Rail-hung robot walking mechanism and rail-hung robot walking method

Abstract

The application relates to the technical field of robots, in particular to a hanging rail type robot walking mechanism and a hanging rail type robot walking method. The hanging rail type robot walking mechanism applied by the hanging rail type robot walking method comprises a driving assembly and a driven assembly, the driving assembly and the driven assembly are connected with a robot main body, the driving assembly comprises a first mounting frame, a driving wheel, a driving piece, a first load bearing wheel, a first guide wheel and a abutting structure which are arranged on the first mounting frame, the driving wheel is located below a guide rail, the driving piece drives the driving wheel to rotate, the abutting structure comprises an elastic piece and first, second and third connecting rods which are sequentially hinged, the free ends of the first and third connecting rods are hinged with the first mounting frame, the driving wheel is connected with the third connecting rod, an extension part is arranged on the third connecting rod, one end of the elastic piece is connected with the extension part, the other end is connected with the hinge joint of the first and second connecting rods, and the elastic piece can drive the third connecting rod to rotate so that the driving wheel is abutted with the guide rail.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a rail-mounted robot walking mechanism and a rail-mounted robot walking method. Background Technology

[0002] In the coal mining industry, inspection robots are primarily used in conveyor belt tunnels. Conveyor belts transport coal mined from the bottom of the mine to the surface; damage to the conveyor belt can lead to serious safety accidents, making its inspection crucial. Previously, manual inspection required long climbs uphill, resulting in high labor intensity and inherent risks for workers. With technological advancements, conveyor belt inspections are increasingly being replaced by robots, significantly improving work efficiency, reducing worker fatigue, and enhancing safety. Because the conveyor belt's position and route are fixed, track-mounted robots are commonly used for inspection. These robots use suspended tracks, freeing up ground space. The tracks can meander and change with the tunnel's contours, offering flexibility. This also places higher demands on the inspection robot's walking mechanism.

[0003] Because the track extends from the bottom of the shaft to the surface along the belt conveyor tunnel, it includes both horizontal and vertical turns. The robot's walking mechanism must be able to adapt to these track changes, enabling it to climb long distances, make horizontal turns, and turn vertically. In existing technology, taking CN217967001U as an example, it includes a drive motor, two drive wheels arranged in pairs on either side of the guide rail, and compression springs. The compression springs press the drive wheels against the guide rail, allowing them to move along the rail. While this structure meets the basic walking requirements, it requires at least two motors to drive two drive wheels, resulting in a complex structure, large installation space, and high power consumption. Furthermore, using compression springs to directly press the drive wheels against the guide rail means that the compression springs must be pre-set to the maximum compression required for the drive wheels to traverse all curves on the guide rail. This means that even on straight tracks, the spring pressure is still far less than the actual required pressure, resulting in energy waste, further increasing power consumption, and potentially damaging the drive wheels.

[0004] Therefore, there is an urgent need to invent a rail-mounted robot walking mechanism and a rail-mounted robot walking method to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a rail-mounted robot walking mechanism and a rail-mounted robot walking method, so as to apply nonlinear resistance force to the drive wheel. When the drive wheel travels through a curve on the guide rail that is bent in the vertical direction, the drive wheel is subjected to a large resistance force and is pressed against the guide rail. When the drive wheel travels through a straight section on the guide rail, the drive wheel is subjected to a small resistance force and is pressed against the guide rail. The structure is simple and the space utilization rate is high.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] A rail-mounted robot walking mechanism includes a drive component and a driven component, both of which are connected to the robot body;

[0008] The drive assembly includes a first mounting frame and a drive wheel, a drive component, a first load-bearing wheel, a first guide wheel, and a clamping structure mounted on the first mounting frame;

[0009] The drive wheel is located below the guide rail, and the drive component drives the drive wheel to rotate;

[0010] The clamping structure includes a first link, a second link, a third link, and an elastic element. The first link, the second link, and the third link are hinged sequentially. The free ends of the first link and the third link are both hinged to the first mounting bracket. The drive wheel is connected to the third link. The third link has an extension portion. One end of the elastic element is connected to the extension portion, and the other end is connected to the hinge point between the first link and the second link. The elastic element can drive the third link to rotate so that the drive wheel clamps against the guide rail.

[0011] As a preferred embodiment, the drive wheel is provided with a first connecting rod, a second connecting rod, and a third connecting rod that are hinged to each other at both ends. The elastic element can synchronously drive the two third connecting rods to rotate and make both ends of the drive wheel abut against the guide rail.

[0012] As a preferred embodiment, the clamping structure further includes:

[0013] A first rotating shaft extends in the left-right direction and is used to rotatably connect the extension portion of the two third connecting rods located at the left and right ends of the drive wheel. One end of the elastic member is connected to the first rotating shaft.

[0014] The second rotating shaft extends in the left-right direction and is used to rotatably connect the hinge points between the two first connecting rods and the second connecting rod located at the left and right ends of the drive wheel. The other end of the elastic element is connected to the second rotating shaft, and the elastic element can drive the second rotating shaft to move in a direction closer to the first rotating shaft.

[0015] As a preferred embodiment, the clamping structure is provided with a plurality of elastic elements, which are spaced apart in the left-right direction. One end of each elastic element is connected to the first rotating shaft, and the other end of each elastic element is connected to the second rotating shaft.

[0016] As a preferred embodiment, the clamping structure further includes:

[0017] A third pivot, extending in a left-right direction, is used to rotatably connect the hinge points of the two third links located at the left and right ends of the drive wheel and the first mounting bracket; and

[0018] A fourth pivot, which extends in the left-right direction, is used to rotatably connect the hinge points of the two first connecting rods and the first mounting bracket located at the left and right ends of the drive wheel.

[0019] As a preferred embodiment, the first guide wheel includes:

[0020] The first guide wheel body is capable of abutting against the side wall of the guide rail;

[0021] The system comprises a first guide wheel shaft, a first buffer member, a first guide wheel fixing pin, and a first mounting base. The first mounting base is fixed on the first mounting frame. The first guide wheel shaft has a through hole, through which the first guide wheel fixing pin passes. The first buffer member is sleeved in the first guide wheel fixing pin. One end of the first buffer member abuts against the first mounting base, and the other end of the first buffer member abuts against the first guide wheel shaft. The first buffer member provides cushioning for the left and right movement of the first guide wheel body.

[0022] As a preferred embodiment, the drive assembly further includes a first docking platform, which is disposed below the first mounting frame and is capable of horizontal rotation relative to the first mounting frame. The first docking platform is capable of docking and mounting with the robot body.

[0023] As a preferred embodiment, the driven component includes:

[0024] An auxiliary wheel is located below the guide rail and can move along the guide rail under the drive of the drive wheel;

[0025] A second load-bearing wheel, a second guide wheel, and a second mounting bracket; the auxiliary wheel, the second load-bearing wheel, and the second guide wheel are all mounted on the second mounting bracket; and

[0026] The second docking platform is located below the second mounting frame and can rotate horizontally relative to the second mounting frame. The second docking platform can dock with and be installed with the robot body.

[0027] As a preferred embodiment, the auxiliary wheel includes:

[0028] The auxiliary wheel body is capable of moving along the guide rail under the drive of the drive wheel;

[0029] The system includes an auxiliary wheel axle, a second buffer component, an auxiliary wheel fixing pin, and a second mounting base. The second mounting base is fixed to the auxiliary wheel axle. The auxiliary wheel axle has a through hole through which the auxiliary wheel fixing pin passes. The second buffer component is sleeved in the auxiliary wheel fixing pin. One end of the second buffer component abuts against the second mounting base, and the other end of the second buffer component abuts against the auxiliary wheel axle. The second buffer component provides cushioning for the up-and-down movement of the auxiliary wheel body.

[0030] The rail-mounted robot walking method, which applies the rail-mounted robot walking mechanism as described above, includes the following situations:

[0031] When the guide rail is straight, the elastic element is in a preset tension state, and the elastic element presses the drive wheel against the guide rail with a preset resistance force;

[0032] When the guide rail is a curve that bends in the horizontal direction, the elastic element is in a preset tension state, and the elastic element presses the drive wheel against the guide rail with a preset resistance force.

[0033] When the guide rail is a curve bent in the vertical direction, the elastic element can drive the drive wheel to move towards the guide rail and abut against the guide rail by using its own elastic force and the hinge transmission between the first link, the second link, the third link and the first mounting bracket.

[0034] The beneficial effects of this invention are:

[0035] The rail-mounted robot walking mechanism provided by this invention, by setting a drive component and a driven component respectively connected to the robot body, allows the driven component to move along the guide rail, thereby driving the robot body along the guide rail. The drive component assembles the drive wheel, drive element, first load-bearing wheel, first guide wheel, and clamping structure through a first mounting bracket. The first, second, and third links within the clamping structure are hinged together, and the free ends of the first and third links are respectively hinged to the first mounting bracket. One end of an elastic element is connected to the inner and outer extensions of the third link, and the other end of the elastic element is connected to the first and second links. The components are connected at the hinge point. The elastic element drives the third link and the drive wheel mounted on the third link to move towards the guide rail and abut against the guide rail. The linear force of the elastic element itself is converted into a nonlinear resisting force applied to the drive wheel. When the drive wheel travels through a curve on the guide rail that is bent vertically, the drive wheel is subjected to a large resisting force and abuts against the guide rail. When the drive wheel travels through a straight section on the guide rail, the drive wheel is subjected to a small resisting force and abuts against the guide rail. This effectively reduces its movement power consumption. Furthermore, since the driven component moves with the drive component, there is no need to install auxiliary components such as dispensing in the driven component, which simplifies the structure and improves its space utilization.

[0036] This invention also provides a method for a rail-mounted robot to move. By applying the above-mentioned rail-mounted robot walking mechanism, the linear force of the elastic element itself is converted into a nonlinear resisting force applied to the drive wheel. When the drive wheel travels through a curve on the guide rail that bends vertically, the drive wheel is subjected to a large resisting force and presses against the guide rail. When the drive wheel can travel through a straight section on the guide rail, the drive wheel is subjected to a small resisting force and presses against the guide rail, effectively reducing its movement power consumption. Furthermore, since the driven component moves with the drive component, there is no need to install auxiliary components such as motors in the driven component, simplifying its structure and improving its space utilization. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the movement of the rail-mounted robot walking mechanism provided in Embodiment 1 of the present invention on a straight track;

[0038] Figure 2 This is a schematic diagram of the movement of the rail-mounted robot walking mechanism provided in Embodiment 1 of the present invention on a horizontal curved track;

[0039] Figure 3 This is a schematic diagram of the movement of the rail-mounted robot walking mechanism provided in Embodiment 1 of the present invention on a vertical curved track;

[0040] Figure 4 This is a schematic diagram of the structure of the rail-mounted robot provided in Embodiment 1 of the present invention;

[0041] Figure 5This is a schematic diagram of the structure of the driving component provided in Embodiment 1 of the present invention;

[0042] Figure 6 This is a partial structural schematic diagram of the driving component provided in Embodiment 1 of the present invention;

[0043] Figure 7 This is a simplified structural diagram of the clamping structure, drive wheel, and guide rail provided in Embodiment 1 of the present invention;

[0044] Figure 8 This is a simplified structural diagram of the driving component, driven component, and guide rail provided in Embodiment 1 of the present invention;

[0045] Figure 9 This is a schematic diagram of the structure of the first load-bearing wheel provided in Embodiment 1 of the present invention;

[0046] Figure 10 This is a schematic diagram of the driven component provided in Embodiment 1 of the present invention;

[0047] Figure 11 This is a schematic diagram of the auxiliary wheel provided in Embodiment 1 of the present invention.

[0048] In the picture:

[0049] 1000. Rail-mounted robot walking mechanism;

[0050] 100. Drive assembly; 110. Clamping structure; 111. First connecting rod; 112. Second connecting rod; 113. Third connecting rod; 1131. Extension portion; 114. Elastic element; 115. First rotating shaft; 116. Second rotating shaft; 117. Third rotating shaft; 118. Fourth rotating shaft; 120. Drive wheel; 130. Drive component; 140. First load-bearing wheel; 150. First guide wheel; 151. First guide wheel body; 152. First guide wheel shaft; 153. First buffer element; 154. First guide wheel fixing pin; 155. First mounting base; 160. Encoder; 170. First mounting bracket; 171. First mounting plate; 172. First mounting post; 173. First mounting beam; 180. First docking platform;

[0051] 200. Driven component; 210. Auxiliary wheel; 211. Auxiliary wheel body; 212. Auxiliary wheel axle; 213. Second buffer component; 214. Auxiliary wheel fixing pin; 215. Second mounting base; 220. Second load-bearing wheel; 230. Second guide wheel; 240. Second mounting bracket; 250. Second docking platform;

[0052] 2000, guide rail;

[0053] 3000, Robot body. Detailed Implementation

[0054] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0055] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0056] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0057] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0058] With the development of technology, conveyor belt inspection is gradually being replaced by robots, greatly improving work efficiency, reducing the labor intensity of workers, and increasing safety. Since the conveyor belt's position is fixed and the conveying route remains unchanged, conveyor belt inspection often employs rail-mounted robots. These robots use suspended tracks, freeing up ground space. The tracks can meander and twist as the aisle changes, offering flexibility. This also places higher demands on the inspection robot's walking mechanism.

[0059] Example 1

[0060] Because the track extends from the bottom of the shaft to the surface along the belt conveyor tunnel, it includes both horizontal and vertical turns. The robot's walking mechanism must be able to adapt to these track changes, enabling it to climb long distances, make horizontal turns, and turn vertically. In existing technology, taking CN217967001U as an example, it includes a drive motor, two drive wheels arranged in pairs on either side of the guide rail, and compression springs. The drive wheels are pressed against the guide rail by the compression springs, allowing them to move along the rail. While this structure meets the basic walking requirements of the mechanism, it requires at least two motors to drive two drive wheels. This not only results in a complex structure, occupying a large installation space, and high power consumption, but also requires the compression springs to directly press the drive wheels against the guide rail. To allow the drive wheels to traverse all curves on the guide rail, the compression springs must be pre-set to the maximum compression required for the drive wheels to pass through the guide rail. This means that even on straight tracks, the spring pressure is still far less than the actual required pressure, resulting in wasted energy, further increasing power consumption, and potentially damaging the drive wheels.

[0061] To solve the above problems, such as Figures 1 to 8 As shown, this embodiment provides a rail-mounted robot walking mechanism 1000. The rail-mounted robot walking mechanism 1000 includes a drive assembly 100 and a driven assembly 200, both of which are connected to the robot body 3000. The drive assembly 100 includes a first mounting bracket 170 and a drive wheel 120, a drive member 130, a first load-bearing wheel 140, a first guide wheel 150, and a clamping structure 110 mounted on the first mounting bracket 170. The drive wheel 120 is located below the guide rail 2000, and the drive member 130 drives the drive wheel 120 to rotate. The clamping structure 110 includes a first connecting rod 111, a second connecting rod 112, and a third connecting rod 113. The first connecting rod 111, the second connecting rod 112, and the third connecting rod 113 are sequentially hinged together. The free ends of the first connecting rod 111 and the third connecting rod 113 are both hinged to the first mounting bracket 170. The drive wheel 120 is connected to the third connecting rod 113. The third connecting rod 113 is provided with an extension 1131. One end of the elastic member 114 is connected to the extension 1131, and the other end is connected to the hinge point between the first connecting rod 111 and the second connecting rod 112. The elastic member 114 can drive the third connecting rod 113 to rotate so that the drive wheel 120 abuts against the guide rail 2000.

[0062] The rail-mounted robot walking mechanism 1000 is equipped with a drive assembly 100 and a driven assembly 200 respectively connected to the robot body 3000. The drive assembly 100 drives the driven assembly 200 to move along the guide rail 2000, thereby driving the robot body 3000 along the guide rail 2000. The drive assembly 100 assembles the drive wheel 120, drive component 130, first load-bearing wheel 140, first guide wheel 150, and abutment structure 110 through the first mounting bracket 170. The first link 111, second link 112, and third link 113 in the abutment structure 110 are hinged to each other, and the free ends of the first link 111 and the third link 113 are respectively hinged to the first mounting bracket 170. One end of the elastic member 114 is connected to the inner and outer extensions 1131 of the third link 113, and the other end of the elastic member 114 is connected to... The first link 111 and the second link 112 are connected at the hinge point. The elastic element 114 drives the third link 113 and the drive wheel 120 mounted on the third link 113 to move towards the guide rail 2000 and abut against the guide rail 2000. The linear force of the elastic element 114 itself is converted into a nonlinear resisting force applied to the drive wheel 120. When the drive wheel 120 travels through the curve on the guide rail 2000, the drive wheel 120 is subjected to a large resisting force and abuts against the guide rail 2000. When the drive wheel 120 travels through the straight section on the guide rail 2000, the drive wheel 120 is subjected to a small resisting force and abuts against the guide rail 2000. This effectively reduces its movement power consumption. Furthermore, since the driven component 200 moves with the drive component 100, there is no need to install auxiliary components such as motors in the driven component 200, which simplifies its structure and improves its space utilization.

[0063] It should be noted that in this embodiment, the drive component 130 is a rotary electric motor, and the drive wheel 120 is connected to the rotating shaft of the rotary electric motor. The rotary electric motor has a simple structure, is highly responsive, and has stable output power. In other embodiments, the drive component 130 may also be a rotary cylinder or other rotary drive structure; this embodiment does not impose specific limitations.

[0064] Furthermore, in this embodiment, the driven component 200 moves following the drive component 100, eliminating the need for auxiliary components such as motors, thus effectively simplifying its structure. In other embodiments, if the drive power of the drive component 100 cannot meet the actual requirements, the driven component 200 in the rail-mounted robot walking mechanism 1000 can be replaced with the drive component 100, with the two drive components 100 jointly driving the robot body 3000 to move along the guide rail 2000. This embodiment does not impose specific limitations on this.

[0065] Preferably, in order to ensure the driving consistency and driving safety of the drive assembly 100, the drive assembly 100 further includes an encoder 160, which is mounted on the first mounting bracket 170 and uses the encoder 160 to record the driving distance of the drive wheel 120 to ensure the driving consistency and driving safety of the drive assembly 100.

[0066] Furthermore, the left and right ends of the drive wheel 120 are each provided with a hinged first link 111, a second link 112, and a third link 113. The elastic element 114 can synchronously drive the two third links 113 to rotate, and make both ends of the drive wheel 120 abut against the guide rail 2000. By providing the hinged first link 111, second link 112, and third link 113 at both ends of the drive wheel 120, and having the elastic element 114 synchronously drive the third links 113 at both ends of the drive wheel 120 to rotate, the abutment effect between the drive wheel 120 and the guide rail 2000 can be improved, thereby improving the walking effect of the rail-mounted robot walking mechanism 1000 along the guide rail 2000.

[0067] Specifically, the clamping structure 110 also includes a first rotating shaft 115 and a second rotating shaft 116. The first rotating shaft 115 extends in the left-right direction and is used to rotatably connect the extensions 1131 on the two third connecting rods 113 located at the left and right ends of the drive wheel 120. One end of the elastic member 114 is connected to the first rotating shaft 115. The second rotating shaft 116 extends in the left-right direction and is used to rotatably connect the hinge points between the two first connecting rods 111 and the second connecting rod 112 located at the left and right ends of the drive wheel 120. The other end of the elastic member 114 is connected to the second rotating shaft 116, and the elastic member 114 can drive the second rotating shaft 116 to move toward the first rotating shaft 115. By setting a first rotating shaft 115 to connect the extensions 1131 of the two third connecting rods 113 located at the left and right ends of the drive wheel 120, and by setting a second rotating shaft 116 to connect the hinge points between the two first connecting rods 111 and the second connecting rod 112 located at the left and right ends of the drive wheel 120, the two ends of the elastic element 114 are connected to the first rotating shaft 115 and the second rotating shaft 116 respectively, so that the elastic element 114 synchronously drives the two third connecting rods 113 to rotate, and thus synchronously drives the drive wheel 120 to abut against the guide rail 2000 from the left and right ends. The structure is simple and the design is ingenious.

[0068] To further improve the clamping effect between the drive wheel 120 and the guide rail 2000, a plurality of elastic elements 114 are provided within the clamping structure 110. These elastic elements 114 are spaced apart in the left-right direction. One end of each elastic element 114 is connected to the first rotating shaft 115, and the other end is connected to the second rotating shaft 116. By arranging multiple elastic elements 114 in the left-right direction, with one end connected to the first rotating shaft 115 and the other end connected to the second rotating shaft 116, the elastic force of the elastic elements 114 is increased, thereby increasing the clamping force applied to the drive wheel 120, thus improving the clamping effect between the drive wheel 120 and the guide rail 2000. It should be noted that in this embodiment, the clamping structure 110 contains two elastic elements 114 spaced apart in the left-right direction. In other embodiments, the number of elastic elements 114 can be adjusted according to actual needs. It is only necessary to ensure that one end of each elastic element 114 is connected to the first rotating shaft 115 and the other end of each elastic element 114 is connected to the second rotating shaft 116. This embodiment does not make specific limitations.

[0069] Furthermore, in this embodiment, the elastic element 114 is a spring, which has a simple structure, high elasticity, and is easy to assemble and disassemble. In other embodiments, the elastic element 114 may also be other elastic structures, and this embodiment does not impose specific limitations.

[0070] Preferably, the clamping structure 110 further includes a third rotating shaft 117 and a fourth rotating shaft 118. The third rotating shaft 117 extends in the left-right direction and is used to rotatably connect the hinge points of the two third connecting rods 113 located at the left and right ends of the drive wheel 120 and the first mounting bracket 170. The fourth rotating shaft 118 extends in the left-right direction and is used to rotatably connect the hinge points of the two first connecting rods 111 located at the left and right ends of the drive wheel 120 and the first mounting bracket 170. By setting the third rotating shaft 117 to connect the hinge points of the two third connecting rods 113 located at the left and right ends of the drive wheel 120 and the first mounting bracket 170, and by setting the fourth rotating shaft 118 to connect the hinge points of the two first connecting rods 111 located at the left and right ends of the drive wheel 120 and the first mounting bracket 170, the first connecting rods 111, the second connecting rod 112, and the third connecting rod 113 located at the left and right ends of the drive wheel 120 can be connected and fixed, thereby improving the structural stability of the clamping structure 110.

[0071] It should be noted that in this embodiment, the abutting structure 110 is only provided behind the drive wheel 120. In other embodiments, the abutting structure 110 can also be provided in front of the drive wheel 120, so that the abutting structures 110 located in front of and behind the drive wheel 120 can jointly drive the drive wheel 120 to abut against the guide rail 2000, thereby further improving the friction between the drive wheel 120 and the guide rail 2000.

[0072] Preferably, the first load-bearing wheel 140 overlaps the upper surface of the guide rail 2000. The first load-bearing wheel 140 is used to support the weight of the rail-mounted robot walking mechanism 1000 and the robot body 3000. The first mounting bracket 170 has first load-bearing wheels 140 at both ends, and the two first load-bearing wheels 140 are paired and overlap the upper surface of the guide rail 2000 to achieve the rail-mounted robot walking mechanism 1000 relative to the guide rail 2000. The first guide wheel 150 is disposed on the side of the guide rail 2000, and the first mounting bracket 170 has first guide wheels 150 on both the left and right sides. The two first guide wheels 150 are paired and clamped at the left and right ends of the guide rail 2000. When the drive wheel 120 moves relative to the guide rail 2000 from below, the first guide wheels 150 located on the left and right sides of the guide rail 2000 can provide guidance for the movement of the drive wheel 120 relative to the guide rail 2000.

[0073] To further improve the guiding effect of the first guide wheel 150 on the drive wheel 120, the first mounting bracket 170 is equipped with multiple sets of guide wheels 150 arranged in pairs along the front-rear direction. These multiple sets of paired first guide wheels 150 simultaneously guide the drive wheel 120. In this embodiment, two sets of paired first guide wheels 150 are mounted on the first mounting bracket 170 along the front-rear direction to simplify the structure to the greatest extent while ensuring the driving effect on the drive wheel 120. In other embodiments, multiple sets of paired first guide wheels can also be mounted on the first mounting bracket 170 along the front-rear direction according to actual needs; this embodiment does not impose specific limitations.

[0074] Specifically, such as Figure 9 As shown, the first guide wheel 150 includes a first guide wheel body 151, a first guide wheel shaft 152, a first buffer member 153, a first guide wheel fixing pin 154, and a first mounting base 155. The first guide wheel body 151 can abut against the side wall of the guide rail 2000. The first mounting base 155 is fixed on the first mounting bracket 170. The first guide wheel shaft 152 has a through hole, and the first guide wheel fixing pin 154 passes through the through hole. The first buffer member 153 is sleeved in the first guide wheel fixing pin 154. One end of the first buffer member 153 abuts against the first mounting base 155, and the other end of the first buffer member 153 abuts against the first guide wheel shaft 152. The first buffer member 153 can provide cushioning for the left and right movement of the first guide wheel body 151.

[0075] When the guide rail 2000 bends along the horizontal plane, the first buffer 153 inside the first guide wheel 150 located at one end of the guide rail 2000 is compressed, providing clearance space for the bend in the guide rail 2000. The first buffer 153 inside the first guide wheel 150 located at the other end of the guide rail 2000 is no longer compressed. Under the action of its own elasticity, the first buffer 153 moves towards the guide rail 2000, thereby re-clamping the first guide wheel body 151 against the side wall of the corresponding guide rail 2000, ensuring the clamping and guiding effect of the first guide wheel 150 on the guide rail 2000. It should be noted that in this embodiment, the first buffer 153 is a spring. The spring is sleeved on the outer periphery of the first guide wheel fixing pin 154. One end of the spring abuts against the first mounting base 155, and the other end of the spring abuts against the first guide wheel shaft 152. The compression of the spring achieves the effect of the first guide wheel body 151 moving left and right.

[0076] Furthermore, the drive assembly 100 also includes a first docking platform 180, which is disposed below the first mounting bracket 170 and is capable of horizontal rotation relative to the first mounting bracket 170. The first docking platform 180 can be docked and installed with the robot body 3000. By setting the first docking platform 180 below the first mounting bracket 170 and docking and installing the first docking platform 180 with the robot body 3000, it is ensured that the first docking platform 180 can rotate horizontally relative to the first mounting bracket 170, thus achieving reliable fixation of the drive assembly 100 and the robot body 3000.

[0077] It should be noted that, in this embodiment, the first mounting frame 170 includes a first mounting plate 171, a first mounting column 172, and a first mounting beam 173. The first docking platform 180 is provided with four first mounting columns 172, which are divided into two groups located at the left and right ends of the drive wheel 120. Each group of first mounting columns 172 is connected and fixed with a first mounting beam 173. The first docking platform 180 is rotatably connected to the lower end face of the first mounting plate 171. The free ends of the first connecting rod 111 and the third connecting rod 113 are hinged to the first mounting columns 172. The first guide wheel 150 is mounted on the first mounting beam 173.

[0078] Combination Figure 10The specific structure of the driven component 200 is described below. The driven component 200 includes an auxiliary wheel 210, a second load-bearing wheel 220, a second guide wheel 230, a second mounting frame 240, and a second docking platform 250. The auxiliary wheel 210 is located below the guide rail 2000 and can move along the guide rail 2000 under the drive of the drive wheel 120. The auxiliary wheel 210, the second load-bearing wheel 220, and the second guide wheel 230 are all mounted on the second mounting frame 240. The second docking platform 250 is located below the second mounting frame 240 and can rotate horizontally relative to the second mounting frame 240. The second docking platform 250 can dock and install with the robot body 3000. The auxiliary wheel 210, the second load-bearing wheel 220, the second guide wheel 230 and the second docking platform 250 are assembled by setting the second mounting bracket 240. Since the driven component 200 moves with the drive wheel 120, the auxiliary wheel 210 located below the guide rail 2000 does not need to be driven by a rotary motor, but it is still necessary to ensure that the auxiliary wheel 210 and the guide rail 2000 are in close contact.

[0079] Specifically, such as Figure 11 As shown, the auxiliary wheel 210 includes an auxiliary wheel body 211, an auxiliary wheel shaft 212, a second buffer member 213, an auxiliary wheel fixing pin 214, and a second mounting base 215. The auxiliary wheel body 211 can move along the guide rail 2000 under the drive of the drive wheel 120. The second mounting base 215 is fixed on the auxiliary wheel shaft 212. A through hole is opened on the auxiliary wheel shaft 212, and the auxiliary wheel fixing pin 214 passes through the through hole. The second buffer member 213 is sleeved in the auxiliary wheel fixing pin 214. One end of the second buffer member 213 abuts against the second mounting base 215, and the other end of the second buffer member 213 abuts against the auxiliary wheel shaft 212. The second buffer member 213 can provide cushioning for the up and down movement of the auxiliary wheel body 211.

[0080] When the guide rail 2000 bends downward in the vertical plane, the second buffer 213 in the auxiliary wheel 210 located at the lower end of the guide rail 2000 is compressed, providing clearance space for the bend of the guide rail 2000. When the guide rail 2000 bends upward in the vertical plane, the second buffer 213 in the auxiliary wheel 210 located at the lower side of the guide rail 2000 is no longer compressed. Under the action of its own elastic force, the second buffer 213 moves towards the guide rail 2000, thereby re-pressing the auxiliary wheel body 211 against the corresponding guide rail 2000, ensuring that the auxiliary wheel body 211 is always in contact with the guide rail 2000. It should be noted that in this embodiment, the second buffer 213 is a spring. The spring is sleeved on the outer periphery of the auxiliary wheel fixing pin 214. One end of the spring abuts against the second mounting base 215, and the other end of the spring abuts against the auxiliary wheel shaft 212. The auxiliary wheel body 211 moves up and down by compressing the spring.

[0081] It should be noted that the specific structure of the second load-bearing wheel 220 is the same as that of the first load-bearing wheel 140, the specific structure of the second guide wheel 230 is the same as that of the first guide wheel 150, and the specific structure of the second mounting bracket 240 is the same as that of the first mounting bracket 170. For the sake of brevity, the specific structures of the second load-bearing wheel 220, the second guide wheel 230, and the second mounting bracket 240 will not be described here.

[0082] Example 2

[0083] This embodiment provides a method for a rail-mounted robot to move, such as Figure 1 , Figure 2 and Figure 3 As shown, by applying the above-mentioned rail-mounted robot walking mechanism 1000, the following situations are included:

[0084] When the guide rail 2000 is straight, the elastic element 114 is in a preset tension state, and the elastic element 114 presses the drive wheel 120 against the guide rail 2000 with a preset resistance force.

[0085] When the guide rail 2000 is a curve that bends in the horizontal direction, the elastic element 114 is in a preset tension state, and the elastic element 114 presses the drive wheel 120 against the guide rail 2000 with a preset resistance force.

[0086] When the guide rail 2000 is a curve bent in the vertical direction, the elastic element 114 can drive the drive wheel 120 to move toward the guide rail 2000 and abut against the guide rail 2000 by using its own elastic force and the hinge transmission between the first link 111, the second link 112, the third link 113 and the first mounting bracket 170.

[0087] The rail-mounted robot walking method provided in this embodiment, by applying the above-mentioned rail-mounted robot walking mechanism 1000, converts the linear force of the elastic element 114 itself into a nonlinear resisting force applied to the drive wheel 120. When the drive wheel 120 travels through a vertically curved section on the guide rail 2000, the drive wheel 120 is subjected to a large resisting force and abuts against the guide rail 2000. When the drive wheel 120 can travel through a straight section on the guide rail 2000, the drive wheel 120 is subjected to a small resisting force and abuts against the guide rail 2000, effectively reducing its movement power consumption. Furthermore, since the driven component 200 moves with the drive component 100, there is no need to install auxiliary components such as motors in the driven component 200, simplifying its structure and improving its space utilization.

[0088] It should be noted that when the guide rail 2000 is a curve that bends in the horizontal direction, the first buffer 153 in one of the first guide wheels 150 located on the left and right sides of the guide rail 2000 is compressed, providing clearance space for the bend of the guide rail 2000. The first buffer 153 in the other first guide wheel 150 is no longer compressed. Under the action of its own elasticity, the first buffer 153 moves towards the guide rail 2000, thereby re-pressing the first guide wheel body 151 against the side wall of the corresponding guide rail 2000, ensuring the clamping and guiding effect of the first guide wheel 150 on the guide rail 2000.

[0089] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A rail-mounted robot walking mechanism, characterized in that, It includes a drive component (100) and a driven component (200), both of which are connected to the robot body (3000); The drive assembly (100) includes a first mounting bracket (170) and a drive wheel (120), a drive member (130), a first load-bearing wheel (140), a first guide wheel (150) and a clamping structure (110) mounted on the first mounting bracket (170). The drive wheel (120) is located below the guide rail (2000), and the drive member (130) is used to drive the drive wheel (120) to rotate; The clamping structure (110) includes a first connecting rod (111), a second connecting rod (112), a third connecting rod (113), and an elastic element (114). The first connecting rod (111), the second connecting rod (112), and the third connecting rod (113) are hinged in sequence. The free ends of the first connecting rod (111) and the third connecting rod (113) are both hinged to the first mounting bracket (170). The drive wheel (120) is connected to the third connecting rod (113). An extension (1131) is provided on the third connecting rod (113). One end of the elastic element (114) is connected to the extension (1131), and the other end is connected to the hinge point between the first connecting rod (111) and the second connecting rod (112). The elastic element (114) can drive the third connecting rod (113) to rotate so that the drive wheel (120) abuts against the guide rail (2000). The clamping structure (110) further includes a first rotating shaft (115) and a second rotating shaft (116). The first rotating shaft (115) extends in the left-right direction and is used to rotatably connect the extension (1131) on the two third connecting rods (113) located at the left and right ends of the drive wheel (120). One end of the elastic member (114) is connected to the first rotating shaft (115). The second rotating shaft (116) extends in the left-right direction and is used to rotatably connect the hinge points between the two first connecting rods (111) and the second connecting rods (112) located at the left and right ends of the drive wheel (120). The other end of the elastic member (114) is connected to the second rotating shaft (116). The elastic member (114) can drive the second rotating shaft (116) to move toward the first rotating shaft (115). The first guide wheel (150) includes a first guide wheel body (151), a first guide wheel shaft (152), a first buffer (153), a first guide wheel fixing pin (154), and a first mounting base (155). The first guide wheel body (151) can abut against the side wall of the guide rail (2000). The first mounting base (155) is fixed on the first mounting bracket (170). A through hole is opened on the first guide wheel shaft (152). The first guide wheel fixing pin (154) passes through the through hole. The first buffer (153) is sleeved in the first guide wheel fixing pin (154). One end of the first buffer (153) abuts against the first mounting base (155), and the other end of the first buffer (153) abuts against the first guide wheel shaft (152). The first buffer (153) can provide buffering for the left and right movement of the first guide wheel body (151). The driven component (200) includes an auxiliary wheel (210), a second load-bearing wheel (220), a second guide wheel (230), a second mounting frame (240), and a second docking platform (250). The auxiliary wheel (210) is located below the guide rail (2000) and can move along the guide rail (2000) under the drive of the drive wheel (120). The auxiliary wheel (210), the second load-bearing wheel (220), and the second guide wheel (230) are all mounted on the second mounting frame (240). The second docking platform (250) is located below the second mounting frame (240) and can rotate horizontally relative to the second mounting frame (240). The second docking platform (250) can dock with the robot body (3000).

2. The rail-mounted robot walking mechanism according to claim 1, characterized in that, The drive wheel (120) is provided with a first connecting rod (111), a second connecting rod (112) and a third connecting rod (113) that are hinged to each other at both ends. The elastic element (114) can synchronously drive the two third connecting rods (113) to rotate and make both ends of the drive wheel (120) abut against the guide rail (2000).

3. The rail-mounted robot walking mechanism according to claim 1, characterized in that, The clamping structure (110) is provided with a plurality of elastic elements (114), which are spaced apart in the left and right direction. One end of each elastic element (114) is connected to the first rotating shaft (115), and the other end of each elastic element (114) is connected to the second rotating shaft (116).

4. The rail-mounted robot walking mechanism according to claim 1, characterized in that, The clamping structure (110) also includes: A third pivot (117) extends in the left-right direction and is used to rotatably connect the hinge points of the two third connecting rods (113) located at the left and right ends of the drive wheel (120) and the first mounting bracket (170); and The fourth pivot (118) extends in the left-right direction and is used to rotatably connect the hinge points of the two first connecting rods (111) and the first mounting bracket (170) located at the left and right ends of the drive wheel (120).

5. The rail-mounted robot walking mechanism according to claim 1, characterized in that, The drive assembly (100) further includes a first docking platform (180), which is disposed below the first mounting frame (170) and is capable of horizontal rotation relative to the first mounting frame (170). The first docking platform (180) is capable of docking and mounting with the robot body (3000).

6. The rail-mounted robot walking mechanism according to claim 1, characterized in that, The auxiliary wheel (210) includes: The auxiliary wheel body (211) is capable of moving along the guide rail (2000) under the drive of the drive wheel (120); The auxiliary wheel axle (212), the second buffer (213), the auxiliary wheel fixing pin (214), and the second mounting base (215) are provided. The auxiliary wheel axle (212) has a through hole, and the auxiliary wheel fixing pin (214) passes through the through hole. The second buffer (213) is sleeved in the auxiliary wheel fixing pin (214). One end of the second buffer (213) abuts against the second mounting base (215), and the other end of the second buffer (213) abuts against the auxiliary wheel axle (212). The second buffer (213) can provide cushioning for the up and down movement of the auxiliary wheel body (211).

7. A method for the movement of a rail-mounted robot, characterized in that, The application to the rail-mounted robot walking mechanism according to any one of claims 1 to 2 includes the following cases: When the guide rail (2000) is straight, the elastic element (114) is in a preset tension state, and the elastic element (114) presses the drive wheel (120) against the guide rail (2000) with a preset resistance force; When the guide rail (2000) is a curve that bends in the horizontal direction, the elastic element (114) is in a preset tension state, and the elastic element (114) presses the drive wheel (120) against the guide rail (2000) with a preset resistance force. When the guide rail (2000) is a curve bent in the vertical direction, the elastic element (114) can drive the drive wheel (120) to move toward the guide rail (2000) and abut against the guide rail (2000) together with its own elastic force and the hinge transmission between the first link (111), the second link (112), the third link (113) and the first mounting bracket (170).

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