Crawler carrying mechanical arm and system

Abstract

The invention provides a crawler belt carrying mechanical arm. The crawler belt carrying mechanical arm comprises a mechanical arm body; the crawler grabbing device is arranged at the tail end of the mechanical arm body and comprises a mounting frame connected with the mechanical arm body, a first sliding assembly and a second sliding assembly are slidably arranged on the mounting frame, and a first driving assembly is arranged on the mounting frame and used for driving the first sliding assembly and the second sliding assembly to move relative to the mounting frame. The first driving assembly comprises a differential assembly, the differential assembly comprises a shell, the shell is fixedly arranged on the mounting frame, a planet carrier is rotationally arranged on the shell through a first rotating shaft, a center gear and an inner gear ring are rotationally arranged on the first rotating shaft, a planet gear is rotationally arranged on the planet carrier and meshed with the inner gear ring and the center gear, and the first rotating shaft is connected with a driving device. By means of the differential assembly, when one of the first sliding assembly and the second sliding assembly abuts against the crawler belt, the driving device can independently drive the other sliding assembly to move, in this way, transverse movement of the crawler belt grabbing device can be prevented, and work safety is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of crawler transport devices, and in particular relates to a crawler transport mechanical arm and system. Background Art

[0002] Crawler travel mechanism is widely used in field operation vehicles such as engineering machinery and tractors. Crawler travel device consists of driving wheel, supporting wheel, guide wheel, traction wheel and crawler, tensioning device and buffer spring, and travel mechanism.

[0003] When installing the crawler, it is necessary to use a transfer vehicle to transport the crawler to the installation site, and rely on multiple people to hang the crawler on the drive wheel and guide wheel, which wastes manpower and has high labor intensity. In the assembly of some other products, a mechanical arm is usually used for transportation. In the existing transportation mechanical arm, a gripping mechanism is installed at the end of the mechanical arm, and some annular products are tensioned by two rollers moving in opposite directions to achieve gripping. When gripping, this structure requires the tensioning roller to move from the center of the product to both sides at the same time to achieve tensioning of the product. When tensioning from the eccentric position of the product to both sides, the product will move. However, the crawler mass is large and difficult to move. During the tensioning process, the gripping mechanism will move sideways, which is easy to cause danger to the operator. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a crawler transport robot arm, which aims to solve the problem that when the existing transport device does not grab the crawler at the center of the crawler, the grabbing mechanism moves sideways, which is easy to cause danger.

[0005] The embodiment of the present application is implemented as follows: a crawler transport robot arm comprises: a robot arm body; a crawler grabbing device, which is arranged at the end of the robot arm body, and the crawler grabbing device comprises: a mounting frame, a first sliding assembly, a second sliding assembly and a first driving assembly, the mounting frame is connected to the robot arm body, the first sliding assembly and the second sliding assembly are slidably arranged on the mounting frame, the first driving assembly is arranged on the mounting frame, the first driving assembly is used to drive the first sliding assembly and the second sliding assembly to move relative to the mounting frame, and the first sliding assembly and the second sliding assembly are used to respectively resist The inner walls of both ends of the crawler track; wherein the first drive assembly includes a differential assembly, the differential assembly includes a housing, planetary gears, a central gear, an inner gear ring and a planet carrier, the housing is fixed to the mounting frame, the planet carrier is rotatably arranged on the housing through a first rotating shaft, the central gear and the inner gear ring are rotatably arranged on the first rotating shaft, the planetary gears are rotatably arranged on the planet carrier, the planetary gears are meshed with the inner gear ring and the central gear at the same time, the first rotating shaft is connected to a driving device, the central gear and the inner gear ring serve as output mechanisms to respectively drive the first sliding assembly and the second sliding assembly to move.

[0006] In some embodiments of the present application, the robotic arm body includes a lifting frame, a lifting rod and a swing arm, one end of the lifting frame is used to connect to a crane, the other end of the lifting frame is hinged to the middle section of the lifting rod, one end of the lifting rod is hinged to the swing arm, a lifting cylinder is fixed on the lifting frame, the output end of the lifting cylinder is hinged to the other end of the lifting rod, and the lifting frame is also provided with an air tank connected to the lifting cylinder.

[0007] In some embodiments of the present application, the first sliding assembly includes a first movable frame and a first roller assembly and a second roller assembly disposed on the first movable frame, the first movable frame is slidably disposed on the mounting frame, and the first roller assembly and / or the second roller assembly can move relative to the first movable frame, and the second sliding assembly includes a second movable frame and a third roller assembly and a fourth roller assembly disposed on the second movable frame, the second movable frame is slidably disposed on the mounting frame, and the third roller assembly and / or the fourth roller assembly can move relative to the second movable frame.

[0008] In some embodiments of the present application, the first roller assembly can be raised and lowered on the first movable frame, the fourth roller assembly is fixedly disposed on the second movable frame, and the second roller assembly and the third roller assembly can be laterally moved and raised and lowered relative to the first movable frame and the second movable frame, respectively.

[0009] In some embodiments of the present application, a first slide plate is slidably arranged on the first movable frame, a second roller assembly is slidably arranged on the first slide plate, a sliding direction of the first slide plate relative to the first movable frame is perpendicular to a sliding direction of the second roller assembly relative to the first slide plate, a second slide plate is slidably arranged on the second movable frame, a third roller assembly is slidably arranged on the second slide plate, a sliding direction of the second slide plate relative to the second movable frame is perpendicular to a sliding direction of the third roller assembly relative to the second slide plate.

[0010] In some embodiments of the present application, an outer tooth portion is provided on the outer periphery of the inner gear ring, an output gear is coaxially fixedly connected to the center gear, the first movable frame and the second movable frame are respectively connected to the outer tooth portion and the output gear through a rack and a transition gear, the first drive assembly also includes a clutch assembly, the clutch assembly includes a second rotating shaft, a waist-shaped groove is provided on the shell, the second rotating shaft is passed through the waist-shaped groove and can move along the waist-shaped groove, a locking portion for abutting the outer tooth portion and the output gear is provided on the second rotating shaft, and the second rotating shaft is connected to a second drive assembly, and the second drive assembly is used to drive the second rotating shaft to move.

[0011] In some embodiments of the present application, the second driving component includes a moving rod slidably arranged on the shell, and a first driving member is arranged on the moving rod. When the moving rod moves, the first driving member drives the second rotating shaft to rise and fall. Feedback components are arranged on the first sliding component and the second sliding component. When the first sliding component and the second sliding component reach a predetermined position, the feedback component drives the moving rod to move.

[0012] In some embodiments of the present application, a first substrate and a second substrate are slidably arranged on the mounting frame, the first movable frame and the second movable frame are slidably arranged on the first substrate and the second substrate respectively, the feedback component includes a clamping member and a guide plate, the first movable frame and the second movable frame are both provided with the guide plate, the first substrate and the second substrate are both provided with the clamping member, and when the first movable frame moves relative to the first substrate or the second movable frame moves relative to the second substrate, the guide plate drives the clamping member to clamp the movable rod and move the movable rod.

[0013] In some embodiments of the present application, the mounting frame and the robotic arm body are connected via an angle adjustment assembly, the angle adjustment assembly comprising a connecting rod, a rotating frame, and a rotating arm, one end of the connecting rod is fixedly connected to the end of the robotic arm body, and the other end is rotatably connected to the rotating frame and has a first rotating axis, the mounting frame is rotatably disposed on the rotating frame and has a second rotating axis, and the first rotating axis and the second rotating axis are vertically arranged.

[0014] An embodiment of the present application further provides a crawler transport system, comprising a track, a trolley being arranged on the track, and a crawler transport robot arm as described above being arranged on the trolley.

[0015] The crawler transport mechanical arm provided in the embodiment of the present application drives the first sliding assembly and the second sliding assembly to move relative to the mounting frame through the first driving assembly, which can tighten the crawler to prevent the crawler from falling off during transportation, and facilitate the installation of the crawler on the driving wheel of the vehicle. In addition, the crawler is transported by the mechanical arm, which reduces the labor intensity of the crawler installation staff. A single person can complete the transport and installation of the crawler, saving manpower. In addition, through the differential assembly, when one of the first sliding assembly and the second sliding assembly abuts against the crawler, the driving device can drive the other to move alone, so that the lateral movement of the crawler grabbing device can be prevented, ensuring work safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic structural diagram of a crawler transport system according to an embodiment of the present application; Figure 2 for Figure 1A schematic structural diagram of a mechanical arm body in an embodiment; Figure 3 for Figure 1 A schematic structural diagram of a crawler grabbing device in an embodiment; Figure 4 for Figure 1 A schematic structural diagram of an angle adjustment assembly in an embodiment; Figure 5 for Figure 3 A schematic structural diagram of a first sliding assembly in an embodiment; Figure 6 for Figure 3 A schematic structural diagram of a second sliding assembly in an embodiment; Figure 7 for Figure 3 A schematic structural diagram of a gusset plate assembly in an embodiment; Figure 8 for Figure 1 Another structural schematic diagram of the crawler grabbing device in the embodiment; Fig. 9 for Figure 1 Another structural schematic diagram of the crawler grabbing device in the embodiment; Fig.10 for Figure 2 An exploded view of a first drive assembly in an embodiment; Fig.11 for Figure 8 An enlarged view of point A in the example.

[0017] In the figure: 10. crawler tracks, 20. tracks, 21. driving, 100, mechanical arm body, 110, lifting frame, 120, lifting rod, 130, swing arm, 140, lifting cylinder, 150, counterweight, 160, gas tank, 170, disc, 180, brake, 200, crawler grabbing device, 210, angle adjustment assembly, 211, connecting rod, 212, rotating frame, 220, mounting frame, 230, first sliding assembly, 231, first roller assembly, 232, second roller assembly, 233, first slide plate, 234, first movable frame, 235, first base plate, 240, second sliding assembly, 241, third roller assembly, 242, fourth roller assembly, 243, second slide plate, 244, second movable frame, 245, second base plate, 250, gusset plate assembly, 251, fixed frame, 252, movable plate, 253, limit plate, 260, controller, 300, first drive assembly, 310, housing, 320, rack, 330, transition gear, 341, center gear, 342, inner ring gear, 343, planetary gear, 344, planetary carrier, 345, first rotating shaft, 346, output gear, 351, second rotating shaft, 352, pull rod, 361, moving rod, 362, first drive member, 363, clamping member, 364, guide plate. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0019] The specific implementation of the present application is described in detail below in conjunction with specific embodiments.

[0020] like Figure 1 As shown, a crawler 10 handling system provided by an embodiment of the present application comprises a track 20, a trolley 21 and a crawler 10 handling manipulator. The track 20 is provided with a trolley 21, and the trolley 21 is provided with a crawler handling manipulator.

[0021] Specifically, in some embodiments, the track 20 is set on the wall of the workshop, and the trolley 21 can travel on the track 20. After the crawler 10 mechanical arm grabs the crawler 10, the trolley 21 moves, and the crawler 10 can be transported over a long distance, so as to transport the crawler 10 to a designated location and install it on a vehicle, which is convenient and fast, and saves manpower.

[0022] In some embodiments of the present invention, Figures 1 to 3 As shown, the present application also provides a crawler transport robot arm, including: a robot arm body 100 and a crawler grabbing device 200.

[0023] The crawler grabbing device 200 is disposed at the end of the robot arm body 100 , and the crawler grabbing device 200 includes: a mounting frame 220 , a first sliding assembly 230 , a second sliding assembly 240 and a first driving assembly 300 .

[0024] The mounting frame 220 is connected to the mechanical arm body 100, the first sliding assembly 230 and the second sliding assembly 240 are slidably arranged on the mounting frame 220, the first driving assembly 300 is arranged on the mounting frame 220, the first driving assembly 300 is used to drive the first sliding assembly 230 and the second sliding assembly 240 to move relative to the mounting frame 220, and the first sliding assembly 230 and the second sliding assembly 240 are used to respectively abut the inner walls of both ends of the crawler 10. It can be understood that by driving the first sliding assembly 230 and the second sliding assembly 240 to move relative to the mounting frame 220 by the first driving assembly 300, the crawler 10 can be tightened to prevent the crawler 10 from falling off during the transportation process, and it is convenient to put the crawler 10 on the driving wheel of the vehicle. The crawler 10 is transported by the mechanical arm, which reduces the labor intensity of the workers who install the crawler 10, and a single person can complete the transportation and installation of the crawler 10, saving manpower.

[0025] Among them, the first drive component includes a differential component, which includes a housing 310, a planetary gear 343, a central gear 341, an inner ring gear 342 and a planet carrier 344. The housing 310 is fixed to the mounting frame 220, and the planet carrier 344 is rotatably arranged on the housing 310 through the first rotating shaft 345. The central gear 341 and the inner ring gear 342 are rotatably arranged on the first rotating shaft 345, and the planetary gear 343 is rotatably arranged on the planet carrier 344. The planetary gear 343 is meshed with the inner ring gear 342 and the central gear 341 at the same time. The first rotating shaft 345 is connected to a driving device, and the central gear 341 and the inner ring gear 342 serve as output mechanisms to respectively drive the first sliding component 230 and the second sliding component 240 to move.

[0026] It can be understood that when the existing gripping mechanism is applied to the track, when clamping the track 10, it is necessary to align with the center position of the track 10, and then the first sliding assembly 230 and the second sliding assembly 240 move to both ends at a constant speed and simultaneously abut the two ends of the track 10 to achieve tension. When it is not centered, one end abuts the track 10 first, and the track gripping device 200 needs to move laterally until the other end can also be close to the track 10 to achieve tension. In this embodiment, the first sliding assembly 230 and the second sliding assembly 240 are driven by the differential transmission of the differential gear system. When one of them abuts the track 10, the other can continue to move, and there is no need to move the track 10 or the track gripping device 200.

[0027] In this embodiment, the differential gear train has two degrees of freedom. The driving device drives the planetary carrier 344 as the active part to rotate through the first rotating shaft 345. The planetary carrier 344 can drive the inner ring gear 342 and the central gear 341 to rotate through the meshing of the planetary gear 343 with the inner ring gear 342 and the central gear 341. In the absence of resistance, the rotation direction of both is consistent with the rotation direction of the planetary carrier 344. However, the speed of the inner ring gear 342 and the central gear 341 can be different. When one of them is stationary due to resistance, the other can still maintain the original direction of rotation. In this way, when clamping the crawler 10, it is not necessary to tighten and clamp from the center of the crawler.

[0028] In some embodiments, the driving device includes a motor, and the output shaft of the motor can be directly connected to the first rotating shaft 345 or transmitted through a gear set. As long as the motor can transmit power to the first rotating shaft 345, there is no limitation here.

[0029] In some embodiments of the present application, Figure 2 As shown, the robot arm body 100 includes a hoisting frame 110, a lifting rod 120 and a swing arm 130. One end of the hoisting frame 110 is used to connect to the crane 21, and the other end of the hoisting frame 110 is hinged to the middle section of the lifting rod 120. One end of the lifting rod 120 is hinged to the swing arm 130. A lifting cylinder 140 is fixed on the hoisting frame 110, and the output end of the lifting cylinder 140 is hinged to the other end of the lifting rod 120. The hoisting frame 110 is also provided with an air tank 160 connected to the lifting cylinder 140.

[0030] It is understandable that the extension and retraction of the lifting cylinder 140 can drive the lifting arm to rotate, so that the swing arm 130 is lifted and lowered, and then the crawler grabbing device 200 is lifted and lowered, and the rotation of the swing arm 130 drives the crawler grabbing device 200 to move horizontally, so that the crawler grabbing device 200 can be driven to move to a specified position to achieve the grabbing and installation of the crawler 10. In addition, when the external gas source suddenly disappears, the gas tank 160 can provide a short-term gas supply for the lifting cylinder 140 to prevent the swing arm 130 from falling instantly, thereby improving safety performance.

[0031] Specifically, in some embodiments, the upper end of the hoisting frame 110 is used to rotatably connect to the crane 21, and the lower end of the hoisting frame 110 is hinged to the middle section of the lifting rod 120, so that the lifting rod 120 can rotate on a vertical plane. One end of the lifting rod 120 is hinged to the swing arm 130, and the swing arm 130 can rotate relative to the lifting rod 120 on a horizontal plane. The other end of the lifting rod 120 is fixedly provided with a counterweight block 150 to balance gravity and relieve the load of the lifting cylinder 140.

[0032] In some embodiments, reference Figure 2As shown, the robot body 100 is provided with a brake device at each joint, and the brake device includes a disc 170 and a brake 180 respectively provided on two parts that rotate relative to each other. When the brake 180 clamps the disc 170, the relative rotation of the two parts can be limited. In some embodiments, the brake 180 can be driven by a cylinder. In this way, the robot arm can be prevented from rotating randomly during the handling process, and the stability of the handling process can be ensured.

[0033] In some embodiments of the present application, Figure 5 and Figure 6 As shown, the first sliding assembly 230 includes a first movable frame 234 and a first roller assembly 231 and a second roller assembly 232 arranged on the first movable frame 234, the first movable frame 234 is slidably arranged on the mounting frame 220, and the first roller assembly 231 and / or the second roller assembly 232 can move relative to the first movable frame 234, the second sliding assembly 240 includes a second movable frame 244 and a third roller assembly 241 and a fourth roller assembly 242 arranged on the second movable frame 244, the second movable frame 244 is slidably arranged on the mounting frame 220, and the third roller assembly 241 and / or the fourth roller assembly 242 can move relative to the second movable frame 244.

[0034] It is understandable that the crawler 10 needs to maintain a certain shape in order to be smoothly mounted on the driving wheel of the vehicle. The crawler 10 is stretched at multiple points by moving the first roller assembly 231, the second roller assembly 232, the third roller assembly 241, and the fourth roller assembly 242, so that the crawler 10 maintains a preset posture and is easier to be mounted on the driving wheel of the vehicle. In addition, by setting one or more of the first roller assembly 231, the second roller assembly 232, the third roller assembly 241, and the fourth roller assembly 242 in a movable form, the shape of the crawler 10 after being tensioned can be changed to adapt to crawlers 10 of different specifications and different shape requirements.

[0035] In some embodiments of the present application, Figure 5 and Figure 6 As shown, the first roller assembly 231 can be raised and lowered on the first movable frame 234, the fourth roller assembly 242 is fixed on the second movable frame 244, and the second roller assembly 232 and the third roller assembly 241 can be laterally moved and raised and lowered relative to the first movable frame 234 and the second movable frame 244 respectively.

[0036] It is understandable that the first roller assembly 231 performs lifting and lowering movements to control the distance between the first roller assembly 231 and the fourth roller assembly 242 in the vertical direction, so as to adapt to crawlers 10 of different widths, and the second roller assembly 232 and the third roller assembly 241 are moved horizontally and lifted and lowered to adapt to different inclination angles of the bevels on both sides of the crawler 10, so as to adapt to crawlers 10 of different specifications and shapes. In addition, the first roller only needs to perform lifting and lowering movements, and the fourth roller is fixedly arranged, so as to reduce the use of the mobile drive device and reduce the cost.

[0037] In some embodiments of the present application, Figure 5 and Figure 6 As shown, a first slide plate 233 is slidably provided on the first movable frame 234, a second roller assembly 232 is slidably provided on the first slide plate 233, a sliding direction of the first slide plate 233 relative to the first movable frame 234 is perpendicular to a sliding direction of the second roller assembly 232 relative to the first slide plate 233, a second slide plate 243 is slidably provided on the second movable frame 244, a third roller assembly 241 is slidably provided on the second slide plate 243, a sliding direction of the second slide plate 243 relative to the second movable frame 244 is perpendicular to a sliding direction of the third roller assembly 241 relative to the second slide plate 243. Specifically, in some embodiments, each structure is driven to slide by multiple groups of motors and lead screw nut structures. In this way, the second roller assembly 232 and the third roller assembly 241 can be driven to lift and translate at the same time, so that the second roller assembly 232 and the third roller assembly 241 can quickly reach a predetermined position, thereby improving work efficiency.

[0038] In some embodiments of the present application, reference Figures 8 to 11 As shown, the outer periphery of the inner gear ring 342 is provided with an outer tooth portion, the central gear 341 is coaxially fixed with the output gear 346, the first movable frame 234 and the second movable frame 244 are respectively connected with the outer tooth portion and the output gear 346 through the rack 320 and the transition gear 330, the first drive assembly 300 also includes a clutch assembly, the clutch assembly includes a second rotating shaft 351, a waist-shaped groove is provided on the shell 310, the second rotating shaft 351 is penetrated by the waist-shaped groove and can move along the waist-shaped groove, the second rotating shaft 351 is provided with a locking portion for abutting the outer tooth portion and the output gear 346, the second rotating shaft 351 is connected to the second driving assembly, and the second driving assembly is used to drive the second rotating shaft 351 to move.

[0039] It can be understood that the locking portion of the second rotating shaft 351 abuts against the outer tooth portion and the output gear 346, so that the rotation speed of the outer tooth portion and the output gear 346 are consistent. In this way, in the process of tensioning the track, the first sliding assembly 230 and the second sliding assembly 240 can move in opposite directions at the same speed at the beginning; when one of them abuts against the track 10, the second drive assembly drives the second rotating shaft 351 to lift, so that the locking portion is out of contact with the outer tooth portion and the output gear 346, the function of the differential gear system is restored, and the planetary carrier 344 can drive the other to move alone.

[0040] In some implementations, the locking portion may be a rubber wheel fixed to the second rotating shaft 351 , or a gear member fixed to the second rotating shaft, and the gear member is suitable for meshing with the external tooth portion and the output gear 346 .

[0041] In some embodiments of the present application, Fig.11 As shown, the second drive assembly includes a moving rod 361 slidably disposed on the housing 310, and the moving rod 361 is provided with a first drive member 362. When the moving rod 361 moves, the first drive member 362 drives the second rotating shaft 351 to rise and fall. The first sliding assembly 230 and the second sliding assembly 240 are both provided with feedback assemblies. When the first sliding assembly 230 and the second sliding assembly 240 reach a predetermined position, the feedback assembly drives the moving rod 361 to move. It can be understood that, through the feedback assembly, when the first sliding assembly 230 or the second sliding assembly 240 abuts against the crawler 10, the moving rod 361 is driven to move, and the second rotating shaft 351 is lifted, so that the locking portion is separated from the contact with the external tooth portion and the output gear 346, the function of the differential gear system is restored, and the planet carrier 344 can drive the other to move alone.

[0042] Specifically, in some embodiments, the first driving member 362 includes two symmetrically arranged inclined surfaces, the two inclined surfaces form a V-shaped groove, and the upper ends of the two inclined surfaces are connected to a horizontal plane. In this way, the moving rod 361 can drive the second rotating shaft 351 to rise and fall regardless of whether it moves forward or backward. In this way, no matter which of the first sliding assembly 230 and the second sliding assembly 240 contacts the crawler 10 first, the clutch assembly can be driven to rise. In some embodiments, a pull rod 352 is provided on the housing 310 so that it can be raised and lowered. A pull ring is provided at one end of the pull rod 352, and the pull ring is sleeved on the second rotating shaft. The pull rod is provided with a triangular block that cooperates with the V-shaped groove. When the first driving member 362 moves, the triangular block can rise along the inclined surface, thereby driving the second rotating shaft 351 to rise.

[0043] In some embodiments of the present application, Fig.11As shown, the first substrate 235 and the second substrate 245 are slidably arranged on the mounting frame 220, the first movable frame 234 and the second movable frame 244 are slidably arranged on the first substrate 235 and the second substrate 245 respectively, the feedback component includes a clamping member 363 and a guide plate 364, the first movable frame 234 and the second movable frame 244 are both provided with a guide plate 364, the first substrate 235 and the second substrate 245 are both provided with a clamping member 363, when the first movable frame 234 moves relative to the first substrate 235 or the second movable frame 244 moves relative to the second substrate 245, the guide plate 364 drives the clamping member 363 to clamp the moving rod 361 and move the moving rod 361.

[0044] Specifically, in some embodiments, referring to Fig.11 As shown, the guide plate 364 has two symmetrically arranged guide grooves, which include a clamping groove section in the middle and non-clamping groove sections at both ends of the clamping groove section. The clamping member 363 includes a first component and a second component slidably arranged on the base plate. The first component and the second component are provided with guide portions located in the guide grooves. When the clamping member moves relative to the guide plate 364, the guide portion slides in the guide groove. When sliding to the clamping groove section, the first component and the second component lean against each other, clamping the moving rod 361 and moving it. When the movement continues, the first component and the second component enter the non-clamping groove section, and the clamping member releases the clamping of the moving rod 361. In some embodiments, a limiter is provided on the mounting frame 220. When the first sliding assembly 230 or the second sliding assembly 240 moves toward each other to shrink to a predetermined position in the middle, the limiter abuts against the first movable frame 234 or the second movable frame 244 to limit its movement.

[0045] It can be understood that in some embodiments, when the first sliding assembly 230 first contacts the track 10, the first movable frame 234 is stationary, while the first base plate 235 continues to move. During the process of the clamping member 363 following the movement of the first base plate 235, the clamping member 363 clamps the moving rod 361 under the drive of the guide plate 364 and makes it move along with the first base plate 235, thereby lifting the second rotating shaft 351, so that the locking portion is disengaged from the contact with the outer tooth portion and the output gear 346, and the function of the differential gear system is restored, and the planetary frame 344 can drive the second sliding assembly 240 to move alone. When the second sliding assembly 240 also abuts against the track 10, the second movable frame 244 is stationary, while the second base plate 245 continues to move, and the clamping member 363 on the second base plate 245 moves with the second base plate 245. Driven by the guide plate 364 on the second movable frame 244, the moving rod 361 is clamped and moved with the second base plate 245 to restore to the original position, and the second rotating shaft 351 falls, and the locking portion of the second rotating shaft 351 abuts against the outer tooth portion and the output gear 346, so that the rotation speed of the outer tooth portion and the output gear 346 is consistent. When retracting, the principle is basically the same, and it will not be repeated here.

[0046] In some embodiments of the present application, Figure 4 As shown, the mounting frame 220 and the robot body 100 are connected through an angle adjustment assembly 210, and the angle adjustment assembly 210 includes a connecting rod 211, a rotating frame 212, and a rotating arm. One end of the connecting rod 211 is fixedly connected to the end of the robot body 100, and the other end is rotatably connected to the rotating frame 212 and has a first rotating shaft 345. The mounting frame 220 is rotatably arranged on the rotating frame 212 and has a second rotating shaft 351. The first rotating shaft 345 and the second rotating shaft 351 are vertically arranged. In some embodiments, as Figure 4 As shown, a cylinder is provided on the connecting rod 211 to drive the rotating frame 212 to rotate. Another cylinder is provided on the rotating frame 212 to drive the mounting frame 220 to rotate. It can be understood that the pitch angle and the tilt angle of the crawler grabbing device 200 can be adjusted by the angle adjustment assembly 210, so that it can better grab and install the crawler 10.

[0047] In some embodiments, reference Figure 3 and Figure 7 As shown, the mounting frame 220 is also provided with a gusset assembly 250, which can prevent the crawler 10 from falling off. Specifically, the gusset assembly 250 includes a fixed frame 251, a movable plate 252, and a limit plate 253. The fixed frame 251 is fixedly arranged on the mounting frame 220, the movable plate 252 is slidably arranged on the fixed frame 251, the middle section of the limit plate 253 is hinged to the movable plate 252, the movable plate is provided with a cylinder to drive the limit plate 253 to rotate, and the fixed frame 251 is provided with a cylinder to drive the movable plate 252 to slide. It can be understood that after grabbing the crawler 10, the limit plate 253 rotates to abut the outer side of the crawler 10, which can prevent the crawler 10 from falling off, and the position of the limit plate 253 can be adjusted by driving the movable plate 252 to slide, which can adapt to crawlers 10 of different specifications.

[0048] In some embodiments, reference Figure 3 As shown, the present application includes a controller 260, through which the crawler 10 transport system is controlled. Specifically, the controller 260 is arranged on the connecting rod 211 of the angle adjustment assembly 210, and handles are arranged on both sides of the controller 260 to facilitate the operation of the operator. It can be understood that in some embodiments, operations requiring high labor intensity such as lifting, angle adjustment and tensioning are driven by cylinders or motors, and the operator controls each motor and cylinder to move through the controller 260, while the crawler gripping device 200 is driven by the operator holding the handle to move on the horizontal plane, so that the operator can easily perform accurate operations.

[0049] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A crawler transport robot arm, characterized in that: include: The main body of the robot arm; A crawler grabbing device is arranged at the end of the mechanical arm body, and the crawler grabbing device includes: a mounting frame, a first sliding assembly, a second sliding assembly, and a first driving assembly. The mounting frame is connected to the mechanical arm body, the first sliding assembly and the second sliding assembly are slidably arranged on the mounting frame, the first driving assembly is arranged on the mounting frame, the first driving assembly is used to drive the first sliding assembly and the second sliding assembly to move relative to the mounting frame, and the first sliding assembly and the second sliding assembly are used to respectively abut against the inner walls of both ends of the crawler; Among them, the first driving assembly includes a differential assembly, and the differential assembly includes a housing, planetary gears, a central gear, an inner gear ring and a planet carrier. The housing is fixed to the mounting frame, and the planet carrier is rotatably arranged on the housing through a first rotating shaft. The central gear and the inner gear ring are rotatably arranged on the first rotating shaft, and the planetary gears are rotatably arranged on the planet carrier. The planetary gears are meshed with the inner gear ring and the central gear at the same time. The first rotating shaft is connected to a driving device, and the central gear and the inner gear ring serve as output mechanisms to respectively drive the first sliding assembly and the second sliding assembly to move.

2. A crawler transport robot arm according to claim 1, characterized in that: The main body of the robotic arm includes a lifting frame, a lifting rod and a swing arm. One end of the lifting frame is used to connect to a crane, and the other end of the lifting frame is hinged to the middle section of the lifting rod. One end of the lifting rod is hinged to the swing arm. A lifting cylinder is fixed on the lifting frame, and the output end of the lifting cylinder is hinged to the other end of the lifting rod. The lifting frame is also provided with an air tank connected to the lifting cylinder.

3. The crawler transport robot arm according to claim 1, characterized in that: The first sliding assembly includes a first movable frame and a first roller assembly and a second roller assembly arranged on the first movable frame, the first movable frame is slidably arranged on the mounting frame, and the first roller assembly and / or the second roller assembly can move relative to the first movable frame, and the second sliding assembly includes a second movable frame and a third roller assembly and a fourth roller assembly arranged on the second movable frame, the second movable frame is slidably arranged on the mounting frame, and the third roller assembly and / or the fourth roller assembly can move relative to the second movable frame.

4. A crawler transport robot arm according to claim 3, characterized in that: The first roller assembly can be raised and lowered on the first movable frame, the fourth roller assembly is fixedly disposed on the second movable frame, and the second roller assembly and the third roller assembly can be laterally moved and raised and lowered relative to the first movable frame and the second movable frame, respectively.

5. A crawler transport robot arm according to claim 4, characterized in that: A first slide plate is slidably arranged on the first movable frame, a second roller assembly is slidably arranged on the first slide plate, a sliding direction of the first slide plate relative to the first movable frame is perpendicular to a sliding direction of the second roller assembly relative to the first slide plate, a second slide plate is slidably arranged on the second movable frame, a third roller assembly is slidably arranged on the second slide plate, a sliding direction of the second slide plate relative to the second movable frame is perpendicular to a sliding direction of the third roller assembly relative to the second slide plate.

6. The crawler transport robot arm according to claim 3, characterized in that: An outer tooth portion is provided on the outer periphery of the inner gear ring, and an output gear is coaxially fixedly connected to the central gear. The first movable frame and the second movable frame are connected to the outer tooth portion and the output gear respectively through a rack and a transition gear. The first driving assembly also includes a clutch assembly, and the clutch assembly includes a second rotating shaft. A waist-shaped groove is provided on the shell, and the second rotating shaft is penetrated through the waist-shaped groove and can move along the waist-shaped groove. A locking portion for abutting the outer tooth portion and the output gear is provided on the second rotating shaft. The second rotating shaft is connected to a second driving assembly, and the second driving assembly is used to drive the second rotating shaft to move.

7. The crawler transport robot arm according to claim 6, characterized in that: The second driving component includes a moving rod slidably arranged on the shell, and a first driving member is arranged on the moving rod. When the moving rod moves, the first driving member drives the second rotating shaft to rise and fall. Feedback components are arranged on the first sliding component and the second sliding component. When the first sliding component and the second sliding component reach a predetermined position, the feedback component drives the moving rod to move.

8. The crawler transport robot arm according to claim 7, characterized in that: The mounting frame is slidably provided with a first substrate and a second substrate, the first movable frame and the second movable frame are slidably provided on the first substrate and the second substrate respectively, the feedback component comprises a clamping member and a guide plate, the first movable frame and the second movable frame are both provided with the guide plate, the first substrate and the second substrate are both provided with the clamping member, when the first movable frame moves relative to the first substrate or the second movable frame moves relative to the second substrate, the guide plate drives the clamping member to clamp the moving rod and move the moving rod.

9. The crawler transport robot arm according to claim 1, characterized in that: The mounting frame and the robot arm body are connected through an angle adjustment component, and the angle adjustment component includes a connecting rod, a rotating frame, and a rotating arm. One end of the connecting rod is fixedly connected to the end of the robot arm body, and the other end is rotatably connected to the rotating frame and has a first rotating shaft. The mounting frame is rotatably arranged on the rotating frame and has a second rotating shaft, and the first rotating shaft and the second rotating shaft are vertically arranged.

10. A crawler transport system, characterized in that: It comprises a track, on which a carriage is arranged, and on which a crawler transport robot arm as claimed in any one of claims 1 to 9 is arranged.

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