A rail robot suspension structure

Abstract

The utility model discloses a kind of suspension structures of hanging rail robot, including driving wheel and driven wheel, driving wheel and driven wheel are rolled along the two side surfaces of H-shaped track, driving wheel is installed on carrier by mounting frame a, adjusting mechanism a is provided on mounting frame a, driving wheel is connected with the power output end of motor, driven wheel is installed on carrier by adjusting mechanism b. Driving wheel and driven wheel are pre-tightened on the side wall of H-shaped track by adjusting mechanism a and adjusting mechanism b, motor drives driving wheel to move along H-shaped track, when there is protrusion on the side wall of H-shaped track, driving wheel and driven wheel will be adjusted by adjusting mechanism a and adjusting mechanism b, to improve passability. When in winter, due to thermal expansion and contraction, the size of driving wheel and driven wheel will be reduced, causing the pre-tightening force to drop, adjusting mechanism a and adjusting mechanism b will be adjusted at this time, to avoid skidding.

Description

Technical Field

[0001] This utility model relates to the field of track-mounted robot technology, and in particular to a suspension structure for track-mounted robots. Background Technology

[0002] Currently, in the inspection of mines, petrochemicals, power plants, and other industries, in order to improve the efficiency, safety, and stability of operations, rail-mounted inspection robots are gradually replacing manual inspections. The walking wheel system of this structure is an important component of the robot. While realizing movement, the robot also needs to have a certain degree of adaptability and obstacle-crossing ability.

[0003] Existing wheel systems rarely use a fully suspended system. Most use a fixed wheel system on one side and a drive wheel system with spring suspension on the other side. This requires a higher pressure on the spring on one side and requires a higher spring stiffness, which reduces the obstacle crossing ability. Secondly, the ability to adapt to temperature changes is relatively poor. In summer, the preload of the wheel system is prone to insufficient preload in the cold winter weather, causing the wheel system to slip. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a suspension structure for a track-mounted robot.

[0005] The purpose of this utility model is achieved through the following technical solution: a suspension structure for a track-mounted robot, including a load-bearing wheel assembly, which is mounted on a carrier frame and rolls along the bottom surface of an I-shaped track. It also includes a drive wheel and a driven wheel, which roll along both sides of the I-shaped track. The drive wheel is mounted on the carrier frame via a mounting bracket a, and an adjustment mechanism a is provided on the mounting bracket a. The drive wheel is connected to the power output end of a motor, and the driven wheel is mounted on the carrier frame via an adjustment mechanism b.

[0006] Preferably, the adjustment mechanism a includes a mounting plate, a spring a, and a guide rod a. The lower end of the mounting plate is mounted on the shelf, the guide rod a is mounted on the upper end of the mounting plate, a connecting plate is provided on the side of the mounting shelf a, a notch is provided on the connecting plate, the guide rod a is located in the notch, the spring a is mounted on the outside of the guide rod a, and the spring a is located between the connecting plate and the rod cap of the guide rod a.

[0007] Preferably, the adjustment mechanism b includes a mounting frame b, a mounting rod and a spring b. The mounting frame b and the mounting rod are both mounted on the shelf, and the mounting rod is located inside the mounting frame b. Several guide rods b are mounted on the mounting frame b, and the guide rods b pass through the mounting rod. A spring b is fitted on the outer side of the guide rod b located in the middle, and the spring b is located between the mounting frame b and the mounting rod.

[0008] Preferably, both the drive wheel and the driven wheel are located between the two load-bearing wheel sets.

[0009] This invention has the following advantages: The drive wheel and driven wheel are pre-tensioned to the side wall of the I-beam track via adjustment mechanisms a and b. The motor drives the drive wheel to move along the I-beam track. When there is a protrusion on the side wall of the I-beam track, the drive wheel and driven wheel are adjusted by adjustment mechanisms a and b to improve passability. In winter, due to thermal expansion and contraction, the size of the drive wheel and driven wheel will decrease, causing a drop in pre-tension. At this time, adjustment mechanisms a and b will adjust to prevent slippage. Attached Figure Description

[0010] Figure 1 A schematic diagram of the suspension structure for a rail-mounted robot;

[0011] Figure 2 This is a schematic diagram of the structure of the adjusting mechanism b;

[0012] In the diagram, 1-I-shaped track, 2-load-bearing wheel set, 3-carrying rack, 4-driven wheel, 5-mounting rod, 6-spring b, 7-drive wheel, 8-mounting bracket a, 9-connecting plate, 10-mounting plate, 11-spring a, 12-guide rod a, 13-motor, 14-mounting bracket b, 15-guide rod b. Detailed Implementation

[0013] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can typically be arranged and designed in various different configurations.

[0014] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0015] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0016] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0017] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only used for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0018] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0019] In this embodiment, as Figure 1 As shown, a suspension structure for a track-mounted robot includes a load-bearing wheel assembly 2, which is mounted on a carrier frame 3 and rolls along the bottom surface of an I-shaped track 1. It also includes a drive wheel 7 and a driven wheel 4, which roll along both sides of the I-shaped track 1. Preferably, the drive wheel 7 and the driven wheel 4 are located between two load-bearing wheel assemblies 2. The drive wheel 7 is mounted on the carrier frame 3 via a mounting bracket a8, which is equipped with an adjustment mechanism a. The drive wheel 7 is connected to the power output end of a motor 13, and the driven wheel 4 is mounted on the carrier frame 3 via an adjustment mechanism b. The drive wheel 7 and driven wheel 4 are pre-suspended and pre-tensioned on the side wall of the I-beam track 1 by adjusting mechanisms a and b. Motor 13 drives the drive wheel 7 to move along the I-beam track 1. When there is a protrusion on the side wall of the I-beam track 1, the drive wheel 7 and driven wheel 4 are adjusted by adjusting mechanisms a and b to improve passability. In winter, due to thermal expansion and contraction, the dimensions of the drive wheel 7 and driven wheel 4 will shrink, causing a decrease in pre-tension. At this time, adjusting mechanisms a and b will adjust to prevent slippage. In this embodiment, the load-bearing wheel set 2 is an existing wheel set, and no improvements have been made; therefore, further details will not be provided.

[0020] Furthermore, the adjustment mechanism a includes a mounting plate 10, a spring a11, and a guide rod a12. The lower end of the mounting plate 10 is mounted on the shelf 3, and the guide rod a12 is mounted on the upper end of the mounting plate 10. A connecting plate 9 is provided on the side of the mounting frame a8. A notch is provided on the connecting plate 9, and the guide rod a12 is located in the notch. The spring a11 is mounted on the outside of the guide rod a12, and the spring a11 is located between the connecting plate 9 and the rod cap of the guide rod a12. Specifically, when there is a protrusion on the side wall of the I-shaped track 1 on the surface where the drive wheel 7 is located, the drive wheel 7 will move outward, thereby causing the connecting plate 9 to move outward. Since the spring a11 is located between the connecting plate 9 and the rod cap of the guide rod a12, the spring a11 will be further compressed. After passing the protrusion, the spring a11 will press the drive wheel 7 back onto the side wall of the I-shaped track 1. In winter, due to thermal expansion and contraction, the size of the drive wheel 7 will shrink, causing the preload to decrease. At this time, the spring a11 is in a compressed state, so the spring a11 will apply an inward force to the connecting plate 9, thereby increasing the preload of the drive wheel 7 on the I-shaped track 1 and preventing slippage.

[0021] Furthermore, such as Figure 2 As shown, the adjustment mechanism b includes a mounting frame b14, a mounting rod 5, and a spring b6. Both the mounting frame b14 and the mounting rod 5 are mounted on the shelf 3, and the mounting rod 5 is located inside the mounting frame b14. Several guide rods b15 are mounted on the mounting frame b14, and the guide rods b15 pass through the mounting rod 5. A spring b6 is fitted on the outer side of the guide rod b15 located in the middle, and the spring b6 is located between the mounting frame b14 and the mounting rod 5. Specifically, when there is a protrusion on the side wall of the I-shaped track 1 where the driven wheel 4 is located, the driven wheel 4 will move outward, thereby driving the mounting rod 5 to move outward along the guide rod b15. Since the spring b6 is located between the mounting bracket b14 and the mounting rod 5, the spring b6 will be further compressed. After passing the protrusion, the spring b6 will press the driven wheel 4 back onto the side wall of the I-shaped track 1. In winter, due to thermal expansion and contraction, the size of the driven wheel 4 will shrink, causing the preload to decrease. At this time, the spring b6 is in a compressed state, so the spring b6 will apply an inward force to the mounting rod 5, driving the mounting rod 5 to move inward (in the direction of the I-shaped track 1), thereby increasing the preload of the driven wheel 4 on the I-shaped track 1 and preventing slippage.

[0022] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A hanging rail robot suspension structure, comprising a load bearing wheel set (2) mounted on a carrier (3) and rolling along the bottom surface of an I-beam rail (1), characterized in that: It also includes a drive wheel (7) and a driven wheel (4). The drive wheel (7) and the driven wheel (4) roll along both sides of the I-shaped track (1). The drive wheel (7) is mounted on the rack (3) via a mounting bracket a (8). An adjustment mechanism a is provided on the mounting bracket a (8). The drive wheel (7) is connected to the power output end of the motor (13). The driven wheel (4) is mounted on the rack (3) via an adjustment mechanism b.

2. The overhead robotic hanging structure of claim 1, wherein: The adjustment mechanism a includes a mounting plate (10), a spring a (11), and a guide rod a (12). The lower end of the mounting plate (10) is mounted on the shelf (3), and the guide rod a (12) is mounted on the upper end of the mounting plate (10). A connecting plate (9) is provided on the side of the mounting frame a (8). A notch is provided on the connecting plate (9), and the guide rod a (12) is located in the notch. The spring a (11) is mounted on the outside of the guide rod a (12), and the spring a (11) is located between the connecting plate (9) and the rod cap of the guide rod a (12).

3. The overhead robotic hanging structure of claim 2, wherein: The adjustment mechanism b includes a mounting frame b (14), a mounting rod (5), and a spring b (6). The mounting frame b (14) and the mounting rod (5) are both mounted on the shelf (3), and the mounting rod (5) is located inside the mounting frame b (14). Several guide rods b (15) are mounted on the mounting frame b (14). The guide rods b (15) pass through the mounting rod (5). The spring b (6) is fitted on the outer side of the guide rod b (15) located in the middle. The spring b (6) is located between the mounting frame b (14) and the mounting rod (5).

4. The overhead robotic hanging structure of claim 3, wherein: Both the driving wheel (7) and the driven wheel (4) are located between the two load-bearing wheel sets (2).

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