A suspended robot motion mechanism and robot system thereof

Abstract

The present invention provides a suspension robot motion mechanism and a robot system thereof, including a suspension frame, a walking mechanism, a lifting mechanism, a universal wheel and a deceleration mechanism, two walking mechanisms are arranged on the suspension frame, wherein the wheel frame in the walking mechanism can be lifted and lowered in the vertical direction, four lifting mechanisms are arranged on both sides of the suspension frame in pairs, the lifting mechanism includes a push rod, a torsion spring I, a push rod and a slope top plate, the universal wheel is arranged at the bottom of the suspension frame, and the deceleration mechanism is arranged on the suspension frame for decelerating when the suspension frame travels to a downhill section. When the suspension frame moves to the bend of the guide rail, the push rod rebounds, and then the inward swinging push rod drives the push rod to move in the direction close to the slope top plate to drive the wheel frame to rise, at which time the friction between the walking mechanism and the guide rail becomes smaller, thereby facilitating turning.

Description

Technical Field

[0001] The present invention relates to the technical field of robot walking equipment, in particular to a suspended 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 suspended 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 suspension robot motion mechanism, comprising a suspension frame, a walking mechanism, a lifting mechanism, a universal wheel and a reduction mechanism, wherein:

[0007] The two walking mechanisms are arranged on the suspension frame, and the walking mechanism includes a wheel frame, a spring, a walking wheel and a wheel motor. The wheel frame is installed in the through hole on the suspension frame through the support rod at the top thereof and forms a moving pair in the vertical direction. A spring is arranged between the wheel frame and the suspension frame. The walking wheel is rotatably installed on the wheel frame, and a wheel motor is arranged in the walking wheel. The four lifting mechanisms are respectively arranged on both sides of the suspension frame in pairs, and the lifting mechanism includes a push rod, a torsion spring I, a push rod and a slope top plate. The push rod is rotatably installed on the suspension frame, and a torsion spring I is arranged between the push rod and the suspension frame. The push rod is connected to the push rod, and the slope top plate is arranged on the side of the wheel frame, and the end of the push rod is facing the slope surface of the slope top plate. When the push rod swings inward, the push rod will move in the direction close to the slope top plate to drive the wheel frame to rise. The universal wheel is arranged at the bottom of the suspension frame, and the deceleration mechanism is arranged on the suspension frame for decelerating when the suspension frame travels to a downhill section.

[0008] Preferably, the deceleration mechanism includes a support frame, a conical lead block, a friction wheel and a torsion spring II. The support frame is installed on the suspension frame through a pin shaft. A conical lead block is hung on each end of the support frame. The friction wheel is rotatably installed on the support frame. A torsion spring II is provided between the friction wheel and the support frame. The lowest point of the friction wheel is higher than the lowest point of the walking wheel.

[0009] Preferably, the cylindrical surface of the traveling wheel is flush with the cylindrical surface of the universal wheel.

[0010] Preferably, the end of the push rod facing the slope top plate is in the shape of a ball head.

[0011] A robot system comprises the above-mentioned suspended robot motion mechanism.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] The present invention realizes rebound by moving the suspension frame to the top rod at the bend of the guide rail, and then the inward-swinging top rod drives the push rod to move toward the direction close to the slope top plate to drive the wheel frame to rise. At this time, the friction between the walking mechanism and the guide rail becomes smaller, thereby facilitating turning. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the present invention;

[0015] Figure 2 It is a side view of the overall structure of the present invention;

[0016] Figure 3 It is a three-dimensional schematic diagram of the walking mechanism in the present invention;

[0017] Figure 4 for Figure 1 Schematic diagram of part A in the middle.

[0018] In the figure: 1 suspension frame, 2 walking mechanism, 3 lifting mechanism, 4 universal wheel, 5 reduction mechanism, 21 wheel frame, 22 spring, 23 walking wheel, 24 wheel motor, 31 push rod, 32 torsion spring I, 33 push rod, 34 slope top plate, 51 support frame, 52 conical lead block, 53 friction wheel, 54 torsion spring II. DETAILED DESCRIPTION

[0019] 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.

[0020] Example:

[0021] See also Figures 1 to 4 , the present invention provides a technical solution:

[0022] A suspension robot motion mechanism includes a suspension frame 1, a walking mechanism 2, a lifting mechanism 3, a universal wheel 4 and a speed reduction mechanism 5, wherein:

[0023] Two walking mechanisms 2 are arranged on the suspension frame 1, and the walking mechanism 2 includes a wheel frame 21, a spring 22, a walking wheel 23 and a wheel motor 24. The wheel frame 21 is mounted in the through hole on the suspension frame 1 through the support rod at the top thereof and forms a moving pair in the vertical direction. A spring 22 is arranged between the wheel frame 21 and the suspension frame 1. The walking wheel 23 is rotatably mounted on the wheel frame 21, and a wheel motor 24 is arranged in the walking wheel 23. The wheel motor 24 is used to drive the walking wheel 23 to rotate. Four lifting mechanisms 3 are arranged on both sides of the suspension frame 1 in pairs, and the lifting mechanism 3 includes a top rod 31, a torsion spring I 32, a push rod 33 and a slope top plate 3 4. The push rod 31 is rotatably mounted on the suspension frame 1, wherein the end of the push rod 31 is smooth, thereby reducing the friction resistance generated when the end of the push rod 31 contacts the side of the guide rail. A torsion spring Ⅰ32 is provided between the push rod 31 and the suspension frame 1, and the push rod 33 is connected to the push rod 31. The sloped top plate 34 is arranged on the side of the wheel frame 21, wherein the sloped surface of the sloped top plate 34 faces downward, and the end of the push rod 33 faces the sloped surface of the sloped top plate 34. When the push rod 31 swings inward, the push rod 33 moves toward the direction close to the sloped top plate 34 to drive the wheel frame 21 to rise. The end of the push rod 33 facing the sloped top plate 34 is in the shape of a ball head;

[0024] The universal wheel 4 is arranged at the bottom of the suspension frame 1, and the cylindrical surface of the traveling wheel 23 is flush with the cylindrical surface of the universal wheel 4, so that the universal wheel 4 can achieve the effect of supporting the suspension frame 1. The deceleration mechanism 5 is arranged on the suspension frame 1 and is used to decelerate when the suspension frame 1 travels to a downhill section. The deceleration mechanism 5 includes a support frame 51, a conical lead block 52, a friction wheel 53 and a torsion spring II 54. The support frame 51 is installed on the suspension frame 1 through a pin shaft, and a conical lead block 52 is hung at each end of the support frame 51. The friction wheel 53 is rotatably installed on the support frame 51. A torsion spring II 54 is provided between the friction wheel 53 and the support frame 51, and the lowest point of the friction wheel 53 is higher than the lowest point of the traveling wheel 23.

[0025] A robot system comprises the above-mentioned suspended robot motion mechanism.

[0026] The working principle of the present invention is as follows: the suspension frame 1 is placed on the track, so that the running wheel 23 and the universal wheel 4 are in contact with the upper end surface of the track, wherein a spring 22 is provided between the wheel frame 21 and the suspension frame 1, so that the spring 22 applies downward pressure to the wheel frame 21, thereby making the running wheel 23 close to the upper end surface of the track, and the top rod 31 on the side of the suspension frame 1 is in contact with the side surface of the track, wherein the torsion force of the torsion spring I 32 is applied to the top rod 31, thereby making the smooth end of the top rod 31 close to the side surface of the track;

[0027] In the process of walking along the track, the wheel motor 24 drives the running wheel 23 to rotate, thereby providing power for the suspension frame 1 to walk. When moving to the track curve, the distance between the side of the inner side of the track curve and the side of the suspension frame 1 increases. At this time, the torsion spring I 32 will push the push rod 31 to move in the direction close to the wheel frame 21, so that the smooth end of the push rod 31 is close to the side of the track. When the push rod 31 moves in the direction close to the wheel frame 21, the push rod 33 moves accordingly. At this time, the ball-shaped end of the push rod 33 contacts the slope top plate 34, thereby pushing the wheel frame 21 up. At this time, the friction between the running wheel 23 and the track will be reduced accordingly, thereby reducing the friction resistance when turning.

[0028] When the suspension frame 1 moves to the downhill section of the track, the suspension frame 1 will appear lower at the front and higher at the back, and conical lead blocks 52 are hung at both ends of the support frame 51, so the support frame 51 remains horizontal with the surface, and then the support frame 51 and the suspension frame 1 rotate relative to each other. At this time, the friction wheel 53 at the end of the support frame 51 contacts the upper end surface of the track, thereby achieving the effect of friction deceleration, avoiding the suspension frame 1 from slipping due to the small friction between the running wheel 23 and the track.

[0029] 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 suspension robot motion mechanism, comprising a suspension frame (1), a walking mechanism (2), a lifting mechanism (3), a universal wheel (4) and a speed reduction mechanism (5), characterized in that: The two walking mechanisms (2) are arranged on the suspension frame (1), the walking mechanisms (2) comprising a wheel frame (21), a spring (22), a walking wheel (23) and a wheel motor (24), the wheel frame (21) being mounted in a through hole on the suspension frame (1) through a support rod at its top and forming a moving pair in the vertical direction, a spring (22) being arranged between the wheel frame (21) and the suspension frame (1), the walking wheel (23) being rotatably mounted on the wheel frame (21), and a wheel motor (24) being arranged in the walking wheel (23), and the four lifting mechanisms (3) being arranged in pairs on both sides of the suspension frame (1), the lifting mechanisms (3) comprising a push rod (31), a torsion spring I (32), a push rod (33) and a pull rod (34). ) and a slope top plate (34), the push rod (31) is rotatably mounted on the suspension frame (1), a torsion spring I (32) is provided between the push rod (31) and the suspension frame (1), the push rod (33) is connected to the push rod (31), the slope top plate (34) is provided on the side of the wheel frame (21), and the end of the push rod (33) is directly opposite to the slope surface of the slope top plate (34), when the push rod (31) swings inward, the push rod (33) will move in a direction close to the slope top plate (34) to drive the wheel frame (21) to rise, the universal wheel (4) is provided at the bottom of the suspension frame (1), and the deceleration mechanism (5) is provided on the suspension frame (1) for decelerating when the suspension frame (1) travels to a downhill section; The end of the push rod (31) is smooth, and the end of the push rod (33) facing the slope top plate (34) is spherical; The running wheel (23) and the universal wheel (4) are in contact with the upper end surface of the track, wherein a spring (22) is provided between the wheel frame (21) and the suspension frame (1), so that the spring (22) exerts downward pressure on the wheel frame (21), thereby causing the running wheel (23) to be closely attached to the upper end surface of the track, and the top rod (31) on the side of the suspension frame (1) is in contact with the side surface of the track, wherein the torsion force of the torsion spring I (32) is applied to the top rod (31), thereby causing the smooth end of the top rod (31) to be closely attached to the side surface of the track; When the vehicle moves to a track curve, the distance between the side surface of the track curve and the side surface of the suspension frame (1) increases. At this time, the torsion spring I (32) pushes the push rod (31) to move in a direction close to the wheel frame (21), thereby causing the smooth end of the push rod (31) to be in close contact with the side surface of the track. When the push rod (31) moves in a direction close to the wheel frame (21), the push rod (33) moves accordingly. At this time, the ball-shaped end of the push rod (33) contacts the slope top plate (34), thereby pushing the wheel frame (21) upward. At this time, the friction between the running wheel (23) and the track is reduced accordingly, thereby reducing the friction resistance when turning.

2. A suspended robot motion mechanism according to claim 1, characterized in that: The deceleration mechanism (5) comprises a support frame (51), a conical lead block (52), a friction wheel (53) and a torsion spring II (54). The support frame (51) is mounted on the suspension frame (1) via a pin shaft. A conical lead block (52) is hung at each end of the support frame (51). The friction wheel (53) is rotatably mounted on the support frame (51). A torsion spring II (54) is provided between the friction wheel (53) and the support frame (51). The lowest point of the friction wheel (53) is higher than the lowest point of the travel wheel (23).

3. A suspended robot motion mechanism according to claim 1, characterized in that: The cylindrical surface of the traveling wheel (23) is flush with the cylindrical surface of the universal wheel (4).

4. A robot system, characterized in that: A suspended robot motion mechanism comprising any one of claims 1-3.

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