CN113601481B - Driving mechanism for rail-hanging robot - Google Patents
Driving mechanism for rail-hanging robot Download PDFInfo
- Publication number
- CN113601481B CN113601481B CN202110951414.2A CN202110951414A CN113601481B CN 113601481 B CN113601481 B CN 113601481B CN 202110951414 A CN202110951414 A CN 202110951414A CN 113601481 B CN113601481 B CN 113601481B
- Authority
- CN
- China
- Prior art keywords
- rail
- track
- assembly
- robot
- mounting hole
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a driving mechanism for a rail-hanging robot, which comprises: the driving assembly is respectively connected with the track and the rail hanging robot and can drive the rail hanging robot to move along the length direction of the track; the guide assembly is arranged on at least one side of the driving assembly along the length direction of the track; the guide assembly includes: the device comprises a first connecting plate, two supporting plates and two guide wheel assemblies; each guide wheel assembly comprises: first pivot, second connecting plate, two second pivots and two leading wheels. The driving mechanism for the rail-hanging robot has the advantages of simple structure, easiness in assembly, practicability, easiness in assembly and disassembly, easiness in maintenance and the like.
Description
Technical Field
The application relates to the technical field of inspection robots, in particular to a driving mechanism for a rail hanging robot.
Background
At present, in places such as machine rooms, transformer substations, garages and tunnels, maintenance personnel can cause a great deal of inconvenience when entering the spaces for inspection or routing inspection because the spaces are limited and the environments are relatively special. In addition, the conventional wheeled or tracked inspection robot is also limited in space and cannot be used, so that the rail-mounted robot suspended at the top of a working scene is developed. Due to the various track forms, straight tracks and bent tracks are often connected alternately, and climbing and descending are needed.
However, the conventional rail-hanging robot is relatively unstable and unreliable in running on the rail, and cannot completely ensure that the rollers are always attached to the rail, particularly when the robot turns around the rail and goes up and down the slope.
Disclosure of Invention
The utility model provides a drive mechanism for hanging rail robot can solve among the prior art because of hanging rail robot moves on the track, the not inseparable scheduling problem of gyro wheel and track laminating.
The invention provides a driving mechanism for a rail hanging robot, which is used for driving the rail hanging robot to move along the length direction of a track, wherein the driving mechanism comprises: the driving assembly is respectively connected with the track and the rail hanging robot and can drive the rail hanging robot to move along the length direction of the track; the guide assembly is arranged on at least one side of the driving assembly along the length direction of the track; the guide assembly includes: the first connecting plate is positioned below the track and connected with the rail hanging robot; the two supporting plates are arranged on the first side face of the first connecting plate, one supporting plate is positioned on one side in the width direction of the track, the other supporting plate is positioned on the other side in the width direction of the track, one end of each supporting plate is connected with the first connecting plate, and a first mounting hole extending in the thickness direction of the rail is formed in one side, facing the track, of the other end of each supporting plate; the two guide wheel assemblies are respectively positioned between the two support plates, one guide wheel assembly is connected with one support plate, and the other guide wheel assembly is connected with the other support plate; each of the guide wheel assemblies includes: the first end of the first rotating shaft is arranged in the first mounting hole, and the first rotating shaft can rotate around the axial direction of the first mounting hole; the second connecting plate is arranged at the second end of the first rotating shaft and synchronously moves with the first rotating shaft; one second rotating shaft is arranged at the first end of the second connecting plate and positioned below the track, and the other second rotating shaft is arranged at the second end of the second connecting plate and positioned above the track; and one guide wheel is connected with the second rotating shaft, the other guide wheel is connected with the other second rotating shaft, each guide wheel can rotate around the corresponding axis of the second rotating shaft, and part of the outer peripheral surface of each guide wheel can be abutted against the track.
Furthermore, the first rotating shafts corresponding to the two guide wheel assemblies are arranged in parallel, and each guide wheel is coaxially arranged with the corresponding second rotating shaft.
Furthermore, the first mounting hole penetrates through the thickness direction of the support plate, and the first end of the first rotating shaft penetrates through the first mounting hole and extends out of the support plate.
Further, a second side surface of the first connecting plate is provided with a second mounting hole extending along the thickness direction thereof, and the guide assembly further comprises: the upper end of the rotary seat is inserted into the second mounting hole, the lower end of the rotary seat is connected with the rail hanging robot, and the rotary seat winds the axis direction of the second mounting hole, or the rotary seat is rotatable relative to the rail hanging robot along the axis direction of the rotary seat.
Furthermore, the second mounting hole penetrates through the first connecting plate in the thickness direction, the rotating seat is a cylindrical member, and the upper end of the rotating seat penetrates through the second mounting hole and extends out of the first connecting plate.
Further, the driving assembly includes: one of the two mounting plates is positioned on one side in the width direction of the track, the other mounting plate is positioned on the other side in the width direction of the track, and at least one of the two mounting plates is connected with the rail hanging robot; the driving wheel is arranged on the mounting plate, the other driving wheel is arranged on the other mounting plate, and each driving wheel can rotate around the axis direction of the driving wheel; the motor is connected with the driving wheel so as to drive the driving wheel to rotate around the axis direction of the driving wheel; the tension adjusting pieces are respectively connected with the two mounting plates and can drive the mounting plates to move towards the positions where the rails are located.
Further, be equipped with the third mounting hole that extends along its thickness direction on the mounting panel, drive assembly still includes: the second pivot, the upper end of second pivot is inserted to connect to the third mounting hole, the lower extreme of second pivot with it is continuous to hang the rail robot, the second pivot for the mounting panel winds the axis direction of third mounting hole is rotatable, perhaps, the second pivot for hang the rail robot winds the axis direction of second pivot is rotatable.
Further, the tension adjusting piece is a tension spring.
Further, the rail-mounted robot includes a main body assembly and an installation device, the main body assembly and the installation device are distributed along the length direction of the track at intervals, the main body assembly is connected with the driving assembly, the number of the guide assemblies is two, one guide assembly is connected with the main body assembly, the other guide assembly is connected with the installation device, and the driving mechanism further includes: and the connecting piece is respectively connected with the main body component and the additional equipment.
Further, the connecting piece is a hinge connecting shaft.
According to the driving mechanism for the rail-hanging robot, the driving assembly and the guide assembly are combined, wherein the guide assembly is provided with two guide wheel assemblies. The left and right sides of track is located respectively to two leading wheel subassemblies to, every leading wheel subassembly still is equipped with two leading wheels, and orbital top and below can be located respectively to two leading wheels, cooperatees through direction subassembly and drive assembly, can make at the in-process that the rail hanging robot turned or went up and down the slope on the track, and drive assembly can not break away from the track easily.
Other features of the present application and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic structural diagram of an inspection apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a driven assembly of a drive mechanism for a rail mounted robot according to an embodiment of the present invention;
FIG. 3 is a partial exploded view of a driven assembly of a drive mechanism for a rail mounted robot according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a drive assembly of a drive mechanism for a rail mounted robot according to an embodiment of the present invention;
FIG. 5 is a partial exploded view of a drive assembly of a drive mechanism for a rail mounted robot according to an embodiment of the present invention;
FIG. 6 is a schematic view of a turn of a drive mechanism for a rail mounted robot according to an embodiment of the present invention;
fig. 7 is a schematic view of a drive mechanism for a rail mounted robot on a downhill slope according to an embodiment of the present invention.
Reference numerals:
an inspection device 1000;
a drive mechanism 100;
a drive assembly 10; a mounting plate 11; a drive wheel 12; a motor 13; a tensioning member 14; a third rotating shaft 16; a third mounting hole 16;
a guide assembly 20;
a first connection plate 21; the second mounting hole 211;
a support plate 22;
a guide wheel assembly 23; the first rotating shaft 231; a second connecting plate 232; a second rotating shaft 233; a guide wheel 234;
a rotary base 24;
a connecting member 30;
a rail-mounted robot 200; a body member 210; the installation equipment 220 is added;
a track 300.
Detailed Description
Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the application, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
The following first describes a drive mechanism for a rail-mounted robot according to an embodiment of the present invention in detail with reference to the accompanying drawings.
As shown in fig. 1 to 5, a driving mechanism 100 for a rail-mounted robot 200 according to an embodiment of the present invention is configured to drive the rail-mounted robot 200 to move along a length direction of a track 300, and the driving mechanism 100 includes: a drive assembly 10 and a guide assembly 20.
Specifically, the driving assembly 10 is connected to the track 300 and the rail-mounted robot 200, respectively, the driving assembly 10 can drive the rail-mounted robot 200 to move along the longitudinal direction of the track 300, and the guide assembly 20 is disposed on at least one side of the driving assembly 10 along the longitudinal direction of the track 300. The guide assembly 20 includes: a first connecting plate 21, two support plates 22 and two guide wheel assemblies 23. The first connecting plate 21 is located below the track 300 and connected with the rail hanging robot 200, the two supporting plates 22 are arranged on a first side face of the first connecting plate 21, one supporting plate 22 is located on one side of the width direction of the track 300, the other supporting plate 22 is located on the other side of the width direction of the track 300, one end of each supporting plate 22 is connected with the first connecting plate 21, a first mounting hole extending along the thickness direction of the other end of each supporting plate 22 is formed in one side, facing the track 300, of the other supporting plate 22, the two guide wheel assemblies 23 are located between the two supporting plates 22 respectively, one guide wheel assembly 23 is connected with one supporting plate 22, and the other guide wheel assembly 23 is connected with the other supporting plate 22.
Each guide wheel assembly 23 comprises: the first end of the first rotating shaft 231 is arranged in the first mounting hole, the first rotating shaft 231 can rotate around the axial direction of the first mounting hole, the second connecting plate 232 is arranged at the second end of the first rotating shaft 231 and moves synchronously with the first rotating shaft 231, one second rotating shaft 233 is arranged at the first end of the second connecting plate 232 and is positioned below the track 300, the other second rotating shaft 233 is arranged at the second end of the second connecting plate 232 and is positioned above the track 300, one guide wheel 234 is connected with one second rotating shaft 233, the other guide wheel 234 is connected with the other second rotating shaft 233, each guide wheel 234 can rotate around the axis of the corresponding second rotating shaft 233, and a part of the outer peripheral surface of each guide wheel 234 can abut against the track 300.
In other words, the rail hanging robot 200 according to the embodiment of the present invention can slide along the extending direction of the rail 300. The driving mechanism 100 is mainly composed of a driving assembly 10 capable of providing driving force to the rail hanging robot 200 and a guiding assembly 20 capable of guiding.
It should be noted that one end of the driving assembly 10 is connected to the rail-mounted robot 200, and the other end of the driving assembly 10 is connected to the rail 300, for example, the lower end of the driving assembly 10 is connected to the rail-mounted robot 200, and the upper end of the driving assembly 10 is connected to the rail 300. The driving assembly 10 can move along the extending direction of the track 300, and the driving assembly 10 can drive the rail hanging robot 200 to move along the extending direction of the track 300.
The driving mechanism 100 further comprises a guiding assembly 20, the guiding assembly 20 is also movable along the extending direction of the track 300, and the guiding assembly 20 can be arranged in front of the driving assembly 10, or behind the driving assembly 10, or can be arranged in front of and behind the driving assembly 10. (forward or rearward herein is described with respect to the direction of forward or reverse movement of the drive assembly 10 along the track 300).
Further, the guide assembly 20 is mainly composed of a first coupling plate 21, two support plates 22, and two guide wheel assemblies 23. Wherein, the first connecting plate 21 can be located between the track 300 and the rail hanging robot 200, and can be selectively arranged on the rail hanging robot 200 according to specific situations. The two support plates 22 are provided on the first connection plate 21, and are located at positions on both sides in the width direction of the rail 300, respectively. When the first connecting plate 21 extends in a horizontal manner, the two supporting plates 22 and the first connecting plate 21 may form a letter "Contraband" with an upward opening. In addition, the two support plates 22 are respectively provided with a guide wheel assembly 23 on the mounting surface facing one side of the track 300, and the two guide wheel assemblies 23 can be distributed on the left side and the right side of the track 300 in a mirror symmetry manner, so that the inclination in the process of moving along the track 300 is avoided.
It should be noted that the guide wheel assembly 23 mainly comprises a first rotating shaft 231, a second connecting plate 232, two second rotating shafts 233 and two guide wheels 234. In addition, each support plate 22 is provided with a first mounting hole. One end of the first rotating shaft 231 can be inserted into the first mounting hole, and the first rotating shaft 231 can rotate around the center of the first mounting hole. The other end of the first rotating shaft 231 is connected with a second connecting plate 232, and the second connecting plate 232 can rotate around the other end of the first rotating shaft 231 or the first rotating shaft 231 can drive the second connecting plate 232 to synchronously rotate.
Two second rotating shafts 233 and two guide wheels 234 are further provided on the second connecting plate 232. The two second rotating shafts 233 are respectively located above and below the track 300, and the two guide wheels 234 can be respectively sleeved on the upper and lower rotating shafts. That is, the guide wheels 234 above the rail 300 can roll along the upper surface of the rail 300, and the guide wheels 234 below the rail 300 can roll along the lower surface of the rail 300. And the two guide wheels 234 may be simultaneously positioned on the same straight line in the vertical direction, slide along the extending direction of the rail 300, or slide alternately in the vertical direction. That is, the guide wheels 234 above the track 300 may be in a forward or rearward position with respect to the guide wheels 234 below the track 300, or the guide wheels 234 above the track 300 may be in a vertical orientation perpendicular to the track 300 with respect to the guide wheels 234 below the track 300.
When the driving assembly 10 drives the rail hanging robot 200 to slide along the extending direction of the rail 300, the guide assembly 20 can also slide along the extending direction of the rail 300. When the track 300 is a bent track 300, the guide wheel assembly 23 of the guide assembly 20 can swing relative to the support plate 22, so that the driving assembly 10 can slide along the track 300, and the driving assembly 10 is prevented from sliding off the track 300. In addition, the guide assembly 20 mainly plays a role of guiding.
Thus, the driving mechanism 100 for the rail-mounted robot 200 according to the embodiment of the present invention combines the driving assembly 10 and the guide assembly 20, wherein the guide assembly 20 is provided with two guide wheel assemblies 23. The two guide wheel assemblies 23 are respectively arranged at the left side and the right side of the track 300, each guide wheel assembly 23 is further provided with two guide wheels 234, the two guide wheels 234 can be respectively arranged above and below the track 300, and the guide assemblies and the driving assemblies are matched, so that the driving assembly 10 cannot be easily separated from the track 300 in the process that the rail-hanging robot 200 turns or moves up and down on the track 300.
According to an embodiment of the present invention, as shown in fig. 3, the second rotating shafts 233 of the two guide wheel assemblies 23 are arranged in parallel with each other, and each guide wheel 234 is arranged coaxially with the second rotating shaft 233. That is, two rotating shafts of the same guide wheel assembly 23 are respectively disposed at the upper and lower sides of the track 300, and the straight lines of the axes of the two rotating shafts are parallel to each other. And, the guide wheel 234 fitted over the second rotation shaft 233 can rotate around the axis of the second rotation shaft 233. By arranging the second rotating shafts 233 in parallel with each other, the guide wheels 234 on the upper and lower sides of the rail 300 can slide along the rail 300 at the same time, and the friction force between the two guide wheels 234 and the rail 300 can be ensured to be relatively consistent.
In some embodiments of the present invention, as shown in fig. 3, the first mounting hole penetrates through the support plate 22 in the thickness direction, and the first end of the first rotating shaft 231 extends out of the support plate 22 through the first mounting hole. That is, the first end of the first rotating shaft 231 can extend out of the supporting plate 22, so that the first rotating shaft 231 can be prevented from being separated from the supporting plate 22, and the stability of the first rotating shaft 231 is improved, thereby improving the reliability of the connection of the guide assembly 20 and the rail 300.
According to an embodiment of the present invention, as shown in fig. 2 and 3, the second side surface of the first connection plate 21 is provided with a second mounting hole 211 extending in a thickness direction thereof, and the guide assembly 20 further includes: and a rotary base 24, an upper end of the rotary base 24 being inserted into the second mounting hole 211, a lower end of the rotary base 24 being connected to the rail-mounted robot 200, the rotary base 24 being rotatable about an axial direction of the second mounting hole 211, or the rotary base 24 being rotatable relative to the rail-mounted robot 200 along the axial direction of the rotary base 24. In other words, the first connection plate 21 is provided with a second mounting hole 211 penetrating through the first connection plate in the thickness direction, the upper end of the rotary seat 24 of the guide assembly 20 can be connected to the second mounting hole 211 in an inserting manner, and the lower end of the rotary seat 24 can be connected to the rail-mounted robot 200.
It should be noted that, as shown in fig. 6, when the rail hanging robot 200 passes through a curve, the rail hanging robot 200 keeps the original direction unchanged due to inertia, and at this time, the guide assembly 20 can rotate around the axis direction of the rotating base 24, so as to avoid an excessive pulling force on the rail hanging robot 200 when the guide assembly 20 turns. When the rail-mounted robot 200 needs to rotate, for example, to monitor the surrounding environment, the rail-mounted robot 200 can rotate around the rotary base 24, so as to realize multidimensional monitoring of the surrounding environment. The rotating base 24 enables the guide assembly 20 to rotate in the horizontal direction, and the guide wheel assembly 23 to rotate in the vertical direction, so that the guide wheel 234 can be always attached to the track 300 during the movement of the overhead rail robot 200.
As shown in fig. 7, when the rail hanging robot 200 descends, the guide assembly 20 can maintain the distance between the front end and the rear end of the rail hanging robot 200 and the track 300 to be constant, so that the stable walking of the rail hanging robot 200 can be ensured.
In some embodiments of the present invention, as shown in fig. 3, the second mounting hole 211 penetrates through the first connection plate 21 in the thickness direction, the rotary base 24 is a cylindrical member, and the upper end of the rotary base 24 protrudes out of the first connection plate 21 through the second mounting hole 211. That is, by providing the rotary base 24 as a columnar member, the rotary base 24 can be secured to be rotatable in the second mounting hole 211. Further, the upper end of the rotary base 24 is extended by the length of the first connection plate 21, so that the rotary base 24 can be prevented from being detached from the second mounting hole 211.
According to one embodiment of the present invention, as shown in fig. 4 and 5, the driving assembly 10 includes: two mounting plates 11, two drive wheels 12, a motor 13 and a tensioning member 14.
Specifically, one of the mounting plates 11 is located on one side of the width direction of the track 300, the other mounting plate 11 is located on the other side of the width direction of the track 300, at least one of the two mounting plates 11 is connected to the rail-suspended robot 200, one of the driving wheels 12 is disposed on one of the mounting plates 11, the other driving wheel 12 is disposed on the other mounting plate 11, each driving wheel 12 is capable of rotating around its own axis direction, the motor 13 is connected to the driving wheel 12 to drive the driving wheel 12 to rotate around its own axis direction, the tension adjusting members 14 are respectively connected to the two mounting plates 11, and the tension adjusting members 14 are capable of driving the mounting plates 11 to move towards the position of the track 300.
In other words, the drive assembly 10 is mainly composed of two mounting plates 11, two drive wheels 12, a motor 13, and a tensioning member 14. When the track 300 extends along the horizontal direction, the two mounting plates 11 may be respectively located at the left and right sides of the track 300, a driving wheel 12 is disposed above the left mounting plate 11, and a motor 13 is disposed below the left mounting plate 11 and opposite to the driving wheel 12. Another driving wheel 12 is provided above the right mounting plate 11, and a motor 13 may also be provided below the right mounting plate 11 to power the driving wheel 12. The circumferential direction of the left driving wheel 12 is tangent to the left side surface of the track 300, and the circumferential direction of the right driving wheel 12 is tangent to the right side surface of the track 300, so that the driving wheel 12 is closely attached to the track 300. And a tension adjusting member 14 is provided between the two driving wheels 12 so that the two driving wheels 12 can be always closely attached to both side surfaces in the width direction of the track 300.
Thus, by providing the tensioning member 14 between the two mounting plates 11, it is ensured that the two driving wheels 12 can always maintain a tight fit with the track 300 under the adjustment of the tensioning member 14 when the driving assembly 10 passes a bend of the track 300 or goes up and down a slope.
In some embodiments of the present invention, as shown in fig. 5, the mounting plate 11 is provided with a third mounting hole 15 extending along a thickness direction thereof, and the driving assembly 10 further includes: and a third rotating shaft 16, wherein the upper end of the third rotating shaft 16 is inserted into the third mounting hole 15, the lower end of the third rotating shaft 16 is connected to the rail hanging robot 200, and the third rotating shaft 16 is rotatable around the axial direction of the third mounting hole 15 relative to the mounting plate 11, or the third rotating shaft 16 is rotatable around the axial direction of the third rotating shaft 16 relative to the rail hanging robot 200.
In other words, the mounting plate 11 is further provided with a third mounting hole 15, an upper end of the third rotating shaft 16 can be inserted into the third mounting hole 15, and a lower end of the third rotating shaft 16 can be connected with the rail hanging robot 200. In addition, a bearing seat is further arranged between the third rotating shaft 16 and the third mounting hole 15, and the third rotating shaft 16 can rotate along a straight line where the axis of the bearing seat is located.
For example, as shown in fig. 6, when the driving assembly 10 passes through the turning of the track 300, the inertial rail-mounted robot 200 still maintains the original forward direction, and at this time, the driving assembly 10 can rotate around the third rotating shaft 16 to change the forward direction, so that the rail-mounted robot 200 does not separate from the track 300, and is prevented from being thrown out of the track 300 by the centrifugal force.
A third mounting hole 15 is formed in the mounting plate 11, and a third rotating shaft 16 is disposed in the third mounting hole 15. Not only can the connection between the mounting plate 11 and the rail hanging robot 200 be facilitated, but also the rail hanging robot 200 can rotate around the axis of the third rotating shaft 16 in a straight line or the driving assembly 10 rotates around the axis of the third rotating shaft 16.
Optionally, the tensioning member 14 is a tension spring. That is, the distance between the two driving wheels 12 may be adjusted by providing a tension spring between the two mounting plates 11, and the tension force of the tension spring may maintain the two driving wheels 12 to be closely attached to the rail 300.
According to an embodiment of the present invention, as shown in fig. 1, the rail-mounted robot 200 includes a main body assembly 210 and a loading device 220, the main body assembly 210 and the loading device 220 are distributed at intervals along a length direction of a track 300, the main body assembly 210 is connected to a driving assembly 10, the number of the guide assemblies 20 is two, one guide assembly 20 is connected to the main body assembly 210, the other guide assembly 20 is connected to the loading device 220, and the driving mechanism 100 further includes: the connecting member 30, the connecting member 30 are connected to the main body assembly 210 and the attaching device 220, respectively.
That is, the rail hanging robot 200 is mainly composed of the main body assembly 210 and the attaching device 220, and the main body assembly 210 and the attaching device 220 can be spaced below the rail 300. Wherein, be equipped with guide assembly 20 and drive assembly 10 between main part subassembly 210 and track 300, install additional equipment 220 and pass through guide assembly 20 and be connected between track 300. Optionally, the main body assembly 210 includes components such as a control board, a detection device, and a battery. The main body component 210 can perform monitoring and feedback functions. An additional installation device 220 may be additionally installed behind the main body assembly 210 according to requirements, and an appropriate number of guide assemblies 20 may be additionally installed according to the size of the additional installation device 220.
In addition, a connecting member 30 is further disposed between the main body assembly 210 and the loading device 220, and when the main body assembly 210 slides along the extending direction of the track 300 under the driving of the driving wheel 12, the main body assembly 210 can drive the loading device 220 to slide along the extending direction of the track 300 through the connecting member 30.
Alternatively, as shown in fig. 1, the connecting member 30 is a hinge connecting shaft. Through setting up connecting piece 30 as the hinge connecting axle, not only be convenient for main part subassembly 210 with install the erection joint between the equipment 220 additional, moreover need not use when installing the equipment 220 additional again, can easily will install the connecting piece 30 dismantlement between equipment 220 and the main part subassembly 210 additional, and can also avoid causing mutual interference between main part subassembly 210 and the equipment 220 of installing additional when main part subassembly 210 is not in same horizontal plane with installing the equipment 220 additional simultaneously.
During production and assembly, the system can be operated in a modularized mode, namely the driving mechanism 100, the rail hanging robot 200 and the rail 300 can be assembled independently, and finally the three parts are connected and assembled to form the inspection device 1000. Because each part can be independently assembled, the damage of each part does not affect other parts, and only the part with the fault needs to be repaired. In addition, the inspection device is simple in structure and convenient to assemble.
In summary, according to the driving mechanism 100 for the rail hanging robot 200 of the embodiment of the present invention, the guiding assembly 20 and the tension adjusting member 14 are arranged, and the driving wheel 12 can be tensioned from different dimensions, so that the driving wheel 12 and the rail 300 can form a tight fit effect in the process that the rail hanging robot 200 turns or goes up and down a slope on the rail 300, and the rail hanging robot 200 is not easily separated from the rail 300, thereby ensuring the smooth inspection.
Although some specific embodiments of the present application have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustrative purposes only and are not intended to limit the scope of the present application. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the present application. The scope of the application is defined by the appended claims.
Claims (10)
1. A drive mechanism for a rail-mounted robot for driving the rail-mounted robot to move along the length of a track, the drive mechanism comprising:
the driving assembly is respectively connected with the track and the rail hanging robot and can drive the rail hanging robot to move along the length direction of the track;
the guide assembly is arranged on at least one side of the driving assembly along the length direction of the track;
the guide assembly includes:
the first connecting plate is positioned below the track and connected with the rail hanging robot;
the two supporting plates are arranged on the first side face of the first connecting plate, one supporting plate is positioned on one side in the width direction of the track, the other supporting plate is positioned on the other side in the width direction of the track, one end of each supporting plate is connected with the first connecting plate, and a first mounting hole extending in the thickness direction of the rail is formed in one side, facing the track, of the other end of each supporting plate;
the two guide wheel assemblies are respectively positioned between the two support plates, one guide wheel assembly is connected with one support plate, and the other guide wheel assembly is connected with the other support plate;
each of the guide wheel assemblies includes:
the first end of the first rotating shaft is arranged in the first mounting hole, and the first rotating shaft can rotate around the axial direction of the first mounting hole;
the second connecting plate is arranged at the second end of the first rotating shaft and synchronously moves with the first rotating shaft;
one second rotating shaft is arranged at the first end of the second connecting plate and is positioned below the track, and the other second rotating shaft is arranged at the second end of the second connecting plate and is positioned above the track;
and one guide wheel is connected with the second rotating shaft, the other guide wheel is connected with the other second rotating shaft, each guide wheel can rotate around the corresponding axis of the second rotating shaft, and part of the outer peripheral surface of each guide wheel can be abutted against the track.
2. The drive mechanism for a rail mounted robot of claim 1 wherein said first axes of rotation of said two guide wheel assemblies are disposed parallel to each other and each of said guide wheels is disposed coaxially with a corresponding said second axis of rotation.
3. The driving mechanism for the rail-mounted robot as claimed in claim 1, wherein the first mounting hole penetrates through the supporting plate in the thickness direction thereof, and the first end of the first rotating shaft passes through the first mounting hole and extends out of the supporting plate.
4. The drive mechanism for a rail mounted robot of claim 1 wherein the second side of the first link plate is provided with a second mounting hole extending in the thickness direction thereof, the guide assembly further comprising:
the upper end of the rotary seat is inserted into the second mounting hole, the lower end of the rotary seat is connected with the rail hanging robot, and the rotary seat winds the axis direction of the second mounting hole, or the rotary seat is rotatable relative to the rail hanging robot along the axis direction of the rotary seat.
5. The driving mechanism for the rail-mounted robot as claimed in claim 4, wherein the second mounting hole penetrates through the first connecting plate in a thickness direction thereof, the rotary base is a cylindrical member, and an upper end of the rotary base extends out of the first connecting plate through the second mounting hole.
6. The drive mechanism for a rail mounted robot of claim 1 wherein said drive assembly comprises:
one of the two mounting plates is positioned on one side in the width direction of the track, the other mounting plate is positioned on the other side in the width direction of the track, and at least one of the two mounting plates is connected with the rail hanging robot;
the driving wheel is arranged on the mounting plate, the other driving wheel is arranged on the other mounting plate, and each driving wheel can rotate around the axis direction of the driving wheel;
the motor is connected with the driving wheel so as to drive the driving wheel to rotate around the axis direction of the driving wheel;
the tension adjusting pieces are respectively connected with the two mounting plates and can drive the mounting plates to move towards the positions where the rails are located.
7. The drive mechanism for a rail-mounted robot of claim 6, wherein the mounting plate is provided with a third mounting hole extending in a thickness direction thereof, and the drive assembly further comprises:
the third pivot, the upper end of second pivot is inserted to connect to the third mounting hole, the lower extreme of third pivot with it is continuous to hang the rail robot, the third pivot for the mounting panel winds the axis direction of third mounting hole is rotatable, perhaps, the third pivot for hang the rail robot winds the axis direction of third pivot is rotatable.
8. The drive mechanism for a rail mounted robot of claim 6 wherein said tension adjustment member is a tension spring.
9. The driving mechanism for the rail-mounted robot as claimed in claim 1, wherein the rail-mounted robot comprises a main body assembly and an additional device, the main body assembly and the additional device are distributed at intervals along the length direction of the rail, the main body assembly is connected with the driving assembly, the number of the guide assemblies is two, one of the guide assemblies is connected with the main body assembly, the other guide assembly is connected with the additional device, and the driving mechanism further comprises:
and the connecting piece is respectively connected with the main body component and the additional equipment.
10. The drive mechanism for a rail mounted robot of claim 9 wherein said link is a hinged link shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110951414.2A CN113601481B (en) | 2021-08-18 | 2021-08-18 | Driving mechanism for rail-hanging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110951414.2A CN113601481B (en) | 2021-08-18 | 2021-08-18 | Driving mechanism for rail-hanging robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113601481A CN113601481A (en) | 2021-11-05 |
| CN113601481B true CN113601481B (en) | 2023-03-07 |
Family
ID=78341153
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110951414.2A Active CN113601481B (en) | 2021-08-18 | 2021-08-18 | Driving mechanism for rail-hanging robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113601481B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858131A (en) * | 2018-08-14 | 2018-11-23 | 上海安轩自动化科技有限公司 | A kind of novel spring guide wheel device |
| CN109531537A (en) * | 2018-12-29 | 2019-03-29 | 湖北凯瑞知行智能装备有限公司 | Disk coal crusing robot track running mechanism |
| CN208731001U (en) * | 2018-08-31 | 2019-04-12 | 桂林理工大学 | Track automatic turning device and automatic turning system |
| CN110744524A (en) * | 2019-10-28 | 2020-02-04 | 北京海益同展信息科技有限公司 | Drive guiding mechanism and rail hanging robot |
| CN110977928A (en) * | 2019-12-16 | 2020-04-10 | 北京海益同展信息科技有限公司 | Rail-mounted robot and inspection system |
| CN212601803U (en) * | 2020-06-16 | 2021-02-26 | 福建省海峡智汇科技有限公司 | Guide mechanism for rail hanging robot and rail hanging robot |
| CN112720411A (en) * | 2020-12-07 | 2021-04-30 | 苏州森合知库机器人科技有限公司 | Traveling mechanism of rail-hanging inspection robot |
| CN112873169A (en) * | 2021-01-22 | 2021-06-01 | 青岛共享智能制造有限公司 | Be applied to colliery both arms tunnel in pit and patrol and examine robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2542388B1 (en) * | 2010-03-01 | 2014-05-07 | Abb As | Installation with mobile robot for a harsh, corrosive outdoor environment |
-
2021
- 2021-08-18 CN CN202110951414.2A patent/CN113601481B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858131A (en) * | 2018-08-14 | 2018-11-23 | 上海安轩自动化科技有限公司 | A kind of novel spring guide wheel device |
| CN208731001U (en) * | 2018-08-31 | 2019-04-12 | 桂林理工大学 | Track automatic turning device and automatic turning system |
| CN109531537A (en) * | 2018-12-29 | 2019-03-29 | 湖北凯瑞知行智能装备有限公司 | Disk coal crusing robot track running mechanism |
| CN110744524A (en) * | 2019-10-28 | 2020-02-04 | 北京海益同展信息科技有限公司 | Drive guiding mechanism and rail hanging robot |
| CN110977928A (en) * | 2019-12-16 | 2020-04-10 | 北京海益同展信息科技有限公司 | Rail-mounted robot and inspection system |
| CN212601803U (en) * | 2020-06-16 | 2021-02-26 | 福建省海峡智汇科技有限公司 | Guide mechanism for rail hanging robot and rail hanging robot |
| CN112720411A (en) * | 2020-12-07 | 2021-04-30 | 苏州森合知库机器人科技有限公司 | Traveling mechanism of rail-hanging inspection robot |
| CN112873169A (en) * | 2021-01-22 | 2021-06-01 | 青岛共享智能制造有限公司 | Be applied to colliery both arms tunnel in pit and patrol and examine robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113601481A (en) | 2021-11-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9320379B2 (en) | Motor-driven carriage, and blackout equipment including such a carriage | |
| CN110159894B (en) | Track inspection robot | |
| CN110861066B (en) | Track inspection robot | |
| CN212601942U (en) | Driving wheel support assembly of inspection robot | |
| CN110142771B (en) | Machine room inspection robot | |
| CN110465917A (en) | It is a kind of to can be rotated guide wheel group guide type track machine people chassis | |
| CN110001806A (en) | A kind of climbing robot with variable curvature adaptive ability | |
| CN111197448A (en) | Electric sliding door system and moving vehicle | |
| CN112407086B (en) | Mobile device and robot | |
| CN111497931B (en) | Guide vehicle | |
| CN113601481B (en) | Driving mechanism for rail-hanging robot | |
| CN111300488A (en) | Chassis structure of sliding block type wheel set track robot | |
| CN113815655A (en) | Rail-mounted driving device and driving system, rail-mounted robot and robot system | |
| CN111673711A (en) | Track type inspection robot | |
| CN109278891A (en) | A kind of passive adaptive mechanism of magnetic adsorption wall climbing robot | |
| CN220593216U (en) | Rail hanging driving mechanism of rail robot | |
| CN212193242U (en) | Chassis structure of sliding block type wheel set track robot | |
| CN209956103U (en) | Wall-climbing robot with variable curvature self-adaptive capacity | |
| CN101242982B (en) | A propulsion mechanism | |
| CN212601799U (en) | Walking assembly of inspection robot | |
| JP3736867B2 (en) | Rail guided device support system | |
| CN114592808A (en) | Turning mechanism of well drilling and repairing equipment | |
| CN210149451U (en) | Modular floating drive | |
| CN113047199A (en) | Rail guard for building with flexible function | |
| CN213165376U (en) | Light-load rapid-disassembly type moving device for track robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |