A track-type robot motion mechanism and robot system thereof

Abstract

The present invention provides a track-type robot motion mechanism and a robot system thereof, comprising a frame, a driving mechanism, a hydraulic cylinder, a side wheel I, a rack, a connecting rod, a gear, a side support assembly and an anti-deviation assembly, wherein the driving mechanism is rotatably mounted on the frame, and the driving mechanism is used for frictionally contacting with a guide rail and providing power for traveling. The hydraulic cylinder drives the side wheel I to always keep in contact with the side of the guide rail, and then the hydraulic cylinder drives the rack to move synchronously, at which time the rack drives the gear to rotate to realize the steering of the driving mechanism, and then when moving to the turning point of the track, the driving mechanism as an active component can realize steering, thereby increasing the smoothness of the entire mechanism and reducing the friction resistance generated when turning, and when the side wheel I moves in a direction away from the guide rail, the anti-deviation assembly flips to realize contact with the end face of the guide rail, avoiding the deviation caused by insufficient support force of the side support assembly when reaching the track bend.

Description

Technical Field

[0001] The present invention relates to the technical field of robot walking equipment, in particular to a track-type robot motion mechanism and a robot system thereof. Background Art

[0002] Publication number CN210790956U provides a suspended motion device for a rail robot, including: a positioning mounting plate; two sets of mounting drive mechanisms, symmetrically fixed on the same side of the positioning mounting plate and simultaneously maintaining rolling contact with one side surface and the upper surface of the track, for suspending the positioning mounting plate and providing driving force; two sets of quick-release mounting mechanisms, symmetrically fixed on the other side of the positioning mounting plate relative to the two mounting drive mechanisms, and maintaining rolling contact or separation with the upper surface of the track through linear telescopic movement; an adaptive guiding clamping mechanism, fixed on the other side of the positioning mounting plate relative to the two mounting drive mechanisms and in rolling contact with two locations on the side of the track at a certain distance to apply a certain pressure.

[0003] The above-mentioned prior art realizes driving through a driving wheel in frictional contact with a guide rail. In order to ensure that there is no slipping during walking, it is necessary to ensure the friction between the guide rail and the driving wheel. However, the driving wheel cannot rotate relative to the suspension frame. Therefore, when turning, the friction wheel needs to translate along its radial direction. The friction between the friction wheel and the guide rail will limit its translation, which will cause greater resistance when turning, and is not convenient for use in scenarios with large curves or many curves. Summary of the invention

[0004] The object of the present invention is to provide a track-type robot motion mechanism and a robot system thereof to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A track-type robot motion mechanism, comprising a frame, a driving mechanism, a hydraulic cylinder, a side wheel I, a rack, a connecting rod, a gear, a side support assembly and an anti-deflection assembly, wherein the driving mechanism is rotatably mounted on the frame, and the driving mechanism is used for frictionally contacting with the guide rail and providing power for traveling, wherein:

[0007] The hydraulic cylinder is arranged on the side of the frame, and a side wheel I is provided at its power output end. The rack is connected to the power output end of the hydraulic cylinder through a connecting rod, and the gear is arranged on the driving mechanism, and the rack is meshed with the gear. When the hydraulic cylinder drives the side wheel I to always keep in contact with the side of the guide rail, it will drive the rack to move synchronously. At this time, the rack drives the gear to rotate to realize the steering of the driving mechanism. The side support assembly includes a support frame, a connecting arm, a side wheel II and a torsion spring. The support frame is arranged on the side of the frame and is opposite to the hydraulic cylinder. The two connecting arms are rotatably installed on the support frame, wherein a torsion spring is provided between the connecting arm and the support frame, and the end of the connecting arm is rotatably installed with a side wheel II. The anti-deflection assembly is arranged at the bottom of the frame and on the same side of the support frame. When the side wheel I moves in a direction away from the guide rail, the anti-deflection assembly flips to realize contact with the end face of the guide rail.

[0008] Preferably, the anti-deflection assembly includes a deflection frame, an anti-deflection wheel, a wedge block and a pull rod. The deflection frame is rotatably installed on the bottom of the frame, and the anti-deflection wheel is rotatably installed on the deflection frame. When the deflection frame is parallel to the bottom of the frame, the central axis of the anti-deflection wheel is perpendicular to the central axis of the side wheel I. The wedge block is arranged on the deflection frame, and the pull rod is connected to the rack. A pull ring is provided at the end of the pull rod, and the pull ring is sleeved on the deflection frame and faces the wedge block.

[0009] Preferably, the slope surface of the wedge block is arranged downward, and the bottom point of the slope surface is close to the connection between the deflection frame and the frame. When the pull rod moves toward the direction close to the driving mechanism, the pull ring contacts the slope surface of the wedge block, thereby pulling the deflection frame to flip and be parallel to the bottom of the frame.

[0010] Preferably, the anti-deviation wheel is an elastic rubber wheel.

[0011] Preferably, the driving mechanism comprises a wheel frame, a traveling wheel and a wheel motor, wherein the wheel frame is rotatably mounted on the frame, and the traveling wheel is rotatably mounted on the wheel frame, wherein the traveling wheel has the wheel motor integrated therein.

[0012] Preferably, the gear is fixedly mounted on the wheel frame.

[0013] A robot system comprises the track-type robot motion mechanism described above.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] The present invention drives the side wheel I to always keep in contact with the side of the guide rail through the hydraulic cylinder, so that the hydraulic cylinder drives the rack to move synchronously. At this time, the rack drives the gear to rotate to realize the steering of the driving mechanism, and then when moving to the turning point of the track, the driving mechanism as an active component can realize steering, thereby increasing the smoothness of the entire mechanism and reducing the friction resistance generated when turning. When the side wheel I moves in the direction away from the guide rail, the anti-deflection component flips to realize contact with the end face of the guide rail, avoiding the deviation caused by insufficient supporting force of the side support component when reaching the curve of the track. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the present invention;

[0017] Figure 2 It is a side view of the overall structure of the present invention;

[0018] Figure 3 It is a side view of the overall structure of the present invention;

[0019] Figure 4 is a three-dimensional schematic diagram of the driving mechanism of the present invention;

[0020] Figure 5 It is a three-dimensional schematic diagram of the side support assembly in the present invention.

[0021] In the figure: 1 frame, 2 driving mechanism, 3 hydraulic cylinder, 4 side wheel I, 5 rack, 6 connecting rod, 7 gear, 8 side support assembly, 9 anti-deviation assembly, 21 wheel frame, 22 traveling wheel, 23 wheel motor, 81 support frame, 82 connecting arm, 83 side wheel II, 84 torsion spring, 91 deflection frame, 92 anti-deviation wheel, 93 wedge block, 94 pull rod, 941 pull ring. DETAILED DESCRIPTION

[0022] 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] Example:

[0024] See also Figures 1 to 5 , the present invention provides a technical solution:

[0025] A track-type robot motion mechanism, comprising a frame 1, a drive mechanism 2, a hydraulic cylinder 3, a side wheel Ⅰ 4, a rack 5, a connecting rod 6, a gear 7, a side support assembly 8 and an anti-deflection assembly 9, wherein:

[0026] The driving mechanism 2 includes a wheel frame 21, a traveling wheel 22 and a wheel motor 23. The wheel frame 21 is rotatably mounted on the frame 1, and the traveling wheel 22 is rotatably mounted on the wheel frame 21, wherein the traveling wheel 22 is internally integrated with the wheel motor 23, thereby realizing the driving of the traveling wheel 22. The hydraulic cylinder 3 is arranged on the side of the frame 1, and the power output end of the hydraulic cylinder 3 is provided with a side wheel Ⅰ4, wherein the side wheel Ⅰ4 is used to limit the transitional deflection of the frame 1. In order to constantly detect whether the side wheel Ⅰ4 is in contact with the side of the guide rail, a pressure sensor can be arranged on the side wheel Ⅰ4. The rack 5 is connected to the power output end of the hydraulic cylinder 3 through the connecting rod 6, and the gear 7 is fixedly sleeved on the wheel frame 21, and the rack 5 Meshing with the gear 7, when the hydraulic cylinder 3 drives the side wheel Ⅰ4 to always keep in contact with the side of the guide rail, it will drive the rack 5 to move synchronously, and at this time the rack 5 drives the gear 7 to rotate to realize the steering of the driving mechanism 2. The side support assembly 8 includes a support frame 81, a connecting arm 82, a side wheel Ⅱ83 and a torsion spring 84. The support frame 81 is arranged on the side of the frame 1 and is opposite to the hydraulic cylinder 3. The two connecting arms 82 are rotatably installed on the support frame 81, wherein a torsion spring 84 is arranged between the connecting arm 82 and the support frame 81, thereby providing a torsion force to the connecting arm 82, and the end of the connecting arm 82 is rotatably installed with a side wheel Ⅱ83, wherein the side wheel Ⅱ83 is used to limit the transitional deflection of the frame 1;

[0027] The anti-deflection component 9 is arranged at the bottom of the frame 1 and on the same side as the support frame 81. When the side wheel Ⅰ4 moves in the direction away from the guide rail, the anti-deflection component 9 flips to contact the end surface of the guide rail. The anti-deflection component 9 includes a deflection frame 91, an anti-deflection wheel 92, a wedge block 93 and a pull rod 94. The deflection frame 91 is rotatably installed at the bottom of the frame 1, and the anti-deflection wheel 92 is rotatably installed on the deflection frame 91. When the deflection frame 91 is parallel to the bottom of the frame 1, the central axis of the anti-deflection wheel 92 is perpendicular to the central axis of the side wheel Ⅰ4. The anti-deflection wheel 92 is an elastic rubber wheel. The anti-deflection wheel 92 has the ability of elastic deformation, the wedge block 93 is arranged on the deflection frame 91, the pull rod 94 is connected to the rack 5, and a pull ring 941 is provided at the end of the pull rod 94. The pull ring 941 is sleeved on the deflection frame 91 and faces the wedge block 93. The slope surface of the wedge block 93 is arranged downward, and the bottom point of the slope surface is close to the connection between the deflection frame 91 and the frame 1. When the pull rod 94 moves in the direction close to the driving mechanism 2, the pull ring 941 contacts the slope surface of the wedge block 93, thereby pulling the deflection frame 91 to flip and be parallel to the bottom of the frame 1.

[0028] A robot system comprises the track-type robot motion mechanism described above.

[0029] The working principle of the present invention is as follows: the frame 1 is placed on the guide rail, at which time the traveling wheel 22 in the driving mechanism 2 contacts the top of the guide rail, and the hydraulic cylinder 3 drives the side wheel I4 to contact the side of the guide rail, and the side wheel II 83 at the end of the connecting arm 82 contacts the other side of the guide rail, and when the wheel motor 23 drives the traveling wheel 22 to rotate, the entire assembly can move along the guide rail;

[0030] When moving to the curve, the position of the guide rail side wheel Ⅰ4 relative to the track needs to be changed to Figure 2 As shown in the figure, it is assumed that the frame 1 turns to the right now. At this time, the outer part of the guide rail bulges, and then the hydraulic cylinder 3 drives the side wheel Ⅰ4 to move to the left, ensuring that the side wheel Ⅰ4 is always in contact with the side of the guide rail. When the hydraulic cylinder 3 is actuated, the rack 5 is driven to move synchronously through the connecting rod 6. At this time, the rack 5 drives the gear 7 to rotate, and then the rotating gear 7 drives the wheel frame 21 to rotate to the right, thereby achieving smooth turning; and when the frame 1 turns to the right, the torsion spring 84 provides torque to the connecting arm 82, thereby making the connecting arm The side wheel II 83 at the end of the connecting arm 82 contacts the side of the guide rail, and when the hydraulic cylinder 3 drives the rack 5 to move to the left, it will drive the pull rod 94 to move synchronously. At this time, the pull ring 941 at the end of the pull rod 94 moves to the left and approaches the wedge block 93, and then the pull ring 941 contacts the slope surface of the wedge block 93 to drive the deflection frame 91 to flip upward, then the anti-deflection wheel 92 contacts the bottom of the guide rail, increasing the supporting force between the frame 1 and the guide rail, and avoiding the transition offset when the frame 1 hangs heavy objects and turns.

[0031] The condition for the anti-skewness wheel 92 mentioned above to contact the bottom of the guide rail is that the distance that the pull ring 941 moves relative to the wedge block 93 reaches the point where the deflection frame 91 deflects to be parallel to the bottom surface of the guide rail. That is to say, when the guide rail curve is small, the anti-skewness wheel 92 will not contact the bottom of the guide rail. At this time, the friction between the side wheel Ⅱ83 and the side of the guide rail can stabilize the frame 1 and prevent excessive deviation. On the contrary, when the hydraulic cylinder 3 moves to the right, the pull ring 941 will move away from the wedge block 93, and then the deflection frame 91 will deflect downward. At this time, the torsion spring 84 is in a state of compression deformation, and then the side wheel Ⅱ83 is tightly attached to the side of the guide rail.

[0032] The right side described above is as follows Figure 2 The direction R is marked in the figure, and the left side is the attached Figure 2 The direction L marked in .

[0033] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A track-type robot motion mechanism, comprising a frame (1), a drive mechanism (2), a hydraulic cylinder (3), a side wheel I (4), a rack (5), a connecting rod (6), a gear (7), a side support assembly (8) and an anti-deflection assembly (9), wherein the drive mechanism (2) is rotatably mounted on the frame (1), and the drive mechanism (2) is used for frictionally contacting with a guide rail and providing power for traveling, and is characterized in that: The hydraulic cylinder (3) is arranged on the side of the frame (1), and a side wheel I (4) is provided at its power output end. The rack (5) is connected to the power output end of the hydraulic cylinder (3) through a connecting rod (6). The gear (7) is arranged on the driving mechanism (2), and the rack (5) is meshed with the gear (7). When the hydraulic cylinder (3) drives the side wheel I (4) to always keep in contact with the side of the guide rail, it will drive the rack (5) to move synchronously. At this time, the rack (5) drives the gear (7) to rotate to realize the steering of the driving mechanism (2). The side support assembly (8) includes a support frame (81), a connecting arm (82), Side wheel II (83) and torsion spring (84), the support frame (81) is arranged on the side of the frame (1) and is opposite to the hydraulic cylinder (3), the two connecting arms (82) are rotatably mounted on the support frame (81), wherein a torsion spring (84) is arranged between the connecting arm (82) and the support frame (81), and the end of the connecting arm (82) is rotatably mounted with the side wheel II (83), the anti-deflection component (9) is arranged at the bottom of the frame (1) and on the same side as the support frame (81), and when the side wheel I (4) moves in a direction away from the guide rail, the anti-deflection component (9) flips to achieve contact with the end surface of the guide rail; The anti-deflection assembly (9) comprises a deflection frame (91), an anti-deflection wheel (92), a wedge block (93) and a pull rod (94); the deflection frame (91) is rotatably mounted on the bottom of the frame (1); the anti-deflection wheel (92) is rotatably mounted on the deflection frame (91); when the deflection frame (91) is parallel to the bottom of the frame (1), the central axis of the anti-deflection wheel (92) is perpendicular to the central axis of the side wheel I (4); the wedge block (93) is arranged on the deflection frame (91); the pull rod (94) is connected to the rack (5); a pull ring (941) is provided at the end of the pull rod (94); the pull ring (941) is sleeved on the deflection frame (91) and faces the wedge block (93); The sloped surface of the wedge block (93) is arranged downward, and the bottom point of the sloped surface is close to the connection between the deflection frame (91) and the frame (1). When the pull rod (94) moves in a direction close to the driving mechanism (2), the pull ring (941) contacts the sloped surface of the wedge block (93), thereby pulling the deflection frame (91) to flip and be parallel to the bottom of the frame (1).

2. A track-type robot motion mechanism according to claim 1, characterized in that: The anti-deviation wheel (92) is an elastic rubber wheel.

3. The track-type robot motion mechanism according to claim 1, characterized in that: The driving mechanism (2) comprises a wheel frame (21), a traveling wheel (22) and a wheel motor (23); the wheel frame (21) is rotatably mounted on the frame (1); the traveling wheel (22) is rotatably mounted on the wheel frame (21); and the traveling wheel (22) has the wheel motor (23) integrated therein.

4. A track-type robot motion mechanism according to claim 3, characterized in that: The gear (7) is fixedly mounted on the wheel frame (21).

5. A robot system, characterized in that: A track-type robot motion mechanism comprising any one of claims 1-4.

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