200. The first power driving wheel 121 and the second power driving wheel 122 are respectively provided with the first driven walking wheel 123 and the second driven walking wheel 124 on the same side. In this way, through the above structural arrangement, when the roller module 120 moves along the preset track 200, the first power driving wheel 121 and the second power driving wheel 122 can drive the first driven walking wheel 123 and the second driven walking wheel 124 to move along the preset track 200. Figure 3As shown from right to left, the first driven walking wheel 123 first crosses the joint 220 to reach the left track segment 210, at this time, the first driven walking wheel 123 and the second power driving wheel 122 bear the weight of the track robot, the second power driving wheel 122 still outputs power, the track robot continues to move to the left, when the first power driving wheel 121 crosses the joint 220, the first power driving wheel 121 and the second power driving wheel 122 bear the weight of the track robot. Similarly, the second driven walking wheel 124 and the second power driving wheel 122 cross the joint 220 in the same way as the foregoing. In this way, in any case, more than one power driving wheel can output power.

[0036] In some examples, as shown in Figure 1 and Figure 3 The diameter of the first driven walking wheel 123 is 4mm-5mm smaller than that of the first power driving wheel 121. The diameter of the second driven walking wheel 124 is 4mm-5mm smaller than that of the second power driving wheel 122. In this way, through the parameter setting, when the height difference between the two adjacent track segments 210 appears, and the roller module 120 walks across the two track segments 210, at least one driven walking wheel (the first driven walking wheel 123 or the second driven walking wheel 124) can bear all the weight of the track robot together with at least one power driving wheel (the first power driving wheel 121 or the second power driving wheel 122), to ensure the normal walking of the track robot on the corresponding track.

[0037] In some examples, as shown in Figure 1 and Figure 3As shown, the power module 110 includes a power motor 111, a first transmission assembly 112 and a second transmission assembly 113. The power motor 111 is drivingly connected to the first power driving wheel 121 of each of the roller modules 120 through the first transmission assembly 112, and the first power driving wheel 121 and the second power driving wheel 122 of each of the roller modules 120 are drivingly connected through the second transmission assembly 113. In this way, through the above structural arrangement, the first power driving wheel 121 and the second power driving wheel 122 of each of the roller modules 120 can be synchronously rotated through the single power motor 111. Further, the first transmission assembly 112 is a gear transmission structure, which includes a first bevel gear 1121, a second bevel gear 1122, a first transmission shaft 1123, a second transmission shaft 1124 and at least one set of gear transmission assemblies. The first bevel gear 1121 is sleeved and fixed on the motor shaft of the power motor 111, the second bevel gear 1122 is sleeved and fixed on the first transmission shaft 1123, and the second bevel gear 1122 is meshingly connected with the first bevel gear 1121. The gear transmission assembly includes at least two first transmission gears 1125 which are sequentially meshingly connected. One of the first transmission gears 1125 is sleeved and fixed on the second transmission shaft 1124 together with the first power driving wheel 121, and the other first transmission gear 1125 is sleeved and fixed on the first transmission shaft 1123. In this way, through the meshing transmission between the gears (including the meshing transmission between the second bevel gear 1122 and the first bevel gear 1121 and the meshing transmission between the first transmission gears 1125), the power motor 111 is drivingly connected to the first power driving wheel 121 of each of the roller modules 120. Further, the second transmission assembly 113 is a synchronous belt gear transmission structure, which includes a third transmission shaft 1131, a synchronous chain 1132 and two second transmission gears 1133. One of the second transmission gears 1133 is sleeved and fixed on the second transmission shaft 1124, and the other second transmission gear 1133 is sleeved and fixed on the third transmission shaft 1131 together with the second power driving wheel 122. The two second transmission gears 1133 are further synchronously rotationally connected through the synchronous chain 1132. In this way, through the meshing transmission between the second transmission gears 1133 and the synchronous chain 1132, the first power driving wheel 121 and the second transmission gear 1133 of each of the roller modules 120 are drivingly connected.

[0038] In some examples, as Figure 1 and Figure 2As shown, the preset track 200 comprises two side tracks, and the driving mechanism 100 comprises two roller modules 120, one of which is arranged to roll on one side track of the preset track 200, and the other is arranged to roll on the other side track of the preset track 200. In this way, through the above structural arrangement, the track robot can more stably roll and walk on the corresponding preset track 200.

[0039] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation made by using the content of the present application specification and drawings, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A driving mechanism for a track robot to cross a track joint based on a track, for driving the track robot to walk along a preset track, the preset track comprising a plurality of track segments, and the plurality of track segments being connected in a splicing manner, characterized in that, The driving mechanism comprises a power module and at least one roller module, The roller module comprises at least two power driving wheels and at least two driven walking wheels, the diameter of the driven walking wheels is smaller than that of the power driving wheels, at least two power driving wheels are arranged along the length direction of the preset track, and one driven walking wheel is arranged on the same side of each power driving wheel, the roller module is used for rolling walking along the single-side track of the preset track. The power module is drivingly connected with the at least two power driving wheels of each roller module to drive the at least two power driving wheels of each roller module to rotate synchronously.

2. The drive mechanism of claim 1, wherein, The diameter of the driven walking wheels is 4-5 mm smaller than that of the power driving wheels.

3. The drive mechanism of claim 1, wherein, The power module comprises a power motor, a first transmission assembly and a second transmission assembly, the power motor is drivingly connected with one of the power driving wheels of each roller module through the first transmission assembly, and the at least two power driving wheels of each roller module are drivingly connected through the second transmission assembly.

4. The drive mechanism of claim 3, wherein, The first transmission assembly is a gear transmission structure, and the second transmission assembly is a synchronous belt gear transmission structure.

5. The drive mechanism of claim 1, wherein, The roller module comprises a first power driving wheel, a second power driving wheel, a first driven walking wheel and a second driven walking wheel, the first power driving wheel and the second power driving wheel are arranged along the length direction of the preset track, and the first driven walking wheel and the second driven walking wheel are arranged on the same side of the first power driving wheel and the second power driving wheel respectively.

6. The drive mechanism of claim 5, wherein, The diameter of the first driven walking wheel is 4-5 mm smaller than that of the first power driving wheel, and the diameter of the second driven walking wheel is 4-5 mm smaller than that of the second power driving wheel.

7. The drive mechanism of claim 5, wherein, The power module comprises a power motor, a first transmission assembly and a second transmission assembly, the power motor is drivingly connected with the first power driving wheel of each roller module through the first transmission assembly, and the first power driving wheel and the second power driving wheel of each roller module are drivingly connected through the second transmission assembly.

8. The drive mechanism of claim 7, wherein, The first transmission assembly is a gear transmission structure, and the gear transmission structure comprises a first bevel gear, a second bevel gear, a first transmission shaft, a second transmission shaft and at least one gear transmission assembly. The first bevel gear is sleeved and fixed on the motor shaft of the power motor, the second bevel gear is sleeved and fixed on the first transmission shaft, and the second bevel gear is in meshing connection with the first bevel gear. The gear transmission assembly comprises at least two first transmission gears which are in meshing connection in sequence, one first transmission gear and the first power driving wheel are sleeved and fixed on the second transmission shaft, and another first transmission gear is sleeved and fixed on the first transmission shaft.

9. The drive mechanism of claim 8, wherein, The second transmission assembly is a synchronous belt gear transmission structure, the synchronous belt gear transmission structure comprises a third transmission shaft, a synchronous chain and two second transmission gears, one of the second transmission gears is fixedly sleeved on the second transmission shaft, the other second transmission gear is fixedly sleeved on the third transmission shaft together with the second power driven wheel, and the two second transmission gears are also synchronously rotationally connected through the synchronous chain.

10. The drive mechanism of any one of claims 1-9, wherein, The preset track comprises two side tracks, and the driving mechanism comprises two roller modules, wherein one roller module is rollingly arranged on one side track of the preset track, and the other roller module is rollingly arranged on the other side track of the preset track.

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