CN209887581U

CN209887581U - Hoisting track robot and driving tensioning mechanism thereof

Info

Publication number: CN209887581U
Application number: CN201920675514.5U
Authority: CN
Inventors: 白玉峰
Original assignee: TIANJIN CHENGKE MECHANICAL AND ELECTRICAL TRANSMISSION TECHNOLOGY Co Ltd
Current assignee: TIANJIN BOYT SCIENCE & TECHNOLOGY Co.,Ltd.
Priority date: 2019-05-13
Filing date: 2019-05-13
Publication date: 2020-01-03
Anticipated expiration: 2029-05-13

Abstract

The utility model provides a hoisting track robot and a driving tensioning mechanism thereof, wherein the driving tensioning mechanism comprises a driving wheel which is rotatably arranged on a bearing platform, the axle center of the wheel is vertically arranged and is fixed relative to the position of the bearing platform in the horizontal direction; the axle center of the wheel shaft of the tension wheel is vertically arranged, the tension unit is arranged between the tension wheel and the bearing platform, the tension wheel is rotatably arranged on the tension unit, and the tension wheel can be driven by the tension unit to elastically move towards or away from the driving wheel in the horizontal direction. The utility model discloses a drive tight mechanism that rises, a drive wheel is responsible for the drive, and tight pulley that rises is responsible for providing adjustable tight power that rises, and structural design is succinct, the overall arrangement is compact, and shared highly very reduces, and the casing can develop the design towards the flattening direction for it is little to patrol and examine the whole occupation space of robot, and reduce cost improves the reliability, and it is convenient to maintain.

Description

Hoisting track robot and driving tensioning mechanism thereof

Technical Field

The utility model belongs to the field of patrol and examine the robot, especially, relate to an use orbital robot of patrolling and examining of hoist and mount and drive tension mechanism thereof.

Background

The existing hoisting track inspection robot has a complex structure, so that the cost is high; the walking device generally comprises a driving mechanism and a guide mechanism, the driving mechanism generally bears the bearing function, the wheel bodies of the corresponding driving wheels are vertically arranged, and the height of the wheel bodies determines the minimum height of the walking device, so that the walking device is often high in occupied space, the whole height of the inspection robot is high, the inspection robot is quite thick, the adopted track is often specially made to accommodate the driving wheels or even the walking device, and the cost of the whole inspection system is further increased.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing a hoist and mount track robot and drive tight mechanism that rises thereof. The method comprises the following specific steps:

the driving tensioning mechanism for the hoisting track robot comprises a bearing platform and is characterized by also comprising a driving wheel, wherein the driving wheel is rotatably arranged on the bearing platform, the axle center of the wheel axle is vertically arranged, and the driving wheel is fixed relative to the bearing platform in the horizontal direction; the axle center of the wheel shaft of the tension wheel is vertically arranged, the tension unit is arranged between the tension wheel and the bearing platform, the tension wheel is rotatably arranged on the tension unit, and the tension wheel can be driven by the tension unit to elastically move towards or away from the driving wheel in the horizontal direction.

Further, the tensioning unit comprises a tensioning arm, a guide rod and a tensioning spring;

the tensioning arm comprises a rotating shaft part and a guide part which are arranged at two ends, the rotating shaft part is provided with a rotating shaft through hole, and a pin shaft is vertically arranged on the bearing platform through the rotating shaft through hole; the guide part is provided with a guide through hole which is vertical to the pin shaft, the guide rod horizontally penetrates through the guide through hole, the right end of the guide rod is fixedly connected with a vertical plate of an L-shaped plate, and a transverse plate of the L-shaped plate is fixed on the bearing platform through a bolt; the left end department of guide bar is equipped with the butt portion, and outside the guide bar was located to the tight spring housing that rises, and both ends supported butt portion and guide part respectively, provided the tight power that rises by the tight spring that rises.

Furthermore, the guide rod is a screw rod with a head, the head of the guide rod is added with a gasket to serve as a butting part, and one end of the tension spring butts against the gasket; the guide rod is fixedly connected with the vertical plate of the L-shaped plate through threads, and the tension force of the spring can be adjusted through rotating the guide rod.

Furthermore, the tensioning arm is also provided with a wheel seat part, the wheel seat part is positioned between the rotating shaft part and the guide part, and the tensioning wheel is installed on the wheel seat part through rotation.

Furthermore, the driving wheel is driven by a motor, the motor is fixedly arranged below the bearing platform, and power is transmitted between the motor shaft and the wheel shaft of the driving wheel through a reduction gear set.

The utility model also provides a hoist and mount track inspection robot, it has adopted foretell drive tight mechanism that rises.

The utility model provides a hoist and mount track inspection robot's drive tight mechanism that rises, a drive wheel is responsible for the drive, and a tight pulley that rises is responsible for providing adjustable tight power that rises, and structural design is succinct, the overall arrangement is compact, shared highly very reduces, and the casing can develop the design towards the platyzization direction for it is little to patrol and examine the whole occupation space of robot, and reduce cost improves the reliability, and it is convenient to maintain.

Drawings

The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:

FIG. 1 is a schematic perspective view of a walking device;

FIG. 2 is a front view of the running gear in mounted engagement with an I-shaped lifting rail;

FIG. 3 is a schematic top view of the walking device;

fig. 4 is a schematic view of fig. 3 with the driving wheel 4 and the tension wheel 5 of the tension mechanism removed to show a structure covered by two wheels;

fig. 5 is a schematic perspective view of the tensioning arm 6;

FIG. 6 is a top view of the tension arm in combination with some of the components;

fig. 7 is a schematic perspective view showing a state in which the driving tensioning mechanism is combined with the i-shaped hoisting rail after the bearing wheel and the guide wheel of the traveling device are removed.

Detailed Description

It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present invention, it should be understood that "front-back direction" and "longitudinal direction" are the traveling direction of the inspection robot, i.e. the extending direction of the track, "left-right direction" is perpendicular to the traveling direction of the inspection robot, "left-right direction" is also the "transverse direction" of the inspection robot, and "up-down direction" is the up-down direction of the conventional concept; in addition, as shown in fig. 1, the hoisting track used by the inspection robot of the present invention is an "i" track, which includes upper and lower rails (300, 302) and a vertical rail beam (301) connecting the two rails, the "inner side" refers to the direction close to the vertical rail beam (301), and the "outer side" refers to the direction away from the vertical rail beam (301); and a plurality of mounting holes near the two end parts of the upper cross beam of the rail are used for hoisting and fixing the hoisting rail.

The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. In order to clearly show the structural composition of important mechanisms, a shell part, a monitoring component such as a camera and the like, a battery component and the like are hidden.

The walking device of the hoisting track robot separates the driving function from the bearing function, the bearing function is given to the bearing mechanism, and the guide mechanism and the bearing mechanism are integrated into a whole to form the bearing guide mechanism; the driving function is realized by the driving tensioning mechanism.

Specifically, the robot comprises a bearing platform 1, wherein a bearing guide mechanism of the robot comprises four bearing wheels (21, 22, 23 and 24) which are rotatably supported on the bearing platform 1 and are positioned at four corners of a square shape, axle centers of the four bearing wheels are positioned on the same horizontal plane, the axle center of each bearing wheel is perpendicular to the traveling direction of the walking device, and each bearing wheel (21, 22, 23 and 24) is positioned at the outer side of the bearing wheel (the former mentioned, the latter refers to the direction far away from a vertical rail beam (301), and the later description is omitted) corresponding to a matched axle seat (211, 221, 231 and 241); in this embodiment, a concave bracket is fixedly mounted on the upper surface of the supporting platform 1 at the front and the back, the axle seats of the bearing wheels are respectively mounted on the inner side of one of the two vertical sides of the concave bracket (as mentioned above, "inner side" refers to the direction close to the vertical rail beam (301), which is not described in detail below), and the bottom plate of the concave bracket is fixed with the supporting platform through bolts. An extension section (232 in fig. 2 for example) is further horizontally extended from the wheel axle of each bearing wheel towards the inner side, each extension section is fixedly connected with a guide wheel axle vertically, and a guide wheel (31, 32, 33, 34) is rotatably mounted on each guide wheel axle to play a role in guiding when the vehicle turns.

The driving tension mechanism of the important claim of the present invention, as shown in the figure, is installed with a driving wheel 4 through the rotation of the bearing 41 between the front and rear bearing wheels (the right side in this embodiment, as shown in 21 and 23 in the figure) on one side, the bearing 41 of the driving wheel 4 is fixed on the bearing platform 1, the axle center of the driving wheel 4 is perpendicular to the axle center of the bearing wheel, so the wheel body of the driving wheel 4 is horizontally arranged above the bearing platform;

a tension wheel 5 is rotatably mounted between the front and rear load-bearing wheels (the left side, 22 and 24 in the figure) on the other side through a bearing 51, and the axle center of the tension wheel 5 is perpendicular to the axle center of the load-bearing wheel, so that the wheel body of the tension wheel 5 is also horizontally arranged above the load-bearing platform;

in addition, a tension unit is further disposed between the bearing 51 of the tension wheel 5 and the bearing platform, the bearing 51 of the tension wheel 5 is mounted on the tension unit, and the tension unit is applied with a horizontal tension force (i.e., an elastic force) of the bearing 41 facing the driving wheel, so as to drive the tension wheel 5 to be applied with a horizontal tension force facing the driving wheel 4, and the tension wheel 5 can move toward or away from the driving wheel 4.

Referring to fig. 2 and 7, the combination state of the walking device of the inspection robot mounted on the i-shaped hoisting track is shown, and the four bearing wheels are respectively abutted against the upper surface of the lower rail beam 302 of the i-shaped hoisting track to bear the load of the whole inspection robot; the driving wheel 4 and the tension wheel 5 are respectively abutted against the left side and the right side of the vertical rail beam 301, and under the driving of the tension force of the tension unit, the driving wheel 4 and the tension wheel 5 clamp the vertical rail beam 301, so that the driving wheel 4 obtains enough driving friction force, and the inspection robot is driven to move along the rail;

in this embodiment, the tension unit includes a tension arm 6, a guide rod 7 and a tension spring 8, as shown in fig. 5, the tension arm 6 includes a rotating shaft portion 601 and a guide portion 603 which are arranged at two ends of the row, the rotating shaft portion 601 is provided with a rotating shaft through hole 6011, and a pin shaft 9 is vertically installed on the bearing platform through the rotating shaft through hole 6011; the guide part 603 is provided with a guide through hole 6031 vertical to the pin shaft 9, the guide rod 7 horizontally penetrates through the guide through hole 6031, the right end of the guide rod 7 is fixedly connected with a vertical plate thread of an L-shaped plate 13, and a transverse plate of the L-shaped plate 13 is fixed on a bearing platform beside a wheel axle seat 221 of the left front bearing wheel 22 through a bolt; the left end of the guide rod 7 is provided with a butting part, the tensioning spring 8 is sleeved outside the guide rod 7, the two ends of the tensioning spring respectively butt against the butting part and the guide part 603, and the tensioning spring 8 provides tensioning force; in the embodiment, the abutting part is in a simple specific form, the guide rod 7 is a screw rod with a head part, the head part of the guide rod is additionally provided with a gasket to serve as the abutting part, and one end of the tension spring 8 abuts against the gasket;

the tensioning arm 6 is further provided with a wheel seat portion 602, the wheel seat portion 602 is located between the rotating shaft portion 601 and the guide portion 603, a shaft hole 6021 is formed in the wheel seat portion, and the tensioning wheel 5 is mounted on the wheel seat portion 602 through the bearing 51.

In order to make the structure more compact and make full use of the space, as shown in fig. 5, the tension arm 6 between the rotating shaft 601 and the wheel seat 602 forms an avoiding recess 604 to avoid and accommodate the bearing axle seat 241.

The driving wheel 4 is driven by a motor 12, the motor 12 is fixedly arranged below the bearing platform 1, the space above the bearing platform is not occupied, power can be transmitted between a motor shaft and a wheel shaft of the driving wheel 4 through a reduction gear set, and meanwhile, a part of space for installing other components can be avoided from the installation position of the motor 12.

Owing to the platyzing structural design who adopts makes the utility model discloses an it is very little to patrol and examine shared space height of robot's running gear, so also very reduce hoisting orbital altitude requirement, just also can adopt ordinary I shape section bar steel can satisfy the requirement, and the track material need not special customization, has further reduced the cost of system of patrolling and examining.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The driving tension mechanism of the hoisting track robot comprises a bearing platform and is characterized by also comprising

The driving wheel is rotatably arranged on the bearing platform, the axle center of the wheel axle is vertically arranged, and the position of the driving wheel relative to the bearing platform in the horizontal direction is fixed;

the axle center of the wheel shaft of the tension wheel is vertically arranged, the tension unit is arranged between the tension wheel and the bearing platform, the tension wheel is rotatably arranged on the tension unit, and the tension wheel can be driven by the tension unit to elastically move towards or away from the driving wheel in the horizontal direction.

2. The hoisting track robot driven tensioning mechanism of claim 1, wherein the tensioning unit comprises a tensioning arm, a guide rod and a tensioning spring;

3. The driving and tensioning mechanism of the hoisting track robot as claimed in claim 2, wherein the guide rod is a screw rod with a head, the head is provided with a washer as the abutting part, and one end of the tensioning spring abuts against the washer; the guide rod is fixedly connected with the vertical plate of the L-shaped plate through threads, and the tension force of the spring can be adjusted through rotating the guide rod.

4. The robot driven tensioning mechanism for hoisting rails as claimed in claim 2, wherein the tensioning arm is further provided with a wheel seat part, the wheel seat part is located between the rotating shaft part and the guiding part, and the tensioning wheel is rotatably mounted on the wheel seat part.

5. The robot-driven tensioning mechanism for lifting rails as claimed in claim 1, wherein the driving wheels are driven by a motor, the motor is fixedly mounted below the bearing platform, and power is transmitted between the motor shaft and the wheel shafts of the driving wheels through a reduction gear set.

6. A hoisting track robot, the walking device of which comprises the hoisting track robot driving tensioning mechanism according to any one of claims 1 to 5.