CN219172405U

CN219172405U - Driving device of track type inspection robot

Info

Publication number: CN219172405U
Application number: CN202222880618.4U
Authority: CN
Inventors: 王兆明
Original assignee: Xinjiazhi Suzhou Intelligent Technology Co ltd
Current assignee: Xinjiazhi Suzhou Intelligent Technology Co ltd
Priority date: 2022-10-31
Filing date: 2022-10-31
Publication date: 2023-06-13
Anticipated expiration: 2032-10-31

Abstract

The utility model discloses a driving device of a track type inspection robot, which comprises: a housing, and a power module and an auxiliary module installed inside the housing; the power module is arranged at the upper part of the shell, a transmission element, a first power source and a plurality of driving wheels are arranged in the power module, the first power source and the driving wheels are connected with the transmission element, and the driving wheels are connected with an output shaft of the first power source; the auxiliary module comprises a plurality of anti-loose wheels and a reduction gear which are respectively arranged at two sides of the shell, the anti-loose wheels are arranged along the horizontal direction, and the bottoms of the anti-loose guide wheels are provided with a plurality of springs; a brake part is arranged above the speed reducing wheel and comprises a connecting element, a power source II and a brake disc, wherein the power source II and the brake disc are connected with the connecting element; the auxiliary device and the driving wheel can improve the stability of the device during turning and the running speed.

Description

Driving device of track type inspection robot

Technical Field

The utility model relates to the field of robot tracks and driving devices, in particular to a driving device of a track type inspection robot.

Background

With the wider and wider application occasions of robots, the inspection robot can replace manual work to perform repeated and dangerous work in occasions with certain requirements on safety, and for comprehensive pipe racks, large pipelines and tunnels, the track is erected on the top or in the air, so that the mobile robot running on the track has reliability compared with the conventional wheeled and crawler robots.

In the prior art, the driving device of the track type inspection robot has the following problems: 1. the bending rail is inconvenient to turn or easy to clamp; 2. the overhead track is provided with the mounting frame, so that the inspection robot can smoothly cross the tangent tower only through a pre-mounted specific bridge crossing device, thereby not only increasing the cost of adding the bridge crossing device, but also reducing the working efficiency of the robot; 3. most of the existing robots are decelerated by stopping the rotation of a motor in advance, and achieve the effects of deceleration and stopping by means of self friction, so that the deceleration efficiency is low, and the existing robots are inconvenient to stand on a track for inspection;

therefore, there is a need for an improvement in the driving device of the track inspection robot in the prior art to solve the above-mentioned problems.

Disclosure of Invention

The utility model overcomes the defects of the prior art, provides a driving device of a track type inspection robot, and aims to solve the problems of turning and passing through a mounting frame when passing through a bent pipeline in the prior art and how to quickly stand on a track.

In order to achieve the above purpose, the utility model adopts the following technical scheme: a drive arrangement of track inspection robot, comprising: a housing, and a power module and an auxiliary module installed inside the housing;

the power module is arranged at the upper part of the shell, and the auxiliary modules are arranged at two sides of the shell; the bottom of the shell is also provided with an installation module;

the mounting module comprises a rotating mechanism and a mounting table connected with the rotating mechanism, and a plurality of mounting holes are formed in the mounting table and used for mounting the inspection robot;

the power module includes: the driving wheels are connected with an output shaft of the first motor;

the auxiliary module includes: the anti-loose wheels are arranged along the horizontal direction; and a brake part is arranged above the speed reducing wheel and comprises a connecting element, a motor II and a brake disc, and the motor II and the brake disc are connected with the connecting element.

In a preferred embodiment of the present utility model, the transmission element comprises a plurality of conical gears and a plurality of transmission shafts, and the conical gears are connected with the driving wheel through the transmission shafts.

In a preferred embodiment of the utility model, the locking wheel is mounted on a first mounting plate, and a plurality of bosses are arranged on the periphery of the mounting plate.

In a preferred embodiment of the utility model, the side surface of the shell is also provided with a plurality of mounting grooves, a plurality of springs are arranged in the mounting grooves, the springs are connected with the mounting plate I, and the springs can enable the locking wheel to have a certain movement amount when the locking wheel is bent.

In a preferred embodiment of the present utility model, the mounting groove is further provided with a plurality of grooves for mounting the boss, so as to ensure that the mounting plate can move along the grooves in the mounting groove.

In a preferred embodiment of the utility model, the connecting element comprises a rotation shaft and a rotation rod and a movement rod connected to the rotation shaft.

In a preferred embodiment of the present utility model, the second mounting plate is further provided with a rotating element, and the rotating element is connected to the brake disc, and the brake disc can rotate around the rotating element.

In a preferred embodiment of the present utility model, the reduction gear is connected to the housing through a second mounting plate, and a vertical through hole is formed in the second mounting plate, for mounting the moving rod.

In a preferred embodiment of the present utility model, the first motor is a dual-output shaft motor, and the plurality of bevel gears are mounted on an output shaft of the first motor, so that the dual-output shaft can drive two driving wheels simultaneously, and one of the driving wheels or the transmission element can be prevented from being damaged without affecting the overall operation.

In a preferred embodiment of the present utility model, a through hole is further formed on the side surface of the housing, so that the mounting frame on the rail can pass through.

The utility model solves the defects existing in the background technology, and has the following beneficial effects:

(1) According to the driving device of the track type inspection robot, provided by the utility model, on the premise that the matching of the plurality of locking wheels and the speed reducing wheels in the device can ensure that the whole device is attached to the track for running, the angle between the locking wheels and the speed reducing wheels is changed when the robot is bent, and the robot returns to the original position after the bending is finished, so that the possibility that the robot is blocked or needs to be decelerated when the robot is bent is reduced, and the running efficiency of the robot on the track is improved.

(2) In the utility model, the through holes are formed on the shell of the driving device, so that the installation frame of the track can pass through, the whole running speed is not influenced, the bridge passing device is not required to be added, the position design of each part is compact, and the redundant space is not occupied.

(3) In the novel use, except for the fixedly installed driving wheel, a braking device is additionally arranged on the speed reducing wheel, so that the speed reducing device can be used for reducing the speed and keeping the robot stationary.

Drawings

The utility model is further described below with reference to the drawings and examples;

FIG. 1 is a perspective view of a preferred embodiment of the present utility model;

FIG. 2 is a partial block diagram of a preferred embodiment of the present utility model;

FIG. 3 is a partial structural top view of a preferred embodiment of the present utility model;

FIG. 4 is a partial structural top view of a preferred embodiment of the present utility model;

in the figure: 1. a housing; 2. a power module; 3. a through hole; 4. an auxiliary module; 5. installing a module; 6. a mounting hole; 7. a mounting table; 8. a rotation mechanism; 9. a reduction gear; 10. a second motor; 11. a rotating lever; 12. a rotating shaft; 13. a vertical through hole; 14. a brake disc; 15. a rotating element; 16. a second mounting plate; 17. a moving rod; 18. a connecting element; 19. a bevel gear; 20. a first motor; 21. a transmission shaft; 22. a driving wheel; 23. a mounting groove; 24. a boss; 25. a groove; 26. an anti-loose wheel; 27. a first mounting plate; 28. a spring; 29. a transmission element; 30. a brake component.

Detailed Description

The utility model will now be described in further detail with reference to the drawings and examples, which are simplified schematic illustrations of the basic structure of the utility model, which are presented only by way of illustration, and thus show only the structures that are relevant to the utility model.

As shown in fig. 1, there is shown a perspective view of a driving apparatus of a track-type inspection robot, the apparatus comprising: a housing 1, and a power module 2 and an auxiliary module 4 mounted inside the housing 1;

the power module 2 is arranged at the upper part of the shell 1, and the auxiliary modules 4 are arranged at two sides of the shell 1; the bottom of the shell 1 is also provided with a mounting module 5;

the mounting module 5 comprises a rotating mechanism 8 and a mounting table 7 connected with the rotating mechanism 8, and a plurality of mounting holes 6 are formed in the mounting table 7 and are used for mounting the inspection robot;

as shown in fig. 2 and 3, a partial structure diagram and a plan view of a driving device of a track inspection robot, the auxiliary module 4 includes: a plurality of loose-proof wheels 26 and a speed reducing wheel 9, the loose-proof wheels 26 are arranged along the horizontal direction; the anti-loose wheel 26 is connected with the spring 28 through a first mounting plate 27 and is arranged in the mounting groove 23, and the mounting groove 23 is connected with the shell 1; the mounting groove 23 and the mounting plate 27 are respectively provided with a plurality of grooves 25 and a plurality of bosses 24, and the bosses 24 are arranged in the grooves 25;

the speed reducing wheel 9 is arranged in the shell 1 through a second mounting plate 16, a brake component 30 is arranged above the speed reducing wheel, and the brake component 30 comprises a second motor 10 and a brake disc 14 which are connected with the connecting element 18; the connecting element 18 comprises a rotating shaft 12, a rotating rod 11 and a moving rod 17 which are connected with the rotating shaft 12, and the brake disc 14 is connected with the second mounting plate 16 through the rotating element 15 and is rotationally connected with the moving rod 17.

When the motor rotates, the rotating rod is driven to rotate and the moving rod moves in the vertical through hole, and as the brake disc is rotationally connected with the moving rod and the rotating element, the brake disc also moves downwards until the brake disc is attached to the reduction gear when the moving rod moves downwards.

According to the utility model, the locking wheel, the speed reducing wheel and the spring are matched, so that the device has a certain angle when passing through a curve, and can not be clamped in the curve.

As shown in fig. 4, a top view of a driving device of a track inspection robot, in which a power module 2 includes: a plurality of transmission elements 29, a first motor 20 and a plurality of driving wheels 22 which are connected with the transmission elements 29, and the driving wheels 22 are connected with an output shaft of the first motor 20; the plurality of transmission elements 29 comprises a plurality of transmission shafts 21 and a plurality of conical gears 19, the plurality of conical gears 19 being in meshed connection.

When the robot is used, on the premise that the integral device is guaranteed to be attached to a track for running through the matching of the anti-loose wheels and the speed reduction wheels, the angle between the anti-loose wheels and the speed reduction wheels is changed when the robot is bent, and the robot returns to the original position after the bending is finished, so that the possibility that the robot is blocked or needs to be decelerated when the robot is bent is reduced, and the running efficiency of the robot on the track is improved. Meanwhile, through holes are formed in the shell, the mounting frame of the track can pass through, the whole running speed is not affected, a bridge passing device is not needed to be added, the position design of each part is compact, and the redundant space is not occupied. Aiming at the problems of speed reduction and stillness, the device is provided with a brake device on a speed reduction wheel besides a fixedly installed driving wheel, and can be used for speed reduction and stillness of a robot.

When the inspection robot is actually used, the inspection robot is fixed on the mounting table through the mounting hole, and then the inspection robot is directly mounted on the track, so that the mounting frame of the track passes through the through hole in the shell; before running, the driving wheels are ensured to be placed on the upper surface of the rail, and the anti-loose wheel and the speed reduction wheel are clamped on the side surface of the rail. When the motor runs, the motor rotates to drive the bevel gear to rotate, the driving wheel is driven to rotate through transmission, and the motor is reversed when the motor retreats; when the device passes through a curve, the locking wheel is extruded and then is retracted into the mounting groove due to the elasticity of the spring, so that the device can smoothly pass through the curve; after passing through the curve, the spring extrudes the anti-loose wheel out of the mounting groove; when the robot is about to reach the inspection position, the first motor is stopped to rotate, and then the second motor is started to rotate for a certain angle, so that the moving rod moves downwards, and the brake disc is pressed to decelerate the reduction gear; and after the motor II reaches the working position, the motor II continues to run, so that the reduction gear is kept stationary. When restarting, the second motor drives the moving rod to move upwards firstly, friction between the brake disc and the reduction gear is reduced, and then the first motor is started to drive the whole body to move.

The above-described preferred embodiments according to the present utility model are intended to suggest that, from the above description, various changes and modifications can be made by the person skilled in the art without departing from the scope of the technical idea of the present utility model. The technical scope of the present utility model is not limited to the description, but must be determined according to the scope of claims.

Claims

1. A drive arrangement of track inspection robot, comprising: the power module and the auxiliary module are arranged in the shell, and the power module is characterized in that;

the auxiliary module includes: the anti-loose wheels are arranged along the horizontal direction; a brake part is arranged above the speed reducing wheel and comprises a connecting element, a motor II and a brake disc which are connected with the connecting element;

the connecting element comprises a rotating shaft, a rotating rod and a moving rod, wherein the rotating rod and the moving rod are connected with the rotating shaft;

the speed reducing wheel is connected with the shell through a second mounting plate, and a vertical through hole is formed in the second mounting plate and used for mounting the moving rod.

2. The drive device for a track inspection robot according to claim 1, wherein: the transmission element comprises a plurality of bevel gears and a plurality of transmission shafts, and the bevel gears are connected with the driving wheels through the transmission shafts.

3. The drive device for a track inspection robot according to claim 1, wherein: the locking wheel is arranged on the first mounting plate, and a plurality of bosses are arranged on the periphery of the mounting plate.

4. A driving device of a track inspection robot according to claim 3, wherein: the side of the shell is also provided with a plurality of mounting grooves, a plurality of springs are arranged in the mounting grooves, and the springs are connected with the mounting plate I.

5. The drive device for a track inspection robot according to claim 4, wherein: and a plurality of grooves are further formed in the mounting groove and are used for mounting the boss.

6. The drive device for a track inspection robot according to claim 1, wherein: and a rotating element is further arranged on the second mounting plate and connected with the brake disc.

7. The drive device for a track inspection robot according to claim 2, wherein: the first motor is a double-output-shaft motor, and the bevel gears are arranged on an output shaft of the first motor.

8. The drive device for a track inspection robot according to claim 1, wherein: and a through hole is further formed in the side face of the shell.