CN114083513A

CN114083513A - Driving device for track robot

Info

Publication number: CN114083513A
Application number: CN202111455760.8A
Authority: CN
Inventors: 王刚; 李阳; 徐义巍; 刘炜; 师开革; 肖瑞岗; 侯吉民; 任海彬; 王学成; 马建平; 刘勇; 马富君; 张楠; 王冬; 张飞; 张智杰; 藏亮; 徐立; 菅磊; 潘伟民
Original assignee: Beijing Nenggong Huizhi Robot Co ltd; Ningxia Jingneng Ningdong Electric Power Co ltd; Beijing Jingneng Power Co Ltd
Current assignee: Beijing Nenggong Huizhi Robot Co ltd; Ningxia Jingneng Ningdong Electric Power Co ltd; Beijing Jingneng Power Co Ltd
Priority date: 2021-12-01
Filing date: 2021-12-01
Publication date: 2022-02-25

Abstract

The invention provides a driving device for a rail robot. The driving device for the rail robot comprises a first hanging seat, a second hanging seat, two rocker arms, two swing arms, two elastic driving parts and two driving wheel assemblies. The first lifting seat and the second lifting seat are used for hanging a robot main body, the two rocker arms are hinged to the first lifting seat, the first ends of the two rocker arms are hinged to the first lifting seat, the two driving wheel assemblies are installed on the two rocker arms respectively, and the first ends of the two rocker arms are hinged to the second lifting seat. The two elastic driving pieces drive the two rocker arms to rotate relatively close to each other, so that the two driving wheel assemblies can clamp the track. Because foretell swing arm passes through compound hinged joint's structure with the rocking arm, under the drive of elastic drive spare, can let the track robot change with orbital cooperation gesture with the drive arrangement, let two drive wheel subassemblies paste tightly with the track all the time, improve the reliability of track robot's drive wheel and track contact.

Description

Driving device for track robot

Technical Field

The invention relates to the technical field of robots, in particular to a driving device for a track robot.

Background

Along with the more and more extensive application occasions of robot, in the occasion that has certain requirement to the security, the reliability that equipment removed is improved to the robot that more and more will adopt along the track walking. At present, most of track robots are installed by adopting I-shaped tracks, rollers are generally installed in grooves on two sides of the I-shaped tracks, and then the driving wheels are attached to the transverse surface structures of the I-shaped tracks to drive the track robots to move.

In addition, in the prior art, a scheme that the driving wheel is attached to the longitudinal surface structure of the I-shaped track to drive the track robot to move is also provided. However, in the technical scheme, the driving wheels are easy to have the problem of unreliable contact with the track, and the driving wheels are easy to slip. Particularly, in the process of turning, the driving wheels are more easily and unreliably contacted with the side surface of the curved track, so that the walking precision of the track robot is reduced.

Disclosure of Invention

The invention mainly aims to provide a driving device for a track robot, which solves the problem that a driving wheel of the track robot in the prior art is easy to contact with a track and is unreliable.

In order to achieve the above object, the present invention provides a driving device for a rail robot, comprising: the first hanging seat and the second hanging seat are used for hanging the robot main body; the first ends of the two rocker arms are hinged with the first hanging seat; the first ends of the two swing arms are hinged with the second hanging seat, the second end of one swing arm is connected to the second end of one rocker arm through a composite hinge on one common side of the first hanging seat and the second hanging seat, and the second end of the other swing arm is connected to the second end of the other rocker arm through a composite hinge on the other common side of the first hanging seat and the second hanging seat; the two elastic driving pieces are respectively arranged at the second ends of the two swing arms and are used for driving the two swing arms to rotate relatively close to each other; and the two driving wheel assemblies are respectively arranged on the two rocker arms.

In one embodiment, a sliding slot is formed on the second end of the rocker arm, the second end of the swing arm passes through the sliding slot, and the second end of the swing arm can rotate relative to the sliding slot, can slide relative to the sliding slot and can extend or retract relative to the sliding slot.

In one embodiment, the resilient drive is mounted on a portion of the swing arm at which the second end extends from the chute.

In one embodiment, an end cap is mounted at the end of the second end of the swing arm, the end cap compressing the resilient drive between the end cap and the swing arm.

In one embodiment, the resilient drive is mounted between a portion of the swing arm that does not extend from the chute and the rocker arm.

In one embodiment, the resilient drive member is a spring or a post of resilient material.

In one embodiment, the first end of the swing arm is hinged to the first suspension base through a first rotating shaft, and/or the first end of the swing arm is hinged to the second suspension base through a second rotating shaft.

In one embodiment, a first shaft seat is arranged on the first hanging seat, and the first shaft seat is used for mounting a first rotating shaft and a rocker arm; and/or a second shaft seat is arranged on the second hanging seat and used for mounting a second rotating shaft and a swing arm.

In one embodiment, the two swing arms together with the first hanger form a U-shaped clasping structure.

In one embodiment, the drive wheel assembly includes a drive member mounted on the swing arm and a drive wheel horizontally mounted on the drive member.

By applying the technical scheme of the invention, the two elastic driving parts drive the two rocker arms to rotate relatively close to each other, so that the two driving wheel assemblies can tighten the track. Because foretell swing arm passes through compound hinged joint's structure with the rocking arm, under the drive of elastic drive spare, can let the track robot change with orbital cooperation gesture with the drive arrangement, let two drive wheel subassemblies paste tightly with the track all the time, improve the reliability of track robot's drive wheel and track contact.

In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a front view schematically showing a structure of a rail robot driving apparatus according to an embodiment of the present invention installed on a rail; and

fig. 2 shows a schematic top view of the drive device for a rail robot of fig. 1;

fig. 3 is a schematic top view of the drive device for a rail robot shown in fig. 1, taken from the rail;

fig. 4 shows a schematic structural view of the drive device for a rail robot of fig. 3 in a bent state;

fig. 5 shows a schematic structural view of the drive device for a rail robot of fig. 3 in another overbending state.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances for describing embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

Fig. 1, 2 and 3 show an embodiment of the driving apparatus for a railway robot of the present invention, which includes a first hanger base 10, a second hanger base 20, two swing arms 30, two swing arms 40, two elastic driving members 50, and two driving wheel assemblies 60. The first hanging seat 10 and the second hanging seat 20 are used for hanging a robot main body, the two rocker arms 30 are hinged to the first hanging seat 10, the two driving wheel assemblies 60 are respectively installed on the two rocker arms 30, and the first ends of the two swing arms 40 are hinged to the second hanging seat 20. A second end of one swing arm 40 is connected to a second end of one swing arm 30 by a compound hinge at one side common to the first and

second hangers

10 and 20, and a second end of the other swing arm 40 is connected to a second end of the other swing arm 30 by a compound hinge at the other side common to the first and

second hangers

10 and 20. Two elastic driving members 50 are respectively installed at the second ends of the two swing arms 40, and the elastic driving members 50 are used for driving the two swing arms 30 to rotate relatively close to each other.

With the solution of the present invention, the two elastic driving members 50 drive the two swing arms 30 to rotate relatively close to each other, so that the two driving wheel assemblies 60 can tighten the track H. When the track robot passes a curve, the robot body is easy to slip the driving wheel assembly 60 matched with one side of the curve due to the action of the robot body, as shown in fig. 4 and 5, in the technical scheme of the application, because the swing arm 40 and the swing arm 30 are connected through the composite hinge, under the driving of the elastic driving part 50, the driving device for the track robot can change the matching posture with the track H, the two driving wheel assemblies 60 are always attached to the track H, and the reliability of the contact between the driving wheel of the track robot and the track is improved.

As shown in fig. 1, in the technical solution of the present embodiment, the implementation manner of the composite hinge includes: the second end of the swing arm 30 is provided with a sliding slot 31, the second end of the swing arm 40 passes through the sliding slot 31, and the second end of the swing arm 40 can rotate relative to the sliding slot 31, slide relative to the sliding slot 31 and extend or retract relative to the sliding slot 31. As other alternative embodiments, the compound hinge can be implemented with other two-stage rod set structures.

As shown in fig. 3, in the solution of the present embodiment, the elastic driving member 50 is installed at a portion of the second end of the swing arm 40 protruding from the chute 31. More preferably, in the present embodiment, an end cap 41 is installed at the end of the second end of the swing arm 40, and the end cap 41 compresses the elastic driving member 50 between the end cap 41 and the swing arm 30. In the solution of the present embodiment, the tension state of the elastic driving element 50 can be adjusted by the end cap 41, and finally the driving wheel assembly 60 is pressed on the track H with a certain pressure. Alternatively, the end cap 41 may be a blind nut or a nut that moves along the swing arm 40. Preferably, in the solution of this embodiment, the elastic driving member 50 is a spring, and the spring is sleeved on a portion of the second end of the swing arm 40 extending from the sliding slot 31. As other alternative embodiments, the elastic driving member 50 may also be a column of elastic material, which may be made of an elastic rubber material.

As an alternative embodiment not shown in the figures, it is also possible to have the elastic drive 50 mounted between the portion of the swing arm 40 not protruding from the chute 31 and the rocker arm 30, in this embodiment a rotation of the two rocker arms 30 relatively close by means of the pulling force of the elastic drive 50.

As shown in fig. 3, in the solution of the present embodiment, a first shaft seat 11 is disposed on the first hanging seat 10, the first shaft seat 11 is used for mounting the first rotating shaft 12 and the swing arm 30, a second shaft seat 21 is disposed on the second hanging seat 20, and the second shaft seat 21 is used for mounting the second rotating shaft 22 and the swing arm 40.

As another alternative embodiment not shown in the drawings, the first shaft seat 11 and the second shaft seat 21 may be omitted, and the first end of the swing arm 30 is directly hinged to the first hanging seat 10 through the first rotating shaft 12, and the first end of the swing arm 40 is hinged to the second hanging seat 20 through the second rotating shaft 22.

As shown in fig. 3, in the solution of the present embodiment, two swing arms 30 form a U-shaped clasping structure together with the first hanging seat 10. Through the U-shaped clasping structure, the two driving wheel assemblies 60 can be more conveniently attached to two sides of the track H.

As shown in fig. 1, in the solution of the present embodiment, the driving wheel assembly 60 includes a driving member 61 and a driving wheel 62, the driving member 61 is mounted on the swing arm 30, and the driving wheel 62 is horizontally mounted on the driving member 61. The driving member 61 may be a motor, or an assembly of a motor and a speed reducer, and finally, the output shaft of the driving member 61 is connected to the driving wheel 62 to drive the driving wheel 62.

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 invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. 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.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A drive device for a rail robot, comprising:

the robot comprises a first hanging seat (10) and a second hanging seat (20), wherein the first hanging seat (10) and the second hanging seat (20) are used for hanging a robot main body;

two rocker arms (30), wherein first ends of the two rocker arms (30) are hinged with the first hanging seat (10);

two swing arms (40), wherein the first ends of the two swing arms (40) are hinged with the second hanging seat (20), the second end of one swing arm (40) is connected to the second end of one swing arm (30) through a compound hinge on one common side of the first hanging seat (10) and the second hanging seat (20), and the second end of the other swing arm (40) is connected to the second end of the other swing arm (30) through a compound hinge on the other common side of the first hanging seat (10) and the second hanging seat (20);

two elastic driving pieces (50) are respectively arranged at the second ends of the two swing arms (40), and the elastic driving pieces (50) are used for driving the two swing arms (30) to rotate relatively close to each other;

and two driving wheel assemblies (60) respectively mounted on the two rocker arms (30).

2. The driving apparatus for a rail robot according to claim 1, wherein a sliding slot (31) is opened on a second end of the swing arm (30), a second end of the swing arm (40) passes through the sliding slot (31), and the second end of the swing arm (40) is rotatable relative to the sliding slot (31), slidable relative to the sliding slot (31), and extendable or retractable relative to the sliding slot (31).

3. A driving device for a rail robot according to claim 2, characterized in that the elastic driving member (50) is mounted at a portion of the second end of the swing arm (40) protruding from the slide groove (31).

4. A driving device for a railway robot according to claim 3, characterized in that an end cap (41) is mounted at the end of the second end of the swing arm (40), said end cap (41) compressing the elastic driving member (50) between the end cap (41) and the swing arm (30).

5. A driving device for a railway robot according to claim 2, characterized in that the elastic driving member (50) is installed between the portion of the swing arm (40) not protruding from the chute (31) and the swing arm (30).

6. A driving device for a rail robot according to claim 1, characterized in that the resilient driving member (50) is a spring or a column of resilient material.

7. A driving device for a railway robot according to claim 1, characterized in that the first end of the swing arm (30) is hinged with the first suspension base (10) by a first rotation shaft (12) and/or the first end of the swing arm (40) is hinged with the second suspension base (20) by a second rotation shaft (22).

8. A driving device for a rail robot according to claim 7, characterized in that the first suspension base (10) is provided with a first axle seat (11), the first axle seat (11) being used for mounting the first rotation shaft (12) and the swing arm (30); and/or a second shaft seat (21) is arranged on the second hanging seat (20), and the second shaft seat (21) is used for installing the second rotating shaft (22) and the swing arm (40).

9. A driving device for a railway robot according to claim 1, characterized in that the two swing arms (30) together with the first lifting seat (10) form a U-shaped clasping structure.

10. A driving device for a rail robot according to claim 1, characterized in that the driving wheel assembly (60) comprises a driving member (61) and a driving wheel (62), the driving member (61) being mounted on the swing arm (30), the driving wheel (62) being horizontally mounted on the driving member (61).