Robot walking track

Abstract

The present invention discloses a robot walking ground rail, including a track mechanism, a movable mechanism, a driving mechanism and a brake mechanism; the track mechanism is arranged on the ground; the movable mechanism includes a movable plate and a plurality of rolling assemblies, and the rolling assemblies are arranged below the movable plate; the brake mechanism includes a brake driver, a brake connecting rod, a brake screw, a connecting member, a mounting seat and a claw, the mounting seat is provided with an internal screw hole that passes through from top to bottom, the screw is threadedly connected to the internal screw hole of the mounting seat, the driving end of the brake driver is connected to the first end of the brake connecting rod, the second end of the brake connecting rod is fixedly connected to the top end of the screw, the bottom end of the screw is connected to the claw, and the claw is directly opposite to the track mechanism. This scheme utilizes the self-locking characteristics of the screw when its thread lead angle is less than the friction angle, the brake mechanism has extremely high reliability and safety, and the brake reaction force acts on the thread of the screw during braking. Not only is the structure compact and stable, but the equipment manufacturing cost is low, which is conducive to improving product competitiveness.

Description

Technical Field

[0001] The invention relates to the field of walking rails, and more particularly to a walking rail for robots. Background Art

[0002] The current robot walking rails use linear guides and gear racks, which are precision parts and are expensive in themselves. If they are operated in harsh environments such as cement production, protection becomes difficult. The ball linear guides used on the equipment will wear out faster due to the intrusion of dust, resulting in a shortened lifespan and damage, while the gear racks will stick and clump due to dust, causing jamming and other phenomena.

[0003] In addition, since robots are generally heavy, they will generate a lot of inertia when moving at high speed. If only the motor's own brake is used, it will not only be unreliable but also the motor will be easily damaged.

[0004] Therefore, it is necessary to propose a robot walking track to solve the problems existing in the existing robot walking track.

[0005] The information disclosed in this background technology section is only intended to deepen the understanding of the overall background technology of the present invention, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art already known to those skilled in the art. Summary of the invention

[0006] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a robot walking track.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] The present invention provides a robot walking ground track, comprising a track mechanism, a movable mechanism, a driving mechanism and a brake mechanism; the track mechanism is arranged on the ground; the movable mechanism comprises a movable plate and a plurality of rolling components, the rolling components are arranged below the movable plate and on the track mechanism, the rolling components roll relative to the track mechanism so that the movable plate moves relative to the track mechanism; the driving end of the driving mechanism is connected to the rolling component to drive the movable plate to move along the track mechanism; the brake mechanism comprises a brake driving member, a brake connecting rod, a brake screw, a connecting member, a mounting seat and a claw, the mounting seat is provided with an internal screw hole which passes through from top to bottom, the screw is threadedly connected in the internal screw hole of the mounting seat, the driving end of the brake driving member is connected to the first end of the brake connecting rod, the second end of the brake connecting rod is fixedly connected to the top end of the screw, the bottom end of the screw is connected to the claw, the claw is directly opposite to the track mechanism, the driving end of the brake driving member telescopes to drive the brake connecting rod to rotate, and drives the screw to move up and down axially relative to the mounting seat so that the claw clamps or moves away from the track mechanism.

[0009] Furthermore, the track mechanism includes a guide rail fixing plate, steel rails and a pressure block. The guide rail fixing plate is fixed to the ground. The two steel rails are arranged on the guide rail fixing plate facing each other. The pressure block presses and fixes the steel rails to the guide rail fixing plate to form a track mechanism. The claws are arranged opposite to the steel rails.

[0010] Furthermore, the brake mechanism also includes a thrust ball bearing; the thrust ball bearing is fixed to the upper surface of the mounting seat, the second end of the brake connecting rod is connected to the inner ring of the thrust ball bearing, and the thrust ball bearing is used to limit the axial freedom of the brake connecting rod.

[0011] Furthermore, the brake mechanism also includes a pin connecting piece, one end of which is connected to the bottom end of the screw rod, and the other end of which is connected to the claw.

[0012] Furthermore, at least two brake mechanisms are included, and the two brake mechanisms are respectively arranged on both sides of the movable plate facing the two rails, so that the two claws can correspondingly clamp or stay away from two different rails.

[0013] Furthermore, the rolling assembly includes a roller, an intermediate shaft, a rolling bearing and a bearing mounting plate, the two ends of the intermediate shaft are respectively connected to the rolling bearing and the roller, and one end of the intermediate shaft passes through the rolling bearing or the roller, the rolling bearing is arranged on the lower surface of the bearing mounting plate, the bearing mounting plate is arranged below the movable plate, and the roller is arranged on the rail, so that the rolling assembly can be arranged on the rail below the movable plate.

[0014] Furthermore, the movable mechanism comprises at least two rolling assemblies, and the roller of at least one rolling assembly is a rubber wheel.

[0015] Furthermore, the driving mechanism includes a driving motor, a first transmission gear, a second transmission gear and a transmission chain. The rotating shaft of the driving motor is connected to the first transmission gear, the second transmission gear is connected to one end of the intermediate shaft passing through the rolling bearing, and the transmission chain is meshed and connected to the first transmission gear and the second transmission gear at the same time, so that the second transmission gear is driven to rotate by the rotation of the first transmission gear.

[0016] Furthermore, it also includes an elastic compensation mechanism, which includes a pressure plate, a first guide shaft, an adjusting screw, an elastic member, a second guide shaft and a limit support; the top end of the first guide shaft is connected to the pressure plate, and the bottom end passes through the movable plate and is connected to the bearing mounting plate, the elastic member is arranged on the periphery of the first guide shaft, and the two ends are respectively stopped at the lower surface of the pressure plate and the upper surface of the bearing mounting plate; the adjusting screw passes downward through the pressure plate and is adjustably connected with the movable plate through a thread; the bearing mounting plate is provided with a guide hole that passes through from top to bottom, the first end of the second guide shaft is connected to the lower surface of the movable plate, the second end of the second guide shaft passes through the guide hole and is connected to the limit support, and the lateral dimension of the limit support is larger than the diameter of the guide hole.

[0017] Furthermore, it also includes a drag chain mechanism, which includes a drag chain groove, a drag chain mounting plate and a drag chain, the opening of the drag chain groove is arranged upward on the guide rail fixing plate, the drag chain is arranged in the drag chain groove, one end of the drag chain mounting plate is connected to the drag chain, and the other end is connected to the movable plate.

[0018] The beneficial effects of the present invention compared with the prior art are as follows: a robot walking rail provided by the present invention has a robot installed on a movable plate, and a rolling assembly is driven by a driving mechanism to roll on the track mechanism, so that the movable plate can move freely along the track mechanism, and can adapt to different terrain conditions. At the same time, the robot is guaranteed to remain stable when moving at high speed; in addition, a brake drive is also provided to drive the screw to move up and down, so that the claws at the end of the screw can hold the track mechanism tightly, thereby achieving stable braking of the robot walking rail. This scheme utilizes the self-locking characteristics of the screw when its thread lead angle is less than the friction angle. The brake mechanism has extremely high reliability and safety. When braking, the brake reaction force acts on the thread of the screw. Not only is the structure compact and stable, but the equipment manufacturing cost is low, which is conducive to improving product competitiveness.

[0019] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the following preferred embodiments are specifically cited and described in detail as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of a specific embodiment of a robot walking track of the present invention;

[0021] Figure 2 It is a side view of a specific embodiment of a robot walking track of the present invention;

[0022] Figure 3 A top view of a specific embodiment of a robot walking track of the present invention;

[0023] Figure 4 It is a partial enlarged view of a brake mechanism of a specific embodiment of a robot walking track of the present invention;

[0024] Figure 5 It is a structural cross-sectional view of a brake mechanism and an elastic compensation mechanism of a specific embodiment of a robot walking ground rail of the present invention;

[0025] Figure 6 It is a structural cross-sectional view of a movable mechanism of a specific embodiment of a robot walking ground rail of the present invention;

[0026] Figure 7 It is a structural schematic diagram of a driving mechanism of a specific embodiment of a robot walking ground rail of the present invention;

[0027] Figure 8 The present invention is a schematic structural diagram of a robot equipped with a robot according to a specific embodiment of a robot walking ground rail of the present invention. Description of the drawings:

[0029] 100. robot; 10. track mechanism; 11. guide rail fixing plate; 13. rail; 12. pressure block; 20. brake mechanism; 21. brake driver; 22. brake connecting rod; 23. thrust ball bearing; 24. mounting seat; 25. brake screw; 26. connecting piece; 27. claw; 30. movable mechanism; 31. movable plate; 32. rolling assembly; 321. bearing mounting plate; 322. roller; 323. intermediate shaft; 40. drive mechanism; 41. drive motor; 42. motor mounting plate; 43. transmission chain; 44. first transmission gear; 45. second transmission gear; 50. drag chain mechanism; 51. drag chain; 52. drag chain slot; 60. elastic compensation mechanism; 61. pressure plate; 64. first guide shaft; 62. adjusting screw; 63. elastic member; 65. second guide shaft; 66. limit support. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0032] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0033] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0034] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be connected, detachably connected, or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0036] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification.

[0037] refer to Figure 1-8 The present invention proposes a robot walking track, including a track mechanism 10, a movable mechanism 30, a driving mechanism 40 and a braking mechanism 20. The driving mechanism 40 is used to drive the movable mechanism 30 to move relative to the track mechanism 10 to adapt to different terrain conditions and ensure that the robot 100 remains stable when moving at high speed; when the movable mechanism 30 needs to brake, the brake mechanism 20 holds the track to brake to resist the inertia force of the robot 100 when moving at high speed.

[0038] In an optional embodiment, a travel switch is also provided on the movable mechanism 30, and the travel switch is used for inductive triggering of the ground rail returning to the origin, fixed-point parking, and limit position, etc.

[0039] In this embodiment, the track mechanism 10 is disposed on the ground and is used to set the movable mechanism 30, the driving mechanism 40 and the brake mechanism 20. Figure 1 and 3 In this embodiment, the track mechanism 10 includes a guide rail fixing plate 11, a steel rail 13 and a pressure block 12. The guide rail fixing plate 11 is fixed to the foundation to provide a basic support plane. Two steel rails 13 are arranged on the guide rail fixing plate 11 facing each other. The pressure block 12 presses the steel rail 13 to be fixed to the guide rail fixing plate 11 to form a guide rail. The claw 27 of the brake mechanism 20 is arranged opposite to the steel rail 13. The movable mechanism 30 moves along the track mechanism 10 under the drive of the driving mechanism 40 to drive the robot 100 installed on the movable mechanism 30 to move along the track mechanism 10 accordingly.

[0040] In this embodiment, the movable mechanism 30 includes a movable plate 31 and a plurality of rolling assemblies 32. The rolling assemblies 32 are arranged below the movable plate 31 and arranged on the track mechanism 10. The rolling assemblies 32 roll relative to the track mechanism 10 so that the movable plate 31 moves relative to the track mechanism 10. Specifically, the driving end of the driving mechanism 40 is connected to the rolling assemblies 32 to drive the movable plate 31 to move along the track mechanism 10. The driving mechanism 40 drives the rolling assemblies 32 to roll so as to bring the movable plate 31 arranged on the rolling assemblies 32 to move along the track mechanism 10. Further, by arranging a plurality of rolling assemblies 32, the downward pressure of the movable mechanism 30 on the track mechanism 10 can be dispersed to avoid stress concentration. At the same time, the plurality of rolling assemblies 32 can also improve the rolling stability of the movable plate 31. Even if a heavy robot 100 is arranged on the movable plate 31, the robot 100 can be driven to move stably.

[0041] refer to Figure 5 and 6 In this embodiment, the rolling assembly 32 includes a roller 322, an intermediate shaft 323, a rolling bearing and a bearing mounting plate 321. The two ends of the intermediate shaft 323 are respectively connected with a rolling bearing and a roller 322, and one end of the intermediate shaft 323 passes through the rolling bearing or the roller 322. The rolling bearing is arranged on the lower surface of the bearing mounting plate 321, and the bearing mounting plate 321 is arranged below the movable plate 31. The roller 322 is arranged on the rail 13, so that the rolling assembly 32 is arranged on the rail 13 below the movable plate 31. The roller 322 is in direct contact with the rail 13. When the roller 322 rolls, rolling friction is generated with the rail 13 to drive the movable plate 31 forward.

[0042] In an optional embodiment, the movable mechanism 30 includes at least two rolling assemblies 32, the roller 322 of at least one rolling assembly 32 is a rubber wheel, and the roller 322 of the other rolling assemblies 32 is a steel wheel, the steel wheel is used to bear the overall weight of the device, and the rubber wheel is mainly used to increase the friction between the movable mechanism 30 and the rail 13 to avoid slipping, so that the movable mechanism 30 can move / stop quickly when the drive motor 41 is started / braked. Figure 2 In this embodiment, the movable mechanism 30 includes four rolling components 32, wherein the roller 322 of one rolling mechanism is a rubber wheel, and the rollers 322 of the other rolling components 32 are steel wheels.

[0043] refer to Figure 6 and 7In this embodiment, the driving mechanism 40 includes a driving motor 41, a first transmission gear 44, a second transmission gear 45 and a transmission chain 43. The rotating shaft of the driving motor 41 is connected to the first transmission gear 44, and the second transmission gear 45 is connected to one end of the intermediate shaft 323 passing through the rolling bearing. The transmission chain 43 is simultaneously meshed with the first transmission gear 44 and the second transmission gear 45, so that the second transmission gear 45 is driven to rotate by the rotation of the first transmission gear 44. This scheme is driven by the driving motor 41, and the intermediate shaft 323 of the rolling assembly 32 is driven to rotate by the meshing transmission of the first transmission gear 44, the transmission chain 43 and the second transmission gear 45, and finally the roller 322 is driven to move forward and backward on the rail 13. In this embodiment, a reducer is integrated in the driving motor 41. Further, a motor mounting plate 42 is provided on the movable plate 31, and the driving motor 41 is provided on the motor mounting plate 42.

[0044] like Figure 7 As shown, it should be understood that the second transmission gear 45 installed on the rolling assembly 32 can be connected to the first transmission gear 44 through the transmission chain 43 and directly driven by the first transmission gear 44; in addition, the second transmission gears 45 installed on different rolling assemblies 32 can also be connected through another chain to form a synchronous wheel set. At this time, the first transmission gear 44 only needs to drive one of the second transmission gears 45 in the synchronous wheel set through the transmission chain 43, that is, it can indirectly drive all the second transmission gears 45 in the synchronous wheel set to rotate synchronously; in addition, when multiple rolling assemblies 32 are set, they can be combined into multiple synchronous wheel sets as needed, and the first transmission gear 44 can drive different synchronous wheel sets to rotate through a corresponding number of transmission chains 43.

[0045] Furthermore, it should be understood that the present invention is not limited to the three-chain transmission in the present embodiment, and the present invention can be set according to the actual number and position of the second transmission gears 45 to ensure the best transmission effect.

[0046] refer to Figure 4 and 5In the present embodiment, the brake mechanism 20 comprises a brake driving member 21, a brake connecting rod 22, a brake screw 25, a connecting member 26, a mounting seat 24 and a claw 27. The mounting seat 24 is provided with an internal screw hole which passes through from top to bottom. The screw is threadedly connected to the internal screw hole of the mounting seat 24. The driving end of the brake driving member 21 is connected to the first end of the brake connecting rod 22. The second end of the brake connecting rod 22 is fixedly connected to the top end of the screw. The bottom end of the screw is connected to the claw 27. The claw 27 faces the rail 13 of the track mechanism 10. The driving end of the brake driving member 21 is telescopic to drive the brake connecting rod 22 to rotate, and drives the screw to move up and down axially relative to the mounting seat 24 so that the claw 27 clamps or moves away from the track mechanism 10. Specifically, the brake mechanism 20 is used to firmly grasp the rail 13 through the claws 27 when parking is required to resist the inertia of the robot 100 during high-speed transportation activities to avoid dangers such as slipping. This solution utilizes the extension / contraction of the telescopic shaft of the brake drive 21 to drive the brake connecting rod 22 to rotate, and then drives the screw to rotate and move axially.

[0047] In this embodiment, the brake drive 21 is a drive cylinder, and the telescopic shaft of the drive cylinder is connected to the brake connecting rod 22; the inner screw hole of the mounting seat 24 and the screw are provided with trapezoidal threads of corresponding specifications, so that the claw 27 at the end of the screw can hold the track mechanism 10 tightly, thereby realizing stable braking of the robot walking rail. This scheme utilizes the self-locking characteristics of the screw when its thread lead angle is less than the friction angle. The brake mechanism 20 has extremely high reliability and safety. When braking, the brake reaction force acts on the thread of the screw. Not only is the structure compact and stable, but the equipment manufacturing cost is low, which is conducive to improving product competitiveness.

[0048] refer to Figure 5 In this embodiment, the brake mechanism 20 further includes a pin connector 26, one end of the pin connector 26 is connected to the bottom end of the screw rod, and the other end is connected to the claw 27. In this embodiment, the pin connector 26 can be a pin.

[0049] refer to Figure 4 and 5 In this embodiment, the brake mechanism 20 further includes a thrust ball bearing 23; the thrust ball bearing 23 is fixed on the upper surface of the mounting seat 24, and the second end of the brake link 22 is connected to the inner ring of the thrust ball bearing 23. The thrust ball bearing 23 is used to limit the axial freedom of the brake link 22. Among them, the brake link 22 is limited in freedom up and down by the thrust ball bearings 23 and the mounting seat 24 at both ends, and the screw is connected to the claw 27 through the pin connector 26 to limit the freedom in the lateral rotation direction. If the brake link 22 rotates, the screw can only move up and down along the axial direction, thereby tightening or loosening the connection between the claw 27 and the rail 13. The brake mechanism 20 uses the self-locking characteristics when the thread lead angle is less than the friction angle, and has extremely high reliability and safety. Because the force is on the thread, it does not require a large driving cylinder, and has a compact structure and high cost performance.

[0050] In an optional embodiment, at least two brake mechanisms 20 are included, and the two brake mechanisms 20 are respectively arranged on both sides of the movable plate 31 facing the two rails 13, so that the two claws 27 can clamp or stay away from two different rails 13. Figure 1 and 3 In this embodiment, four brake mechanisms 20 are arranged on the movable plate 31, and two brake mechanisms 20 are arranged at the front and rear of each rail 13 to cooperate with each other for braking, thereby ensuring stable and reliable braking. It should be understood that this solution does not limit the number of brake mechanisms 20, and the number and location of the brake mechanisms 20 can be determined according to actual needs.

[0051] refer to Figure 1 and 5 In an optional embodiment, a robot walking track of the present invention further includes an elastic compensation mechanism 60, which includes a pressure plate 61, a first guide shaft 64, an adjusting screw 62, an elastic member 63, a second guide shaft 65 and a limit bracket 66; the top end of the first guide shaft 64 is connected to the pressure plate 61, and the bottom end passes through the movable plate 31 and is connected to the bearing mounting plate 321. The elastic member 63 is arranged on the periphery of the first guide shaft 64, and the two ends are respectively stopped at the lower surface of the pressure plate 61 and the upper surface of the bearing mounting plate 321; the adjusting screw 62 passes through the pressure plate 61 downward and is threadedly connected to the movable plate 31; the bearing mounting plate 321 is provided with a guide hole that passes through from top to bottom, the first end of the second guide shaft 65 is connected to the lower surface of the movable plate 31, and the second end of the second guide shaft 65 passes through the guide hole and is connected to the limit bracket 66, and the lateral size of the limit bracket 66 is greater than the diameter of the guide hole. Specifically, the elastic member 63 is a heavy-duty spring, an elastic strip or an elastic column.

[0052] Specifically, the elastic compensation mechanism 60 is mainly installed on the rolling assembly 32 with rubber wheels. Due to the characteristics of the rubber wheel itself, it has great elasticity, which makes it easy for the rubber wheel to have poor contact with the surface of the rail 13. This solution adjusts the adjusting screw to allow the pressure plate 61 to move downward to compress the elastic member 63, thereby increasing the contact force between the rubber wheel and the rail 13 and achieving the purpose of increasing the contact area. In addition, for very long rails 13, which are usually spliced ​​together in multiple sections, not only will there be flatness errors in manufacturing and installation, but the elastic compensation mechanism 60 can offset this error very well. Therefore, the elastic compensation mechanism 60 can also be installed on the rolling assembly 32 with steel wheels according to actual conditions. In this embodiment, the elastic compensation mechanism 60 is not installed on the rolling assembly 32 with steel wheels because the number of steel wheels is small (only 3 pairs), and the rail 13 is not long, and there is no problem of poor contact in actual use.

[0053] refer to Figure 1 and 3In an optional embodiment, a robot walking rail of the present invention also includes a drag chain mechanism 50, the drag chain mechanism 50 includes a drag chain groove, a drag chain 51 mounting plate and a drag chain 51, the opening of the drag chain groove is upwardly arranged on the guide rail fixing plate 11, the drag chain 51 is arranged in the drag chain groove, one end of the drag chain 51 mounting plate is connected to the drag chain 51, and the other end is connected to the movable plate 31. Since the drag chain 51 is bendable and wear-resistant, it is convenient to drive the cable routing of the motor 41 and the robot 100.

[0054] Specifically, for example, in a cement production environment, there will be a large amount of dust in the air, which will fall and accumulate on the equipment. When encountering humid weather, the cement will agglomerate, affecting the normal operation of the equipment. The robot walking track of this solution can operate normally for a long time under the above relatively harsh environmental conditions.

[0055] The present invention provides a robot walking rail, on which a robot 100 is installed. A rolling assembly 32 is driven by a driving mechanism 40 to roll on a track mechanism 10, so that the movable plate 31 can move freely along the track mechanism 10, and can adapt to different terrain conditions. At the same time, it is ensured that the robot 100 remains stable when moving at high speed. In addition, a brake driving member 21 is provided to drive the screw to move up and down, so that the claw 27 at the end of the screw can hold the track mechanism 10 tightly, thereby achieving stable braking of the robot walking rail. This scheme utilizes the self-locking characteristics of the screw when its thread lead angle is less than the friction angle. The brake mechanism 20 has extremely high reliability and safety. During braking, the brake reaction force acts on the thread of the screw. Not only is the structure compact and stable, but the equipment manufacturing cost is low, which is conducive to improving product competitiveness.

[0056] The above examples are only used to further illustrate the technical content of the present invention, so that readers can understand it more easily, but they do not mean that the implementation of the present invention is limited to this. Any technical extension or re-creation made according to the present invention is protected by the present invention. The protection scope of the present invention shall be subject to the claims.

Claims

1. A robot walking track, characterized in that: It includes a track mechanism, a movable mechanism, a driving mechanism and a brake mechanism; the track mechanism is arranged on the ground; the movable mechanism includes a movable plate and a plurality of rolling components, the rolling components are arranged below the movable plate and on the track mechanism, the rolling components roll relative to the track mechanism so that the movable plate moves relative to the track mechanism; the driving end of the driving mechanism is connected to the rolling component to drive the movable plate to move along the track mechanism; the brake mechanism includes a brake driving member, a brake connecting rod, a brake screw, a connecting member, a mounting seat and a claw, the mounting seat is provided with an internal screw hole which passes through from top to bottom, the brake screw is threadedly connected to the internal screw hole of the mounting seat, the driving end of the brake driving member is connected to the first end of the brake connecting rod, the second end of the brake connecting rod is fixedly connected to the top end of the brake screw, the bottom end of the brake screw is connected to the claw, the claw is facing the track mechanism, the driving end of the brake driving member is telescopic to drive the brake connecting rod to rotate, and drives the brake screw to move up and down axially relative to the mounting seat so that the claw clamps or moves away from the track mechanism; The track mechanism comprises a guide rail fixing plate, a steel rail and a pressing block, the guide rail fixing plate is fixed on the ground, two steel rails are arranged on the guide rail fixing plate facing each other, the pressing block presses the steel rails to be fixed to the guide rail fixing plate to form a track mechanism, and the gripping claw is arranged opposite to the steel rails; The brake mechanism further includes a thrust ball bearing; the thrust ball bearing is fixedly arranged on the upper surface of the mounting seat, the second end of the brake connecting rod is connected to the inner ring of the thrust ball bearing, and the thrust ball bearing is used to limit the axial freedom of the brake connecting rod; The rolling assembly includes a roller, an intermediate shaft, a rolling bearing and a bearing mounting plate, the rolling bearing and the roller are connected to both ends of the intermediate shaft respectively, and one end of the intermediate shaft passes through the rolling bearing or the roller, the rolling bearing is arranged on the lower surface of the bearing mounting plate, the bearing mounting plate is arranged below the movable plate, and the roller is arranged on the rail, so that the rolling assembly is arranged on the rail below the movable plate; It also includes an elastic compensation mechanism, which includes a pressure plate, a first guide shaft, an adjusting screw, an elastic member, a second guide shaft and a limit support; the top end of the first guide shaft is connected to the pressure plate, and the bottom end passes through the movable plate and is connected to the bearing mounting plate, the elastic member is arranged on the periphery of the first guide shaft, and the two ends respectively stop at the lower surface of the pressure plate and the upper surface of the bearing mounting plate; the adjusting screw passes through the pressure plate downward and is adjustably connected with the movable plate through a thread; the bearing mounting plate is provided with a guide hole that passes through from top to bottom, the first end of the second guide shaft is connected to the lower surface of the movable plate, the second end of the second guide shaft passes through the guide hole and is connected to the limit support, and the lateral dimension of the limit support is greater than the diameter of the guide hole.

2. The robot walking track according to claim 1, characterized in that: The brake mechanism also includes a pin connecting piece, one end of which is connected to the bottom end of the brake screw, and the other end of which is connected to the claw.

3. The robot walking track according to claim 2, characterized in that: At least two brake mechanisms are included, and the two brake mechanisms are respectively arranged on both sides of the movable plate facing the two rails, so that the two claws can correspondingly clamp or stay away from two different rails.

4. The robot walking track according to claim 1, characterized in that: The movable mechanism comprises at least two rolling assemblies, and the roller of at least one rolling assembly is a rubber wheel.

5. The robot walking track according to claim 1, characterized in that: The driving mechanism includes a driving motor, a first transmission gear, a second transmission gear and a transmission chain. The rotating shaft of the driving motor is connected to the first transmission gear, and the second transmission gear is connected to one end of the intermediate shaft passing through the rolling bearing. The transmission chain is meshed and connected to the first transmission gear and the second transmission gear at the same time, so that the second transmission gear is driven to rotate by the rotation of the first transmission gear.

6. The robot walking track according to claim 1, characterized in that: It also includes a drag chain mechanism, which includes a drag chain groove, a drag chain mounting plate and a drag chain. The opening of the drag chain groove is arranged upward on the guide rail fixing plate, the drag chain is arranged in the drag chain groove, one end of the drag chain mounting plate is connected to the drag chain, and the other end is connected to the movable plate.

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