阅读说明：本技术 一种新型轨道机器人的驱动机构 (Novel driving mechanism of track robot ) 是由 徐文德 王雷 于 2021-07-20 设计创作，主要内容包括：本发明提供一种新型轨道机器人的驱动机构,包括底板、所述底板上设置有多个驱动机构,驱动机构通过回转轴承与底板连接,并可旋转一定的角度,驱动机构包括第一驱动轮和第二驱动轮,分别位于轨道的上下两侧。本发明的有益效果是：可根据负载重量调整轮子与导轨之间的压力,效率高。(The invention provides a novel driving mechanism of a track robot, which comprises a bottom plate, wherein a plurality of driving mechanisms are arranged on the bottom plate, the driving mechanisms are connected with the bottom plate through slewing bearings and can rotate for a certain angle, and each driving mechanism comprises a first driving wheel and a second driving wheel which are respectively positioned at the upper side and the lower side of a track. The invention has the beneficial effects that: the pressure between the wheels and the guide rail can be adjusted according to the load weight, and the efficiency is high.)

1. The driving mechanism of the novel track robot is characterized by comprising a bottom plate, wherein a plurality of driving mechanisms are arranged on the bottom plate, the driving mechanisms are connected with the bottom plate through slewing bearings and can rotate for a certain angle, a first driving wheel and a second driving wheel of each driving mechanism are arranged on the upper side and the lower side of a track in a staggered mode, and a gear box of each driving mechanism is not in a vertical line with the axis of the first driving wheel and the axis of the second driving wheel, and the hinge point of a door frame of each driving mechanism is not in a vertical line with the axis of the first driving wheel and the axis of the second driving wheel.

2. The drive mechanism as recited in claim 1, wherein the drive mechanism comprises a gantry, the gantry holding a plurality of drive units, the drive units comprising a motor, a gear box, and a plurality of drive wheels, an output shaft of the motor being keyed to an input gear of the gear box, the gear box being geared to the drive wheels to rotate the drive wheels.

3. The drive mechanism as recited in claim 2, wherein the gear box is coupled to the gate frame by a shaft and is rotatable about the shaft.

4. The drive mechanism as recited in claim 2, wherein the gear box includes an input gear keyed to an output shaft of the motor, a drive gear and a transition gear, the input gear being in meshing engagement with the drive gear and the transition gear, the drive gear being keyed to the drive wheel.

5. The drive mechanism as recited in claim 2, wherein the drive wheels comprise a first drive wheel in contact with the upper surface of the track and a second drive wheel in contact with the lower surface of the track.

6. The drive mechanism as recited in claim 1, further comprising side guide wheels that prevent the gantry from rubbing against the sides of the guide rail.

Technical Field

The invention belongs to the field of pipeline robots, and particularly relates to a novel driving mechanism of a track robot.

Background

The existing friction type inspection robot driving mechanism needs to be additionally provided with a lower pressing wheel, the pressing wheel is used for enabling the driving wheel to be in surface contact with a track, and besides the driving motor wheel, the driving force of a motor for driving also needs to overcome the resistance of the pressing wheel, so that the driving force of the whole mechanism is small.

Disclosure of Invention

In order to overcome the defects pointed out by the prior art, the invention relates to a novel driving mechanism of a track robot, which is characterized in that a pressing wheel is omitted, the driving wheel is pressed by the self weight, the upper part and the lower part of the driving mechanism are provided with driving wheels, the driving force is large, and the driving mechanism is realized by the following scheme.

The driving mechanism of the novel rail robot comprises a bottom plate, wherein a plurality of driving mechanisms are arranged on the bottom plate, the driving mechanisms are connected with the bottom plate through slewing bearings and can rotate for a certain angle, a first driving wheel and a second driving wheel of each driving mechanism are arranged on the upper side and the lower side of a rail in a staggered mode, and a gear box of each driving mechanism and a hinge point of a portal frame are not on the same vertical line with the axle centers of the first driving wheel and the second driving wheel.

Furthermore, the driving mechanism comprises a door-shaped frame, the door-shaped frame fixes a plurality of driving devices, each driving device comprises a motor, a gear box and a plurality of driving wheels, an output shaft of each motor is in key connection with an input gear of the gear box, and the gear boxes are in gear connection with the driving wheels to drive the driving wheels to rotate.

Further, the gear box is connected with the door frame through a shaft and can rotate around the shaft.

Further, the gear box includes input gear, drive gear and transition gear, input gear and the output shaft key-type connection of motor, input gear and drive gear and transition gear meshing are connected, drive gear and drive wheel key-type connection.

Further, the driving wheel comprises a first driving wheel and a second driving wheel, the first driving wheel is in contact with the upper surface of the track, and the second driving wheel is in contact with the lower surface of the track.

Further, the driving mechanism also comprises side guide wheels for preventing the friction between the gantry and two sides of the guide rail of the track.

The invention has the beneficial effects that: the pressure between the wheels and the guide rail can be adjusted according to the load weight, and the efficiency is high.

Drawings

Fig. 1 is a schematic view of a driving structure in an embodiment of the present invention.

Fig. 2 is a schematic view of an application of the driving mechanism in the embodiment of the invention.

Fig. 3 is a schematic structural view of a drive mechanism in the embodiment of the present invention.

Fig. 4 is a schematic structural diagram of a driving device in an embodiment of the invention.

FIG. 5 is a schematic view of a gearbox according to an embodiment of the present invention.

Fig. 6 is a schematic view of a structure of a rotary bearing in an embodiment of the present invention.

Fig. 7 is a schematic view of the positional relationship of the drive wheels in the embodiment of the present invention.

Fig. 8 is a schematic view of the torque balance relationship of the driving wheel position in the embodiment of the invention.

Detailed Description

The present invention is further illustrated by the following examples, which are only a part of the examples of the present invention, and these examples are only for explaining the present invention and do not limit the scope of the present invention.

As shown in figure 1, the driving mechanism of the novel track robot comprises a bottom plate 1 and a plurality of groups of driving mechanisms 10 arranged on the bottom plate 1, wherein a bracket for fixing the driving mechanisms 10 is connected with the bottom plate 1 through a slewing bearing 4 and can enable the bracket and the driving mechanisms to rotate for a certain angle, and a gear box of the driving mechanism is not in the same vertical line with the hinged point of a door frame and the axle centers of a first driving wheel and a second driving wheel.

As shown in fig. 6, in the embodiment of the present invention, a circular groove 44 for accommodating the rotary bearing 4 is disposed on the bottom plate for laterally placing the rotary bearing 4, a groove 41 is disposed on an outer ring of a rotating shaft of the rotary bearing, the groove is used for being clamped into an edge of the circular groove 44 to fix the rotary bearing 4, a plurality of screw holes are disposed on a side surface of the rotary bearing 4, and the rotary bearing 4 is fixedly connected to the driving mechanism 10 through screws 43. The circular groove is also fixed with a gasket 45 which is fixed on the bottom plate 1 through screws. The inner race of the bearing is rotatable for connection with the drive mechanism 10. The drive mechanism 10 is allowed to rotate through a certain angle by means of a slewing bearing.

As shown in fig. 2-3, the driving mechanisms 10 are symmetrically distributed on the bottom plate 1, so that the whole body is in a door shape. One drive mechanism 10 comprises drive means arranged symmetrically in pairs. The drive mechanism is used for running on the track 3, and the upper bottom surface and the lower bottom surface of the track are both contacted with the drive mechanism. Specifically, the upper and lower driving wheels of the driving mechanism are respectively positioned on the upper bottom surface and the lower bottom surface of the track to be contacted, and the driving mechanism moves along the track through the upper and lower driving wheels. In an embodiment of the present invention, the driving wheel may advance or retreat along the rail according to the steering of the driving motor.

As shown in fig. 3-5, the driving mechanism 10 includes a gantry 11, the gantry 11 fixes a plurality of driving devices, the driving devices include a motor 12, a gear box 13 and a plurality of driving wheels, an output shaft of the motor 12 is connected with an input gear 131 of the gear box 13, and the gear box 13 is connected with the driving wheels to drive the driving wheels to rotate.

The portal frame 11 is used for fixing the driving mechanisms, in the embodiment of the invention, the driving mechanisms are arranged in pairs, the minimum requirement of the driving mechanisms meeting the condition is two, each driving mechanism comprises 2 groups of driving wheels, namely 4 groups of driving wheels at the front and the rear, and the driving mechanisms are arranged at the front and the rear positions of the portal frame 11 and can meet the traveling requirement of the driving mechanisms.

The gear box is connected with the door frame through a shaft 17 and can rotate around the shaft to adjust the direction. The gear box 13 comprises an input gear 131, a driving gear 133 and a transition gear 132, wherein the input gear 131 is connected with an output shaft of the motor 12 through a key 134, the input gear 131 is connected with the driving gear 133 and the transition gear 132 in a meshed mode, when the input gear 131 rotates, the input gear transmits power to the transition gear 132 and then transmits the power to the driving gear 133, the driving gear 133 is connected with a driving wheel through a key, and the driving gear 133 rotates along with the input gear 131 to transmit power to the driving wheel.

The gear box 13 comprises 2 drive gears, keyed to the first and second drive wheels respectively. The gear box 13 also includes an input gear mount 135 that is secured within the gear box by screws. Finally, the gear cover 135 is installed.

The drive means comprises a first drive wheel 14 and a second drive wheel 15, the first drive wheel 14 being in contact with the upper surface of the track and the second drive wheel being in contact with the lower surface of the track. The first and second drive wheels 14 and 15 exert pressure on the upper and lower surfaces of the rail, respectively, due to gravity, so that the drive mechanism moves along the rail due to friction.

In an embodiment of the invention, the drive mechanism 10 further comprises side guide wheels 16 that prevent the gantry from rubbing against the sides of the track.

As shown in fig. 3, in the embodiment of the present invention, the rail 3 has a substantially T-shaped cross section, a rail surface 31 for being disposed between the two drive wheels is provided at a lower portion of the rail, a rail support frame 32 is provided at a middle portion of the rail in a direction perpendicular to the rail surface, and a mounting portion is provided at an upper portion of the rail support frame for mounting the rail at a top portion of the cable well.

In the embodiment of the present invention, the installation portion 33 is used to be laid on the top, or upper left and upper right portions, of the cable well at the time of construction. The position of the steel can be determined according to actual requirements. The protruding part of the installation part can be welded on the steel bar at the top part firstly and then poured by cement. The track is fixed on the inner wall of the cable well.

The side guide wheels 16 roll on the side surfaces of the rail support frame, so that the contact and friction between the gantry and the rail can be effectively prevented.

The track support frame is of a hollow reinforcing rib structure, the side face of the track is composed of two inclined planes which are inclined inwards, and the side guide wheels 16 are arranged between the two inclined planes to roll.

In other embodiments of the invention, the cross-section of the track sides may also be concave arc-shaped. The camber angle is such that it fits the side guide wheels 16.

As shown in fig. 7, the principle of the present invention is: one of the two driving wheels is contacted with the upper surface of the track, the other one is contacted with the lower surface of the track, the center of a hinged point 17 of a gear box of the driving mechanism and a door frame is A, the axle center B of the first driving wheel 14 and the axle center C of the second driving wheel 15 are not on a vertical line, namely, the connecting line of A and B and the connecting line of A and C are not in a vertical relation. The angle α formed by the connection line AB and AC is not equal to 90 °, and the axis B of the first driving wheel 14 and the axis C of the second driving wheel 15 are staggered.

As shown in fig. 8, the driving mechanism moves along the rail due to friction force as the two driving wheels respectively generate pressure on the upper and lower surfaces of the rail due to gravity. The driving mechanism generates N1 and N2 pressure on the upper surface and the lower surface of the track respectively under the action of gravity G, and the corresponding moment L2 is 2 times of that of L1.

In connection with fig. 7-8, due to the gravity of the driving mechanism itself, the pressure N1 of the first driving wheel 14 presses against the track, because the axle center C of the first driving wheel 14 is offset from the axle center C of the second driving wheel 15,

compared with the prior art, the first driving wheel and the second driving wheel are adopted as common methods in the prior art, the second wheel cannot have upward pressure under the gravity condition, the pressing device can be additionally arranged, the cost is increased, and the driving mechanism is more complex. It is an object of the present invention to overcome the deficiencies of the prior art designs.

Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.