CN214870558U

CN214870558U - Wheel type structure of rail-hanging type robot

Info

Publication number: CN214870558U
Application number: CN202023118227.6U
Authority: CN
Inventors: 张国彩; 王江川; 邱枫; 卞功文
Original assignee: Chengdu Mingkong Technology Co ltd
Current assignee: Chengdu Mingkong Technology Co ltd
Priority date: 2020-12-22
Filing date: 2020-12-22
Publication date: 2021-11-26
Anticipated expiration: 2030-12-22

Abstract

The utility model relates to a hang rail formula robot field, aim at provides a hang rail formula robot wheeled structure with advantages such as simple structure, turn convenience, stability are strong. The technical scheme is as follows: the wheel type structure of the rail-hung robot comprises a mounting seat, wherein a driving mechanism is connected onto the mounting seat in a sliding manner, the driving end of the driving mechanism is in contact with a rail and drives the mounting seat to move below the rail, limiting bearing mechanisms are arranged on two sides of the driving mechanism, and the upper sides of the limiting bearing mechanisms are suspended on the rail and are in sliding fit with the rail; the lower side of the limiting bearing mechanism is connected with the mounting seat and forms rotating fit with the mounting seat.

Description

Wheel type structure of rail-hanging type robot

Technical Field

The utility model relates to a hang rail formula robot field, concretely relates to hang wheeled structure of rail formula robot.

Background

The indoor rail-mounted intelligent inspection robot system is an inspection robot system designed for indoor working environment on the basis of outdoor machine types, can replace manpower to complete various tasks such as inspection, fault diagnosis and early warning alarm, has 24-hour uninterrupted inspection capability and can find potential safety hazards in time, and can be widely applied to occasions such as pipe corridors, tunnels, subways, chemical plants, power stations and airports.

The prior hanging rail type inspection robot has the following problems in the operation process: firstly, the robot can only do reciprocating linear motion on a track and does not have a turning function; although some robots have the turning function, the structure is relatively complex, the production cost is high, and the popularization and the application are not facilitated; secondly, the bearing of robot is less relatively, and stability needs to be improved.

Disclosure of Invention

An object of the utility model is to provide a hang wheeled structure of rail formula robot has advantages such as simple structure, turn convenience, stability are strong.

In order to realize the purpose of the utility model, the utility model adopts the technical proposal that: the wheel type structure of the rail-hung robot comprises a mounting seat, wherein a driving mechanism is connected onto the mounting seat in a sliding manner, the driving end of the driving mechanism is in contact with a rail and drives the mounting seat to move below the rail, limiting bearing mechanisms are arranged on two sides of the driving mechanism, and the upper sides of the limiting bearing mechanisms are suspended on the rail and are in sliding fit with the rail; the lower side of the limiting bearing mechanism is connected with the mounting seat and forms rotating fit with the mounting seat.

Preferably, actuating mechanism is including setting up the sliding support in the mount pad top, install gear motor on the sliding support, gear motor's drive end is connected with guide gear, guide gear contacts with orbital one side, sliding support's below is connected with the slip subassembly, slip subassembly fixed connection is on the mount pad, sliding support and slip subassembly constitute sliding fit.

Preferably, the sliding support comprises two U-shaped frames which are arranged in an inverted mode, the U-shaped frames are located on two sides of the track, the two U-shaped frames are connected through a connecting plate, and the connecting plate is connected with the sliding assembly; the speed reducing motor is arranged on one U-shaped frame, and a current collector is arranged on the other U-shaped frame.

Preferably, the sliding assembly comprises a pair of mounting blocks arranged below the U-shaped frame respectively, the mounting blocks are fixedly connected with the base, a sliding rod is arranged between the mounting blocks, two ends of the sliding rod are fixedly connected to the corresponding mounting blocks respectively, a sliding block is connected to the lower surface of the connecting plate, and the sliding rod penetrates through the sliding block and is in sliding fit with the sliding block.

Preferably, spacing mechanism of bearing is including fixing the installation axle on the mount pad, the top of installation axle is rotated and is connected with the bearing support, the bearing support is the U-shaped structure, the track is located between two arms of bearing support, be equipped with direction running assembly and the spacing subassembly of direction on the bearing support, the spacing subassembly of direction is located direction running assembly top, direction running assembly and the spacing subassembly of direction all support and lean on the track.

Preferably, the guiding walking assembly comprises wedge-shaped grooves arranged on the inner sides of the two arms of the bearing support, inclined walking wheels are arranged in the wedge-shaped grooves, the side surfaces of the walking wheels abut against the inclined surfaces of the tracks, the walking wheels are coaxially and rotatably connected with positioning shafts, one ends of the positioning shafts penetrate through side arms of the bearing support, and the positioning shafts positioned on the outer side of the bearing support are provided with limit nuts in threaded connection; and an elastic washer is arranged on the positioning shaft between the travelling wheel and the wedge-shaped groove.

Preferably, the guide limiting assembly comprises top limiting wheels respectively arranged on two arms of the bearing support, the limiting wheels are rotatably connected with the bearing support, the limiting wheels are vertically arranged, and the side walls of the limiting wheels are in contact with the track.

The beneficial effects of the utility model are concentrated and are embodied in: the utility model discloses a hang wheeled structure of rail formula robot has simple structure, turns convenient, stability advantage such as strong. Specifically, the mounting seat is located the track below, and actuating mechanism can drive the mounting seat and itself move in orbital below, and spacing bearing mechanism can hang on the track, because spacing bearing mechanism can rotate on the mounting seat, and actuating mechanism can slide on the mounting seat, and the cooperation can realize turning between the two, has good stability, simple structure, practicality are strong.

Drawings

FIG. 1 is a schematic view of the assembly structure of the robot and the rail of the present invention;

FIG. 2 is a view from A-A of the structure shown in FIG. 1;

FIG. 3 is a perspective view of the robot of the present invention;

reference numerals: 1. a track; 2. a mounting seat; 3. a reduction motor; 4. a guide gear; 5. a U-shaped frame; 6. a connecting plate; 7. a current collector; 8. mounting blocks; 9. a slide bar; 10. a slider; 11. installing a shaft; 12. a load bearing support; 13. a wedge-shaped groove; 14. a traveling wheel; 15. positioning the shaft; 16. a limit nut; 17. an elastic washer; 18. and a limiting wheel.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1-3, the wheel type structure of the rail-mounted robot includes a mounting base 2 and a rail, the mounting base 2 is located below the rail, and other devices, such as a camera, can be mounted on the mounting base 2; in the embodiment, the cross section of the track is in an I-shaped structure, one side of the vertical section of the track is provided with a rack, and the left section and the right section of the horizontal section at the lower part of the track are obliquely arranged and are in a structure with a high middle part and two low sides; the mounting base 2 is connected with a driving mechanism in a sliding manner, and a driving end of the driving mechanism is in contact with the track 1 and drives the mounting base 2 to move below the track 1; the two sides of the driving mechanism are provided with limiting and bearing mechanisms, and the upper sides of the limiting and bearing mechanisms are hung on the track 1 and form sliding fit with the track 1; the lower side of the limiting bearing mechanism is connected with the mounting seat 2 and forms rotary fit with the mounting seat 2; therefore, the limiting bearing mechanism can rotate on the mounting base 2, the driving mechanism can slide on the mounting base 2, and the limiting bearing mechanism and the driving mechanism are matched to realize turning.

As for the driving mechanism, specifically, the driving mechanism comprises a sliding support arranged above the mounting seat 2, a speed reduction motor 3 is arranged on the sliding support, a driving end of the speed reduction motor 3 is connected with a guide gear 4, after the guide gear 4 is contacted with one side of the track, the guide gear 4 can be meshed with a rack on the track, when the speed reduction motor 3 rotates, the guide gear 4 can rotate, and the rack is fixed and fixed, so that the rack can automatically move on the track; the below of sliding support is connected with the slip subassembly, slip subassembly fixed connection is on mount pad 2, sliding support and slip subassembly constitute sliding fit, therefore sliding support can have certain slip allowance in track both sides orientation, under the cooperation with spacing bearing mechanism, can realize the turn motion of robot.

Further, the sliding support comprises two U-shaped frames 5 which are arranged in an inverted mode, the U-shaped frames 5 are located on two sides of the track 1, the two U-shaped frames 5 are connected through a connecting plate 6, and the connecting plate 6 is connected with the sliding assembly; the speed reducing motor 3 is arranged on one U-shaped frame 5, the other U-shaped frame 5 is provided with a current collector 7, an electrode is arranged on the current collector 7, when the robot moves to a charging area, the electrode is communicated with a battery, and the current collector 7 can be charged.

Further, the slip subassembly is including setting up a pair of installation piece 8 in U-shaped frame 5 below respectively, installation piece 8 passes through the bolt and links to each other with the base is fixed, two be equipped with slide bar 9 between the installation piece 8, the both ends of slide bar 9 are fixed connection respectively on the installation piece 8 that corresponds, the lower surface of connecting plate 6 is connected with slider 10, slide bar 9 wears to establish on slider 10 and constitutes sliding fit with slider 10, and the slide bar 9 of every side can set up two, namely sets up two through-holes on every slider 10, the stability of multiplicable interactive support.

To spacing mechanism of bearing, it is concrete, spacing mechanism of bearing is including fixing installation axle 11 on mount pad 2, the top of installation axle 11 is rotated and is connected with bearing support 12, and the lower extreme of installation axle 11 passes through bolt fixed connection on mount pad 2 promptly, and a bearing is established to installation axle 11's top cover, and bearing support 12 links to each other with the bearing, consequently bears support 12 and can be rotatory at the top of installation axle 11, bearing support 12 is the U-shaped structure, the track is located between two arms of bearing support 12, be equipped with direction running assembly and the spacing subassembly of direction on bearing support 12, the spacing subassembly of direction is located direction running assembly top, direction running assembly and the spacing subassembly of direction all lean on the track.

Further, the guiding walking assembly comprises wedge-shaped grooves 13 arranged on the inner sides of two arms of the bearing support 12, inclined walking wheels 14 are arranged in the wedge-shaped grooves 13, the side surfaces of the walking wheels 14 abut against the inclined surfaces of the track 1 to realize that the whole device is suspended on the track, the walking wheels 14 are coaxially and rotatably connected with a positioning shaft 15, one end of the positioning shaft 15 penetrates through the side arm of the bearing support 12, and a limit nut 16 is in threaded connection with the positioning shaft 15 positioned on the outer side of the bearing support 12; an elastic washer 17 is arranged on a positioning shaft 15 between the travelling wheel 14 and the wedge-shaped groove 13, and in the turning process of the track 1, due to the arrangement of the elastic washer 17, the positioning shaft 15 can stretch out and draw back on the bearing support 12, so that the travelling wheel 14 can be hung on the track and can meet the requirement of deviation caused by turning; and when on orbital straightway, because the slope setting of walking wheel 14, bearing support 12 makes bearing support 12 playback under self gravity and the elastic reset effect of elastic washer 17, guarantees the meshing of guide gear 4 and rack.

Furthermore, the guide limiting assembly comprises top limiting wheels 18 respectively arranged on two arms of the bearing support 12, the limiting wheels 18 are rotatably connected with the bearing support 12, the limiting wheels 18 are vertically arranged, and the side walls of the limiting wheels 18 are in contact with the lower surface of the upper transverse section of the track to play a limiting and guiding role.

It should be noted that, for simplicity of description, the above-mentioned embodiments of the method are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the order of acts described, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and elements referred to are not necessarily required in this application.

Claims

1. Hang wheeled structure of rail mounted robot, including mount pad (2), its characterized in that: the mounting seat (2) is connected with a driving mechanism in a sliding manner, the driving end of the driving mechanism is in contact with the track (1) and drives the mounting seat (2) to move below the track (1), limiting bearing mechanisms are arranged on two sides of the driving mechanism, and the upper sides of the limiting bearing mechanisms are hung on the track (1) and are in sliding fit with the track (1); the lower side of the limiting bearing mechanism is connected with the mounting seat (2) and forms rotating fit with the mounting seat (2).

2. The wheeled structure of a rail-mounted robot of claim 1, wherein: actuating mechanism is including setting up the sliding support in mount pad (2) top, install gear motor (3) on the sliding support, the drive end of gear motor (3) is connected with guide gear (4), guide gear (4) contact with orbital one side, the below of sliding support is connected with the slip subassembly, slip subassembly fixed connection is on mount pad (2), the sliding support constitutes sliding fit with the slip subassembly.

3. The wheeled structure of a rail-mounted robot of claim 2, wherein: the sliding support comprises two U-shaped frames (5) which are arranged in an inverted mode, the U-shaped frames (5) are located on two sides of the track (1), the two U-shaped frames (5) are connected through a connecting plate (6), and the connecting plate (6) is connected with the sliding assembly; the speed reducing motor (3) is arranged on one U-shaped frame (5), and a current collector (7) is arranged on the other U-shaped frame (5).

4. A rail-mounted robotic wheel structure according to claim 3, wherein: the sliding assembly comprises a pair of mounting blocks (8) which are arranged below the U-shaped frame (5) respectively, the mounting blocks (8) are fixedly connected with the base, two sliding rods (9) are arranged between the mounting blocks (8), two ends of each sliding rod (9) are fixedly connected to the corresponding mounting blocks (8) respectively, the lower surface of the connecting plate (6) is connected with a sliding block (10), and each sliding rod (9) is arranged on the corresponding sliding block (10) in a penetrating mode and forms sliding fit with the corresponding sliding block (10).

5. The wheeled structure of a rail-mounted robot of claim 1, wherein: spacing mechanism of bearing is including fixing installation axle (11) on mount pad (2), the top of installation axle (11) is rotated and is connected with bearing support (12), bearing support (12) are the U-shaped structure, track (1) is located between the two arms that bear support (12), be equipped with direction walking subassembly and the spacing subassembly of direction on bearing support (12), the spacing subassembly of direction is located direction walking subassembly top, direction walking subassembly and the spacing subassembly of direction all support and lean on track (1).

6. A rail-mounted robotic wheel structure as claimed in claim 5, wherein: the guide walking assembly comprises wedge-shaped grooves (13) arranged on the inner sides of two arms of the bearing support (12), inclined walking wheels (14) are arranged in the wedge-shaped grooves (13), the side walls of the walking wheels (14) abut against the inclined surface of the track (1), the walking wheels (14) are coaxially and rotatably connected with positioning shafts (15), one ends of the positioning shafts (15) penetrate through side arms of the bearing support (12), and the positioning shafts (15) positioned on the outer side of the bearing support (12) are provided with limiting nuts (16) in a threaded connection mode; and an elastic washer (17) is arranged on a positioning shaft (15) between the travelling wheel (14) and the wedge-shaped groove (13).

7. A rail-mounted robotic wheel structure as claimed in claim 5, wherein: the guide limiting assembly comprises limiting wheels (18) which are respectively arranged at the tops of two arms of the bearing support (12), the limiting wheels (18) are rotatably connected with the bearing support (12), the limiting wheels (18) are vertically arranged, and the side walls of the limiting wheels (18) are in contact with the track (1).