CN212500391U - Track walking mechanism for inspection robot - Google Patents

Abstract

The utility model discloses a patrol and examine robot and use track running gear, include the wheel carrier and install the capable motor of walking on the wheel carrier, the wheel carrier includes the bottom plate and fixes the riser in the bottom plate both sides, the both sides riser is located the track both sides, processing has the lightening hole on the riser, and the riser keeps away from one side shaping of bottom plate has the frame plate, install the bearing wheelset on the frame plate, the bearing wheelset includes bearing shaft and bearing wheel, bearing shaft one end is fixed on the frame plate, the directional track of the other end, the bearing wheel is rotationally installed in the directional orbital one end of bearing shaft, it installs on one of them curb plate to walk the capable motor, and walk the directional curb plate in addition of output of capable motor, it can with the track on the output shaft of capable motor walk the capable gear of walking of rack intermeshing, walk the both sides that the capable gear was followed. The utility model discloses can obtain the stability of preferred and the smoothness nature of preferred when walking on the track.

Description

Track walking mechanism for inspection robot

Technical Field

The utility model relates to a track inspection robot technical field particularly, relates to a patrol and examine robot and walk line mechanism with track.

Background

At present, a track inspection robot mainly completes scene monitoring or inspection operation by walking on a preset track, and whether a walking assembly of the track inspection robot can stably and smoothly walk on the track is directly related to the walking stability of the whole robot. The walking part in most of the existing inspection robot walking assemblies is not smooth in walking due to complex structure, or unstable in walking due to simple structure, and the like, so that the synergistic trade-off between the stability and the fluency of the whole walking part can not reach a compromise and better result all the time.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a patrol and examine robot and walk line mechanism with track, should walk line mechanism and walk the stability that can obtain the preferred and the smoothness nature of preferred when walking on the track.

The embodiment of the utility model is realized like this: a track running mechanism for an inspection robot comprises a wheel carrier and a running motor arranged on the wheel carrier, wherein the wheel carrier comprises a bottom plate and vertical plates fixed on two sides of the bottom plate, the vertical plates on two sides are positioned on two sides of a track, lightening holes are processed on the vertical plates, and a frame plate is formed on one side of the vertical plate far away from the bottom plate, a bearing wheel set is arranged on the frame plate and comprises a bearing wheel shaft and a bearing wheel, one end of the bearing wheel shaft is fixed on the frame plate, the other end of the bearing wheel shaft points to the track, the bearing wheel is rotatably arranged at one end of the bearing wheel shaft which points to the track, a walking motor is arranged on one side plate, the walking motor passes through a lightening hole of the side plate, and the output end of the walking motor points to the other side plate, a walking gear which can be meshed with the rack on the track is arranged on the output shaft of the walking motor, and the walking gear and the bearing wheel on the same side are respectively positioned on two sides of the lower edge of the track.

Further, install the adjustment mechanism who is used for adjusting walking gear and track rack degree of engagement on the wheel carrier, adjustment mechanism includes the motor support and installs the unsteady supporting component on the motor support, unsteady supporting component includes the optical axis, spacing seat, spring and linear bearing, spacing seat is fixed on the bottom plate of wheel carrier, optical axis one end and spacing seat fixed connection, optical axis other end suit linear bearing, the spring suit is on the optical axis between linear bearing and the spacing seat, linear bearing and motor support fixed connection, motor support one side and walking motor fixed connection, and one side that linear bearing was kept away from to the motor support is provided with the rack locating wheel that can with track rolling contact.

Furthermore, two groups of floating supporting assemblies are symmetrically mounted on the motor support, the two groups of floating supporting assemblies are respectively positioned on two sides of the traveling gear, and a guide connecting plate is fixed between one ends, far away from the limiting seat, of the two optical axes.

Furthermore, the bearing wheel is a rubber wheel, and one side of the bearing wheel is attached to the lower edge of the track and used for supporting the whole wheel carrier.

The embodiment of the utility model provides a beneficial effect is:

the embodiment of the utility model provides a walking mechanism on track is through adopting to walk the mode of walking gear and track rack toothing, the meshing type walking can be guaranteed better walking smoothness nature, the rethread sets up the bearing wheel effect at the track opposite side, the orbital mode of both sides centre gripping can obtain better stability when walking the line, thereby make whole walking mechanism reach stability and smoothness when walking to accept and accept a better result in coordination between the nature, avoid appearing both can not hold the circumstances simultaneously concurrently.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural view of a track running mechanism according to an embodiment of the present invention;

FIG. 2 is a schematic view of a portion of the track running gear of FIG. 1;

fig. 3 is a schematic structural diagram of an adjusting mechanism according to an embodiment of the present invention.

Icon: 1-a traveling motor; 2-wheel carrier; 3-a load-bearing wheel shaft; 4-frame plate; 5-a bearing wheel; 6-an adjusting mechanism; 7-lightening holes; 8-running gear; 61-motor support; 62-a floating support assembly; 63-a rack positioning wheel; 621-a limiting seat; 622-optical axis; 623-linear bearings; 624-guide web.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

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, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "parallel," "perpendicular," and the like do not require that the components be absolutely parallel or perpendicular, but may be slightly inclined. For example, "parallel" merely means that the directions are more parallel relative to "perpendicular," and does not mean that the structures are necessarily perfectly parallel, but may be slightly tilted.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

The terms "substantially", "essentially", and the like are intended to indicate that the relative terms are not required to be absolutely exact, but may have some deviation. For example: "substantially equal" does not mean absolute equality, but it is difficult to achieve absolute equality in actual production and operation, and some deviation generally exists. Thus, in addition to absolute equality, "substantially equal" also includes the above-described case where there is some deviation. In this case, unless otherwise specified, terms such as "substantially", and the like are used in a similar manner to those described above.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Examples

Referring to fig. 1 to 3, the present embodiment provides a track running mechanism for an inspection robot, including a wheel carrier 2 and a running motor 1 installed on the wheel carrier 2, where the wheel carrier 2 is used for being connected with an installation platform of the inspection robot, the wheel carrier 2 is in a substantially U-shaped plate shape, and includes a bottom plate and vertical plates fixed on two sides of the bottom plate, the vertical plates on two sides are located on two sides of a track, installation support plates are formed on portions of the vertical plates far away from the bottom plate, and guide wheel sets are installed on the installation support plates and mainly used for being suspended on an i-shaped track for running. In this embodiment, the support walking part of the wheel carrier 2 is emphasized to be described, specifically, a lightening hole 7 is formed in the vertical plate, a frame plate 4 is formed on one side of the vertical plate far away from the bottom plate, and the frame plate 4 is provided with a plurality of bearing wheel sets, wherein the number of the bearing wheel sets can be one set, two sets or multiple sets, and the requirement of stably supporting the whole wheel carrier 2 can be met by one set. The bearing wheel set comprises a bearing wheel shaft 3 and a bearing wheel 5, one end of the bearing wheel shaft 3 is fixedly connected with an assembly shaft hole on the frame plate 4 in a hole shaft mode, the other end of the bearing wheel shaft points to the track, the bearing wheel shafts 3 on two sides are coaxially distributed, and the bearing wheel 5 is rotatably arranged at one end, close to the track, of each bearing wheel shaft 3. In this embodiment, the bearing wheel 5 is a rubber wheel and has certain extrusion plasticity, when the device is used, the lower side of the bearing wheel 5 is attached to the upper surface wall of the lower edge of one side of the rail, and the bearing wheel 5 is used for supporting the whole wheel carrier 2, so that the reliability of the running of the wheel carrier 2 on the rail is ensured.

The walking motor 1 is arranged on one side plate, the walking motor 1 movably penetrates through the lightening hole 7 of the side plate, and the output end of the walking motor 1 points to the other side plate; the walking motor 1 has a displacement amount which floats up and down, a walking gear 8 which can be meshed with a rack on a rail is arranged on an output shaft of the walking motor 1, the walking gear 8 and a bearing wheel 5 on the same side are respectively positioned on the upper side and the lower side of the lower edge of the rail, and good stability can be obtained during walking by clamping the rail on two sides.

In order to ensure that the engagement of the running gear 8 and the rack on the track has self-adjustment performance and the integral engagement is more stable, the stability of the running mechanism is further improved, and the problem that the running gear 8 is engaged with the rack due to inaccurate processing or error at a certain position is solved, and the hard extrusion damage is caused. Install on the wheel carrier 2 and be used for adjusting the adjustment mechanism 6 of walking gear 8 and track rack degree of engagement, adjustment mechanism 6 includes motor support 61 and installs the floating support assembly 62 on motor support 61, motor support 61 one side and walking motor 1 fixed connection, floating assembly 62 can be a set of, two sets of even more multiunit to satisfy the requirement that the floating support walked motor 1 can. In this embodiment, two sets of floating support assemblies 62 are symmetrically installed on the motor bracket 61, and the two sets of floating support assemblies 62 are respectively located at two sides of the traveling gear 8, which is described by using a single set of floating support assemblies 62, each floating support assembly 62 includes an optical axis 622, a limiting seat 621, a spring (not shown) and a linear bearing 623, the limiting seat 621 is fixed on the side wall of the bottom plate of the wheel carrier 2 near the traveling motor 1, one end of the optical axis 622 is fixedly connected with the limiting seat 621, the linear bearing 623 is sleeved at the other end of the optical axis 622, and the spring is sleeved on the optical axis 622 between the linear bearing 623 and the limiting seat 621, so that the linear bearing 623 can have the adaptability of moving up and down relative to the limiting seat 621 under the action of the. The linear bearing 623 is fixedly connected with the motor support 61, so that the whole miniature traveling motor 1 can have a condition of up-and-down floating, and the meshing gap of the traveling gear 8 is adjustable in a certain range when the rack is meshed, so that the problem of hard extrusion damage caused by inaccurate processing or error at a certain position of the rack when the rack is meshed with the traveling gear 8 is solved.

And a rack positioning wheel 63 which can be in rolling contact with the track is arranged on one side of the motor support 61 away from the linear bearing 623, and the rack positioning wheel 63 is used for aligning and positioning the position of the rack on the lower surface of the track, so that the purpose of fully meshing the traveling gear 8 and the rack is achieved. A guide connecting plate 624 is fixed between the ends of the two optical axes 622 far away from the limiting seat 621, and the guide connecting plate 624 and the optical axes 622 are detachably connected in a sleeving or screwing mode, so that the linear bearings 623 can be limited, and the action consistency of the linear bearings 623 on two sides can be ensured.

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 (4)

1. A track running mechanism for an inspection robot is characterized by comprising a wheel carrier and a running motor arranged on the wheel carrier, the wheel carrier comprises a bottom plate and vertical plates fixed on two sides of the bottom plate, the vertical plates on two sides are positioned on two sides of the track, lightening holes are processed on the vertical plates, and a frame plate is formed on one side of the vertical plate far away from the bottom plate, a bearing wheel set is arranged on the frame plate and comprises a bearing wheel shaft and a bearing wheel, one end of the bearing wheel shaft is fixed on the frame plate, the other end of the bearing wheel shaft points to the track, the bearing wheel is rotatably arranged at one end of the bearing wheel shaft, which points to the track, the walking motor is arranged on one side plate, the walking motor passes through the lightening hole of the side plate, and the output end of the walking motor points to the other side plate, a walking gear which can be meshed with the rack on the rail is arranged on the output shaft of the walking motor, and the walking gear and the bearing wheel on the same side are respectively positioned on two sides of the lower edge of the rail.

2. The track running mechanism for the inspection robot according to claim 1, wherein an adjusting mechanism for adjusting the degree of engagement between the running gear and the track rack is installed on the wheel carrier, the adjusting mechanism comprises a motor support and a floating support assembly installed on the motor support, the floating support assembly comprises an optical axis, a limiting seat, a spring and a linear bearing, the limiting seat is fixed on a bottom plate of the wheel carrier, one end of the optical axis is fixedly connected with the limiting seat, the other end of the optical axis is sleeved with the linear bearing, the spring is sleeved on the optical axis between the linear bearing and the limiting seat, the linear bearing is fixedly connected with the motor support, one side of the motor support is fixedly connected with the running motor, and one side of the motor support, which is far away from the linear bearing, is provided with a rack positioning wheel which can be in rolling contact with the.

3. The track running mechanism for the inspection robot according to claim 2, wherein the motor bracket is symmetrically provided with two groups of floating support assemblies, the two groups of floating support assemblies are respectively positioned at two sides of the running gear, and a guide connecting plate is fixed between one ends of the two optical axes far away from the limiting seat.

4. The track running mechanism for the inspection robot according to claim 1, wherein the bearing wheels are rubber wheels, and one side of each bearing wheel is attached to the lower edge of the track and used for supporting the whole wheel carrier.

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