Rail robot double drive walking mechanism

Abstract

The utility model discloses a kind of double drive walking mechanisms of track robot, including I-shaped track, inspection robot main body, the bottom of the uphill section of I-shaped track is fixedly embedded with double chain;The top of the inspection robot main body is fixedly connected with power source;The power source includes mounting bracket, and the bottom one end of mounting bracket is hinged with the inner wall of both sides of inspection robot main body, electric shaft is installed in the mounting bracket, and the outer surface of electric shaft is fixedly connected with two driving wheels symmetrically.The utility model in the present application, by setting double chain, double sprocket, driving wheel, mounting bracket, compression spring, motor, so that the whole can be adapted to different scene, flat ground is driven alone by walking wheel, reduce resistance and wear;When uphill, automatically switch for walking wheel and sprocket engagement double drive, significantly improve driving force, avoid skidding or stagnation.By the pre-tightening force of compression spring, ensure the stable engagement of double sprocket and double chain, avoid a series of risks such as disengaging track.

Description

Technical Field

[0001] This utility model relates to the field of track robot technology, and in particular to a dual-drive walking mechanism for track robots. Background Technology

[0002] Currently, track-mounted robots are widely used in fields such as inspection and monitoring, and their locomotion mechanism is the core component that ensures the stable operation of the robot. Traditional track-mounted robot locomotion mechanisms mostly use a single drive method, such as relying solely on friction wheel drive or rack and pinion drive. On flat tracks, friction wheel drive has the advantages of simple structure and low noise, but when climbing slopes, especially when encountering steep inclines or vertical tracks, it is prone to slippage, stalling, or even falling due to insufficient friction, posing significant safety hazards. While rack and pinion drive can provide greater driving force and climbing ability, its structure is complex and costly. Furthermore, the meshing operation throughout the entire track generates significant frictional resistance and wear, resulting in high energy consumption and noise, making it unsuitable for long-term inspection operations where efficiency and energy consumption are critical.

[0003] To address this, we propose a dual-drive walking mechanism for tracked robots. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a dual-drive walking mechanism for a track robot.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a dual-drive walking mechanism for a track robot, comprising an I-beam track and an inspection robot body, wherein a double chain is fixedly embedded at the bottom of the uphill section of the I-beam track;

[0006] A power source is fixedly connected to the top of the main body of the inspection robot;

[0007] The power source includes a mounting frame, and one bottom end of the mounting frame is hinged to the inner walls of both sides of the main body of the inspection robot. The mounting frame is equipped with an electric shaft, and two drive wheels are symmetrically fixedly connected to the outer surface of the electric shaft. A double sprocket is fixedly connected between the two drive wheels, and the double sprocket meshes with a double chain.

[0008] Two compression springs are symmetrically fixedly connected to the bottom of the mounting bracket on the side away from the hinge, and the compression springs are fixedly installed on the top of the inspection robot body;

[0009] The inspection robot's main body has two driven wheels rotatably connected to the inner walls on both sides.

[0010] Furthermore, the electric shaft includes a motor, which is fixedly mounted on one side of the mounting frame. The drive end of the motor is fixedly connected to a drive shaft, which passes through the mounting frame and is rotatably connected to it. The two drive wheels and the double sprockets are fixedly sleeved on the outer surface of the drive shaft. This structure enables a single power source to drive both the walking wheels and the sprockets simultaneously, simplifying the transmission structure and reducing manufacturing costs and maintenance complexity.

[0011] Furthermore, a power failure brake is fixedly connected to one side of the outer surface of the mounting frame, and the braking end of the power failure brake is fixed to the drive shaft, which effectively prevents the robot from sliding down and falling on the ramp due to power failure, significantly improving the safety and reliability of the equipment.

[0012] Furthermore, both drive wheels are attached to the bottom of the I-beam track, ensuring that the drive wheels maintain a constant contact pressure with the bottom surface of the track, thereby providing stable frictional driving force on flat ground and effectively assisting the sprocket in outputting power when going uphill.

[0013] Furthermore, the four driven wheels are arranged in pairs, symmetrically on both sides of the I-beam track, and the driven wheels are fitted into the inner bottom of the I-beam track. The symmetrical arrangement clamps the track from both sides, jointly bearing the weight of the machine body and playing a guiding role.

[0014] Furthermore, the bottom of the uphill section of the I-beam track is provided with an installation groove, which matches the double chain. The installation groove embeds and fixes the double chain inside the track, providing a smooth and accurate meshing path for the double sprocket.

[0015] The beneficial effects of this utility model are:

[0016] 1. When in use, this utility model, through the setting of double chains, double sprockets, drive wheel, mounting bracket, compression spring, and motor, enables the whole to adapt to different scenarios. On flat ground, it is driven by the walking wheel alone, reducing resistance and wear; when going uphill, it automatically switches to dual drive with the walking wheel and sprocket meshing, significantly improving driving force and avoiding slippage or stalling.

[0017] 2. When in use, this utility model ensures stable engagement of the double sprocket and double chain by applying preload through the compression spring, thus avoiding a series of risks such as derailment.

[0018] 3. When using this utility model, the dual sprocket drive only works when going uphill, avoiding the increase in resistance and energy consumption caused by full engagement. At the same time, the overall structure is integrated and does not take up too much extra space.

[0019] 4. When using this utility model, the preload applied by the compression spring and the size of the sprocket can be adjusted to adapt to tracks with different slopes and specifications, making it widely applicable. Attached Figure Description

[0020] To more clearly illustrate the technical solution of this utility model, the drawings used in the description of the specific embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall main structure of this utility model;

[0022] Figure 2 This is a partial three-dimensional structural diagram of the driving source of this utility model;

[0023] Figure 3 This is a schematic diagram of the three-dimensional structure of the I-beam track of this utility model;

[0024] Figure 4 This is a side view schematic diagram of the connection structure between the I-beam track and the power source of this utility model;

[0025] Figure 5 This is a schematic diagram of the rear view connection structure between the I-beam track and the power source of this utility model.

[0026] The attached figures are labeled as follows:

[0027] 1. Driven wheel; 2. I-beam track; 3. Double chain; 4. Power source; 5. Inspection robot body; 6. Motor; 7. Drive wheel; 8. Double sprocket; 9. Mounting frame; 10. Drive shaft; 11. Compression spring; 12. Power failure brake. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0029] like Figures 1-5 As shown, a dual-drive walking mechanism for a track robot is disclosed, including an I-beam track 2 and an inspection robot body 5. A double chain 3 is fixedly embedded at the bottom of the uphill section of the I-beam track 2. An installation groove is provided at the bottom of the uphill section of the I-beam track 2, and the installation groove matches the double chain 3. The bottom of the double chain 3 protrudes to facilitate cooperation with the double sprocket 8.

[0030] The top of the main body 5 of the inspection robot is fixedly connected to the power source 4, which forms the basis of the power structure.

[0031] The power source 4 includes a mounting frame 9, and one bottom end of the mounting frame 9 is hinged to the inner walls of both sides of the inspection robot body 5. The mounting frame 9 is equipped with an electric shaft, and two drive wheels 7 are symmetrically fixedly connected to the outer surface of the electric shaft. Both drive wheels 7 are attached to the bottom of the I-beam track 2. A double sprocket 8 is fixedly connected between the two drive wheels 7, and the double sprocket 8 meshes with the double chain 3. The electric shaft includes a motor 6, and the motor 6 is fixedly installed on one side of the mounting frame 9. The drive end of the motor 6 is fixedly connected to the drive shaft 10, and the drive shaft 10 passes through the mounting frame 9 and is rotatably connected to the mounting frame 9. The two drive wheels 7 and the double sprocket 8 are fixedly sleeved on the outer surface of the drive shaft 10. A power failure brake 12 is fixedly connected to one side of the outer surface of the mounting frame 9, and the braking end of the power failure brake 12 is fixed to the drive shaft 10.

[0032] Two compression springs 11 are symmetrically fixedly connected to the bottom of the mounting bracket 9 on the side away from the hinge. The compression springs 11 are fixedly installed on the top of the inspection robot body 5. The compression springs 11 can apply a preload to ensure the stable meshing of the double sprocket 8 and the double chain 3.

[0033] Two driven wheels 1 are rotatably connected to the inner walls of both sides of the main body 5 of the inspection robot. The four driven wheels 1 are arranged in pairs and symmetrically on both sides of the I-beam track 2. The driven wheels 1 are fitted to the inner bottom of the I-beam track 2. Four mounting brackets are symmetrically fixed to the top of the main body 5 of the inspection robot. The mounting brackets are rotatably connected to the adjacent driven wheels 1 through bearings to reduce the frictional resistance of the driven wheels 1.

[0034] Working Principle: When moving on flat ground, the I-beam track 2 has no chain. The power of the motor 6 is transmitted to the drive wheel 7 through the drive shaft 10. The drive wheel 7 drives the inspection robot body 5 forward by friction with the bottom surface of the I-beam track 2. The double sprocket 8 approaches the bottom surface of the I-beam track 2 under the preload of the compression spring 11 but does not participate in power transmission. When the inspection robot body 5 moves to the uphill section of the I-beam track 2, the double chain 3 on the bottom surface of the I-beam track 2 contacts the double sprocket 8. The collision at the moment of contact causes the mounting bracket 9 to make a slight adjustment of the angle through the hinge point. The preload of the compression spring 11 eliminates the meshing gap and ensures that the double sprocket 8 and the double chain 3 are fully engaged. When moving uphill, the power of the motor 6 is transmitted to both the drive wheel 7 and the double sprocket 8. The drive wheel 7 provides frictional driving force, and the double sprocket 8 transmits the main driving force by meshing with the double chain 3. The compression spring 11 continuously applies preload to ensure tight meshing. The power failure brake 12 can lock the drive shaft 10 to prevent it from falling when the power is off.

[0035] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the utility model to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A dual-drive walking mechanism for a track robot, comprising an I-beam track (2) and a main body of an inspection robot (5), characterized in that: The bottom of the uphill section of the I-beam track (2) is fixedly fitted with a double chain (3); The top of the main body (5) of the inspection robot is fixedly connected to a power source (4); The power source (4) includes a mounting frame (9), and one bottom end of the mounting frame (9) is hinged to the inner walls on both sides of the inspection robot body (5). The mounting frame (9) is equipped with an electric shaft, and two drive wheels (7) are symmetrically fixedly connected to the outer surface of the electric shaft. A double sprocket (8) is fixedly connected between the two drive wheels (7), and the double sprocket (8) meshes with the double chain (3). Two compression springs (11) are symmetrically fixedly connected to the bottom side of the mounting bracket (9) away from the hinge, and the compression springs (11) are fixedly installed on the top of the inspection robot body (5); The two inner walls of the main body (5) of the inspection robot are rotatably connected to two driven wheels (1).

2. The dual-drive walking mechanism for a tracked robot according to claim 1, characterized in that: The electric shaft includes a motor (6), and the motor (6) is fixedly installed on one side of the mounting frame (9). The drive end of the motor (6) is fixedly connected to the drive shaft (10), and the drive shaft (10) passes through the mounting frame (9) and is rotatably connected to the mounting frame (9). The two drive wheels (7) and the double sprocket (8) are all fixedly sleeved on the outer surface of the drive shaft (10).

3. The dual-drive walking mechanism for a tracked robot according to claim 2, characterized in that: A power failure brake (12) is fixedly connected to one side of the outer surface of the mounting bracket (9), and the braking end of the power failure brake (12) is fixed to the drive shaft (10).

4. The dual-drive walking mechanism for a tracked robot according to claim 1, characterized in that: Both drive wheels (7) are attached to the bottom of the I-beam track (2).

5. The dual-drive walking mechanism for a tracked robot according to claim 1, characterized in that: The four driven wheels (1) are arranged in pairs, symmetrically on both sides of the I-beam track (2), and the driven wheels (1) are attached to the inner bottom of the I-beam track (2).

6. The dual-drive walking mechanism for a tracked robot according to claim 1, characterized in that: The bottom of the uphill section of the I-beam track (2) is provided with an installation groove, and the installation groove matches the double chain (3).

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