A walking wheel mechanism and dual axle drive system

Abstract

The utility model discloses a walking wheel mechanism for realizing the translation movement of mobile object relative to track, and walking wheel mechanism includes driving wheel subassembly, driving wheel subassembly includes driving wheel, first frame body and first wheel support, first frame body connects mobile object, driving wheel is installed on first wheel support, and first wheel support is rotatory installation relative to mobile object, first frame body is installed with first wheel clamp, and driving wheel and first wheel clamp are located two sides of the same track surface of track respectively, first spring is arranged between first frame body and first wheel support, first frame body has first limit portion and second limit portion, and first wheel support is arranged between first limit portion and second limit portion, in the walking wheel mechanism of the utility model, through installing driving wheel and first wheel clamp on first wheel support and first frame body respectively, and setting up first spring between first wheel support and first frame body, make driving wheel can keep effective contact with track, avoid skidding, promote walking precision.

Description

Technical Field

[0001] This utility model relates to the field of track walking mechanism technology, and in particular to a walking wheel mechanism and a dual-axis drive system. Background Technology

[0002] In existing automated logistics systems, warehousing equipment, and precision mobile platforms, there is often a need to achieve high-precision, low-resistance movement of objects on tracks. To meet these application requirements, traditional mobile mechanisms often employ wheeled structures to travel on tracks. For example, existing technologies such as the walking wheel mechanism in patent CN 221342419 U integrate a drive wheel and a motor, enabling it to actively move along a track. However, in practical applications, this type of walking wheel structure often faces several technical challenges, such as unstable contact between the wheel and the track, slippage, misalignment, local jamming, and non-compact structure, which seriously affect the operating accuracy and reliability of the equipment. Utility Model Content

[0003] Purpose of the invention: In order to overcome the shortcomings of the existing technology, this utility model provides a walking wheel mechanism and a dual-axis drive system that ensures walking accuracy and avoids walking jamming.

[0004] Technical solution: To achieve the above objectives, the present invention provides a walking wheel mechanism for realizing the translational movement of a moving object relative to a track, wherein the track has a U-shaped cross-section; the walking wheel mechanism includes a drive wheel assembly; the drive wheel assembly includes a drive wheel, a first frame, and a first wheel frame; the first frame is directly or indirectly connected to the moving object; the drive wheel is mounted on the first wheel frame, and the first wheel frame is rotatably mounted relative to the moving object;

[0005] The first frame is equipped with a first clamping wheel, and the driving wheel and the first clamping wheel are located on opposite sides of the same track surface of the track;

[0006] A first spring is provided between the first frame and the first wheel frame; the first frame has a first limiting part and a second limiting part, and the first wheel frame is placed between the first limiting part and the second limiting part.

[0007] Furthermore, the first frame includes two side plates, and also includes end seats connecting the two side plates and disposed at both ends of the side plates, and a clamping wheel mounting plate; the first clamping wheel is mounted on the clamping wheel mounting plate; a first spring pressure plate and a second spring pressure plate are respectively mounted on the end seats and the first wheel frame, and the two ends of the first spring abut against the two spring pressure plates respectively.

[0008] Furthermore, it also includes a driven wheel mechanism; the driven wheel mechanism includes a driven wheel, a second seat, and a second wheel seat; the second seat is fixed to the moving object; and the driven wheel is rotatably mounted on the second wheel seat; the second wheel seat is rotatably mounted relative to the second seat, and a second spring is provided between the two;

[0009] The driven wheel mechanism further includes a clamping wheel seat that is directly or indirectly connected to the moving object, and a second clamping wheel is mounted on the clamping wheel seat; the driven wheel and the second clamping wheel act on opposite sides of the same track surface of the track.

[0010] Furthermore, the track has a U-shaped cross-section, and the driving wheel assembly and the driven wheel mechanism each have a first guide wheel and a second guide wheel that act on the sidewall of the track.

[0011] Furthermore, the drive wheel integrates a speed reducer, and the drive wheel is driven by a motor. This allows for a compact structure.

[0012] Furthermore, the first frame and the second base are fixed at both ends of the connecting rod; the connecting rod connects to the moving object.

[0013] A dual-axis drive system includes a track and the aforementioned wheel mechanism, as well as a moving object, which is the track. An actuator and a drive mechanism for driving the actuator to translate along the track are mounted on the track. In this design, the drive mechanism consists of a motor and a synchronous belt mechanism. Using this structure, the actuator can be driven to perform dual-axis translational motion. In this design, the dual-axis drive system is used on a shelf with multiple compartments for storing goods. The actuator is a pick-and-place mechanism capable of retrieving goods from or placing goods into the compartments.

[0014] Furthermore, the moving object includes multiple moving tracks, and the number of tracks is also multiple, and the moving object is equipped with a number of walking wheel mechanisms equal to the number of tracks.

[0015] Beneficial effects: The walking wheel mechanism and dual-axis drive system of this utility model have the following beneficial effects:

[0016] (1) In the walking wheel mechanism of this utility model, by installing the driving wheel and the first clamping wheel on the first wheel frame and the first frame respectively, and setting the first spring between the first wheel frame and the first frame, the driving wheel can maintain effective contact with the track, avoid slipping, improve walking accuracy, and avoid large walking resistance.

[0017] (2) The structural design of the first frame can maintain the stability of the structure and prevent the first frame from deforming under the action of the reaction force of the first spring for a long time, which would lead to walking failure.

[0018] (3) The driving wheel assembly and the driven wheel mechanism act on both sides of the moving object, which can support both sides of the moving object and ensure that the driving wheel and the driven wheel are in contact with the track to form a stable support. Attached Figure Description

[0019] Figure 1 This is a structural diagram of the combined structure of the traveling wheel mechanism and the track;

[0020] Figure 2 This is a structural diagram of the walking wheel mechanism;

[0021] Figure 3 This is a structural diagram of the drive wheel assembly;

[0022] Figure 4 This is a structural diagram of the driven wheel assembly;

[0023] Figure 5 This is a side view of the traveling wheel mechanism;

[0024] Figure 6 This is a structural diagram of a dual-axis drive system.

[0025] In the diagram: A - Driven wheel assembly; B - Driven wheel mechanism; C - Connecting rod; 1 - Driven wheel; 2 - First frame; 21 - Side plate; 22 - End seat; 23 - Clamping wheel mounting plate; 2a - First limiting part; 2b - Second limiting part; 3 - First wheel frame; 4 - First clamping wheel; 5 - First spring; 6 - First spring pressure plate; 7 - Second spring pressure plate; 8 - Driven wheel; 9 - Second seat; 10 - Second wheel seat; 11 - Second spring; 12 - Clamping wheel seat; 13 - Second clamping wheel; 14 - First guide wheel; 15 - Second guide wheel; 20 - Motor; a - Moving object; b - Track; c - Actuating mechanism; d - Drive mechanism. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings.

[0027] like Figure 1 and Figure 2 The walking wheel mechanism shown is used to realize the translational movement of the moving object a relative to the track b, the track b having a U-shaped cross section; the walking wheel mechanism includes a driving wheel assembly A and a driven wheel assembly B.

[0028] like Figure 3As shown, the drive wheel assembly A includes a drive wheel 1, a first frame 2, and a first wheel frame 3; the first frame 2 is directly or indirectly connected to the moving object a; the drive wheel 1 is mounted on the first wheel frame 3, and the first wheel frame 3 is rotatably mounted relative to the moving object a;

[0029] The first frame 2 is equipped with a first clamping wheel 4, and the driving wheel 1 and the first clamping wheel 4 are located on opposite sides of the same track surface of the track b, as shown below. Figure 5 As shown;

[0030] A first spring 5 is provided between the first frame 2 and the first wheel frame 3; the first frame 2 has a first limiting part 2a and a second limiting part 2b, and the first wheel frame 3 is placed between the first limiting part 2a and the second limiting part 2b.

[0031] In the walking wheel mechanism of this utility model, by installing the driving wheel 1 and the first clamping wheel 4 on the first wheel frame 3 and the first frame 2 respectively, and setting the first spring 5 between the first wheel frame 3 and the first frame 2, the driving wheel 1 can maintain effective contact with the track b, avoid slippage, and improve walking accuracy.

[0032] Preferably, the first frame 2 includes two side plates 21, and also includes an end seat 22 connecting the two side plates 21 and disposed at both ends of the side plates 21, and a clamping wheel mounting plate 23; the first clamping wheel 4 is mounted on the clamping wheel mounting plate 23; a first spring pressure plate 6 and a second spring pressure plate 7 are respectively mounted on the end seat 22 and the first wheel frame 3, and the two ends of the first spring 5 abut against the two spring pressure plates respectively.

[0033] The structural design of the first frame 2 can maintain the stability of the structure and prevent the first frame 2 from deforming and causing walking failure under the action of the reaction force of the first spring 5 for a long time.

[0034] like Figure 4 As shown, the driven wheel mechanism B includes a driven wheel 8, a second seat 9, and a second wheel seat 10; the second seat 9 is fixed on the moving object a; and the driven wheel 8 is rotatably mounted on the second wheel seat 10; the second wheel seat 10 is rotatably mounted relative to the second seat 9, and a second spring 11 is provided between the two.

[0035] The driven wheel mechanism B also includes a clamping wheel seat 12 that is directly or indirectly connected to the moving object a, and a second clamping wheel 13 is installed on the clamping wheel seat 12; the driven wheel 8 and the second clamping wheel 13 act on both sides of the same track surface of the track b respectively.

[0036] The driving wheel assembly A and the driven wheel mechanism B act on both sides of the moving object a, which can support both sides of the moving object a and ensure that the driving wheel 1 and the driven wheel 8 are in contact with the track b to form a stable support.

[0037] Preferably, the track b has a U-shaped cross-section, and the driving wheel assembly A and the driven wheel mechanism B each have a first guide wheel 14 and a second guide wheel 15 that act on the side wall of the track b.

[0038] Preferably, the drive wheel 1 integrates a speed reducer, and the drive wheel 1 is driven by a motor 20. This allows for a compact structure.

[0039] Preferably, the first frame 2 and the second base 9 are fixed at both ends of the connecting rod C; the connecting rod C connects to the moving object a.

[0040] This invention also discloses a dual-axis drive system, such as Figure 6 As shown, it includes a track b, the aforementioned wheel mechanism, and a moving object a, which is a moving track. An actuator c and a drive mechanism d that drive the actuator c to translate along the moving track are mounted on the moving track. In this embodiment, the drive mechanism d consists of a motor and a synchronous belt mechanism. Using the above structure, the actuator c can be driven to perform dual-axis translational motion. In this embodiment, the dual-axis drive system is used on a shelf with multiple compartments for storing goods. The actuator c is a pick-and-place mechanism that can retrieve goods from or place goods into the compartments.

[0041] Preferably, the moving object a includes a plurality of moving tracks, and the number of tracks b is also a plurality, and the moving object a is equipped with a number of walking wheel mechanisms equal to the number of tracks b.

[0042] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A traveling wheel mechanism for realizing translational motion of a moving object (a) relative to a track (b); said traveling wheel mechanism includes a drive wheel assembly (A); characterized in that, The drive wheel assembly (A) includes a drive wheel (1), a first frame (2), and a first wheel frame (3); the first frame (2) is connected to the moving object (a); the drive wheel (1) is mounted on the first wheel frame (3), and the first wheel frame (3) is rotatably mounted relative to the moving object (a); The first frame (2) is equipped with a first clamping wheel (4), and the driving wheel (1) and the first clamping wheel (4) are located on opposite sides of the same track surface of the track (b); A first spring (5) is provided between the first frame (2) and the first wheel frame (3); the first frame (2) has a first limiting part (2a) and a second limiting part (2b), and the first wheel frame (3) is placed between the first limiting part (2a) and the second limiting part (2b).

2. The walking wheel mechanism according to claim 1, characterized in that, The first frame (2) includes two side plates (21), and also includes an end seat (22) connecting the two side plates (21) and placed at both ends of the side plates (21) and a clamping wheel mounting plate (23); the first clamping wheel (4) is mounted on the clamping wheel mounting plate (23); a first spring pressure plate (6) and a second spring pressure plate (7) are respectively mounted on the end seat (22) and the first wheel frame (3), and the two ends of the first spring (5) abut against the two spring pressure plates respectively.

3. The walking wheel mechanism according to claim 1, characterized in that, It also includes a driven wheel mechanism (B); the driven wheel mechanism (B) includes a driven wheel (8), a second seat (9) and a second wheel seat (10); the second seat (9) is fixed on the moving object (a); and the driven wheel (8) is rotatably mounted on the second wheel seat (10); the second wheel seat (10) is rotatably mounted relative to the second seat (9), and a second spring (11) is provided between the two. The driven wheel mechanism (B) further includes a clamping wheel seat (12) connected to the moving object (a), and a second clamping wheel (13) is mounted on the clamping wheel seat (12); the driven wheel (8) and the second clamping wheel (13) act on both sides of the same track surface of the track (b).

4. The walking wheel mechanism according to claim 3, characterized in that, The track (b) has a U-shaped cross section, and the driving wheel assembly (A) and the driven wheel mechanism (B) have a first guide wheel (14) and a second guide wheel (15) respectively acting on the side wall of the track (b).

5. The walking wheel mechanism according to claim 1, characterized in that, The drive wheel (1) integrates a speed reducer, and the drive wheel (1) is driven by a motor (20).

6. The walking wheel mechanism according to claim 3, characterized in that, The first frame (2) and the second base (9) are fixed at both ends of the connecting rod (C); the connecting rod (C) connects the moving object (a).

7. A dual-axis drive system, characterized in that, It includes a track (b) and a walking wheel mechanism as described in any one of claims 1-6, and also includes a moving object (a), the moving object (a) being a moving track, on which an actuator (c) is mounted and a drive mechanism (d) for driving the actuator (c) to translate along the moving track.

8. The dual-axis drive system according to claim 7, characterized in that, The moving object (a) includes a plurality of the moving tracks, and the number of the tracks (b) is also a plurality, and the moving object (a) is equipped with a number of the walking wheel mechanisms equal to the number of the tracks (b).

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