Drive device for rail robot

Abstract

The present invention provides a driving device for a rail robot. The driving device for a rail robot includes a first hanger, a second hanger, two rocker arms, two swing arms, two elastic driving members and two driving wheel assemblies. The first hanger and the second hanger are used to hang the robot body, the two rocker arms, the first ends of the two rocker arms are hinged to the first hanger, and the two driving wheel assemblies are respectively installed on the two rocker arms, and the first ends of the two swing arms are hinged to the second hanger. The two elastic driving members drive the two rocker arms to rotate relatively close to each other, so that the two driving wheel assemblies can tighten the track. Due to the structure in which the swing arm and the rocker arm are connected by a composite hinge, under the drive of the elastic driving member, the driving device for the rail robot can change the matching posture with the track, so that the two driving wheel assemblies are always kept in close contact with the track, thereby improving the reliability of the contact between the driving wheels of the rail robot and the track.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a driving device for a rail robot. Background Art

[0002] As robots are increasingly used in a wide range of applications, track-based robots are increasingly being used in safety-critical environments to improve the reliability of equipment movement. Currently, most track-based robots are mounted on I-shaped tracks. Rollers are typically installed in grooves on either side of the I-shaped track, and the robot's movement is driven by drive wheels that mate with the cross-section of the I-shaped track.

[0003] In addition, existing technologies also utilize drive wheels that mate with the longitudinal surface of an I-shaped track to drive the movement of a rail robot. However, this solution can lead to unreliable contact between the drive wheels and the track, which can easily cause the drive wheels to slip. This is especially true when the rail robot is turning, where the drive wheels are more likely to lose reliable contact with the curved side of the track, reducing the robot's movement accuracy. Summary of the Invention

[0004] The main purpose of the present invention is to provide a driving device for a rail robot to solve the problem in the prior art that the driving wheels of the rail robot are easily and unreliably in contact with the rail on the rail.

[0005] In order to achieve the above-mentioned objectives, the present invention provides a driving device for a rail robot, including: a first hanger and a second hanger, the first hanger and the second hanger are used to hang the robot body; two rocker arms, the first ends of the two rocker arms are hinged to the first hanger; two swing arms, the first ends of the two swing arms are hinged to the second hanger, on the common side of the first hanger and the second hanger, the second end of one swing arm is connected to the second end of one rocker arm through a composite hinge, and on the other common side of the first hanger and the second hanger, the second end of the other swing arm is connected to the second end of the other rocker arm through a composite hinge; two elastic driving members, respectively installed at the second ends of the two swing arms, the elastic driving members are used to drive the two rocker arms to rotate relatively close to each other; two driving wheel assemblies, respectively installed on the two rocker arms.

[0006] In one embodiment, a sliding groove is provided on the second end of the rocker arm, and the second end of the rocker arm passes through the sliding groove. The second end of the rocker arm can rotate relative to the sliding groove, can slide relative to the sliding groove, and can extend or retract relative to the sliding groove.

[0007] In one embodiment, the elastic driving member is mounted on a portion of the second end of the swing arm extending from the slide slot.

[0008] In one embodiment, an end cap is mounted on the end of the second end of the swing arm, and the end cap compresses the elastic driving member between the end cap and the swing arm.

[0009] In one embodiment, the elastic driving member is installed between the portion of the swing arm that does not extend from the slide slot and the rocker arm.

[0010] In one embodiment, the elastic driving member is a spring or a column of elastic material.

[0011] In one embodiment, the first end of the rocker arm is hinged to the first suspension seat via a first rotation axis, and / or the first end of the swing arm is hinged to the second suspension seat via a second rotation axis.

[0012] In one embodiment, a first axle seat is provided on the first suspension seat, and the first axle seat is used to install the first rotating shaft and the rocker arm; and / or a second axle seat is provided on the second suspension seat, and the second axle seat is used to install the second rotating shaft and the rocker arm.

[0013] In one embodiment, the two rocker arms together with the first suspension seat form a U-shaped clamping structure.

[0014] In one embodiment, the driving wheel assembly includes a driving member and a driving wheel, wherein the driving member is mounted on the rocker arm, and the driving wheel is horizontally mounted on the driving member.

[0015] Using the technical solution of the present invention, two elastic drive members drive the two rocker arms to rotate toward each other, allowing the two drive wheel assemblies to tighten the track. Because the swing arms and rocker arms are connected via a composite hinge, the elastic drive members allow the rail robot's drive device to change its alignment with the track, ensuring that the two drive wheel assemblies maintain close contact with the track, thereby improving the reliability of the track robot's drive wheel-track contact.

[0016] In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0018] Figure 1 A schematic diagram showing a front view of an embodiment of a driving device for a rail robot according to the present invention installed on a rail; and

[0019] Figure 2 Shown Figure 1 A schematic diagram of a top view of a driving device for a track robot;

[0020] Figure 3 Shown Figure 1 A schematic diagram of a top view of a driving device for a track robot removed from a track;

[0021] Figure 4 Shown Figure 3 A schematic structural diagram of a driving device for a rail robot in a cornering state;

[0022] Figure 5 Shown Figure 3 Schematic diagram of the structure of the drive device for the rail robot in another cornering state. DETAILED DESCRIPTION

[0023] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0024] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described 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 ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first," "second," and the like in the specification and claims of the present invention and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate to facilitate the embodiments of the present invention described herein. In addition, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such processes, methods, products, or apparatuses.

[0026] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0027] Figure 1 、 Figure 2 and Figure 3 An embodiment of a rail robot drive device according to the present invention is shown. The device comprises a first suspension mount 10, a second suspension mount 20, two rocker arms 30, two swing arms 40, two elastic drive members 50, and two drive wheel assemblies 60. The first suspension mount 10 and the second suspension mount 20 are used to suspend the robot body. The first ends of the two rocker arms 30 are hingedly connected to the first suspension mount 10. The two drive wheel assemblies 60 are respectively mounted on the two rocker arms 30. The first ends of the two swing arms 40 are hingedly connected to the second suspension mount 20. On one side shared by the first and second suspension mounts 10 and 20, the second end of one swing arm 40 is connected to the second end of one rocker arm 30 via a composite hinge. On the other side shared by the first and second suspension mounts 10 and 20, the second end of the other swing arm 40 is connected to the second end of the other rocker arm 30 via a composite hinge. Two elastic drive members 50 are respectively mounted on the second ends of the two swing arms 40 and are used to drive the two rocker arms 30 to rotate relative to each other.

[0028] By applying the technical solution of the present invention, the two elastic driving members 50 drive the two rocker arms 30 to rotate relatively close to each other, so that the two driving wheel assemblies 60 can tighten the track H. When the track robot turns, the action of the robot body can easily cause the driving wheel assembly 60 that matches the side of the curve to slip. Figure 4 and Figure 5 As shown, in the technical solution of the present application, due to the structure in which the above-mentioned swing arm 40 and the rocker arm 30 are connected by a composite hinge, under the drive of the elastic driving member 50, the track robot can use the driving device to change the matching posture with the track H, so that the two driving wheel assemblies 60 are always in close contact with the track H, thereby improving the reliability of the contact between the driving wheels of the track robot and the track.

[0029] like Figure 1 As shown, in the technical solution of this embodiment, the above-mentioned composite hinge is implemented as follows: a slide groove 31 is defined on the second end of the rocker arm 30, and the second end of the swing arm 40 passes through the slide groove 31. The second end of the swing arm 40 can rotate relative to the slide groove 31, can slide relative to the slide groove 31, and can extend or retract relative to the slide groove 31. As other optional embodiments, the above-mentioned composite hinge can also be implemented using other two-stage rod group structures.

[0030] like Figure 3As shown, in the technical solution of this embodiment, the elastic driving member 50 is installed on the portion of the second end of the swing arm 40 that extends from the slide 31. More preferably, in the technical solution of this embodiment, an end cap 41 is installed at the end of the second end of the swing arm 40, and the end cap 41 compresses the elastic driving member 50 between the end cap 41 and the swing arm 30. In the technical solution of this embodiment, the tension of the elastic driving member 50 can be adjusted by the end cap 41, ultimately causing the drive wheel assembly 60 to be pressed against the track H with a certain pressure. Optionally, the end cap 41 can be a head nut or a nut that moves along the swing arm 40. Preferably, in the technical solution of this embodiment, the elastic driving member 50 is a spring, which is mounted on the portion of the second end of the swing arm 40 that extends from the slide 31. As another optional embodiment, the elastic driving member 50 can also be an elastic material column, which can be made of an elastic rubber material.

[0031] As another optional embodiment not shown in the figure, the elastic drive member 50 can also be installed between the part of the swing arm 40 that does not extend from the slide groove 31 and the rocker arm 30. In this embodiment, the two rocker arms 30 are rotated relatively close to each other with the help of the pulling force of the elastic drive member 50.

[0032] like Figure 3 As shown, more preferably, in the technical solution of this embodiment, a first axle seat 11 is provided on the first suspension seat 10, and the first axle seat 11 is used to install the first rotating shaft 12 and the rocker arm 30, and a second axle seat 21 is provided on the second suspension seat 20, and the second axle seat 21 is used to install the second rotating shaft 22 and the rocker arm 40.

[0033] As another optional embodiment not shown in the figure, the first axle seat 11 and the second axle seat 21 can also be omitted, and the first end of the rocker arm 30 can be directly hinged to the first suspension seat 10 through the first rotating shaft 12, and the first end of the swing arm 40 can be hinged to the second suspension seat 20 through the second rotating shaft 22.

[0034] like Figure 3 As shown, in the technical solution of this embodiment, the two rocker arms 30 form a U-shaped clamping structure together with the first suspension seat 10. Through the U-shaped clamping structure, the two driving wheel assemblies 60 can be more easily attached to both sides of the track H.

[0035] like Figure 1 As shown, in the technical solution of this embodiment, the drive wheel assembly 60 includes a drive member 61 and a drive wheel 62. The drive member 61 is mounted on the rocker arm 30, and the drive wheel 62 is horizontally mounted on the drive member 61. The drive member 61 can be a motor or a combination of a motor and a reducer. Ultimately, the output shaft of the drive member 61 is connected to the drive wheel 62 to drive the drive wheel 62.

[0036] Unless otherwise specifically stated, the relative arrangement of the parts and steps, the numerical expressions and the numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values ​​should be interpreted as being merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0037] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0038] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0039] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A driving device for a rail robot, characterized in that: include: A first hanging seat (10) and a second hanging seat (20), wherein the first hanging seat (10) and the second hanging seat (20) are used to hang the robot body; Two rocker arms (30), wherein first ends of the two rocker arms (30) are hinged to the first suspension seat (10); Two swing arms (40), the first ends of the two swing arms (40) are hinged to the second hanger (20), the second end of one swing arm (40) is connected to the second end of one rocker arm (30) through a composite hinge on a common side of the first hanger (10) and the second hanger (20), and the second end of the other swing arm (40) is connected to the second end of the other rocker arm (30) through a composite hinge on the other common side of the first hanger (10) and the second hanger (20); Two elastic driving members (50) are respectively mounted on the second ends of the two rocking arms (40), and the elastic driving members (50) are used to drive the two rocking arms (30) to rotate relatively close to each other; Two driving wheel assemblies (60) are respectively mounted on the two rocker arms (30); A slide groove (31) is provided on the second end of the rocker arm (30), and the second end of the swing arm (40) passes through the slide groove (31). The second end of the swing arm (40) can rotate relative to the slide groove (31), can slide relative to the slide groove (31), and can extend or retract relative to the slide groove (31); The first end of the rocker arm (30) is hinged to the first suspension seat (10) via a first rotating shaft (12), and the first end of the swing arm (40) is hinged to the second suspension seat (20) via a second rotating shaft (22).

2. The driving device for a rail robot according to claim 1, wherein: The elastic driving member (50) is mounted on the portion of the second end of the swing arm (40) extending from the slide groove (31).

3. The driving device for a rail robot according to claim 2, wherein: An end cap (41) is installed at the end of the second end of the swing arm (40), and the end cap (41) compresses the elastic driving member (50) between the end cap (41) and the swing arm (30).

4. The driving device for a rail robot according to claim 1, wherein: The elastic driving member (50) is installed between the portion of the swing arm (40) that does not extend from the slide groove (31) and the rocker arm (30).

5. The driving device for a rail robot according to claim 1, wherein: The elastic driving member (50) is a spring or an elastic material column.

6. The driving device for a rail robot according to claim 1, wherein: A first shaft seat (11) is provided on the first suspension seat (10), and the first shaft seat (11) is used to install the first rotating shaft (12) and the rocker arm (30); a second shaft seat (21) is provided on the second suspension seat (20), and the second shaft seat (21) is used to install the second rotating shaft (22) and the rocker arm (40).

7. The driving device for a rail robot according to claim 1, wherein: The two rocker arms (30) together with the first suspension seat (10) form a U-shaped clamping structure.

8. The driving device for a rail robot according to claim 1, wherein: The driving wheel assembly (60) comprises a driving member (61) and a driving wheel (62), wherein the driving member (61) is mounted on the rocker arm (30), and the driving wheel (62) is horizontally mounted on the driving member (61).

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