A method and system for implementing a two-wheeled rail-mounted robot capable of connecting multiple machines

Abstract

The present invention discloses a method and system for realizing a two-wheeled rail-mounted robot capable of being connected to multiple machines, including an overall robot frame and a walking module, a transmission module, a control drive module, and a multi-machine connection module; the multiple modules can jointly complete the straight-line, turning, and climbing movements of the two-wheeled rail-mounted robot and multiple robots in the multi-machine connection state. The walking module includes walking wheels and guide shock-absorbing wheels, and only one pair of walking wheels simultaneously bears the load-bearing and walking functions; the multi-machine connection module includes a flexible connection group and a rigid connection group, which can realize the free selection of flexible and rigid connection modes, single-machine traction drive and multi-machine collaborative drive modes for multiple two-wheeled rail-mounted robots. The present invention can adapt to occasions with heavy loads and large internal space requirements, and has the advantages of stable straight-line walking, strong climbing ability, and small turning radius.

Description

Technical Field

[0001] The present invention relates to the field of rail robots, and in particular to a method and system for realizing a two-wheeled rail-mounted robot capable of connecting multiple machines. Background Art

[0002] Currently, common rail-mounted robots lack modular designs, making parts replacement and robot assembly difficult. Furthermore, most rail-mounted robots utilize a simple four-wheel mechanism with motor-driven rolling wheels that move along a track. This simple mechanism is suitable for straight-line travel, but it can easily become stuck or vibrate in tight turning radiuses, making it difficult to meet requirements. Furthermore, rail-mounted robots currently rarely utilize multiple connection combinations. Due to the low load capacity and limited internal space of a single unit, they cannot carry or tow heavy loads, making them unsuitable for high-load rail-mounted robot applications.

[0003] To sum up, the present invention addresses the problems in the prior art whereby rail-mounted robots cannot adapt to small turning radius, have small space and load capacity, and cannot adapt to heavy load application scenarios, and proposes a method and system for implementing a two-wheeled rail-mounted robot that can be connected to multiple machines. Summary of the Invention

[0004] In response to the above problems, the present invention discloses a method and system for realizing a two-wheeled rail-mounted robot that can be connected to multiple machines. A single pair of wheels is used to simultaneously realize the load-bearing and walking functions, and a spring-clamped guide shock-absorbing wheel is used to realize clamping and guiding, as well as a multi-machine connection mechanism that combines rigid and flexible connections. Through optional single-machine traction drive and multi-machine collaborative drive modes, the two-wheeled rail-mounted robot system that can be connected to multiple machines can adapt to occasions with heavy loads and large internal space requirements, and realizes the advantages of stable straight-line walking, strong climbing ability, and small turning radius.

[0005] The present invention is achieved by the following scheme:

[0006] A method and system for implementing a two-wheeled rail-mounted robot capable of connecting multiple machines, comprising:

[0007] Overall frame with installation space:

[0008] There are multiple modules, which are arranged in the installation space, and the multiple modules include: a walking module, a transmission module, a control and drive module, and a multi-machine connection module;

[0009] Wherein, the walking module relies on only two wheels for walking;

[0010] The multi-machine connection module can realize different connection modes of flexible connection and rigid connection of multiple two-wheeled rail-mounted robots, as well as free selection of different driving modes of single-machine traction drive and multi-machine collaborative drive;

[0011] The multiple modules can jointly complete the straight-line, turning and climbing movements of the two-wheeled rail-mounted robot and multiple robots in a multi-machine connected state.

[0012] Furthermore, the walking module includes:

[0013] A pair of travel wheels, connected to one end of the output shaft located on the inner side of the side frame, simultaneously undertakes the load-bearing and travel functions;

[0014] Guide shock-absorbing wheels, including horizontal guide shock-absorbing wheels and vertical guide shock-absorbing wheels;

[0015] There are four horizontal guide shock-absorbing wheels, each of which is arranged at a horizontal guide shock-absorbing wheel installation position; there are four vertical guide shock-absorbing wheels, each of which is arranged at a vertical guide shock-absorbing wheel installation position;

[0016] The horizontal guide shock-absorbing wheel and the vertical guide shock-absorbing wheel have the same structure, with only the wheel arrangement direction being different. Both include a packaging sleeve, a damping spring and a small wheel device.

[0017] The small wheel device is closely attached to the track, and the vibration is reduced by the damping spring when the track is uneven, turns or climbs.

[0018] Furthermore, it is characterized in that the multi-machine connection module includes:

[0019] Flexible connection group and rigid connection group;

[0020] The flexible connection group includes a detachable connector that can rotate in multiple directions and is equipped with a shock-absorbing spring, and a connecting pin. The connector is installed on the flexible connection member installation position. When the flexible connection is selected, the flexible connection group between multiple two-wheeled hanging rail robots is connected through the connecting pin.

[0021] The rigid connection group includes four symmetrically distributed detachable steel frames and connecting buckles, which are installed on the rigid connection part installation position. When the rigid connection is selected, the rigid connection group between multiple two-wheeled hanging rail robots is connected by the connecting buckles;

[0022] The multi-machine connection module can be installed at both ends of the two-wheeled hanging rail robot;

[0023] The multi-machine connection module can realize the free selection of different connection modes of flexible connection and rigid connection for multiple two-wheeled rail-mounted robots.

[0024] Furthermore, the overall frame is in a convex shape, including side frames, a base plate and front and rear baffles; the overall frame is symmetrical about the center line of the base plate, and the side frames include a left frame and a right frame, and the two frames have the same specifications; the left frame and the right frame are symmetrically installed on both sides of the base plate, and the front and rear baffles have the same structure and are installed at the front and rear ends of the base plate; two vertical guide shock-absorbing wheel mounting positions are symmetrically provided on both sides of the base plate, and the flexible connection mounting position is provided in the middle of the front and rear baffles, and the rigid connection mounting positions are provided at the four corners of the front and rear baffles.

[0025] Furthermore, the left frame and the right frame are both in a 7-shape, and two horizontal guide shock-absorbing wheel mounting positions are symmetrically provided on the top;

[0026] The left frame and the right frame are both provided with bearing mounting positions, including two output shaft bearing mounting positions, which are symmetrically arranged in the middle of the left frame and the right frame respectively;

[0027] Two input shaft bearing mounting positions are symmetrically arranged at the bottom of the left frame and the bottom of the right frame respectively.

[0028] Furthermore, the transmission module includes:

[0029] Two output shaft bearings are respectively arranged at the output shaft mounting positions; two input shaft bearings are respectively arranged at the input shaft mounting positions;

[0030] The two output shafts are respectively mounted on the output shaft bearings;

[0031] two input shafts, respectively mounted on the input shaft bearings;

[0032] Two pairs of transmission mechanisms are respectively arranged on the outside of the side frames and connect the input shaft and the output shaft.

[0033] Furthermore, the control drive module includes:

[0034] control group and driver group;

[0035] The control group includes a control panel and a driver;

[0036] The drive group includes a servo motor, a speed reducer and a differential;

[0037] The control board is connected to the motor driver and is arranged on the bottom plate;

[0038] The servo motor is first connected to the reducer and then to the differential, and is arranged on the bottom plate;

[0039] wherein the differential is connected to the input shaft on the inner side of the side frame via a coupling;

[0040] The multi-machine connection module and the control drive module can realize the free selection of different driving modes of single-machine traction drive and multi-machine collaborative drive for multiple two-wheeled rail-mounted robots under different connection modes of flexible connection and rigid connection.

[0041] The present invention is beneficial in that:

[0042] 1. The present invention adopts a modular design, which makes assembly, disassembly and replacement of parts convenient.

[0043] 2. The present invention adopts two wheels. Compared with the common four-wheeled robot, the two-wheeled rail-mounted robot has a smaller body and a smaller turning radius.

[0044] 3. The present invention is equipped with a multi-machine connection device to realize different connections of multiple machines, including: flexible connection to form a train-type single-machine traction drive, that is, only a single robot carries power and the rest of the machines follow. The two adjacent car body units are flexibly connected and can rotate relative to each other in the horizontal or vertical direction. At this time, it does not affect the turning radius and slope that the overall system can pass, and the robot can run on a track with turns or slopes; rigidly connected multi-machine collaborative drive, that is, multiple machines all have their own power and are rigidly connected to form an overall multi-drive system. At this time, the driving force is greater, but the turning radius and slope are limited; multiple two-wheeled hanging rail robots can also be freely combined through flexible connection multi-machine collaborative drive, rigid connection single-machine traction drive, etc. to adapt to more complex application environments.

[0045] 4. The present invention adopts a climbing damping spring and a turning damping spring to change the position of the guide shock-absorbing wheel relative to the guide rail, so as to meet the friction characteristics between the track and the guide shock-absorbing wheel when the small radius guide rail turns, thereby increasing the clamping force of the guide shock-absorbing wheel on the guide rail and reducing slipping or jamming.

[0046] 5. The present invention adopts a horizontal and vertical guide shock-absorbing wheel design. The combined action of the horizontal guide shock-absorbing wheel and the vertical guide shock-absorbing wheel enables the two-wheeled hanging rail type robot to be firmly attached to the I-shaped track, so that the two-wheeled hanging rail type robot will not deviate or tilt. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a schematic diagram of the overall system structure of the multi-machine connection of the present invention

[0048] Figure 2 Schematic diagram of the internal structure of an embodiment of the present invention

[0049] Figure 3 This is an axonometric view of an embodiment of the present invention without front and rear baffles and a multi-machine connection mechanism.

[0050] Figure 4This is a front view of an embodiment of the present invention without front and rear baffles and a multi-machine connection mechanism on the track

[0051] Figure 5 This is a schematic diagram of a rigid multi-drive multi-machine connection according to an embodiment of the present invention.

[0052] Figure 6 This is a schematic diagram of a flexible single-drive multi-machine connection according to an embodiment of the present invention.

[0053] Figure 7 This is a connection diagram of a pair of flexible connection groups according to an embodiment of the present invention.

[0054] In the figure, 0. I-shaped track, 1. Left frame, 2. First floor, 3. Second floor, 4. Front and rear baffles, 5. Input shaft bearing, 6. Input shaft, 7. Output shaft, 8. Output shaft bearing, 9. Pulley, 10. Travel wheel, 11. Horizontal guide shock absorber wheel, 12. Vertical guide shock absorber wheel, 13. Damping spring, 14. Control board, 15. Driver, 16. Servo motor, 17. Reducer, 18. Differential, 19. Shock absorber spring, 20. Removable connector, 21. Connecting pin, 22. Removable steel frame, 23. Connecting buckle Specific implementation plan

[0055] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0056] like Figure 1 The figure shows the overall system structure diagram of the multi-machine connection of the two-wheeled rail-mounted robot;

[0057] The two-wheeled rail-mounted robot is an integral frame provided with an installation space;

[0058] There are multiple modules arranged in the installation space, and the multiple modules include a walking module, a transmission module, a control drive module and a multi-machine connection module; and the multiple two-wheeled rail-mounted robots and their corresponding multi-machine connection modules are connected and expanded into the multi-machine-connected two-wheeled rail-mounted robot system.

[0059] like Figure 2 and Figure 3 As shown, the internal structure of the embodiment of the two-wheeled rail-mounted robot capable of connecting multiple machines includes:

[0060] Overall frame with installation space:

[0061] There are multiple modules, which are arranged in the installation space, and the multiple modules include: a walking module, a transmission module, a control and drive module, and a multi-machine connection module;

[0062] The multi-machine connection module can realize different flexible and rigid connection modes of multiple two-wheeled rail-mounted robots, as well as free selection of different drive modes such as single-machine traction drive and multi-machine collaborative drive;

[0063] The overall frame is in a convex shape, including a left frame 1, a right frame, a first-layer bottom plate 2, a second-layer bottom plate 3 and front and rear baffles 4. The left frame and the right frame are symmetrically installed with the central axis of the second-layer bottom plate. The first-layer bottom plate is provided with a pair of vertical guide shock-absorbing wheel mounting positions; the left frame and the right frame are both provided with a pair of horizontal guide shock-absorbing wheel mounting positions on the inner side of the top, as well as the input shaft bearing mounting position and the output shaft bearing mounting position. Flexible connection mounting positions are provided in the middle of the front and rear baffles, and rigid connection mounting positions are provided at the four corners of the front and rear baffles.

[0064] In this example, the walking module includes walking wheels 10, horizontal guide shock-absorbing wheels 11 and vertical guide shock-absorbing wheels 12;

[0065] The horizontal guide damping wheel and the vertical guide damping wheel are both equipped with damping springs 13. The vertical guide damping wheel and the horizontal guide damping wheel differ only in wheel orientation, firmly adhering to the I-shaped track, thereby achieving stable turning and climbing. The running wheel is mounted on the output shaft end located on the inner side of the outer frame. The running wheel presses on the I-shaped track, closely adhering to the inside of the I-shaped track. The vertical guide damping wheel is mounted on the vertical guide damping wheel mounting position, closely adhering to the bottom of the I-shaped track.

[0066] In this example, the transmission module includes an input shaft 6, an output shaft 7, an input shaft bearing 5, an output shaft bearing 8 and a belt drive. The input shaft is mounted on the input shaft bearing and passes through the outer frame. The output shaft bearing is mounted on the output shaft bearing mounting position. The output shaft is mounted on the output shaft bearing and passes through the outer frame. The belt drive includes two pulleys 9 and belts of the same specifications, which are respectively mounted on the input shaft end and the output shaft end located outside the outer frame.

[0067] In this example, the control drive module includes a control group and a drive group, the control group includes a control board 14 and a driver 15, and the drive group includes a servo motor 16, a reducer 17 and a differential 18, wherein the control board is connected to the driver, the servo motor and the reducer in sequence, and then connected to the differential through a coupling, and the differential is connected to the input shaft on the inner side of the outer frame through the coupling, the control group is arranged on the second bottom plate, and the drive group is arranged on the first bottom plate.

[0068] In this example, the multi-machine connection module includes a flexible connection group and a rigid connection group, wherein the flexible connection group includes a detachable connector 20 that can rotate in multiple directions and is equipped with a shock-absorbing spring 19, and a connecting pin 21. The detachable connector 20 that can rotate in multiple directions and is equipped with a shock-absorbing spring is installed on the flexible connection part installation position between the two-wheeled rail-mounted robots. Multiple different two-wheeled rail-mounted robots are connected through the connecting pin 21. The detachable connector 20 that can rotate in multiple directions and is equipped with a shock-absorbing spring 19 can ensure that all two-wheeled rail-mounted robots can pass through small-radius curves and ramps when flexibly connected, and can pass through more complex tracks. The rigid connection group includes four symmetrically distributed detachable steel frames 22 and connecting buckles 23. The detachable steel frames are installed on the rigid connection mounting position of the two-wheeled rail-mounted robot that can connect multiple machines. Multiple two-wheeled rail-mounted robots that can connect multiple machines are connected through the connecting buckles. The rigid connection group makes the multiple sections of the two-wheeled rail-mounted robots rigidly connected. At this time, due to the rigid connection, the whole becomes longer and cannot pass through small radius curves and ramps. It can be turned into multi-drive to increase power. The multi-machine connection module can realize different flexible and rigid connection methods of multiple two-wheeled rail-mounted robots, as well as the free selection of different drive methods of single-machine traction drive and multi-machine collaborative drive. When multiple two-wheeled rail-mounted robots need to be connected for movement, a rigid or flexible connection can be freely selected. When the robots other than the first two-wheeled rail-mounted robot are unpowered, a flexible connection can be selected, which does not affect the turning radius and climbing slope of the two-wheeled rail-mounted robots. When all two-wheeled rail-mounted robots are powered, a rigid connection is selected, and multiple two-wheeled rail-mounted robots are combined into a whole. At this time, the power is increased but the turning radius and climbing slope are limited. In other cases, the connection methods between the multiple two-wheeled rail-mounted robots can be freely combined. The multi-machine connection method allows the whole to have enough space to load more sensors or cargo.

[0069] In this embodiment, the detachable connector capable of rotating in multiple directions and equipped with a shock-absorbing spring is connected to the front and rear baffles via bolts, and the detachable steel rod is connected to the front and rear baffles via threads.

[0070] In this example, different parts are connected by angle aluminum and bolts, necessary parts are fixed by welding, and the transmission shafts are connected by couplings.

[0071] like Figure 4 As shown, the combination method of this example and the I-shaped track is that the walking wheel and the auxiliary wheel are pressed on the track, the horizontal guide shock-absorbing wheel clamps the inner side of the I-shaped track, and the vertical guide shock-absorbing wheel presses against the bottom of the I-shaped track.

[0072] The operating principle of this example is: the servo motor rotates, and drives the output shaft to rotate through the reducer and the differential, thereby driving the pulley to rotate, and drives the output shaft to rotate through the belt transmission, that is, the walking wheel rotates, and the rotation of the walking wheel generates relative motion and friction with the I-shaped track, thereby driving the two-wheeled hanging rail robot forward and backward.

[0073] During the movement, when the two-wheeled rail-mounted robot turns, the differential is used to achieve differential speed and the horizontal guide shock-absorbing wheel is used to absorb shock and guide, thereby completing a smooth turn. When the two-wheeled rail-mounted robot climbs a slope, the vertical guide shock-absorbing wheel is used to absorb shock and prevent collision, thereby completing a stable climb.

[0074] like Figure 5 、 Figure 6 and Figure 7 As shown, the embodiment of the present invention can realize rigid multi-drive multi-machine connection through the rigid connection group of the multi-machine connection module; it can also realize flexible single-drive multi-machine connection through the flexible connection group of the multi-machine connection module; similarly, rigid single-drive multi-machine connection and flexible multi-drive multi-machine connection can also be realized.

[0075] like Figure 7 FIG. 1 is a schematic diagram showing a pair of flexible connection groups connected in accordance with an embodiment of the present invention.

[0076] To sum up, the example of the present invention provides a specific implementation method and example of the method and system for implementing the two-wheeled rail-mounted robot that can be connected to multiple machines. The two-wheeled rail-mounted robot that can be connected to multiple machines can realize movements such as straight-line walking, small-radius turning, and climbing, and can also realize different ways of connecting multiple machines through a multi-machine connection mechanism that can be freely selected through rigid and flexible connections.

[0077] The above description is only a specific embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A two-wheeled rail-mounted robot system capable of connecting multiple machines, characterized in that: include: The overall frame includes side frames, a bottom plate, and front and rear baffles, with an internal installation space; the overall frame is symmetrical about the centerline of the bottom plate; the side frames include a left frame and a right frame, and the two frames have the same specifications; the left and right frames are symmetrically installed on both sides of the bottom plate; the front and rear baffles have the same structure and are installed at the front and rear ends of the bottom plate; There are multiple modules, which are arranged in the installation space, and the multiple modules include: a walking module, a transmission module, a multi-machine connection module and a control drive module; The walking module only relies on a pair of walking wheels to bear both load-bearing and walking functions; The multi-machine connection module includes a flexible connection group and a rigid connection group: the flexible connection group includes a detachable connector and a connecting pin that can rotate in multiple directions and is equipped with a shock-absorbing spring, and the connector is installed on the flexible connection part installation position, and the flexible connection part installation position is set in the middle of the front and rear baffles; the rigid connection group includes four symmetrically distributed detachable steel frames and connecting buckles, which are installed on the rigid connection part installation position, and the rigid connection part installation position is set at the four corners of the front and rear baffles; the multi-machine connection module can realize the free selection of different connection modes of flexible connection and rigid connection of multiple two-wheeled hanging rail robot systems; The control drive module can realize the free selection of different drive modes of single-machine traction drive and multi-machine collaborative drive of the two-wheeled rail-mounted robot system; The plurality of modules can jointly complete the straight-moving, turning and climbing movements of the two-wheeled rail-mounted robot system and the plurality of robot systems in a multi-machine connected state.

2. A two-wheeled rail-mounted robot system capable of connecting multiple machines according to claim 1, characterized in that: The walking module includes: A pair of travel wheels, connected to one end of the output shaft located on the inner side of the side frame, simultaneously undertakes the load-bearing and travel functions; Guide shock-absorbing wheels, including vertical guide shock-absorbing wheels and horizontal guide shock-absorbing wheels; There are four vertical guide shock-absorbing wheels, which are respectively arranged at the vertical guide shock-absorbing wheel mounting positions, and the vertical guide shock-absorbing wheel mounting positions are symmetrically arranged on both sides of the bottom plate; There are four horizontal guide shock-absorbing wheels, which are respectively arranged at the horizontal guide shock-absorbing wheel mounting positions, and the horizontal guide shock-absorbing wheel mounting positions are symmetrically arranged at the top of both sides of the side frame; The horizontal guide shock-absorbing wheel has the same structure as the vertical guide shock-absorbing wheel, with only the wheel arrangement direction being different. Both include a packaging sleeve, a damping spring and a small wheel device; the horizontal guide shock-absorbing wheel clamps the inner side of the track, and the vertical guide shock-absorbing wheel presses against the bottom of the track. When encountering uneven tracks, turning and climbing, the damping spring reduces vibration.

3. The two-wheeled rail-mounted robot system capable of connecting multiple machines according to claim 1, characterized in that: The overall frame is in a convex shape, and the left frame and the right frame are both in a 7 shape; The left frame and the right frame are both provided with bearing mounting positions, including two output shaft bearing mounting positions, which are symmetrically arranged in the middle of the left frame and the right frame respectively; Two input shaft bearing mounting positions are symmetrically arranged at the bottom of the left frame and the bottom of the right frame respectively.

4. A two-wheeled rail-mounted robot system capable of connecting multiple machines according to claim 3, characterized in that: The transmission module includes: Two output shaft bearings are respectively arranged at the output shaft bearing mounting positions; two input shaft bearings are respectively arranged at the input shaft bearing mounting positions; Two output shafts are respectively mounted on the output shaft bearings; two input shafts, respectively mounted on the input shaft bearings; Two pairs of transmission mechanisms are respectively arranged on the outside of the side frames and connect the input shaft and the output shaft.

5. The two-wheeled rail-mounted robot system capable of connecting multiple machines according to claim 4, characterized in that: The control drive module includes: control group and driver group; The control group includes a control panel and a driver; The drive group includes a servo motor, a speed reducer and a differential; The control board is connected to the driver and is arranged on the bottom plate; The servo motor is first connected to the reducer and then to the differential, and is arranged on the bottom plate; wherein the differential is connected to the input shaft on the inner side of the side frame via a coupling; The multi-machine connection module and the control drive module can realize the free selection of different driving modes of single-machine traction drive and multi-machine collaborative drive for multiple two-wheeled rail-mounted robot systems under different connection modes of flexible connection and rigid connection.

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