Rail robot drive

Abstract

The utility model discloses a track robot drive arrangement, including main drive support, main drive support slidingly arranged below the track, and the middle part of main drive support is equipped with drive wheel subassembly, and drive wheel subassembly includes the drive connecting frame fixed connection with main drive support, and drive connecting frame is equipped with drive wheel and rotates, and the both sides of drive wheel subassembly are equipped with limit wheel subassembly symmetrically, and limit wheel subassembly includes the limit wheel of rotation setting on main drive support, and limit wheel is always in contact with the track through the compression mechanism. The utility model discloses the limit wheel in the operation process through the compression mechanism makes it always closely contact with the upper flange of track, and the lower flange of support wheel is in contact with the track, and the limit wheel, support wheel are in contact with the upper flange and the lower flange respectively, ensure that drive arrangement moves stably on the track, reduces its swing, makes drive arrangement more applicable to the demand of robot camera intelligent identification, and improves the accuracy of intelligent identification.

Description

Technical Field

[0001] This utility model relates to the field of track robot technology, and in particular to a track robot drive device. Background Technology

[0002] Currently, track robots are widely used in mining, petrochemical and other fields. They generally use I-shaped tracks as the running carrier of mobile devices. Their drive devices are generally equipped with load-bearing wheels, guide wheels and drive wheels. However, track robots are prone to shaking during operation. Although existing cameras have image stabilization capabilities, they are not enough to overcome the impact of robot shaking on video images, especially leading to a decrease in the success rate of camera intelligent recognition.

[0003] To address the shortcomings of the aforementioned drive devices, a novel track robot drive device is proposed, making it more suitable for the intelligent recognition needs of robot cameras and improving the accuracy of intelligent recognition. Utility Model Content

[0004] To address the aforementioned problems, this utility model provides a track robot drive device to solve the problem that existing track robots are prone to shaking during operation, which affects the video image capture of the camera and reduces the success rate of intelligent camera recognition.

[0005] This utility model is implemented as follows:

[0006] A track robot drive device includes: a main drive bracket, which is slidably disposed below the track; a drive wheel assembly is provided in the middle of the main drive bracket; the drive wheel assembly includes a drive connecting frame fixedly connected to the main drive bracket; a drive wheel is rotatably disposed on the drive connecting frame; and limit wheel assemblies are symmetrically disposed on both sides of the drive wheel assembly; the limit wheel assembly includes a limit wheel rotatably disposed on the main drive bracket; the limit wheel is always in contact with the track by a clamping mechanism.

[0007] Furthermore, the limiting wheel assembly includes a first positioning shaft, a second positioning shaft, and a limiting shaft. The first positioning shaft and the second positioning shaft are fixedly mounted on the main drive bracket. The second positioning shaft and the limiting shaft are connected by a swing arm. The first positioning shaft and the limiting shaft are connected by a clamping mechanism. The limiting wheel is rotatably sleeved on the limiting shaft.

[0008] Furthermore, the clamping mechanism includes a spring stud and a spring sleeve. One end of the spring stud is rotatably sleeved on the first positioning shaft, and one end of the spring sleeve is rotatably sleeved on the outside of the limiting shaft. The other end of the spring stud passes through the opening at the other end of the spring sleeve. A first spring and a nut are provided on the outside of the spring stud. The first spring is located inside the spring sleeve. One end of the first spring abuts against the bottom of the opening, and the other end abuts against the nut.

[0009] Furthermore, a first bushing is provided between the first positioning shaft and the spring stud, a second bushing is provided between the limiting shaft and the spring sleeve, and a third bushing is provided between the second positioning shaft and the swing arm.

[0010] Furthermore, the first spring is a compression mold spring, a disc spring, or an air spring.

[0011] Furthermore, the drive wheel assembly also includes a generator, which is fixedly connected to the drive coupling frame. A speed reducer is fixedly connected to the generator, and the drive wheel is fixedly connected to the output shaft of the speed reducer.

[0012] Furthermore, it also includes a support wheel assembly, which includes a support connecting frame fixed on the main drive bracket. A support shaft is threaded through the support connecting frame, and a support wheel is rotatably connected to the support shaft. The outer wall of the support wheel abuts against the bottom of the track.

[0013] Furthermore, it also includes a guide wheel assembly, which includes a guide connecting frame. The guide connecting frame is fixedly connected to the main drive bracket. The guide connecting frame is provided with two connecting shafts. The two connecting shafts are arranged parallel to each other vertically and are connected by a vertically arranged guide shaft. A guide wheel is rotatably mounted on the guide shaft.

[0014] Furthermore, the main drive bracket is provided with a semi-circular groove, and the limiting shaft is provided with a limiting flange, which is configured to cooperate with the semi-circular groove.

[0015] Furthermore, there are two drive wheel assemblies, which are symmetrically arranged on both sides of the track.

[0016] The beneficial effects of this utility model are:

[0017] The track robot drive device of this utility model moves the entire drive device along the length of the track through the drive wheel in the drive wheel assembly. During operation, the limit wheel in the limit wheel assembly is kept in close contact with the upper flange of the track by a clamping mechanism. The support wheel in the support wheel assembly abuts against the lower flange of the track. The limit wheel and the support wheel abut against the upper flange and the lower flange, respectively, to ensure that the drive device moves smoothly on the track and reduce its shaking. This makes the drive device more suitable for the intelligent recognition needs of robot cameras and improves the accuracy of intelligent recognition. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention when used on a track. Figure 1 ;

[0019] Figure 2 This is a three-dimensional structural diagram of the present invention when used on a track. Figure 2 ;

[0020] Figure 3 This is a three-dimensional structural schematic diagram of the drive wheel assembly of this utility model;

[0021] Figure 4 This is a front view of the limiting wheel assembly of this utility model;

[0022] Figure 5 yes Figure 4 Sectional view along axis AA;

[0023] Figure 6 yes Figure 4 BB-direction sectional view;

[0024] Figure 7 This is a three-dimensional structural diagram of the main drive bracket of this utility model;

[0025] Figure 8 This is a three-dimensional structural diagram of the limiting shaft of this utility model.

[0026] Explanation of reference numerals in the attached figures:

[0027] 1. Track;

[0028] 2. Drive mechanism; 21. Guide wheel assembly; 211. Guide connecting frame; 212. Connecting shaft; 213. Guide shaft; 214. Guide wheel;

[0029] 22. Limiting wheel assembly; 221. First positioning shaft; 222. Spring stud; 223. Spring sleeve; 224. Second positioning shaft; 225. Swing arm; 226. Limiting shaft; 2261. Limiting flange; 227. Limiting wheel; 228. First bushing; 229. Second bushing; 230. Limiting end cap; 231. First spring; 232. Nut; 237. Third bushing;

[0030] 23. Drive wheel assembly; 233. Drive wheel; 234. Reducer; 235. Drive connection frame; 236. Generator;

[0031] 24. Support wheel assembly; 241. Support connecting frame; 242. Support shaft; 243. Support wheel;

[0032] 25. Main drive bracket; 251. Semi-circular groove. Detailed Implementation

[0033] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Many specific details are set forth in the following description to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0034] like Figures 1 to 8 The diagram shows the drive device for the track robot of this utility model, which includes a drive mechanism 2. The drive mechanism 2 includes a main drive bracket 25, which is slidably disposed below the track 1. A drive wheel assembly 23 is provided in the middle of the main drive bracket 25. The drive wheel assembly 23 includes a drive connecting frame 235 fixedly connected to the main drive bracket 25. A drive wheel 233 is rotatably disposed on the drive connecting frame 235. Limit wheel assemblies 22 are symmetrically disposed on both sides of the drive wheel assembly 23. The limit wheel assembly 22 includes a limit wheel 227 rotatably disposed on the main drive bracket 25. The limit wheel 227 is always in contact with the track 1 through a pressing mechanism.

[0035] like Figure 1 and Figure 2 As shown, in this embodiment, preferably, track 1 is an I-shaped track, but other types of tracks can also be used, which is not limited here. Only the I-shaped track 1 is used as an example for explanation. The main drive bracket 25 is slidably disposed below track 1. The main drive bracket 25 is provided with a drive wheel assembly 23 in the middle. There are two drive wheel assemblies 23, which are symmetrically disposed on both sides of track 1.

[0036] like Figure 3 As shown, the drive wheel assembly 23 includes a drive connecting frame 235 fixedly connected to the main drive bracket 25, and a drive wheel 233 rotatably mounted on the drive connecting frame 235. Specifically, the drive wheel assembly 23 also includes a generator 236, which is fixedly connected to the drive connecting frame 235. A reducer 234 is fixedly connected to the generator 236, and the drive wheel 233 is fixedly connected to the output shaft of the reducer 234. The drive wheel 233 is vertically oriented, and its outer wall abuts against the web of the I-shaped track 1. When the reducer 234 is started, its output shaft rotates, causing the drive wheel 233 to rotate, thereby moving the entire drive device on the track 1.

[0037] like Figure 2 , Figures 4-6As shown, limit wheel assemblies 22 are symmetrically arranged on both sides of the drive wheel assembly 23. In this embodiment, there are four limit wheel assemblies 22. Each limit wheel assembly 22 includes a limit wheel 227 rotatably mounted on the main drive bracket 25. The limit wheel 227 abuts against the track 1 through a clamping mechanism. Specifically, each limit wheel assembly 22 includes a first positioning shaft 221, a second positioning shaft 224, and a limit shaft 226. The first positioning shaft 221 and the second positioning shaft 224 are fixedly mounted on the main drive bracket 25. The second positioning shaft 224 and the limit shaft 226 are connected by a swing arm 225, and the first positioning shaft 221 and the limit shaft 226 are connected by a clamping mechanism. The limiting wheel 227 is rotatably sleeved on the limiting shaft 226. A bearing (not shown in the figure) is installed between the limiting wheel 227 and the limiting shaft 226. A limiting end cover 230 is provided at one end of the limiting shaft 226. The limiting end cover 230 is located outside the bearing and is fixedly connected to the limiting shaft 226. The limiting end cover 230 is provided to play the role of axial positioning.

[0038] The clamping mechanism includes a spring stud 222 and a spring sleeve 223. One end of the spring stud 222 is rotatably sleeved on the first positioning shaft 221, and one end of the spring sleeve 223 is rotatably sleeved on the outside of the limiting shaft 226. The other end of the spring stud 222 passes through an opening at the other end of the spring sleeve 223. A first spring 231 and a nut 232 are provided on the outside of the spring stud 222. The first spring 231 is located inside the spring sleeve 223, with one end abutting against the bottom of the opening and the other end abutting against the nut 232. Preferably, in this application, the number of nuts 232 is set to two, and the double nuts 232 can be used to adjust the compression degree of the first spring 231. A first bushing 228 is provided between the first positioning shaft 221 and the spring stud 222, a second bushing 229 is provided between the limiting shaft 226 and the spring sleeve 223, and a third bushing 237 is provided between the second positioning shaft 224 and the swing arm 225. The first spring 231 is a compression mold spring, a disc spring, or an air spring. For example... Figure 7 and Figure 8 As shown, the main drive bracket 25 is provided with a semi-circular groove 251, and the limiting shaft 226 is provided with a limiting flange 2261. The limiting flange 2261 and the semi-circular groove 251 are configured to cooperate with each other. The circular limiting flange 2261 designed on the limiting shaft 226 and the semi-circular groove 251 designed on the main drive bracket 25 cooperate with each other to counteract the limitation of the compression stroke of the first spring 231 by the drive device during operation.

[0039] During operation, the limiting wheel 227 maintains close contact with the upper flange of the track 1 via a clamping mechanism. Specifically, the spring sleeve 223 is slidably fitted onto the outside of the spring stud 222. Combined with the elastic deformation of the first spring 231, the limiting shaft 226, which passes through the swing arm 225 and the spring sleeve 223, can be finely adjusted in position. This ensures that the limiting wheel 227 on the limiting shaft 226 maintains close contact with the upper flange of the I-shaped track 1 during movement, ensuring the stability of the drive device during operation, reducing its sway, and making the drive device more suitable for the intelligent recognition needs of robot cameras, thereby improving the accuracy of intelligent recognition.

[0040] like Figure 2 As shown, it also includes a support wheel assembly 24, which includes a support connecting frame 241 fixed to the main drive bracket 25. A support shaft 242 passes through the support connecting frame 241, and a support wheel 243 is rotatably connected to the support shaft 242. The outer wall of the support wheel 243 abuts against the bottom of the track 1, that is, against the lower flange of the track 1. The limiting wheel 227 and the support wheel 243 abut against the upper flange and the lower flange, respectively, to ensure that the drive device moves smoothly on the track 1.

[0041] like Figure 2 As shown, it also includes a guide wheel assembly 21. The guide wheel assembly 21 includes a guide connecting frame 211, which is fixedly connected to the main drive bracket 25. The guide connecting frame 211 is provided with two connecting shafts 212, which are arranged parallel to each other and connected by a vertically arranged guide shaft 213. A guide wheel 214 is rotatably provided on the guide shaft 213.

[0042] When in use, the drive device for the track robot of this utility model is driven by the drive wheel 233 in the drive wheel assembly 23 to move the entire drive device along the length direction of the track 1. During operation, the limit wheel 227 in the limit wheel assembly 22 is kept in close contact with the upper flange of the track 1 by the clamping mechanism. The support wheel 243 in the support wheel assembly 24 abuts against the lower flange of the track 1. The limit wheel 227 and the support wheel 243 abut against the upper flange and the lower flange respectively, ensuring that the drive device moves smoothly on the track 1, reducing its shaking, and making the drive device more suitable for the intelligent recognition needs of robot cameras, thus improving the accuracy of intelligent recognition.

[0043] While this utility model discloses preferred embodiments to achieve the above objectives, it is not intended to limit the structural features of this utility model. Anyone skilled in the art should know that any easily conceivable variations or modifications are possible under the technical spirit of this utility model and are covered by the patent claims of this utility model.

Claims

1. A drive device for a tracked robot, characterized in that, include: A main drive bracket (25) is slidably disposed below the track (1). A drive wheel assembly (23) is provided in the middle of the main drive bracket (25). The drive wheel assembly (23) includes a drive connecting frame (235) fixedly connected to the main drive bracket (25). A drive wheel (233) is rotatably disposed on the drive connecting frame (235). Limit wheel assemblies (22) are symmetrically disposed on both sides of the drive wheel assembly (23). The limit wheel assembly (22) includes a limit wheel (227) rotatably disposed on the main drive bracket (25). The limit wheel (227) is always in contact with the track (1) through a pressing mechanism.

2. The track robot drive device according to claim 1, characterized in that, The limiting wheel assembly (22) includes a first positioning shaft (221), a second positioning shaft (224), and a limiting shaft (226). The first positioning shaft (221) and the second positioning shaft (224) are fixedly mounted on the main drive bracket (25). The second positioning shaft (224) and the limiting shaft (226) are connected by a swing arm (225). The first positioning shaft (221) and the limiting shaft (226) are connected by a clamping mechanism. The limiting wheel (227) is rotatably sleeved on the limiting shaft (226).

3. The track robot drive device according to claim 2, characterized in that, The clamping mechanism includes a spring stud (222) and a spring sleeve (223). One end of the spring stud (222) is rotatably sleeved on the first positioning shaft (221), and one end of the spring sleeve (223) is rotatably sleeved on the outside of the limiting shaft (226). The other end of the spring stud (222) passes through the opening at the other end of the spring sleeve (223). A first spring (231) and a nut (232) are provided on the outside of the spring stud (222). The first spring (231) is located inside the spring sleeve (223). One end of the first spring (231) abuts against the bottom of the opening, and the other end abuts against the nut (232).

4. The track robot drive device according to claim 3, characterized in that, A first bushing (228) is provided between the first positioning shaft (221) and the spring stud (222), a second bushing (229) is provided between the limiting shaft (226) and the spring sleeve (223), and a third bushing (237) is provided between the second positioning shaft (224) and the swing arm (225).

5. The track robot drive device according to claim 3, characterized in that, The first spring (231) is a compression mold spring, a disc spring, or an air spring.

6. The track robot drive device according to claim 1, characterized in that, The drive wheel assembly (23) also includes a generator (236), which is fixedly connected to the drive connection frame (235). The generator (236) is fixedly connected to a speed reducer (234), and the drive wheel (233) is fixedly connected to the output shaft of the speed reducer (234).

7. The track robot drive device according to claim 1, characterized in that, It also includes a support wheel assembly (24), which includes a support connecting frame (241) fixed on the main drive bracket (25). A support shaft (242) is provided on the support connecting frame (241), and a support wheel (243) is rotatably connected on the support shaft (242). The outer wall of the support wheel (243) abuts against the bottom of the track (1).

8. The track robot drive device according to claim 1, characterized in that, It also includes a guide wheel assembly (21), which includes a guide connecting frame (211) and is fixedly connected to the main drive bracket (25). The guide connecting frame (211) is provided with two connecting shafts (212), which are arranged parallel to each other and connected by a vertically arranged guide shaft (213). A guide wheel (214) is rotatably provided on the guide shaft (213).

9. The track robot drive device according to claim 2, characterized in that, The main drive bracket (25) is provided with a semi-circular groove (251), and the limiting shaft (226) is provided with a limiting flange (2261), which is configured to cooperate with the semi-circular groove (251).

10. The track robot drive device according to claim 1, characterized in that, There are two drive wheel assemblies (23), and the two drive wheel assemblies (23) are symmetrically arranged on both sides of the track (1).

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