Rail for robot movement

Abstract

The invention relates to the technical field of manipulators, in particular to a track for robot movement, which comprises a staying track, a plurality of main tracks and a robot walking on the staying track, the front side and the rear side of each main track are fixedly connected with a plurality of auxiliary tracks, and the number of the main tracks and the number of the auxiliary tracks are both multiple. In the process that the robot slides on the main track, the push plate pushes the sliding plate to drive the chain to conduct conveying, then the elastic rope drives the side baffle to slide, the physical shielding effect on the front auxiliary track is achieved, and the situation that the robot slides to the front of the auxiliary track is avoided. The problem that the robot on the auxiliary track moves to the main track and collides with the main track due to the fact that the robot on the auxiliary track cannot be monitored is solved, limiting on the auxiliary track can be relieved when the robot moves to the position beside the auxiliary track, it is avoided that the robot normally moves into the auxiliary track, and therefore the safety performance of multiple robots used in the cooperative environment is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to a track for robot movement. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. It can perform tasks such as operation or movement through programming and automatic control. It has basic characteristics such as perception, decision-making, and execution. It can assist or even replace humans to complete dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities.

[0003] In the prior art, the track-type charging robot and the track-type charging robot track-changing system with publication number CN117182871B drive the track-type charging robot to travel on the main track through the main drive component. When there is no need to change the track, the secondary track can be avoided through the first avoidance space. When it is necessary to change the track, the secondary drive components on both sides of the secondary track are connected to the secondary track, so that the robot can travel on the secondary track based on the second avoidance space, thereby changing lanes from the main track to the secondary track. The track-changing mechanism is centralized, and the track-type charging robot does not need to set an additional drive mechanism at each node where the main track and the secondary track intersect, thereby greatly reducing the cost.

[0004] Although the above-mentioned device can reduce costs, there are still some defects in actual use. Due to the lack of physical limit function on the robot's track, when the charging robot moves on the main track, it needs to return to its position after use and move from the secondary track to the main track. Although it can be avoided through collision sensor detection, once there is a sensor failure, programming error, or abnormal communication failure caused by environmental electromagnetic interference and radio frequency interference, two charging robots will collide while walking on the main track, greatly reducing the safety performance of the device.

[0005] Therefore, a track for robot movement is proposed to solve the above problems. Summary of the invention

[0006] The purpose of the present invention is to solve the shortcomings existing in the background technology and to propose a track for robot movement.

[0007] To achieve the above purpose, the technical solution adopted by the present invention is: a track for robot movement, including a stay track and a main track and a robot walking on the stay track, the main track is fixedly connected with auxiliary tracks on both sides of the front and rear, and the main track and the auxiliary track are provided with a plurality of them, and the plurality of the main tracks and the auxiliary tracks are connected to form a T-shaped track, and the main track and the auxiliary track in a T-shape after connection are sequentially installed backward from the side wall of the stay track by bolts, the top end of the main track and close to the side of the stay track are rotatably connected with an upper sprocket, the top end of the main track is rotatably connected with a lower sprocket relative to the position next to the auxiliary track, the lower sprocket is arranged on the side close to the upper sprocket, and the upper sprocket and the lower sprocket are staggered, wherein a chain is transmission-connected between the upper sprocket and the lower sprocket on the two main tracks, a pair of cavities are opened inside the main track, and a side baffle is provided on the inner side of the cavity relative to the position next to the auxiliary track, and a pushing mechanism for the robot to push the chain to move and pull the side baffle to slide out to limit the auxiliary track is provided in the main track.

[0008] In the above technical scheme, further, the pushing mechanism includes an elastic rope, and a side hole connected to the inside of the main rail is opened on the side of the cavity close to the stop rail, one end of the elastic rope is fixedly connected to one of the side baffle side walls, and the other end of the elastic rope passes through the side hole and is fixedly connected to the outer wall of the chain; a slide plate is slidably connected to the inner side of the main rail and located on the side close to the upper sprocket and the lower sprocket, and the slide plate is arranged under the chain, and a rack is slidably connected to the slide plate, and the racks are fixedly connected to the bottom end of the chain, a U-shaped frame is fixedly connected to the side wall of the robot, and a push plate for pushing the slide plate to move is slidably connected to the inner side of the U-shaped frame, an adjustment mechanism for adjusting the position of the push plate is provided on the inner side of the main rail, and a positioning mechanism is provided on the side wall of the main rail for limiting the sliding position of the robot on the subsequent main rail.

[0009] In the above technical solution, further, a limit plate for limiting the position of the side baffle plate is fixedly connected to the inner side of the cavity, and the elastic rope passes through the inner side of the limit plate, a return spring is fixedly connected between the side wall of the limit plate and the side wall of the side baffle plate, and a connecting plate is fixedly connected between the side baffles.

[0010] The cam is provided with a pair of round rods, the side walls of the push plate are penetrated by a round hole, and the front and rear sides of the U-shaped frame are provided with sliding grooves, and the round rods are respectively slidably connected to the two ends of the inner sides of the round holes, and the round rods are arranged on the side away from each other through the sliding grooves, and the front and rear ends of the inner side of the main rail and the side close to the stop rail are provided with a lower straight groove, and the front and rear ends of the inner side of the main rail and the upper straight groove are provided above the lower straight groove, and the inner side of the main rail and the upper and lower straight grooves are provided with a long straight groove between the upper straight groove and the lower straight groove, and the side ends of the upper straight groove and the lower straight groove are provided with an inclined groove connected to the long straight groove, and the long straight groove is inclined downwardly away from the inclined groove and a release groove is provided, and the side end of the release groove is provided with a short straight groove, the inner side of the main rail and the side away from the short straight groove and the inner side of the stop rail are provided with a Y-shaped groove, and the inner side of the main rail and the side away from the short straight groove and the inner side of the stop rail are provided with a top groove, and the inner side of the main rail and above the short straight groove is provided.

[0011] In the above technical scheme, further, an extrusion spring is fixedly connected between the round rods, the end of the round rod far away is set to a smooth arc surface, and the connection between the lower straight groove and the long straight groove is set below the inclined groove at the side end of the upper straight groove, the branch end of the Y-shaped groove is aligned with the upper straight groove and the side end of the lower straight groove, an inward-recessed upper groove is provided between the horizontal section and the upward inclined section of the Y-shaped groove, and the two sides of the upper groove are inclined, the side wall of the Y-shaped groove close to the short straight groove is inclined, and three upper springs are fixedly connected between the bottom end of the U-shaped frame and the bottom of the push plate.

[0012] In the above technical solution, further, one end of the top groove is connected with the long straight groove, and the connecting point is arranged in front of the release groove, the other end of the top groove is inclined and connected with the top end of the short straight groove, an inwardly recessed lower groove is opened on the inner side of the short straight groove, and the side wall of the lower groove is inclined, and the connection between the top of the lower groove and the top groove is inclined.

[0013] In the above technical solution, further, an upper guide roller is rotatably connected to the inner side of the side hole, and the elastic rope passes through the outer wall of the upper guide roller.

[0014] In the above technical solution, further, the positioning mechanism includes a positioning plate, a movable groove is opened on the side of the main track away from the stop track, a pair of positioning plates are arranged, and the positioning plates are slidably connected to the inner side of the movable groove, the top of the positioning plate is fixedly connected to a pull rope, the top of the pull rope passes through the cavity and is fixedly connected to the side wall of the side baffle, the inner side of the cavity is located above the movable groove and is rotatably connected to a lower guide roller, the pull rope passes through the outer wall of the lower guide roller, and a positioning spring is fixedly connected between the top of the movable groove and the top of the positioning plate.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention, through the arrangement of structures such as a pushing mechanism, a chain and an adjusting mechanism, can, when the robot is sliding on the main track, push the slide plate through the push plate to drive the chain for transmission, and then drive the side baffle plate to slide through the elastic rope, thereby achieving a physical shielding effect on the front secondary track, thereby avoiding the problem that the robot on the secondary track moves to the main track and collides with the main track due to lack of monitoring before the robot slides to the secondary track, and can release the limit on the secondary track when the robot moves to the side of the secondary track, thereby avoiding affecting the normal movement of the robot into the secondary track, thereby greatly improving the safety performance of multiple robots used in a collaborative environment.

[0016] 2. The present invention can cooperate with the pushing mechanism to operate simultaneously through the setting of the positioning mechanism, and then when the side baffle is pulled out to physically limit the secondary track, it can also play a physical limiting role on the main track behind the robot, thereby preventing one of the robots from moving to the same main track due to communication failure, etc., which makes it impossible for a normal robot to avoid the phenomenon, thereby further improving the safety performance of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall appearance structure of the robot track of the present invention; Figure 2 It is a schematic diagram of the three-dimensional structure of the main track and the auxiliary track of the present invention; Figure 3 The appended Figure 2 A schematic diagram of the partially enlarged structure at center A; Figure 4 This is a schematic diagram of a fully cut-away three-dimensional structure of the main track of the present invention; Figure 5 The appended Figure 4 A schematic diagram of the partially enlarged structure at B in the middle; Figure 6 It is a schematic diagram of a three-dimensional structure of a U-shaped frame and a round rod separated according to the present invention; Figure 7 It is a schematic diagram of a three-dimensional structure of a main track of the present invention when viewed from top and fully broken; Figure 8 The appended Figure 7 A schematic diagram of the partially enlarged structure at C in the middle; Fig. 9 It is a schematic diagram of the full-section three-dimensional structure of the main track side of the present invention.

[0018] In the figure: 1. parking track; 2. main track; 3. robot; 4. auxiliary track; 5. upper sprocket; 6. lower sprocket; 7. chain; 8. side baffle; 9. elastic rope; 10. slide plate; 11. rack; 12. U-shaped frame; 13. push plate; 14. round rod; 15. limit plate; 16. reset spring; 17. connecting plate; 18. extrusion spring; 19. lower straight groove; 20. upper straight groove; 21. long straight groove; 22. release groove; 23. short straight groove; 24. Y-shaped groove; 25. upper groove; 26. top groove; 27. lower groove; 28. upper spring; 29. ​​upper guide roller; 30. positioning plate; 31. pull rope; 32. lower guide roller; 33. positioning spring. DETAILED DESCRIPTION

[0019] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0021] like Figure 1-9A track for robot movement shown in the figure comprises a stay track 1, a main track 2 and a robot 3 walking on the stay track 1, the front and rear sides of the main track 2 are fixedly connected with auxiliary tracks 4, and a plurality of main tracks 2 and auxiliary tracks 4 are provided, and the plurality of main tracks 2 and auxiliary tracks 4 are connected to form a T-shaped track, and the T-shaped main track 2 and auxiliary track 4 after connection are successively installed backward from the side wall of the stay track 1 by bolts (the T-shaped main track 2 and auxiliary track 4 are installed on the side wall of the stay track 1 by bolts, and the subsequent T-shaped main track 2 and auxiliary track 4 are successively installed on the front main track 2 by bolts), the top end of the main track 2 and close to the side of the stay track 1 are rotatably connected with an upper sprocket 5, the top end of the main track 2 relative to the side of the auxiliary track 4 is rotatably connected with a lower sprocket 6, the lower sprocket 6 is arranged on the side close to the upper sprocket 5, and the upper sprocket 5 and the lower sprocket 6 are staggered. Since there is a chain 7 on each of the two adjacent main tracks 2, Then, the upper sprocket 5 and the lower sprocket 6 are staggered to avoid obstructing the setting of subsequent chains 7 (staggering the upper sprocket 5 and the lower sprocket 6 can ensure that the chain 7 can be installed in each main track 2. If they are set in parallel, the chain 7 in the next main track 2 cannot be installed). The upper sprocket 5 and the lower sprocket 6 on the two main tracks 2 are connected by a chain 7 for transmission. A pair of cavities are opened inside the main track 2, and side baffles 8 are provided on the inner side of the cavities relative to the position next to the auxiliary track 4. It should be noted that a physical switch can be set on the robot 3 at a position corresponding to the side baffle 8. Then, when the sensor fails and the robot 3 moves from the auxiliary track 4 to the side baffle 8, the operation of the robot 3 can be automatically controlled, or a resistance shutdown device can be added to the robot 3 to avoid the robot 3 moving in situ and affecting the service life of the robot 3. A pushing mechanism is provided in the main track 2 for the robot 3 to push the chain 7 to move and pull the side baffle 8 to slide out to limit the auxiliary track 4; The pushing mechanism includes an elastic rope 9, and a side hole connected to the inside of the main track 2 is opened on the side of the cavity close to the stop track 1. One end of the elastic rope 9 is fixedly connected to the side wall of one of the side baffles 8, and the other end of the elastic rope 9 passes through the side hole and is fixedly connected to the outer wall of the chain 7. A slide plate 10 is slidably connected to the inner side of the main track 2 and is located near the upper sprocket 5 and the lower sprocket 6. The slide plate 10 is arranged below the chain 7, and a rack 11 is slidably connected to the slide plate 10, and the rack 11 is fixedly connected to the bottom end of the chain 7. A U-shaped frame 12 is fixedly connected to the side wall of the robot 3, and a push plate 13 for pushing the slide plate 10 to move is slidably connected to the inner side of the U-shaped frame 12. An adjusting mechanism for adjusting the position of the push plate 13 is provided on the inner side of the main track 2, and a positioning mechanism for limiting the sliding position of the robot 3 on the subsequent main track 2 is provided on the side wall of the main track 2; A limit plate 15 for limiting the position of the side baffle 8 is fixedly connected to the inner side of the cavity, and the limit plate 15 plays a role in limiting the sliding position of the side baffle 8, and the elastic rope 9 is arranged through the inner side of the limit plate 15, and a reset spring 16 is fixedly connected between the side wall of the limit plate 15 and the side wall of the side baffle 8, and the reset spring 16 facilitates the side baffle 8 to be reset, and a connecting plate 17 is fixedly connected between the side baffles 8, and the setting of the connecting plate 17 plays a role in connecting the two side baffles 8; The adjustment mechanism includes a round rod 14, a pair of round rods 14 are provided, a round hole is penetrated through the side wall of the push plate 13, and a slide groove is provided on both the front and rear sides of the U-shaped frame 12. The round rods 14 are slidably connected to the two ends of the inner side of the round hole, and the side away from the round rods 14 is provided through the slide groove. The front and rear ends of the inner side of the main track 2 and the side close to the stop track 1 are provided with lower straight grooves 19, and the front and rear ends of the inner side of the main track 2 and the upper straight grooves 20 are provided above the lower straight grooves 19. The inner side of the main track 2 and A long straight groove 21 is provided between the upper straight groove 20 and the lower straight groove 19, and an inclined groove connected to the long straight groove 21 is provided at the side ends of the upper straight groove 20 and the lower straight groove 19, and a release groove 22 is provided on the side of the long straight groove 21 away from the inclined groove, and a short straight groove 23 is provided on the side end of the release groove 22, and a Y-shaped groove 24 is provided on the inner side of the main track 2 away from the short straight groove 23 and the inner side of the stop track 1, and a top groove 26 is provided on the inner side of the main track 2 and above the short straight groove 23; During the operation of the charging robot 3, the robot 3 moved out of the parking track 1 slides into the main track 2. During this process, the round rod 14 on the robot 3 slides into the lower groove 27 along the lateral end of the Y-shaped groove 24, and then the round rod 14 is pushed into the lower groove 27 under the elastic force of the extrusion spring 18. Since there is a step between the lower groove 27 and the downwardly inclined branch end of the Y-shaped groove 24, the round rod 14 is squeezed by the lower groove 27. The push plate 13 slides upward and drives the push plate 13 to slide upward on the inside of the U-shaped frame 12, while stretching the upper spring 28. Then the round rod 14 slides from the Y-shaped groove 24 in the parking track 1 into the upper straight groove 20, and then the push plate 13 moves to the side of the slide plate 10, and then the movement of the robot 3 drives the slide plate 10 to move at the same time. The chain 7 is then driven to move between the upper sprocket 5 and the lower sprocket 6 through the insertion frame 11, and at the same time, the elastic rope 9 is pulled to move, thereby driving the side baffle 8 to slide in the cavity, thereby physically blocking the auxiliary track 4, and then driving the side baffle 8 to move to the side of the limit plate 15, and compressing the return spring 16, and then the round rod 14 slides out of the upper straight groove 20 and slides into the long straight groove 21 (at this time, the push plate 13 will not drop to a position where the slide plate 10 cannot be pushed), and because the side baffle 8 cannot continue to slide, the elastic rope 9 will be gradually tightened under the continuous transmission of the chain 7, and in the subsequent sliding, because the chain 7 is inclined, the insertion frame 11 will slide on the slide plate 10, thereby not hindering the normal operation of the slide plate 10 and the chain 7; Then the robot 3 moves to the side of the secondary track 4, and the round rod 14 before this slides out of the long straight groove 21 and slides into the release groove 22 (the round rod 14 will be pulled into the release groove 22 under the elastic force of the upper spring 28, and will not slide into the top groove 26). Since the release groove 22 is inclined downward, it will gradually squeeze the round rod 14 to slide downward, and drive the push plate 13 to slide downward in the U-shaped frame 12, so that the upper spring 28 is reset. At the same time, the push plate 13 will gradually move out from the side of the slide plate 10, thereby releasing the push on the slide plate 10, and then pull the chain 7 to reset under the action of the elastic rope 9, and then push the side baffle 8 to reset under the elastic force of the reset spring 16, so as to release the physical limit on the secondary track 4, and during the reset process of the side baffle 8, the robot 3 will continue to move to the side of the secondary track 4 (if the robot 3 The robot 3 needs to move into the secondary track 4, and the direction of travel can be changed through the steering system. After the side baffle 8 is opened, it can move into the secondary track 4. It should be noted here that through system settings, the robot 3 will not move to the secondary track 4 where the robot 3 exists. Then, when the robot 3 on the main track 2 moves to the secondary track 4, the robot 3 on the other secondary track 4 can move to the main track 2 in a collaborative environment without collision), and when the robot 3 moves to the side of the secondary track 4, the squeezing of the round rod 14 will be released, and then it will be pushed to both sides under the elastic force of the squeezing spring 18. Then the robot 3 continues to move, driving the round rod 14 to slide into the Y-shaped groove 24, and then the robot 3 slides to another main track 2, and the above operations are repeated until it moves to the specified position.

[0022] An extrusion spring 18 is fixedly connected between the round rods 14, and the extrusion spring 18 facilitates the round rod 14 to slide into the upper groove 25 or the lower groove 27 and move along the specified route. It should be noted here that the sliding position of the round rod 14 is restricted. In order to avoid the phenomenon that the protruding part of one round rod 14 is longer than the other round rod 14, it is ensured that the lengths of the parts of the two round rods 14 protruding from the round hole are consistent, and the ends of the round rods 14 that are away from each other are set as smooth arc surfaces, so that the round rod 14 can slide out of the upper groove 25 or the lower groove 27 more smoothly, thereby improving the smoothness of the device during operation, and the connection between the lower straight groove 19 and the long straight groove 21 is set below the oblique groove at the side end of the upper straight groove 20, so as to avoid the round rod 14 from falling into the lower straight groove 19 when moving out of the upper straight groove 20, and the branch end of the Y-shaped groove 24 is connected to the upper straight groove 2 0 and the side ends of the lower straight groove 19 are aligned to ensure that the round rod 14 can run back and forth on the stop track 1 and each main track 2. An indented upper groove 25 is provided between the horizontal section and the upward inclined section of the Y-shaped groove 24, and the upper groove 25 is inclined on both sides. The side wall of the Y-shaped groove 24 close to the short straight groove 23 is inclined. When the robot 3 moves to the side of the secondary track 4, the extrusion of the round rod 14 will be released, and it will be pushed to slide to both sides under the elastic force of the extrusion spring 18. Therefore, the side wall of the Y-shaped groove 24 close to the short straight groove 23 is inclined, which can better squeeze the round rod 14 to slide into the Y-shaped groove 24 or the short straight groove 23. Three upper springs 28 are fixedly connected between the bottom end of the U-shaped frame 12 and the bottom of the push plate 13, and the upper spring 28 facilitates the push plate 13 to move upward for reset; One end of the top groove 26 is connected to the long straight groove 21, and the connection is set in front of the release groove 22 to prevent the round rod 14 from falling into the release groove 22 after being moved out of the top groove 26. The other end of the top groove 26 is inclined and connected to the top of the short straight groove 23. The inner side of the short straight groove 23 is provided with an inwardly sunken lower groove 27, and the side wall of the lower groove 27 is inclined. The connection between the top of the lower groove 27 and the top groove 26 is inclined. After the charging robot 3 is used, it moves from the secondary track 4 to the stop track 1 for reset. The robot 3 moves from the secondary track 4 to the main track 2, and then changes the direction of travel and moves to the stop track 1. First, it drives the round rod 14 to slide into the short straight groove 23, and pushes the end of the round rod 14 into the lower groove 27 under the elastic force of the extrusion spring 18. Since the side wall of the lower groove 27 is inclined and there is a step between it and the short straight groove 23, the round rod 14 is pushed upward under the extrusion of the lower groove 27, so that the round rod 14 slides into the top groove 26, and then the round rod 14 slides out of the lower groove 27, and then slides into the top groove 26, and compresses the extrusion spring 18, and at the same time drives the push plate 13 to slide upward and stretches the upper spring 28; Then the push plate 13 moves to the side of another slide plate 10, thereby pushing the slide plate 10 to move, and then driving the chain 7 to transmit between the upper sprocket 5 and the lower sprocket 6 through the insertion frame 11, and pulling the elastic rope 9 to move, thereby driving the side baffle 8 to slide in the cavity, realizing physical shielding of the front auxiliary track 4, avoiding the robot 3 on the auxiliary track 4 from moving out and colliding, and then driving the side baffle 8 to move to the side of the limit plate 15, and compressing the reset spring 16, and then the round rod 14 slides out of the top groove 26 and slides into the long straight groove 21, and then the robot 3 continues to walk, driving the round rod 14 to slide out of the long straight groove 21, and then slide into the lower straight groove 19, and moves along the downward inclined direction of the lower straight groove 19, driving the push plate 13 to slide downward, thereby releasing the push on the slide plate 10, and at the same time the push plate 13 will pass under another slide plate 10, and then reset under the elastic force of the elastic rope 9 and the reset spring 16, and finally the round rod 14 slides into the Y-shaped groove 24 on the other main track 2, and then the robot 3 passes through the secondary track 4 (it should be noted here that the time for the robot 3 to move to the side of the secondary track 4 is the same as the reset time of the side baffle 8, thereby preventing the robot 3 from moving out of the secondary track 4, resulting in the situation that the limit cannot be generated), and repeating the above operations to reset.

[0023] In order to improve the stability of the device during operation, an upper guide roller 29 is rotatably connected to the inner side of the side hole, and the elastic rope 9 passes through the outer wall of the upper guide roller 29. The setting of the upper guide roller 29 can guide the sliding of the elastic rope 9 and prevent the elastic rope 9 from directly contacting the inner wall of the side hole and causing friction, thereby affecting the service life of the elastic rope 9.

[0024] In order to further improve the stability of the robot 3 during operation, the positioning mechanism includes a positioning plate 30, a moving groove is opened on the side of the main track 2 away from the parking track 1, a pair of positioning plates 30 are provided, and the positioning plates 30 are slidably connected to the inner side of the moving groove, and the top of the positioning plates 30 are fixedly connected with a pull rope 31, and the top of the pull rope 31 passes through the cavity and is fixedly connected to the side wall of the side baffle 8, and the lower guide roller 32 is rotatably connected to the inner side of the cavity and located above the moving groove, and the pull rope 31 passes through the outer wall of the lower guide roller 32, and a positioning spring 33 is fixedly connected between the top of the moving groove and the top of the positioning plate 30; When the push plate 13 pushes the skateboard 10 to move, the side baffle 8 is pulled to move accordingly, and the movement of the side baffle 8 will drive the pull rope 31 to move, and then under the guidance of the lower guide roller 32, the positioning plate 30 in the movable groove will slide upward and compress the positioning spring 33, thereby physically limiting the side end of the main track 2, preventing one of the robots 3 from moving to the same main track 2 due to communication failure or the like, making the normal robot 3 unable to avoid the phenomenon, and further improving the safety performance of the device.

[0025] The basic principles, main features and advantages of the present invention are shown and described above.

[0026] Those skilled in the art should understand that the present invention is not limited to the above-mentioned embodiments. The above-mentioned embodiments and the specification only describe the principles of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. These changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. A track for robot movement, comprising a stop track (1), a main track (2) and a robot (3) walking on the stop track (1), characterized in that: The front and rear sides of the main track (2) are fixedly connected to the auxiliary track (4), and the main track (2) and the auxiliary track (4) are provided with a plurality of them. After the plurality of the main tracks (2) and the auxiliary tracks (4) are connected, they form a T-shaped track. After the connection, the main track (2) and the auxiliary track (4) in the T-shape are sequentially installed backward from the side wall of the stop track (1) by bolts. The top end of the main track (2) and the side close to the stop track (1) are rotatably connected to the upper chain wheel (5), and the top end of the main track (2) relative to the side of the auxiliary track (4) is rotatably connected to the lower chain wheel (5). The main track (2) comprises a plurality of main tracks (4), wherein the upper and lower sprocket wheels (5) are arranged on a side close to the upper and lower sprocket wheels (5), and the upper and lower sprocket wheels (5) are arranged alternately with each other, wherein a chain (7) is connected to the upper and lower sprocket wheels (6) on the two main tracks (2), and a pair of cavities are provided inside the main track (2), and a side baffle (8) is provided on the inner side of the cavity relative to the side of the auxiliary track (4), and a pushing mechanism is provided inside the main track (2) for the robot (3) to push the chain (7) to move and pull the side baffle (8) to slide out to limit the position of the auxiliary track (4).

2. A track for robot movement according to claim 1, characterized in that: The pushing mechanism comprises an elastic rope (9), a side hole connected to the inside of the main track (2) is opened on the side of the cavity close to the stop track (1), one end of the elastic rope (9) is fixedly connected to the side wall of one of the side baffles (8), and the other end of the elastic rope (9) passes through the side hole and is fixedly connected to the outer wall of the chain (7), and a slide plate (10) is slidably connected to the inner side of the main track (2) and located close to the upper sprocket (5) and the lower sprocket (6), and the slide plate (10) is arranged below the chain (7). The slide plate (10) is slidably connected to a rack (11), and the rack (11) is fixedly connected to the bottom end of the chain (7). The side wall of the robot (3) is fixedly connected to a U-shaped frame (12). The inner side of the U-shaped frame (12) is slidably connected to a push plate (13) for pushing the slide plate (10) to move. The inner side of the main track (2) is provided with an adjustment mechanism for adjusting the position of the push plate (13). The side wall of the main track (2) is provided with a positioning mechanism for limiting the sliding position of the robot (3) on the subsequent main track (2).

3. A track for robot movement according to claim 2, characterized in that: A limit plate (15) for limiting the position of the side baffle (8) is fixedly connected to the inner side of the cavity, and the elastic rope (9) is arranged to pass through the inner side of the limit plate (15). A return spring (16) is fixedly connected between the side wall of the limit plate (15) and the side wall of the side baffle (8), and a connecting plate (17) is fixedly connected between the side baffles (8).

4. A track for robot movement according to claim 2, characterized in that: The adjustment mechanism comprises a round rod (14), a pair of the round rods (14) are provided, a round hole is penetrated through the side wall of the push plate (13), a slide groove is provided on both the front and rear sides of the U-shaped frame (12), the round rod (14) is slidably connected to the two ends of the inner side of the round hole respectively, the side away from the round rod (14) is provided through the slide groove, the front and rear ends of the inner side of the main track (2) and the side close to the stop track (1) are provided with a lower straight groove (19), the front and rear ends of the inner side of the main track (2) and the upper straight groove (20) is provided above the lower straight groove (19), the inner side of the main track (2) and A long straight groove (21) is provided between the upper straight groove (20) and the lower straight groove (19); the upper straight groove (20) and the lower straight groove (19) are provided with oblique grooves connected to the long straight groove (21) at their side ends; a release groove (22) is provided on a side of the long straight groove (21) away from the oblique groove and inclined downward; a short straight groove (23) is provided on the side of the release groove (22); a Y-shaped groove (24) is provided on the inner side of the main track (2) away from the short straight groove (23) and on the inner side of the stop track (1); and a top groove (26) is provided on the inner side of the main track (2) and above the short straight groove (23).

5. A track for robot movement according to claim 4, characterized in that: An extrusion spring (18) is fixedly connected between the round rods (14); one end of the round rod (14) that is away from the other end is set as a smooth arc surface; and the connection between the lower straight groove (19) and the long straight groove (21) is set below the inclined groove at the side end of the upper straight groove (20); the branch end of the Y-shaped groove (24) is aligned with the side ends of the upper straight groove (20) and the lower straight groove (19); an inwardly recessed upper groove (25) is provided between the horizontal section and the upwardly inclined section of the Y-shaped groove (24); and the two sides of the upper groove (25) are inclined; the side wall of the Y-shaped groove (24) that is close to the short straight groove (23) is inclined; and three upper springs (28) are fixedly connected between the inner bottom end of the U-shaped frame (12) and the bottom of the push plate (13).

6. A track for robot movement according to claim 4, characterized in that: One end of the top groove (26) is connected to the long straight groove (21), and the connection point is arranged in front of the release groove (22). The other end of the top groove (26) is inclined and connected to the top of the short straight groove (23). An inwardly sunken lower groove (27) is provided inside the short straight groove (23), and the side wall of the lower groove (27) is inclined. The connection point between the top of the lower groove (27) and the top groove (26) is inclined.

7. A track for robot movement according to claim 2, characterized in that: An upper guide roller (29) is rotatably connected to the inner side of the side hole, and the elastic rope (9) passes through the outer wall of the upper guide roller (29).

8. A track for robot movement according to claim 2, characterized in that: The positioning mechanism comprises a positioning plate (30), a movable groove is provided on the side of the main track (2) away from the stop track (1), a pair of positioning plates (30) are provided, and the positioning plates (30) are slidably connected to the inner side of the movable groove, the top of each positioning plate (30) is fixedly connected to a pull rope (31), the top of each pull rope (31) passes through a cavity and is fixedly connected to the side wall of the side baffle (8), a lower guide roller (32) is rotatably connected to the inner side of the cavity and located above the movable groove, the pull rope (31) passes through the outer wall of the lower guide roller (32), and a positioning spring (33) is fixedly connected between the top of the movable groove and the top of the positioning plate (30).

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