CN113147795A

CN113147795A - Rail robot

Info

Publication number: CN113147795A
Application number: CN202110547875.3A
Authority: CN
Inventors: 潘伟明; 菅磊; 李志远; 徐立; 李晓莹; 董曙君; 孔紫微
Original assignee: Beijing Nenggong Huizhi Robot Co ltd
Current assignee: Beijing Nenggong Huizhi Robot Co ltd
Priority date: 2021-05-19
Filing date: 2021-05-19
Publication date: 2021-07-23

Abstract

The invention provides a track robot. This track robot includes main part, leading wheel mechanism, drive installed part and pressure regulating mechanism, and leading wheel mechanism installs in the main part, and drive wheel mechanism installs on the drive installed part, and the first end of drive installed part is articulated with the main part. The pressure regulating mechanism comprises a telescopic moving part, the first end of the telescopic moving part is hinged to the main body, and the second end of the telescopic moving part is hinged to the second end of the driving installation part. By applying the technical scheme of the invention, the pretightening force generated by the adjusting driving installation part on the driving wheel mechanism is extended or shortened through the telescopic moving part of the driving wheel mechanism, so that the driving wheel mechanism is effectively pressed against the track, and the driving wheel mechanism is matched with the track to realize effective and high-precision movement. And when the follow-up maintenance or overhaul is carried out, the telescopic moving part can be adjusted to be shortened, so that the driving wheel mechanism and the track are loosened.

Description

Rail robot

Technical Field

The invention relates to the technical field of robots, in particular to a track robot.

Background

Along with the more and more extensive application occasions of robot, in the occasion that has certain requirement to the security, the reliability that equipment removed is improved to the robot that more and more will adopt along the track walking. At present, most of track robots are installed by adopting I-shaped tracks, rollers are generally installed in grooves on two sides of the I-shaped tracks, and then the driving wheels are attached to the I-shaped tracks to drive the robots to move.

In the prior art, because the robot adopts a suspension type installation mode, sometimes the problem that the contact between the driving wheel and the track is unreliable exists, and the driving wheel is easy to slip, so that the walking precision of the track robot is reduced.

Disclosure of Invention

The invention mainly aims to provide a track robot to solve the technical problem that walking precision is reduced due to unreliable contact of driving wheels in the track robot in the prior art.

In order to achieve the above object, the present invention provides an orbital robot comprising: a main body; the guide wheel mechanism is arranged on the main body and used for slidably mounting the main body on the track; the driving wheel mechanism is used for abutting against the track to drive the main body to move on the track; the first end of the driving installation part is hinged with the main body, and the driving wheel mechanism is installed on the driving installation part; pressure regulating mechanism, including flexible moving part, the first end of flexible moving part is articulated to be installed in the main part, and the second end of flexible moving part is articulated with the second end of drive installed part, and flexible moving part is through the extension or shorten and adjust drive installed part and drive driving wheel mechanism and track and compress tightly or relax.

In one embodiment, the pressure regulating mechanism further comprises a base fixedly mounted on the main body, and the first end of the telescopic movable member is hingedly mounted on the base.

In one embodiment, the telescopic moving member comprises a telescopic rod and a compression spring, wherein a first end of the telescopic rod is hinged to the base, a second end of the telescopic rod is hinged to a second end of the driving installation member, and the compression spring is installed on the telescopic rod to drive the telescopic rod to extend.

In one embodiment, the telescopic moving member further comprises a compression adjusting member, and the compression adjusting member is mounted on the telescopic rod and used for adjusting the acting force of the compression spring on the telescopic rod.

In one embodiment, the first end of the telescoping rod is articulated to the base by a first pivot bearing and the second end of the telescoping rod is articulated to the second end of the drive mount by a second pivot bearing.

In one embodiment, a joint bearing is further arranged between the second end of the telescopic rod and the second rotating shaft bearing.

In one embodiment, the first end of the drive mount is articulated to the body by a third shaft bearing.

In one embodiment, the drive wheel mechanism comprises a motor, a transmission mechanism and a drive wheel, the motor is in driving connection with the drive wheel through the transmission mechanism, and the drive wheel is used for abutting against the track.

In one embodiment, the transmission mechanism includes a speed reducer mounted at the output of the motor and a pulley assembly mounted between the speed reducer and the drive wheel.

In one embodiment, the main body comprises a bearing main board and a driving box mounted below the bearing main board, the guide wheel mechanism is mounted on the bearing main board, and the driving wheel mechanism, the driving mounting piece and the pressure regulating mechanism are mounted in the driving box.

By applying the technical scheme of the invention, the pretightening force generated by the adjusting driving installation part on the driving wheel mechanism is extended or shortened through the telescopic moving part of the driving wheel mechanism, so that the driving wheel mechanism is effectively pressed against the track, and the driving wheel mechanism is matched with the track to realize effective and high-precision movement. And when the follow-up maintenance or overhaul is carried out, the telescopic moving part can be adjusted to be shortened, so that the driving wheel mechanism and the track are loosened.

In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 shows an overall structural diagram of an embodiment of the track robot according to the present invention.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances for describing embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

Fig. 1 shows an embodiment of the present invention, which includes a main body 10, a guide wheel mechanism 20, a driving wheel mechanism 30, a driving mounting member 40, and a pressure regulating mechanism 50, wherein the guide wheel mechanism 20 is mounted on the main body 10, the driving wheel mechanism 30 is mounted on the driving mounting member 40, and a first end of the driving mounting member 40 is hinged to the main body 10. The pressure regulating mechanism 50 includes a telescoping member having a first end hingedly mounted to the body 10 and a second end hingedly connected to the drive mounting member 40. When in use, the guide wheel mechanism 20 is used for slidably mounting the main body 10 on the track t, the driving wheel mechanism 30 is used for abutting against the track t to drive the main body 10 to move on the track t, and the telescopic movable piece drives the driving wheel mechanism 30 to compress or release the track t through extending or shortening the adjusting and driving installation piece 40.

By applying the technical scheme of the invention, the pretightening force generated by the adjusting driving installation part 40 on the driving wheel mechanism 30 is extended or shortened through the telescopic moving part of the driving wheel mechanism 30, so that the driving wheel mechanism 30 is effectively pressed against the track t, and the driving wheel mechanism 30 is matched with the track t to realize effective and high-precision movement. And then, during subsequent maintenance or overhaul, the telescopic movable part can be adjusted to be shortened, so that the space between the driving wheel mechanism 30 and the track t is relaxed.

As an alternative embodiment, as shown in fig. 1, the pressure regulating mechanism 50 further includes a base 51, the base 51 is fixedly installed on the main body 10, and the first end of the telescopic moving member is hinged on the base 51, so that the base 51 can provide a hinge point for the first end of the telescopic moving member more stably.

As an alternative embodiment, in the solution of the present embodiment, the telescopic moving member includes a telescopic rod 52 and a compression spring 53, a first end of the telescopic rod 52 is hinged to the base 51, a second end of the telescopic rod 52 is hinged to a second end of the driving mounting member 40, and the compression spring 53 is mounted on the telescopic rod 52 to drive the telescopic rod 52 to extend. In use, the compression spring 53 drives the telescopic rod 52 to extend, so that the driving mounting member 40 continuously generates pressing force on the driving wheel mechanism 30 to press the driving wheel mechanism 30 against the track t, thereby enabling the driving wheel mechanism 30 to cooperate with the track t to achieve effective and high-precision movement. More preferably, in the technical solution of the present embodiment, the telescopic movable element further includes a pressing adjustment element 54, and the pressing adjustment element 54 is installed on the telescopic rod 52. The operator can adjust the force of the compression spring 53 on the telescopic rod 52 by operating the pressing adjustment member 54, so that the force between the driving wheel mechanism 30 and the rail t is within a reasonable range.

As other alternative embodiments, the telescopic movable part may also be an electric push rod, an electric cylinder or another movable cylinder to perform the adjusting function for the drive mounting part 40.

More preferably, in the technical solution of this embodiment, a first end of the telescopic rod 52 is hinged to the base 51 through a first rotating shaft bearing 55, a second end of the telescopic rod 52 is hinged to a second end of the driving installation component 40 through a second rotating shaft bearing 56, and the telescopic rod 52 can rotate more stably and smoothly through the first rotating shaft bearing 55 and the second rotating shaft bearing 56. Preferably, a joint bearing 57 is further disposed between the second end of the telescopic rod 52 and the second rotating shaft bearing 56, and the joint bearing 57 can provide higher rotation flexibility for the second end of the telescopic rod 52, so as to avoid the problems of jamming and the like of the telescopic rod 52.

Preferably, as shown in fig. 1, in the solution of the present embodiment, the first end of the driving mounting member 40 is hinged to the main body 10 through a third shaft bearing 41, so that the driving mounting member 40 can rotate more smoothly.

In the technical solution of this embodiment, the driving wheel mechanism 30 includes a motor 31, a transmission mechanism and a driving wheel 32, the motor 31 is in driving connection with the driving wheel 32 through the transmission mechanism, the driving wheel 32 abuts against the track t, and the main body 10 is driven to move on the track t through rotation. As an alternative embodiment, as shown in fig. 1, in the solution of the present embodiment, the transmission mechanism includes a speed reducer 33 and a pulley assembly 34, the speed reducer 33 is installed at the output end of the motor 31, and the pulley assembly 34 is installed between the speed reducer 33 and the driving wheel 32. Specifically, the pulley assembly 34 includes a first timing pulley 341, a second timing pulley 342, and a timing belt 352 connected between the first timing pulley 341 and the second timing pulley 342. When the synchronous belt wheel device works, the motor 31 outputs proper torque and rotation speed to the first synchronous belt wheel 341 through the speed reducer 33, the first synchronous belt wheel 341 drives the second synchronous belt wheel 342 to rotate through the synchronous belt 352, and the second synchronous belt wheel 342 drives the driving wheel 32 to run through concentric rotation. As other alternative embodiments, the transmission mechanism may also be implemented by a gear set or other transmission components.

As shown in fig. 1, in the solution of the present embodiment, the main body 10 includes a load-bearing main plate 11 and a driving box 12 mounted below the load-bearing main plate 11. The guide wheel mechanism 20 is mounted on the main load bearing plate 11, and the driving wheel mechanism 30, the driving mount 40 and the pressure regulating mechanism 50 are mounted in the driving box 12. Optionally, in the technical solution of this embodiment, the number of the guide wheel mechanisms 20 is 4, and the guide wheel mechanisms 20 are respectively installed at 4 corners of the bearing main board 11, and are matched with the driving wheel mechanism 30 located in the driving box 12, so as to realize that the track robot moves on the track t. In the solution of this embodiment, the driving mounting member 40, the telescopic rod 52, the driving box 12, the base 51 connected thereto, and the pressing adjustment member 54 form a four-bar mechanism, by which the driving wheel mechanism 30 can be quickly and effectively adjusted to be pressed or released from the track t. In use, the compression spring 53 drives the telescopic rod 52 to extend from the telescopic rod 52, where the telescopic rod 52 corresponds to a sliding block in a four-bar mechanism, and the driving mounting member 40 corresponds to a rocker in the four-bar mechanism, i.e., a sliding block rocker four-bar mechanism.

The technical scheme of the invention is suitable for an I-shaped track structure and can also be suitable for other types of mounting tracks.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. 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, further discussion thereof is not required in subsequent figures.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

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

1. An orbital robot, comprising:

a main body (10);

a guide wheel mechanism (20) mounted on the main body (10) for slidably mounting the main body (10) on a rail;

a drive wheel mechanism (30) for driving the main body (10) to move on the rail in abutment with the rail;

a drive mounting (40), a first end of the drive mounting (40) being hinged to the main body (10), the drive wheel mechanism (30) being mounted on the drive mounting (40);

pressure regulating mechanism (50), including flexible moving part, the first end of flexible moving part is articulated to be installed on main part (10), the second end of flexible moving part with the second end of drive installed part (40) is articulated, flexible moving part is through extension or shorten the regulation drive installed part (40) drive wheel mechanism (30) with the track compresses tightly or relaxs.

2. The orbital robot of claim 1, wherein the pressure regulating mechanism (50) further comprises a base (51), the base (51) being fixedly mounted on the main body (10), and the first end of the telescopic moving member being hingedly mounted on the base (51).

3. The orbital robot according to claim 2, wherein the telescopic moving member comprises a telescopic rod (52) and a compression spring (53), a first end of the telescopic rod (52) is hinged to the base (51), a second end of the telescopic rod (52) is hinged to a second end of the driving mounting member (40), and the compression spring (53) is mounted on the telescopic rod (52) to drive the telescopic rod (52) to extend.

4. The orbital robot according to claim 3, characterized in that the telescopic movable member further comprises a pressing adjustment member (54), the pressing adjustment member (54) being mounted on the telescopic link (52) for adjusting the force of the compression spring (53) against the telescopic link (52).

5. The orbital robot of claim 3, characterized in that the first end of the telescopic rod (52) is articulated to the base (51) by a first pivot bearing (55), and the second end of the telescopic rod (52) is articulated to the second end of the drive mount (40) by a second pivot bearing (56).

6. The orbital robot according to claim 5, characterized in that a joint bearing (57) is further provided between the second end of the telescopic link (52) and the second rotary shaft bearing (56).

7. The orbital robot of claim 1, wherein the first end of the drive mount (40) is articulated to the body (10) by a third shaft bearing (41).

8. The orbital robot according to claim 1, wherein the driving wheel mechanism (30) comprises a motor (31), a transmission mechanism, and a driving wheel (32), the motor (31) being drivingly connected to the driving wheel (32) through the transmission mechanism, the driving wheel (32) being adapted to abut against the orbit.

9. The orbital robot according to claim 8, characterized in that the transmission mechanism comprises a decelerator (33) and a pulley assembly (34), the decelerator (33) being installed at an output end of the motor (31), the pulley assembly (34) being installed between the decelerator (33) and the driving wheel (32).

10. The orbital robot according to claim 1, wherein the main body (10) comprises a main load bearing plate (11) and a driving case (12) mounted under the main load bearing plate (11), the guide wheel mechanism (20) is mounted on the main load bearing plate (11), and the driving wheel mechanism (30), the driving mount (40), and the pressure regulating mechanism (50) are mounted in the driving case (12).