CN222609612U - Track robot walking driving device compatible with side-mounting and hoisting - Google Patents

Abstract

The utility model discloses a track robot walking driving device compatible with side mounting and hoisting, which comprises a track and a walking driving module mounted on the robot, wherein a first track surface and a second track surface which are perpendicular to each other are arranged on two sides of the track, the walking driving module comprises a first driving wheel, a second driving wheel, a transmission mechanism and a driving device, the first driving wheel and the second driving wheel are arranged on two sides of the track, when the robot is mounted on the track, the driving device drives the first driving wheel to run on the first track surface through the transmission mechanism, the second driving wheels on two sides of the track are used for being matched with the second track surface to form limit, when the robot is hoisted on the track, the driving device drives the second driving wheel to run on the second track surface through the transmission mechanism, and the first driving wheels on two sides of the track are used for being matched with the first track surface to form limit. The utility model can be compatible with two modes of side mounting and hoisting, is convenient to use, and has high running stability of the robot.

Description

Track robot walking driving device compatible with side-mounting and hoisting

Technical Field

The utility model relates to the technical field of rail robots, in particular to a walking driving device of a rail robot compatible with side mounting and hoisting.

Background

Along with the continuous development of technology, the functions and performances of robots are continuously improved, and the application fields are more and more wide, wherein a track robot is a robot capable of moving on a track and performing various tasks, and is generally used for inspection, industrial production, logistics transportation and the like.

At present, the installation mode of the robot on the track generally comprises two modes of side installation and hoisting, wherein the side installation is that the track is laterally placed, for example, the track is fixed on the side wall of a tunnel or the side wall of a building, the robot is positioned on the front side of the track, the hoisting is that the track is horizontally placed, for example, the track is fixed on the top wall of the tunnel or the top wall of the building, and the robot is suspended below the track. The existing robot is poor in compatibility and single in installation mode because different rails and corresponding walking driving devices are required to be configured for the two installation modes, so that more choices cannot be provided for site construction. Accordingly, there is a need for improvements in the art that overcome the shortcomings of the prior art.

Disclosure of utility model

The utility model aims to solve the problem of providing a track robot walking driving device compatible with side mounting and hoisting so as to overcome the defect that the existing robot walking driving device cannot be compatible with side mounting and hoisting at the same time.

The utility model aims to solve the technical problems, and adopts the technical scheme that the track robot walking driving device compatible with side mounting and hoisting comprises:

the track is characterized in that a first track surface and a second track surface are arranged on two sides of the track, and the first track surface and the second track surface are vertically distributed;

The walking driving module comprises a first driving wheel, a second driving wheel, a transmission mechanism and a driving device, wherein the transmission mechanism is in transmission connection between the driving device and the first driving wheel and between the driving device and the second driving wheel, and at least one first driving wheel and at least one second driving wheel are arranged on two sides of the track;

When the robot is laterally arranged on the track, the driving device can drive the first driving wheel to run on the first track surface through the transmission mechanism, and the second driving wheels positioned on two sides of the track are used for being matched with the second track surface to form limit;

When the robot is hoisted on the track, the driving device can drive the second driving wheel to run on the second track surface through the transmission mechanism, and the first driving wheels positioned on two sides of the track are used for being matched with the first track surface to form limit.

As a further improvement of the utility model, the transmission mechanism comprises a transmission case and a reversing mechanism, the transmission case is provided with first output shafts which are the same as the first driving wheels in number and correspond to each other one by one and second output shafts which are the same as the second driving wheels in number and correspond to each other one by one, the first driving wheels are arranged on the first output shafts, and the second driving wheels are connected with the second output shafts through the reversing mechanism.

As a further improvement of the utility model, the reversing mechanism comprises a worm wheel and a worm, the worm is fixedly connected to the second output shaft, and the worm wheel is connected to the second driving wheel and meshed with the worm.

As a further improvement of the present utility model, the reversing mechanism includes a first bevel gear fixedly mounted on the second output shaft and a second bevel gear journaled to the second drive wheel and meshed with the first bevel gear.

As a further improvement of the utility model, a turning mechanism and two first synchronous belt pulley mechanisms are arranged in the transmission case, the first output shaft and the second output shaft are distributed on two sides of the track, the first output shaft and the second output shaft which are positioned on the same side are connected through the first synchronous belt pulley mechanisms, and the two first synchronous belt pulley mechanisms are turned through the turning mechanism.

As a further improvement of the utility model, the steering mechanism comprises two second synchronous pulley mechanisms and two transfer gears, wherein the second synchronous pulley mechanisms are connected between the transfer gears and the corresponding first synchronous pulley mechanisms, and the two transfer gears are meshed with each other.

As a further development of the utility model, the drive device employs a drive motor which is connected to the transmission housing via a third synchronous pulley mechanism.

As a further improvement of the present utility model, the rail is provided with a rail body and rail plates integrally extended from both sides of the rail body, the first rail surface being located on the rail body, and the second rail surface being located on the rail plates.

As a further improvement of the utility model, the robot is provided with a limiting wheel, and the limiting wheel is positioned on one side of the track facing the robot.

As a further improvement of the utility model, two first driving wheels and two second driving wheels are arranged on two sides of the track, and the axis of the first driving wheels is perpendicular to the axis of the second driving wheels.

The track robot walking driving device compatible with side mounting and hoisting has the beneficial effects that the first track surface and the second track surface are arranged on the track, the first driving wheel and the second driving wheel are arranged on the walking driving module arranged on the robot, when the robot is mounted on the track in a side manner, the first driving wheel is driven by the driving device to run on the first track surface, the second driving wheel is used for limiting, when the robot is hoisted on the track, the second driving wheel is driven by the driving device to run on the second track surface, and the first driving wheel is used for limiting, so that the track robot walking driving device can be compatible with two modes of side mounting and hoisting simultaneously, more choices are provided for field mounting, the track robot walking driving device is convenient to use, the application range is wider, and the running stability of the robot can be greatly improved.

Drawings

FIG. 1 is a perspective view of a side mounted state of a track robot travel drive apparatus of the present utility model;

FIG. 2 is a perspective view of a track in the present utility model;

FIG. 3 is a perspective view of a robot and a traveling drive module thereof according to the present utility model;

FIG. 4 is a perspective view of another view of the robot and the traveling driving module of the present utility model;

FIG. 5 is a perspective view of the traveling drive module according to the present utility model;

FIG. 6 is a perspective view showing a state of lifting a traveling drive device of the track robot of the present utility model;

fig. 7 is a perspective view showing a side-mounted state of another embodiment of the track robot traveling drive device according to the present utility model.

The following description is made with reference to the accompanying drawings:

1. a track; 11, a track main body 12, a track plate 101, a first track surface;

102. The device comprises a second track surface, 2 parts of robots, 21 parts of limiting wheels, 22 parts of back plates, 23 parts of driving connecting blocks, 231 parts of cover plates, 3 parts of first driving wheels, 31 parts of bearings, 4 parts of second driving wheels, 5 parts of transmission boxes, 51 parts of first output shafts, 52 parts of second output shafts, 53 parts of first synchronous pulley mechanisms, 54 parts of second synchronous pulley mechanisms, 55 parts of transfer gears, 56 parts of third synchronous pulley mechanisms, 57 parts of fourth synchronous pulley mechanisms, 6 parts of worm wheels, 7 parts of worm screws, 8 parts of first bevel gears, 9 parts of second bevel gears, 10 parts of driving motors.

Detailed Description

The preferred embodiments of the present utility model will be described in detail below with reference to the accompanying drawings.

Example 1

Referring to fig. 1 to 7, the utility model provides a track robot walking driving device compatible with side mounting and hoisting, which comprises a track 1 for a robot 2 to run and a walking driving module arranged on the robot 2, wherein the robot 2 automatically runs on the track 1 through the walking driving module.

Fig. 2 shows a state diagram of the track 1 placed laterally, wherein the track 1 is provided with a first track surface 101 and a second track surface 102 on both upper and lower sides, and the first track surface 101 and the second track surface 102 are vertically distributed.

With reference to the orientation shown in fig. 2, the two first track surfaces 101 are distributed in a horizontal direction and parallel to each other, and the two second track surfaces 102 are distributed in a vertical direction and parallel to each other, where the two second track surfaces 102 may or may not be on the same vertical surface, and the former is preferred in this embodiment.

Further, the walking driving module comprises at least two first driving wheels 3, at least two second driving wheels 4, a transmission mechanism and a driving device, wherein the transmission mechanism is in transmission connection between the driving device and the first driving wheels 3 and the second driving wheels 4, and the driving device can drive the first driving wheels 3 and/or the second driving wheels 4 to rotate through the transmission mechanism.

Wherein at least one first driving wheel 3 and at least one second driving wheel 4 are arranged on both sides of the track 1, and the axis of the first driving wheel 3 is perpendicular to the axis of the second driving wheel 4.

When the track 1 is laterally placed (as shown in fig. 1), for example, the track 1 is fixed on a tunnel side wall or a building side wall, two first track surfaces 101 on the track 1 are distributed one by one and all along a horizontal direction, two second track surfaces 102 on the track 1 are distributed one by one and all along a vertical direction, the robot 2 is laterally mounted on the track 1, the driving device can drive the first driving wheel 3 to run on the first track surfaces 101 through the transmission mechanism, and the second driving wheels 4 positioned on the upper side and the lower side of the track 1 are used for being matched with the two second track surfaces 102 to form a limit, so that the robot 2 is prevented from falling off from the track 1, and the running stability of the robot 2 is ensured.

When the track 1 is horizontally placed (as shown in fig. 6), for example, the track is fixed on the top wall of a tunnel or the top wall of a building, two first track surfaces 101 on the track 1 at this time are left and right and are distributed along the vertical direction, two second track surfaces 102 on the track 1 are left and right and are distributed along the horizontal direction, the robot 2 is hoisted on the track 1, the driving device can drive the second driving wheel 4 to run on the second track surfaces 102 through the transmission mechanism, and the first driving wheels 3 positioned on two sides of the track 1 are used for being matched with the two first track surfaces 101 to form a limit, so that the robot 2 is prevented from falling off from the track 1, and the running stability of the robot 2 is ensured.

It can be seen that the first track surface 101 and the second track surface 102 are arranged on the track 1, and the first driving wheel 3 and the second driving wheel 4 are arranged on the walking driving module arranged on the robot 2, when the robot 2 is laterally arranged on the track 1, the first driving wheel 3 is driven by the driving device to run on the first track surface 101, the second driving wheel 4 is used for limiting, when the robot 2 is hoisted on the track 1, the second driving wheel 4 is driven by the driving device to run on the second track surface 102, and the first driving wheel 3 is used for limiting, so that the walking driving device of the robot can be compatible with two modes of side mounting and hoisting at the same time, more choices are provided for field installation, the use is convenient, the application range is wider, and the running stability of the robot 2 can be greatly improved.

Referring to fig. 2, the track 1 is provided with a track body 11, and the track body 11 may be, but is not limited to, a rectangular profile, and the first track surface 101 is a top surface and a bottom surface of the track body 11. The rear side edges of the top and bottom surfaces of the rail main body 11 are integrally extended vertically with two rail plates 12, and one vertical surface of the rail plate 12 adjacent to the first rail surface 101 is set as a second rail surface 102.

Referring to fig. 3 to 5, the robot 2 is provided with a back plate 22, and a transmission mechanism and a driving device are mounted on the back plate 22. The transmission mechanism comprises a transmission case 5 and reversing mechanisms, the number of the reversing mechanisms is the same as that of the second driving wheels 4, the transmission case 5 is provided with first output shafts 51, the number of the first driving wheels 3 is the same as that of the second driving wheels 4, the second output shafts 52 are the same as that of the second driving wheels 4, the first output shafts 51 and the second output shafts 52 are distributed in parallel, the first driving wheels 3 are arranged on the first output shafts 51, and the second driving wheels 4 are connected to the second output shafts 52 through the reversing mechanisms.

In the embodiment, the reversing mechanism comprises a worm wheel 6 and a worm 7, a driving connecting block 23 is fixed on one side of the backboard 22 facing the track 1, the worm wheel 6 and the worm 7 are rotatably installed in the driving connecting block 23 through bearings, the worm wheel 6 and the worm 7 are meshed with each other, the worm 7 is fixedly connected to a second output shaft 52, and the worm wheel 6 is fixedly connected to the second driving wheel 4 through a rotating shaft. The present utility model converts the rotation of the second output shaft 52 about the horizontal axis into the rotation of the second drive wheel 4 about the vertical axis by means of a reversing mechanism.

Further, the transmission case 5 is also provided with a case housing, and a direction changing mechanism and two first timing pulley mechanisms 53 rotatably installed in the case housing. In this embodiment, the transmission case 5 is specifically provided with two first output shafts 51 and two second output shafts 52, which are respectively in one-to-one correspondence with the two first driving wheels 3 and the two second driving wheels 4 on both sides of the track 1, that is, both sides of the track 1 are distributed with one first output shaft 51 and one second output shaft 52. The first output shaft 51 and the second output shaft 52 positioned on the same side are connected through a first synchronous pulley mechanism 53, and the two first synchronous pulley mechanisms 53 change direction through a direction changing mechanism.

As shown in fig. 5, the steering mechanism includes two second timing pulley mechanisms 54 and two transfer gears 55, the second timing pulley mechanisms 54 are connected between the transfer gears 55 and the corresponding first timing pulley mechanisms 53, and the two transfer gears 55 are meshed with each other.

According to the utility model, the turning mechanisms are arranged to enable the first driving wheels 3 positioned at two sides of the track 1 to rotate in opposite directions, namely, the first driving wheel 3 at one side rotates in the anticlockwise direction, and the first driving wheel 3 at the other side rotates in the clockwise direction, so that in a side-mounted state, the first driving wheels 3 at two sides travel in the same direction on the respective first track surfaces 101. The second driving wheels 4 and the reversing mechanisms which are positioned at the two sides of the track 1 are symmetrically distributed, so that the turning directions of the second driving wheels 4 positioned at the two sides of the track 1 are the same by arranging the reversing mechanisms, and the second driving wheels 4 at the two sides run in the same direction on the second track surface 102 in a hoisting state.

In the present utility model, the drive means is a drive motor 10, in particular a servomotor, which is drivingly connected to a first synchronous pulley mechanism 53 in the transmission housing 5 via a third synchronous pulley mechanism 56. The utility model adopts one driving motor 10 to drive the two first output shafts 51 and the two second output shafts 52 to synchronously rotate through the third synchronous pulley mechanism 56, the first synchronous pulley mechanism 53 and the direction changing mechanism, thereby saving the number of driving devices and reducing the cost.

Preferably, two first driving wheels 3 and two second driving wheels 4 are mounted on both sides of the track 1. That is, two first driving wheels 3 are disposed on each first track surface 101, and two second driving wheels 4 are disposed on each second track surface 102, so as to ensure the stability of the robot 2 traveling on the track 1. Correspondingly, two transmission mechanisms are symmetrically distributed, and the transmission boxes 5 in the two transmission mechanisms are in transmission connection through a fourth synchronous pulley mechanism 57.

In addition, as shown in fig. 3, a plurality of limiting wheels 21 are further mounted on the back plate 22 of the robot 2, the limiting wheels 21 are located on one side of the track 1 facing the robot 2, and the limiting wheels 21 and the second driving wheels 4 together limit the robot 2. For example, in the side-mounted state, the second driving wheel 4 cooperates with the second track surface 102 to form a limit, so that the robot 2 cannot move backward on the track 1, and the limit wheel 21 cooperates with the rear side surface of the track 1 to form a limit, so that the robot 2 cannot move forward on the track 1, with reference to the orientation shown in fig. 1.

The utility model can adopt the first driving wheel 3 and the second driving wheel 4 with the same diameter, and ensures that the rotation speeds of the driving motor 10 for driving the first driving wheel 3 and the second driving wheel 4 to rotate are consistent, so that the driving motor 10 can simultaneously drive the four first driving wheels 3 and the four second driving wheels 4 to synchronously rotate and run on respective track surfaces to jointly drive the robot 2 to run no matter in a side-mounted state or a hoisting state.

Although the diameters of the first driving wheel 3 and the second driving wheel 4 in the drawings of the present utility model are not uniform, specifically, the diameter of the first driving wheel 3 is larger than the diameter of the second driving wheel 4, in order to avoid affecting the operation of the robot 2, the following means can be used to solve:

When the worm wheel 6 is laterally assembled, the worm wheel 6 can be disassembled (as shown in fig. 3, a cover plate 231 is arranged on one side of the driving connecting block 23, the cover plate 231 can be disassembled to facilitate the disassembly of the internal worm wheel 6), the second driving wheel 4 loses power, the worm wheel is used as a guide wheel, and the driving motor 10 only drives the first driving wheel 3 to rotate. During hoisting, a bearing 31 (as shown in fig. 6) may be added between the first driving wheel 3 and the first output shaft 51, so that the first driving wheel 3 loses power and is used as a guide wheel, and the driving motor 10 only drives the second driving wheel 4 to rotate.

Alternatively, a gearbox may be provided between the second output shaft 52 and the worm 7, so as to increase the rotational speed of the second driving wheel 4, so that the linear speeds, that is, the strokes, of the second driving wheel 4 and the first driving wheel 3 are identical, and thus, the driving motor 10 can drive the four first driving wheels 3 and the four second driving wheels 4 to simultaneously rotate and travel on the respective track surfaces, so as to jointly drive the robot 2 to operate, regardless of the side-mounted state or the hoisting state.

Example two

Referring to fig. 7, the present embodiment is different from the first embodiment in that the reversing mechanism is different. Specifically, the reversing mechanism of the embodiment comprises a first bevel gear 8 and a second bevel gear 9, wherein the first bevel gear 8 and the second bevel gear 9 are rotatably installed in a driving connecting block 23 through bearings, the first bevel gear 8 and the second bevel gear 9 are meshed with each other, the first bevel gear 8 is fixedly installed on a second output shaft 52, and the second bevel gear 9 is fixedly connected with a second driving wheel 4 through a rotating shaft. The utility model can also convert the rotation of the second output shaft 52 about the horizontal axis into the rotation of the second driving wheel 4 about the vertical axis by this solution.

Therefore, the track robot walking driving device compatible with side mounting and hoisting is provided with the first track surface 101 and the second track surface 102 on the track 1, and the first driving wheel 3 and the second driving wheel 4 on the walking driving module arranged on the robot 2, when the robot 2 is mounted on the track 1 in a side manner, the first driving wheel 3 is driven by the driving device to run on the first track surface 101, the second driving wheel 4 is used for limiting, when the robot 2 is hoisted on the track 1, the second driving wheel 4 is driven by the driving device to run on the second track surface 102, and the first driving wheel 3 is used for limiting, so that the track robot walking driving device can be compatible with two manners of side mounting and hoisting simultaneously, more choices are provided for field mounting, the use is convenient, the application range is wider, and the running stability of the robot 2 can be greatly improved.

In the above description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model. The foregoing description is only of a preferred embodiment of the utility model, which can be practiced in many other ways than as described herein, so that the utility model is not limited to the specific implementations disclosed above. While the foregoing disclosure has been described with reference to certain embodiments, it will be understood by those skilled in the art that various changes and modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the utility model. Any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present utility model without departing from the technical solution of the present utility model still falls within the scope of the technical solution of the present utility model.

Claims (10)

1. Track robot walking drive device compatible side dress and hoist and mount, characterized by comprising:

the track (1), both sides of the track (1) are provided with a first track surface (101) and a second track surface (102), and the first track surface (101) and the second track surface (102) are vertically distributed;

The walking driving module comprises a first driving wheel (3), a second driving wheel (4), a transmission mechanism and a driving device, wherein the transmission mechanism is in transmission connection between the driving device and the first driving wheel (3) and between the driving device and the second driving wheel (4), and at least one first driving wheel (3) and at least one second driving wheel (4) are arranged on two sides of the track (1);

When the robot (2) is laterally arranged on the track (1), the driving device can drive the first driving wheel (3) to run on the first track surface (101) through the transmission mechanism, and the second driving wheels (4) positioned on two sides of the track (1) are used for being matched with the second track surface (102) to form limit;

When the robot (2) is hoisted on the track (1), the driving device can drive the second driving wheel (4) to run on the second track surface (102) through the transmission mechanism, and the first driving wheels (3) positioned on two sides of the track (1) are used for being matched with the first track surface (101) to form limit.

2. The track robot walking driving device compatible with side mounting and hoisting according to claim 1, wherein the transmission mechanism comprises a transmission box (5) and a reversing mechanism, the transmission box (5) is provided with first output shafts (51) which are the same as the first driving wheels (3) in number and are in one-to-one correspondence, and second output shafts (52) which are the same as the second driving wheels (4) in number and are in one-to-one correspondence, the first driving wheels (3) are mounted on the first output shafts (51), and the second driving wheels (4) are connected with the second output shafts (52) through the reversing mechanism.

3. The track robot walking driving device compatible with side mounting and hoisting according to claim 2, wherein the reversing mechanism comprises a worm wheel (6) and a worm (7), the worm (7) is fixedly connected to the second output shaft (52), and the worm wheel (6) is axially connected to the second driving wheel (4) and meshed with the worm (7).

4. The track robot traveling driving device compatible with side mounting and lifting according to claim 2, wherein the reversing mechanism comprises a first bevel gear (8) and a second bevel gear (9), the first bevel gear (8) is fixedly mounted on the second output shaft (52), and the second bevel gear (9) is axially connected to the second driving wheel (4) and meshed with the first bevel gear (8).

5. The walking driving device of the track robot compatible with side mounting and hoisting as claimed in claim 2, wherein a turning mechanism and two first synchronous pulley mechanisms (53) are arranged in the transmission case (5), the first output shaft (51) and the second output shaft (52) are distributed on two sides of the track (1), the first output shaft (51) and the second output shaft (52) which are positioned on the same side are connected through the first synchronous pulley mechanisms (53), and the two first synchronous pulley mechanisms (53) are turned through the turning mechanism.

6. The track robot walking driving device compatible with side mounting and lifting as claimed in claim 5, wherein the steering mechanism comprises two second synchronous pulley mechanisms (54) and two transfer gears (55), the second synchronous pulley mechanisms (54) are connected between the transfer gears (55) and the corresponding first synchronous pulley mechanisms (53), and the two transfer gears (55) are meshed with each other.

7. The track robot walking driving device compatible with side mounting and hoisting according to claim 2, wherein the driving device adopts a driving motor (10) which is connected with the transmission case (5) through a third synchronous pulley mechanism (56).

8. The track robot walking driving device compatible with side mounting and hoisting as claimed in claim 1, wherein the track (1) is provided with a track main body (11) and track plates (12) integrally extending from two sides of the track main body (11), the first track surface (101) is positioned on the track main body (11), and the second track surface (102) is positioned on the track plates (12).

9. The track robot walking driving device compatible with side mounting and hoisting as claimed in claim 1, wherein the robot (2) is provided with a limiting wheel (21), and the limiting wheel (21) is positioned on one side of the track (1) facing the robot (2).

10. The track robot walking driving device compatible with side mounting and hoisting as claimed in claim 1 is characterized in that two first driving wheels (3) and two second driving wheels (4) are arranged on two sides of the track (1), and the axis of the first driving wheels (3) is perpendicular to the axis of the second driving wheels (4).