A walking mechanism based on a monorail robot

Abstract

The present invention discloses a walking mechanism based on a monorail robot, and relates to the technical field of monorail robots. The present invention includes a track and a base, with walking frames provided on both sides of the top of the base, a driving member provided in the middle of the top of the base, beveled edges provided on both sides of the bottom of the track, a rack fixed to one side of the track, and the walking frame including a U-shaped seat, with a group of slide bars slidably connected to the two vertical plate parts of the U-shaped seat, a group of slide bars located inside the U-shaped seat and a push plate fixed at one end, a spring provided between the push plate and the inner side of the U-shaped seat, an upper wheel body fixed to the upper inner side of the push plate, and a lower wheel body fixed to the lower inner side of the push plate through an inclined portion. The present invention designs a rotatable walking frame with telescopic wheels as the main walking mechanism of the robot, which has a large variable range and is suitable for use with monorail robots and can be applied to sharp bends in the track. It has a large scope of application and high stability.

Description

Technical Field

[0001] The invention belongs to the technical field of monorail robots, and in particular relates to a walking mechanism based on a monorail robot. Background Art

[0002] For track-walking robots, due to the setting of the robot's route, the track has more or relatively complex curves. Compared with dual-track robots, single-track robots have the characteristics of lower track cost and easier installation. However, there will be problems with insufficient stability, especially in the case of large curves.

[0003] Therefore, the span of the curved part on the track used by the monorail robot is set to be longer, and sharp bends are not suitable. The scope of application is insufficient, which may cause track waste. The variable range of the walking mechanism used by the monorail robot is relatively small, resulting in the problem of the track being too long and difficult to install and arrange. Summary of the Invention

[0004] The purpose of the present invention is to provide a walking mechanism based on a monorail robot. By designing a rotatable walking frame with telescopic wheels as the main walking mechanism of the robot, the walking frame has a large variable range and is suitable for the use of monorail robots. It can be used in sharp bends of the track, has a large range of application and high stability.

[0005] To solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] The present invention is a walking mechanism based on a monorail robot, comprising a track and a base, wherein both sides of the top of the base are provided with a walking frame, and the middle part of the top of the base is provided with a driving member;

[0007] Both sides of the bottom of the track are provided with beveled edges, and a rack is fixed on one side of the track;

[0008] The walking frame includes a U-shaped seat, and the two vertical plate parts of the U-shaped seat are slidably connected to a group of sliding rods, one end of which is located inside the U-shaped seat and fixed with a push plate, a spring is provided between the push plate and the inner side of the U-shaped seat, an upper wheel body is fixed to the upper inner side of the push plate, and a lower wheel body is fixed to the lower inner side of the push plate through an inclined portion;

[0009] The bottom of the U-shaped seat is rotatably connected to the top of the base through a rotating member, a torsion spring is provided between the U-shaped seat and the base, and a limiting member is fixed at the top of the base and at both ends of the U-shaped seat;

[0010] The four lower wheels on the base roll along the top surface of the bevel, and the four upper wheels on the base roll along the side walls of the track;

[0011] The driving member includes a motor and a protective shell;

[0012] The protective shell is fixed to the top surface of the base, and a connecting seat is fixed to the top of the protective shell. The two ends of the connecting seat are rotatably connected to the inner shaft and the outer shaft. The top ends of the inner shaft and the outer shaft are provided with mutually meshing gears. The motor is fixed to the bottom surface of the base and the output end is fixed to the end of the inner shaft. The gear on the outer shaft is meshed with the rack.

[0013] The bottom end of the outer shaft is fixed with a lower plate body through a bearing, and an I-shaped wheel is provided on one side of the lower plate body. The I-shaped wheel rolls along the bottom surface of the track, and a pressure wheel is fixed to the end of the lower plate body through an L-shaped wheel frame. The pressure wheel rolls along the side of the track away from the rack.

[0014] Furthermore, upper edges are provided on the upper parts of both sides of the track, and storage grooves are provided on the lower parts of both sides of the track.

[0015] Furthermore, a gap at the bottom of the tooth plate of the rack is arranged in the receiving groove, and a welding groove is formed between the upper portion and the upper edge of the tooth plate of the rack.

[0016] Furthermore, both side edges of the inner sides of the two vertical plate parts on the U-shaped seat are provided with sliding edges, and the push plate is slidably arranged between the two sliding edges.

[0017] Furthermore, one end of the sliding rod passes through the vertical plate portion of the U-shaped seat and is slidably connected to the vertical plate portion. The sliding rod is located outside the U-shaped seat and is threadedly connected to a nut at one end. The other end of the sliding rod is fixed to the push plate, and the spring is sleeved on the outside of the sliding rod.

[0018] Furthermore, the rotating part includes a sleeve and a rotating rod, the sleeve is fixed on the bottom surface of the base, the base is provided with a through opening concentric with the sleeve, the bottom end of the rotating rod is rotatably arranged in the sleeve through a bearing, the top end of the rotating rod is fixed to the bottom surface of the U-shaped seat, and the torsion spring is sleeved on the outside of the rotating rod.

[0019] Furthermore, the limiting member is an arc-shaped plate, the limiting member is fixed on the top surface of the base, and upper protrusions are fixed on both ends of the limiting member.

[0020] Furthermore, convex plates are fixed on both sides of the bottom of the U-shaped seat, and the convex plates are arranged horizontally with the upper protrusion.

[0021] Furthermore, the two sliding edges are integrally formed with the vertical plate portion of the U-shaped seat, and reinforcing ribs are provided between the vertical plate portion and the horizontal plate portion of the U-shaped seat.

[0022] The present invention has the following beneficial effects:

[0023] 1. The present invention designs a rotatable walking frame with telescopic wheels as the main walking mechanism of the robot. Its variable range is large, suitable for use in monorail robots, and can be used in sharp bends of the track. It has a wide range of application and high stability.

[0024] 2. The present invention not only drives the robot to walk by designing a new type of driving part, but also can add a pressure wheel and an I-shaped wheel, which, in conjunction with the walking frame, can stably limit the position of the robot's upper base in the four directions of up, down, left and right, thereby improving the stability of the robot's walking.

[0025] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 This is a schematic structural diagram of a walking mechanism based on a monorail robot according to the present invention;

[0028] Figure 2 for Figure 1 A partial enlarged view of point A in the middle;

[0029] Figure 3 for Figure 1 A partial enlarged view of point B in the middle;

[0030] Figure 4 Schematic diagram of the structure of the walking frame;

[0031] Figure 5 It is a structural diagram of the driving component;

[0032] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0033] 1-track, 2-base, 3-walking frame, 4-driving part, 101-bevel, 102-rack, 103-upper edge, 104-storage groove, 301-U-shaped seat, 302-slide rod, 303-push plate, 304-spring, 305-upper wheel body, 306-inclined part, 307-lower wheel body, 308-torsion spring, 309-limiting part, 310-slide edge, 311-nut, 312-sleeve, 313-rotating rod, 314-upper protrusion, 401-motor, 402-shield, 403-connecting seat, 404-inner shaft, 405-outer shaft, 406-gear, 407-lower plate, 408-I-wheel, 409-L-shaped wheel frame, 410-pressure wheel. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making any creative efforts shall fall within the scope of protection of the present invention.

[0035] See also Figure 1-5 As shown, the present invention is a walking mechanism based on a monorail robot, comprising a track 1 and a base 2, with walking frames 3 provided on both sides of the top of the base 2, and a driving member 4 provided in the middle of the top of the base 2;

[0036] There are beveled edges 101 on both sides of the bottom of the track 1, and a rack 102 is fixed to one side of the track 1;

[0037] The walking frame 3 includes a U-shaped seat 301, and a set of sliding rods 302 are slidably connected to the two vertical plate parts of the U-shaped seat 301. A push plate 303 is fixed to one end of the set of sliding rods 302 located inside the U-shaped seat 301. A spring 304 is provided between the push plate 303 and the inner side of the U-shaped seat 301. An upper wheel body 305 is fixed to the upper inner side of the push plate 303, and a lower wheel body 307 is fixed to the lower inner side of the push plate 303 via an inclined portion 306.

[0038] The bottom of the U-shaped seat 301 is rotatably connected to the top of the base 2 through a rotating member. A torsion spring 308 is provided between the U-shaped seat 301 and the base 2. Limiting members 309 are fixed at the top of the base 2 and at both ends of the U-shaped seat 301.

[0039] The four lower wheels 307 on the base 2 roll along the top surface of the oblique edge 101, and the four upper wheels 305 on the base 2 roll along the side wall of the track 1;

[0040] The driving member 4 includes a motor 401 and a protective shell 402;

[0041] The protective shell 402 is fixed to the top surface of the base 2. A connecting base 403 is fixed to the top of the protective shell 402. The two ends of the connecting base 403 are rotatably connected to the inner shaft 404 and the outer shaft 405. The tops of the inner shaft 404 and the outer shaft 405 are provided with gears 406 that mesh with each other. The motor 401 is fixed to the bottom surface of the base 2 and the output end is fixed to the end of the inner shaft 404. The gear 406 on the outer shaft 405 meshes with the rack 102.

[0042] The lower end of the outer shaft 405 is fixed with a lower plate 407 through a bearing. An I-shaped wheel 408 is provided on one side of the lower plate 407. The I-shaped wheel 408 rolls along the bottom surface of the track 1. The end of the lower plate 407 is fixed with a pressure wheel 410 through an L-shaped wheel frame 409. The pressure wheel 410 rolls along the side of the track 1 away from the rack 102.

[0043] Among them Figure 1-2 As shown, upper edges 103 are provided on the upper parts of both sides of the track 1, and receiving grooves 104 are provided on the lower parts of both sides of the track 1.

[0044] Among them Figure 1-2 As shown, the gap at the bottom of the tooth plate of the rack 102 is set in the receiving groove 104, and a welding groove is formed between the upper part of the tooth plate of the rack 102 and the upper edge 103.

[0045] A busbar can be installed between the receiving groove 104 and the upper edge 103 on the other side of the track 1 .

[0046] Among them Figure 4 As shown, both sides of the inner sides of the two vertical plate parts on the U-shaped seat 301 are provided with sliding edges 310, and the push plate 303 is slidably set between the two sliding edges 310.

[0047] Among them Figure 4 As shown, one end of the slide rod 302 passes through the vertical plate portion of the U-shaped seat 301 and is slidably connected to the vertical plate portion. The slide rod 302 is located outside the U-shaped seat 301 and one end is threadedly connected to a nut 311. The other end of the slide rod 302 is fixed to the push plate 303, and the spring 304 is sleeved on the outside of the slide rod 302.

[0048] Among them Figure 4 As shown, the rotating part includes a sleeve 312 and a rotating rod 313. The sleeve 312 is fixed to the bottom surface of the base 2. The base 2 is provided with a through hole concentric with the sleeve 312. The bottom end of the rotating rod 313 is rotatably arranged in the sleeve 312 through a bearing. The top end of the rotating rod 313 is fixed to the bottom surface of the U-shaped seat 301, and the torsion spring 308 is sleeved on the outside of the rotating rod 313.

[0049] Among them Figure 2 As shown, the limiting member 309 is an arc-shaped plate, which is fixed to the top surface of the base 2 . Upper protrusions 314 are fixed at both ends of the limiting member 309 , and the upper protrusions 314 are opposite to the bottom plate of the U-shaped seat 301 .

[0050] Among them Figure 3-4 As shown, convex plates are fixed on both sides of the bottom of the U-shaped seat 301, and the convex plates are arranged horizontally with the upper protrusion 314.

[0051] Among them Figure 4 As shown, the two sliding edges 310 are integrally formed with the vertical plate portion of the U-shaped seat 301 , and reinforcing ribs are provided between the vertical plate portion and the horizontal plate portion of the U-shaped seat 301 .

[0052] Throughout this specification, references to terms such as "one embodiment," "example," or "specific example" indicate that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0053] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to the specific embodiments described. Obviously, many modifications and variations are possible based on the content of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A walking mechanism based on a monorail robot, comprising a track (1) and a base (2), characterized in that: Both sides of the top of the base (2) are provided with walking frames (3), and the middle part of the top of the base (2) is provided with a driving member (4); Both sides of the bottom of the track (1) are provided with bevel edges (101), and a rack (102) is fixed on one side of the track (1); The walking frame (3) includes a U-shaped seat (301), and a group of sliding rods (302) are slidably connected to the two vertical plate parts of the U-shaped seat (301). One end of the sliding rod (302) is fixed with a push plate (303) inside the U-shaped seat (301). A spring (304) is provided between the push plate (303) and the inner side of the U-shaped seat (301). An upper wheel body (305) is fixed to the upper inner side of the push plate (303), and a lower wheel body (307) is fixed to the lower inner side of the push plate (303) through an inclined portion (306). The bottom of the U-shaped seat (301) is rotatably connected to the top of the base (2) via a rotating member, a torsion spring (308) is provided between the U-shaped seat (301) and the base (2), and limiting members (309) are fixed at the top of the base (2) and at both ends of the U-shaped seat (301); The four lower wheels (307) on the base (2) roll along the top surface of the oblique edge (101), and the four upper wheels (305) on the base (2) roll along the side wall of the track (1); The driving member (4) includes a motor (401) and a protective shell (402); The protective shell (402) is fixed on the top surface of the base (2), a connecting seat (403) is fixed on the top of the protective shell (402), and the two ends of the connecting seat (403) are rotatably connected to an inner shaft (404) and an outer shaft (405), and the top ends of the inner shaft (404) and the outer shaft (405) are provided with mutually meshing gears (406), the motor (401) is fixed on the bottom surface of the base (2) and the output end is fixed to the end of the inner shaft (404), and the gear (406) on the outer shaft (405) is meshed with the rack (102); The bottom end of the outer shaft (405) is fixed with a lower plate (407) via a bearing, and an I-shaped wheel (408) is provided on one side of the lower plate (407), and the I-shaped wheel (408) rolls along the bottom surface of the track (1). The end of the lower plate (407) is fixed with a pressure wheel (410) via an L-shaped wheel frame (409), and the pressure wheel (410) rolls along a side of the track (1) away from the rack (102).

2. The walking mechanism based on a monorail robot according to claim 1, characterized in that: Upper edges (103) are provided on both upper parts of the track (1), and receiving grooves (104) are provided on both lower parts of the track (1).

3. The walking mechanism based on a monorail robot according to claim 2, characterized in that: The bottom gap of the tooth plate of the rack (102) is arranged in the receiving groove (104), and a welding groove is formed between the upper portion of the tooth plate of the rack (102) and the upper edge (103).

4. The walking mechanism based on a monorail robot according to claim 1, characterized in that: Both sides of the inner sides of the two vertical plate parts on the U-shaped seat (301) are provided with sliding edges (310), and the push plate (303) is slidably arranged between the two sliding edges (310).

5. The walking mechanism based on a monorail robot according to claim 1, characterized in that: One end of the slide rod (302) passes through the vertical plate portion of the U-shaped seat (301) and is slidably connected to the vertical plate portion. One end of the slide rod (302) located outside the U-shaped seat (301) is threadedly connected to a nut (311). The other end of the slide rod (302) is fixed to the push plate (303). The spring (304) is sleeved on the outside of the slide rod (302).

6. The walking mechanism based on a monorail robot according to claim 1, characterized in that: The rotating member comprises a sleeve (312) and a rotating rod (313); the sleeve (312) is fixed to the bottom surface of the base (2); a through opening concentric with the sleeve (312) is provided on the base (2); the bottom end of the rotating rod (313) is rotatably arranged in the sleeve (312) via a bearing; the top end of the rotating rod (313) is fixed to the bottom surface of the U-shaped seat (301); and the torsion spring (308) is sleeved on the outside of the rotating rod (313).

7. The walking mechanism based on a monorail robot according to claim 1, characterized in that: The limiting member (309) is an arc-shaped plate, the limiting member (309) is fixed on the top surface of the base (2), and upper protrusions (314) are fixed on both ends of the limiting member (309).

8. The walking mechanism based on a monorail robot according to claim 7, characterized in that: Both sides of the bottom of the U-shaped seat (301) are fixed with convex plates, and the convex plates are arranged horizontally with the upper protrusion (314).

9. The walking mechanism based on a monorail robot according to claim 4, characterized in that: The two sliding edges (310) are integrally formed with the vertical plate portion of the U-shaped seat (301), and reinforcing ribs are provided between the vertical plate portion and the horizontal plate portion of the U-shaped seat (301).

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