Railway track driving based brake phase changing mechanism

Abstract

The application relates to a brake phase change mechanism based on track driving, and has the purposes of solving the problems of the prior art, such as high phase change efficiency of a sentry robot, great increase of the volume and mass of the whole mechanism on the original robot, difficulty in synchronous use of the phase change mechanism when the robot is iterated, reduction of the performance of the robot itself, and poor structural performance-cost ratio. The brake phase change mechanism comprises a rudder linkage driving assembly, a double-wheel gear train assembly and a middle shaft connecting assembly. The double-wheel gear train assembly is rotationally connected and installed on the middle shaft connecting assembly, and the double-wheel gear train assembly is installed on the rudder linkage driving assembly. The application belongs to the field of emergency stop energy storage manufacturing.

Description

Technical Field

[0001] This invention relates to a braking phase-change mechanism, specifically a braking phase-change mechanism based on track travel, belonging to the field of emergency stop energy storage manufacturing. Background Technology

[0002] When a sentry robot is running on a track, if its next position is too predictable from its current position, a ground robot can use a camera to capture its real-time status to predict and attack. To address this issue, sentry robots need to achieve rapid phasing. Currently, common phasing mechanisms are mostly based on linear spring energy storage. During phasing, a part of the robot is fixed to the track by magnetic attraction, hydraulic pressure, etc., and the kinetic energy is converted into elastic potential energy and frictional internal energy through spring compression. According to the formula for elastic potential energy, the biggest problem with this type of mechanism is that to achieve high phasing efficiency, its compressible length must be sufficient. This results in a significant increase in the size and mass of the original robot, and the phasing mechanism is not easily synchronized when the robot is iterated, leading to a decrease in robot performance and poor structural cost-effectiveness. Therefore, how to ingeniously design this mechanism has become a widely discussed issue. Summary of the Invention

[0003] The purpose of this invention is to solve the problems in the prior art where the high phasing efficiency of sentry robots leads to a significant increase in the size and weight of the original robot due to the entire mechanism, and the difficulty in using the phasing mechanism synchronously when the robot is iterated, resulting in a decrease in the robot's performance and a poor cost-effectiveness. Therefore, this invention provides a braking phasing mechanism based on track travel.

[0004] The technical solution of this invention is:

[0005] A braking phasing mechanism based on track travel includes a servo linkage drive assembly, a dual-wheel train assembly, and a central shaft connection assembly; the dual-wheel train assembly is rotatably connected to the central shaft connection assembly and is mounted on the servo linkage drive assembly.

[0006] Furthermore, the servo linkage drive assembly includes a drive servo, a servo fixed connecting plate, a swing limit rod, a stop connecting plate, a first servo swing rod, a second servo swing rod, a gear train and servo component connecting plate, and a gear train and servo component connector. The drive servo is fixedly mounted on the servo fixed connecting plate. One end of the first servo swing rod is fixedly mounted on the output end of the drive servo. The other end of the first servo swing rod is rotatably connected to one end of the second servo swing rod via a rotating shaft. The other end of the second servo swing rod is rotatably connected to one end of the gear train and servo component connecting plate via a rotating shaft. The other end of the gear train and servo component connecting plate is rotatably connected to the servo fixed connecting plate via a rotating shaft. A swing limit rod is installed on the side of the rotating shaft connecting the gear train and servo component connecting plate and the servo fixed connecting plate. The swing limit rod is fixedly mounted on the servo fixed connecting plate. The gear train and servo component connector is fixedly mounted on the gear train and servo component connecting plate. The stop connecting plate is mounted on the servo component connecting plate.

[0007] Furthermore, the connecting parts of the wheel system and the servo mechanism are machined with circular holes, and bearings are embedded in the circular holes. Multiple connecting and fixing lugs are machined on the outer wall of the circular holes.

[0008] Furthermore, the dual-wheel wheel assembly includes an outer wheel winding wheel, an inner wheel winding wheel, a friction inner wheel, and a friction outer wheel; the outer wheel winding wheel and the inner wheel winding wheel are sequentially mounted on the central shaft connecting assembly, and the friction inner wheel and the friction outer wheel are mounted on the central shaft connecting assembly.

[0009] Furthermore, the central shaft connection assembly includes an inner winding wheel stop pad, a stop plate for the connector between the servo component and the gear train, an intermediate connecting shaft, and an outer wheel stop. The outer winding wheel is fixedly connected to one end of the intermediate connecting shaft, the inner winding wheel is rotatably connected and fitted onto the intermediate connecting shaft, the stop plate for the connector between the servo component and the gear train is installed on the intermediate connecting shaft, and the inner winding wheel stop pad is close to the inner winding wheel and installed on the intermediate connecting shaft. The friction outer wheel is connected and fixed to the other end of the intermediate connecting shaft through the outer wheel stop, and the outer wheel stop is installed on the stop connecting plate.

[0010] Furthermore, it also includes a first flange bearing, a second flange bearing, a third flange bearing, multiple inner winding wheel connecting bolts, and multiple connecting bolts between the servo components and the gear train; the inner winding wheel is rotatably connected to the intermediate connecting shaft via the first flange bearing, the gear train and servo component connector is rotatably connected to the intermediate connecting shaft via the second flange bearing, and the gear train and servo component connector is fixedly connected to the support connecting plate mounted on the intermediate connecting shaft via multiple connecting bolts between the servo components and the gear train, and the friction inner wheel is rotatably connected to the intermediate connecting shaft via the third flange bearing.

[0011] Furthermore, it also includes multiple outer winding wheel connecting bolts, multiple inner winding wheel connecting bolts, and multiple outer wheel connecting bolts; the outer winding wheel is fixedly connected to one end of the intermediate connecting shaft through multiple outer winding wheel connecting bolts, the friction outer wheel is fixedly connected to the other end of the intermediate connecting shaft through an outer wheel stop and multiple outer wheel connecting bolts, and the inner winding wheel connecting bolts fix the inner winding wheel and the inner winding wheel stop pad.

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

[0013] 1. This application can achieve a more efficient braking and directional change function with a smaller increase in weight, which greatly improves the sentry robot's ability to evade and attack when facing attacking robots.

[0014] 2. The tension belt used in this application can be replaced with tension belts of different coefficients and lengths as the weight of the vehicle changes with each generation, so as to achieve the highest change-of-direction efficiency under the current conditions.

[0015] 3. This application adopts a compact arrangement of two wheels for energy storage direction change, which can achieve more efficient energy storage with minimal volume occupation.

[0016] 4. This application can improve friction while ensuring the strength of the gear train by making its own inner and outer wheels, which facilitates multiple emergency stops.

[0017] 5. This application applies to the implementation of rapid braking and directional change functions for sentry robots in robot league competition scenarios. In other similar competition fields, for robots operating on fixed tracks and requiring braking and directional change, the structure of this invention can achieve this function with relatively low mass loss. This invention also provides a way to save starting energy for mechanical equipment requiring bidirectional movement. The application of this invention will greatly improve the energy storage and directional change efficiency of sentry robots, save unnecessary mass consumption, and improve the sentry robot's ability to evade and attack attacking robots. Based on this need, this application proposes a track-based braking and directional change mechanism. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0019] Figure 2 This is a schematic diagram of the servo linkage drive assembly 1.

[0020] Figure 3 This is a schematic diagram of the structure of the dual-wheel wheel system assembly 2.

[0021] Figure 4 This is a schematic diagram of the central axis connecting component 3.

[0022] Figure 5This is a schematic diagram showing the connection of the first flange bearing 4-1, the second flange bearing 4-2, the third flange bearing 4-3, the outer winding wheel connecting bolt 4-4, the inner winding wheel connecting bolt 4-5, the connecting bolt 4-6 between the servo component and the wheel system, and the outer wheel connecting bolt 4-7. Detailed Implementation

[0023] Specific implementation method one: Combining Figures 1 to 5 This embodiment describes a braking phasing mechanism based on track travel, which includes a servo linkage drive assembly 1, a dual-wheel train assembly 2, and a central shaft connection assembly 3. The dual-wheel train assembly 2 is rotatably connected to the central shaft connection assembly 3 and is mounted on the servo linkage drive assembly 1.

[0024] Specific Implementation Method Two: Combining Figures 1 to 2 This embodiment describes a braking and phase-changing mechanism based on track travel. The servo linkage drive assembly 1 includes a drive servo 1-1, a servo fixed connecting plate 1-2, a swing limit rod 1-3, a stop connecting plate 1-4, a first servo swing rod 1-5, a second servo swing rod 1-6, a gear train and servo component connecting plate 1-7, and a gear train and servo component connecting piece 1-8. The drive servo 1-1 is fixedly mounted on the servo fixed connecting plate 1-2. One end of the first servo swing rod 1-5 is fixedly mounted on the output end of the drive servo 1-1. The other end of the first servo swing rod 1-5 is connected to one end of the second servo swing rod 1-6. The other end of the second servo swing arm 1-6 is rotatably connected to one end of the wheel system and servo component connecting plate 1-7 via a rotating shaft. The other end of the wheel system and servo component connecting plate 1-7 is rotatably connected to the servo fixed connecting plate 1-2 via a rotating shaft. A swing limit rod 1-3 is installed on the side of the rotating shaft connecting the wheel system and servo component connecting plate 1-7 and the servo fixed connecting plate 1-2. The swing limit rod 1-3 is fixedly installed on the servo fixed connecting plate 1-2. The wheel system and servo component connecting piece 1-8 is fixedly installed on the wheel system and servo component connecting plate 1-7. The stop connecting plate 1-4 is installed on the servo component connecting plate 1-7.

[0025] The position of the drive servo 1-1's drive wheel train and the servo component connecting plate 1-7 is defined by the servo fixed connecting plate 1-2. The drive servo 1-1 is a DS3230 drive servo with a servo disc. The drive servo 1-1 is fixed to the robot, and the dual-wheel wheel train assembly 2 is rotatably fixed to the robot around the central axis connecting assembly 3. The dual-wheel wheel train assembly 2, together with the servo component connecting plate 1-7 and the wheel train and servo component connecting piece 1-8, forms a motion system in which the servo drives the wheel train to rotate around a fixed axis. Other components and connections are the same as in specific embodiment one.

[0026] Specific implementation method three: Combining Figures 1 to 2This embodiment describes a track-based braking and phasing mechanism. The wheel system and servo component connectors 1-8 have circular holes machined into them, and bearings are embedded within these holes. Multiple connecting and fixing lugs are machined on the outer wall of the circular holes. Other components and connections are the same as in Embodiment Two.

[0027] Specific implementation method four: Combination Figure 1 and Figure 3 This embodiment describes a track-based braking and phasing mechanism. The dual-wheel wheel system 2 includes an outer wheel winding wheel 2-1, an inner wheel winding wheel 2-2, a friction inner wheel 2-3, and a friction outer wheel 2-4. The outer wheel winding wheel 2-1 and the inner wheel winding wheel 2-2 are sequentially mounted on a central shaft connecting assembly 3, and the friction inner wheel 2-3 and the friction outer wheel 2-4 are also mounted on the central shaft connecting assembly 3. Other components and connections are the same as in specific embodiment three.

[0028] In this embodiment, the outer winding wheel 2-1 and the inner winding wheel 2-2 each have four small holes in four positive directions at the contact point between the hub and the wheel. The internal plastic buckle hub of the hump wheel is removed, and the hub and the hump wheel are connected by steel wire in a specific manner to form the outer winding wheel 2-1 and the inner winding wheel 2-2. The specific way to connect the hub and the hump wheel with steel wire is as follows: one end of a steel wire is pierced through the hole in the hub and enters the hub, and the other end is pierced in the same way into a hole at a 90° angle to the previous hole, then out through a hole at a 180° angle, and finally in through the last hole. The two ends of the steel wire are clamped by a buckle to form an "8" shape on the central axis surface of the wheel. At the same time, when the steel wire on the surface of the hub is tightened, it can be embedded into the peaks and valleys of the hump wheel, so as to fix the aluminum alloy hub and the hump wheel without reducing the friction coefficient of the hump wheel, thereby enhancing the strength of the wheel system.

[0029] Specific Implementation Method Five: Combining Figure 1 and Figure 4 This embodiment describes a track-based braking and phasing mechanism. The central shaft connecting assembly 3 includes an inner winding wheel stop plate 3-1, a stop plate 3-2 connecting the servo component and the wheel train, an intermediate connecting shaft 3-3, and an outer wheel stop 3-4. The outer winding wheel 2-1 is fixedly connected to one end of the intermediate connecting shaft 3-3. The inner winding wheel 2-2 is rotatably mounted on the intermediate connecting shaft 3-3. The stop plate 3-2 connecting the servo component and the wheel train is mounted on the intermediate connecting shaft 3-3. The inner winding wheel stop plate 3-1 is located near the inner winding wheel 2-2 and mounted on the intermediate connecting shaft 3-3. The friction outer wheel 2-4 is fixedly connected to the other end of the intermediate connecting shaft 3-3 via the outer wheel stop 3-4, which is mounted on the stop connecting plate 1-4. Other components and connections are the same as in specific embodiments one, two, three, or four.

[0030] Specific Implementation Method Six: Combination Figures 1 to 2 This embodiment describes a track-based braking and phasing mechanism, which further includes a first flange bearing 4-1, a second flange bearing 4-2, a third flange bearing 4-3, multiple inner winding wheel connecting bolts 4-5, and multiple servo component and gear train connecting bolts 4-6. The inner winding wheel 2-2 is rotatably mounted on the intermediate connecting shaft 3-3 via the first flange bearing 4-1. The gear train and servo component connector 1-8 is rotatably connected to the intermediate connecting shaft 3-3 via the second flange bearing 4-2, and the gear train and servo component connector 1-8 is fixedly connected to a support connecting plate mounted on the intermediate connecting shaft 3-3 via multiple servo component and gear train connecting bolts 4-6. The friction inner wheel 2-3 is rotatably connected to the intermediate connecting shaft 3-3 via the third flange bearing 4-3. Other components and connections are the same as in specific embodiment five.

[0031] Specific implementation method seven: Combination Figures 1 to 5 This embodiment describes a track-based braking and phasing mechanism, which further includes multiple outer winding wheel connecting bolts 4-4, multiple inner winding wheel connecting bolts 4-5, and multiple outer wheel connecting bolts 4-7. The outer winding wheel 2-1 is fixedly connected to one end of the intermediate connecting shaft 3-3 via the multiple outer winding wheel connecting bolts 4-4. The friction outer wheel 2-4 is fixedly connected to the other end of the intermediate connecting shaft 3-3 via the outer wheel stop 3-4 and the multiple outer wheel connecting bolts 4-7. The inner winding wheel connecting bolts 4-5 fix the inner winding wheel 2-2 and the inner winding wheel stop pad 3-1. Other components and connections are the same as in specific embodiment six.

[0032] Working principle

[0033] When the sentry robot needs to change direction while traveling on the track, the drive torque of the robot's active wheel motor is first controlled to zero. Simultaneously, servo motor 1-1 enables the entire phasing mechanism's wheel train to press downwards. The rotation of the wheel train causes the outer wheel winding wheel 2-1 and the inner wheel winding wheel 2-2 to stretch the tension belt. The sentry robot then experiences a brief braking period. Since the two ends of the tension belt are fixed to the phasing mechanism and the robot body respectively, when the tension belt is stretched, the kinetic energy before braking is converted into the frictional internal energy consumed by the wheel train and the elastic potential energy stored in the tension belt. The elastic potential energy provides the robot body with a reverse starting energy, facilitating a more efficient phasing maneuver for the sentry robot, thus distributing the torque borne by the reverse drive of the active wheel. The entire phasing process is short, and the entire mechanism is lightweight. Therefore, the weight burden on the robot is small, and the conversion efficiency is high.

[0034] The outer winding wheel 2-1 and the inner winding wheel 2-2 are sequentially installed at the front of the gear train without contact. The friction inner wheel 2-3 and the friction outer wheel 2-4 are sequentially installed at the rear of the gear train without contact, wherein the friction inner wheel 2-3 is fixedly connected to the inner winding wheel 2-2. The servo component connecting plate 1-7 and the gear train and servo component connecting piece 1-8, which are related to the movement of the drive servo 1-1, are installed on the self-made inner wheel of the inner winding wheel 2-2 and the friction inner wheel 2-3. The stop connecting piece 3-4 and the connecting plate 1-4 are installed after the self-made outer wheel 2-4, which is also the rearmost part of the entire gear train 3. The stop connecting plate 1-4 and the connecting plate 1-7 between the gear train and the servo component are fixedly connected by an aluminum pillar to limit the wheel position and reinforce the gear train 3. The connecting shaft 3-5 passes through the bearing 4-2 in the connecting part between the self-made inner wheel 2-3 and the inner wheel winding wheel 2-2 and the servo component and the wheel system, and is fixed to the outer wheel winding wheel 2-1, the self-made outer wheel 2-4 and the stop connecting part 3-4, so as to achieve the purpose of allowing the self-made inner and outer wheels to rotate and stretch the two tension bands respectively without interference for braking energy storage.

Claims

1. A braking and phasing mechanism based on track travel, characterized in that: It includes a servo linkage drive assembly (1), a dual-wheel wheel system assembly (2), and a central shaft connection assembly (3); the servo linkage drive assembly (1) includes a drive servo (1-1), a servo fixed connection plate (1-2), a swing limit rod (1-3), a stop connection plate (1-4), a first servo swing rod (1-5), a second servo swing rod (1-6), a wheel system and servo component connection plate (1-7), and a wheel system and servo component connector (1-8); the dual-wheel wheel system assembly (2) includes an outer wheel winding wheel (2-1), an inner wheel winding wheel (2-2), a friction inner wheel (2-3), and a friction outer wheel (2-4); The dual-wheel gear train assembly (2) is rotatably connected to the central shaft connection assembly (3), and the dual-wheel gear train assembly (2) is mounted on the servo linkage drive assembly (1). The drive servo (1-1) is fixedly mounted on the servo fixed connecting plate (1-2). One end of the first servo swing arm (1-5) is fixedly mounted on the output end of the drive servo (1-1). The other end of the first servo swing arm (1-5) is rotatably connected to one end of the second servo swing arm (1-6) via a rotating shaft. The other end of the second servo swing arm (1-6) is rotatably connected to one end of the gear train and servo component connecting plate (1-7) via a rotating shaft. The other end of the gear train and servo component connecting plate (1-7) is also rotatably connected to the first end of the first servo swing arm (1-5). The servo motor is rotatably connected to the servo motor fixed connecting plate (1-2) via a rotating shaft. A swing limit rod (1-3) is installed on the side of the rotating shaft connecting the wheel train and servo motor component connecting plate (1-7) and the servo motor fixed connecting plate (1-2). The swing limit rod (1-3) is fixedly installed on the servo motor fixed connecting plate (1-2). The wheel train and servo motor component connecting piece (1-8) is fixedly installed on the wheel train and servo motor component connecting plate (1-7). A stop connecting plate (1-4) is installed on the wheel train and servo motor component connecting plate (1-7). The connecting parts (1-8) between the gear train and the servo mechanism have circular holes machined in them, and bearings are embedded in the circular holes. Multiple connecting and fixing lugs are machined on the outer wall of the circular holes. The outer winding wheel (2-1) and the inner winding wheel (2-2) are sequentially mounted on the central shaft connecting assembly (3), and the friction inner wheel (2-3) and the friction outer wheel (2-4) are mounted on the central shaft connecting assembly (3). The outer wheel winding wheel (2-1) is fixedly connected to one end of the intermediate connecting shaft (3-3). The inner wheel winding wheel (2-2) is rotatably connected and mounted on the intermediate connecting shaft (3-3). The stop plate (3-2) of the connecting part between the servo component and the wheel system is installed on the intermediate connecting shaft (3-3). The inner wheel stop pad (3-1) is close to the inner wheel winding wheel (2-2) and installed on the intermediate connecting shaft (3-3). The friction outer wheel (2-4) is connected and fixed to the other end of the intermediate connecting shaft (3-3) through the outer wheel stop (3-4). The outer wheel stop (3-4) is installed on the stop connecting plate (1-4).

2. The braking and phasing mechanism based on track travel according to claim 1, characterized in that: It also includes a first flange bearing (4-1), a second flange bearing (4-2), a third flange bearing (4-3), multiple inner winding wheel connecting bolts (4-5), and multiple connecting bolts (4-6) between the servo components and the gear train; the inner winding wheel (2-2) is rotatably connected to the intermediate connecting shaft (3-3) via the first flange bearing (4-1), the gear train and servo component connector (1-8) is rotatably connected to the intermediate connecting shaft (3-3) via the second flange bearing (4-2), and the gear train and servo component connector (1-8) is fixedly connected to the support connecting plate mounted on the intermediate connecting shaft (3-3) via multiple connecting bolts (4-6) between the servo components and the gear train, and the friction inner wheel (2-3) is rotatably connected to the intermediate connecting shaft (3-3) via the third flange bearing (4-3).

3. The braking and phasing mechanism based on track travel according to claim 1, characterized in that: It also includes multiple outer winding wheel connecting bolts (4-4), multiple inner winding wheel connecting bolts (4-5), and multiple outer wheel connecting bolts (4-7); the outer wheel winding wheel (2-1) is fixedly connected to one end of the intermediate connecting shaft (3-3) through multiple outer winding wheel connecting bolts (4-4), the friction outer wheel (2-4) is fixedly connected to the other end of the intermediate connecting shaft (3-3) through the outer wheel stop (3-4) and multiple outer wheel connecting bolts (4-7), and the inner winding wheel connecting bolts (4-5) fix the inner wheel winding wheel (2-2) and the inner winding wheel stop pad (3-1).

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