A track robot capable of right angle turns

Abstract

The present application belongs to the technical field of track robot, and discloses a track robot capable of making right-angle turn, which comprises a vehicle body, a front supporting bridge arm device, a rear supporting bridge arm device, a front track winding and unwinding device and a rear track winding and unwinding device. The front supporting bridge arm device and the rear supporting bridge arm device are respectively connected to the two sides of the vehicle body in a rotating manner, and are connected to or separated from the tracks located at the opposite sides of the track intersection and arranged in the first direction through rotation. The front track winding and unwinding device and the rear track winding and unwinding device are respectively connected to the opposite ends of the bottom of the vehicle body. The front track winding and unwinding device and the rear track winding and unwinding device are respectively detachably connected with the recoverable tracks. The front track winding and unwinding device and the rear track winding and unwinding device are connected with the recoverable tracks through movement in the vertical direction to connect the tracks located at the opposite sides of the track intersection and arranged in the second direction or take the recoverable tracks away from the track intersection. The present application can realize right-angle turn.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of track robots, and more particularly relates to a track robot capable of making right-angle turns. BACKGROUND

[0002] A track robot is an industrial robot that uses a fixed track to perform work, and is mainly used in scenes with fixed motion trajectories and repeatability or scenes requiring obstacle crossing in the motion process, such as automatic material transportation in an automated workshop, cable arrangement in a railway signal machine room, etc. Track robots are generally divided into upper track type and lower track type. When a lower track type track robot travels on a double guide rail track, it will encounter a right-angle turn. In general, the right-angle turn is divided into an “L” shape, a “T” shape, and a “cross” shape. Taking a representative “cross” intersection as an example, there is no track at the intersection, the robot has no support point, and the turning radius is zero. Therefore, the problem of how the track robot passes through the right-angle intersection during turning must be solved. SUMMARY

[0003] In view of the above defects or improvement needs of the prior art, the present application provides a track robot capable of making right-angle turns, which aims to solve the problem that a track robot cannot make right-angle turns.

[0004] To achieve the above-mentioned purpose, according to one aspect of the present application, a track robot capable of making right-angle turns is provided, which comprises a vehicle body, a front support bridge arm device, a rear support bridge arm device, a front track winding and unwinding device, and a rear track winding and unwinding device. The front support bridge arm device and the rear support bridge arm device are respectively rotatably connected to opposite sides of the vehicle body, and both are connected to the track located at the opposite sides of the track intersection and arranged in a first direction by rotating or disconnected from the track to be retracted. The front track winding and unwinding device and the rear track winding and unwinding device are respectively connected to the opposite ends of the bottom of the vehicle body. The front track winding and unwinding device and the rear track winding and unwinding device are respectively detachably connected with a recoverable track, and both are extended from the vehicle body or retracted below the vehicle body by horizontal movement. The front track winding and unwinding device and the rear track winding and unwinding device are both connected to the track located at the opposite sides of the track intersection and arranged in a second direction by moving in the vertical direction to make the track connected or take the recoverable track away from the track intersection. The first direction is orthogonal to the second direction.

[0005] Further, the front support bridge arm device comprises a left bridge arm fixing plate, a right bridge arm fixing plate, a shaft, a left bridge arm, a right bridge arm, a first wheel, a joint motor, a wheel fixing plate and a small shaft, the left bridge arm fixing plate and the right bridge arm fixing plate are fixed on the front side of the vehicle body; one end of the shaft is fixedly connected to the joint motor, and the other end sequentially passes through the right bridge arm fixing plate, the right bridge arm, the left bridge arm fixing plate and the left bridge arm; the right bridge arm and the left bridge arm are connected by the small shaft away from one end of the shaft, and the wheel fixing plate is fixed on the right bridge arm and the left bridge arm respectively, and the first wheel is connected to the wheel fixing plate.

[0006] Further, the structure of the front support bridge arm device is the same as that of the rear support bridge arm device.

[0007] Further, the robot further comprises four eccentric rudders, which are rotatably connected to four corners of the vehicle body and are located below the vehicle body.

[0008] Further, the four eccentric rudders are the same in structure and are right front eccentric rudder, right rear eccentric rudder, left front eccentric rudder and left rear eccentric rudder; the eccentric rudder changes its direction by rotating to cooperate with the corresponding track.

[0009] Further, the eccentric rudder comprises a second wheel, a steering motor and a driving motor, the second wheel is directly connected to a rotating shaft, and the rotating shaft is connected to the vehicle body; the driving motor is connected to the second wheel, and the steering motor is connected to the rotating shaft, which is used to drive the rotating shaft to rotate, and then drives the second wheel to rotate through the rotating shaft to change the direction of the second wheel.

[0010] Further, the front track winding and unwinding device and the rear track winding and unwinding device are the same in structure.

[0011] Further, the front rail winding and unwinding device comprises a second fixed plate, a friction wheel pair, a slide rail, a pulley pair, a left rail winding and unwinding mechanism, a right rail winding and unwinding mechanism, a friction wheel driving motor and a recyclable rail; one side of the second fixed plate is fixedly connected to the vehicle body, and the other side is fixedly provided with a plurality of pairs of connecting pieces along the length direction, each pair of connecting pieces comprising a lug arranged along the width direction of the second fixed plate; the output shaft of the friction wheel driving motor sequentially penetrates the lug, the slide rail, the friction wheel pair and the corresponding lug; the friction wheel pair is movably arranged in the slide rail and can rotate in the slide rail; the pulley pair is also movably arranged in the slide rail and is connected to the corresponding lug through a rotating shaft; the slide rail is a frame structure, and the pulley pair and the pulley pair are embedded in the slide rail; the slide rail is provided with a friction wheel pair at opposite ends; the left rail winding and unwinding mechanism and the right rail winding and unwinding mechanism are fixedly connected to opposite sides of the slide rail, and opposite ends of the recyclable rail are connected to the left rail winding and unwinding mechanism and the right rail winding and unwinding mechanism away from the second fixed plate.

[0012] Further, the left rail winding and unwinding mechanism and the right rail winding and unwinding mechanism are the same in structure and each comprises a lead screw fixed plate, a lead screw, a lead screw sliding block, a first movable block, a first fixed block, a stroke expansion mechanism, a second fixed block, a second movable block, a rail grabbing platform, an electromagnetic knob, a small wheel and a lower driving motor; one side of the lead screw fixed plate is fixedly connected to the slide rail, and the other side is fixedly provided with the first fixed block; the output shaft of the lower driving motor penetrates the protrusion of the lead screw fixed plate and is connected to one end of the lead screw, the other end of the lead screw is threadedly connected to the lead screw sliding block, and the lead screw sliding block is fixedly connected to the first movable block; one end of the stroke expansion mechanism is rotatably connected to the first movable block and the first fixed block, and the other end is rotatably connected to the second movable block and the second fixed block; the second fixed block is fixed to one side of the rail grabbing platform, and the electromagnetic knob is arranged on the other side of the rail grabbing platform; a sliding groove is formed in the side of the rail grabbing platform facing the stroke expansion mechanism, and the small wheel is arranged on both sides of the second movable block and movably connected to the sliding groove and can slide in the sliding groove.

[0013] Further, the stroke expansion mechanism is a rhombic hinged structure, which comprises a plurality of groups of connecting rods connected together, each group of connecting rods comprising a first connecting rod and a second connecting rod, the middle part of the first connecting rod and the middle part of the second connecting rod being hinged, the two ends of the first connecting rod of the connecting rod group in the middle being hinged with one end of the second connecting rod of the adjacent connecting rod group, and the two ends of the second connecting rod being hinged with one end of the first connecting rod of the adjacent connecting rod group; the other end of the first connecting rod and the other end of the second connecting rod of the connecting rod group adjacent to the lead screw being hinged with the first movable block and the first fixed block, respectively; the other end of the first connecting rod and the other end of the second connecting rod of the connecting rod group adjacent to the track grabbing platform being hinged with the second fixed block and the second movable block, respectively.

[0014] Overall, compared with the prior art, the track robot capable of turning at right angles provided by the present application mainly has the following beneficial effects:

[0015] 1. The present application utilizes the cooperation of the front and rear support bridge arm devices and the front and rear track retracting devices, so that the track robot can pass through the straight intersection of the double-track track without support points. Specifically, in the longitudinal direction, before the track robot reaches the straight intersection, the front and rear support bridge arm devices are placed on the track on the opposite side of the intersection after rotating by a certain angle, thereby providing support for the robot; in the transverse direction, under the cooperation of the front and rear support bridge arm devices, the front and rear track retracting devices place the recoverable track at the intersection to realize the connection of the track in the transverse direction of the straight intersection.

[0016] 2. The present application uses an eccentric rudder wheel to contact the track, so that the robot can travel in two directions of the straight intersection, and the wheel has a rim to prevent the robot from shaking left and right or even overturning when traveling on the track.

[0017] 3. The front and rear support bridge arm devices work together, and the left and right two bridge arms used for supporting at the straight intersection perform pitching motion at the same time, so that the forces on each support point of the robot are more uniform, and the running process is more stable.

[0018] 4. The front and rear track retracting devices are used, and both can be extended or retracted from the side of the vehicle body, and the track retracting device comprises a stroke expansion mechanism, which can deform to lower the recoverable track under the vehicle body to the straight intersection to fill the intersection and connect the transverse, or recover the recoverable track to the bottom of the vehicle body after the robot passes through the straight intersection. At the same time, the stroke expansion mechanism can move the recoverable track a relatively large distance along a straight line (vertical) in the limited vertical space of the vehicle body, so that the recoverable track can be moved from the horizontal plane of the vehicle body to the horizontal plane of the track (i.e. under the wheel). Attached Figure Description

[0019] Figure 1 This is a structural schematic diagram of the track-type robot capable of right-angle turns provided by the present invention;

[0020] Figure 2 yes Figure 1 A plan view of a track-mounted robot capable of making right-angle turns;

[0021] Figure 3 yes Figure 1 A schematic diagram of the eccentric steering wheel of a track-mounted robot capable of making right-angle turns;

[0022] Figure 4 yes Figure 1 A schematic diagram of the gear pair distribution of the eccentric steering wheel of a track-mounted robot capable of making right-angle turns;

[0023] Figure 5 yes Figure 4 A partial schematic diagram of the eccentric steering wheel;

[0024] Figure 6 yes Figure 1 A schematic diagram of the track deployment and take-up device for a track-mounted robot capable of making right-angle turns;

[0025] Figure 7 yes Figure 6 A schematic diagram of the track deployment mechanism in the track deployment device;

[0026] Figure 8 yes Figure 7 A plan view of the track deployment and retraction mechanism in the middle;

[0027] Figure 9 yes Figure 1 A schematic diagram of a track-mounted robot capable of making right-angle turns arriving at an intersection;

[0028] Figure 10 yes Figure 1 A schematic diagram of a track-mounted robot capable of making right-angle turns extending from its track and retracting device.

[0029] Figure 11 yes Figure 1 A schematic diagram of a track-mounted robot capable of making right-angle turns and retrieving itself from a reusable track;

[0030] Figure 12 yes Figure 1 The distribution diagram of the positioning structure of a track-type robot capable of turning at right angles at a right-angle intersection;

[0031] Figure 13is a structure schematic view of the eccentric rudder wheel of the track robot capable of right-angle turning provided by another embodiment of the present application;

[0032] Figure 14 is Figure 13 a partial schematic view of the eccentric rudder wheel in

[0033] In all the drawings, the same reference signs are used to indicate the same elements or structures, wherein: 1 - vehicle body, 2 - right front eccentric rudder wheel, 3 - left front eccentric rudder wheel, 4 - right rear eccentric rudder wheel, 5 - left rear eccentric rudder wheel, 6 - front support bridge arm device, 7 - rear support bridge arm device, 8 - front track retracting device, 9 - rear track retracting device, 10 - retractable track, 11 - track, 12 - first fixed plate, 13 - steering gear pair, 14 - large gear, 15 - small gear, 16 - bearing, 17 - support plate, 18 - wheel connecting plate, 19 - second wheel, 20 - steering motor, 21 - driving motor, 22 - left bridge arm fixed plate, 23 - right bridge arm fixed plate, 24 - shaft coupling, 25 - left bridge arm, 26 - right bridge arm, 27 - small shaft, 28 - wheel fixed plate, 29 - first wheel, 30 - joint motor, 31 - second fixed plate, 32 - friction wheel pair, 33 - slide rail, 34 - pulley pair, 35 - left track retracting mechanism, 36 - right track retracting mechanism, 37 - friction wheel driving motor, 38 - lead screw fixed plate, 39 - lead screw, 40 - lead screw sliding block, 41 - first movable block, 42 - first fixed block, 43 - stroke expansion mechanism, 44 - second fixed block, 45 - second movable block, 46 - track grabbing platform, 47 - electromagnetic knob, 48 - small wheel, 49 - lowering driving motor, 50 - positioning structure. DETAILED DESCRIPTION

[0034] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application. In addition, the technical features involved in the various embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0035] Please refer to Figure 1 and Figure 2The application provides a right-angle turning track robot, which comprises a vehicle body 1, a front supporting bridge arm device 6, a rear supporting bridge arm device 7, a front track folding device 8 and a rear track folding device 9. The front supporting bridge arm device 6 and the rear supporting bridge arm device 7 are respectively rotatably connected to the opposite sides of the vehicle body 1, and are both folded on the tracks 11 located at the opposite sides of the track intersection and arranged in a first direction by rotation or are withdrawn from the tracks 11. The front track folding device 8 and the rear track folding device 9 are respectively connected to the opposite ends of the bottom of the vehicle body 1. The front track folding device 8 and the rear track folding device 9 are respectively detachably connected with the recoverable tracks 10, and are extended from the vehicle body 1 or withdrawn below the vehicle body 1 by horizontal movement. The front track folding device 8 and the rear track folding device 9 are both used to connect or disconnect the tracks located at the opposite sides of the track intersection and arranged in a second direction by moving the recoverable tracks 10 in the vertical direction. The first direction is orthogonal to the second direction.

[0036] In the embodiment, the vehicle body 1 is rectangular. The front supporting bridge arm device 6 comprises a left bridge arm fixed plate 22, a right bridge arm fixed plate 23, a shaft 24, a left bridge arm 25, a right bridge arm 26, a first wheel 29, a joint motor 30, a wheel fixed plate 28 and a small shaft 27. The left bridge arm fixed plate 22 and the right bridge arm fixed plate 23 are fixedly arranged at the front side of the vehicle body 1. One end of the shaft 24 is fixedly connected to the joint motor 30, and the other end sequentially passes through the right bridge arm fixed plate 23, the right bridge arm 26, the left bridge arm fixed plate 22 and the left bridge arm. The right bridge arm 26 and the left bridge arm are connected by the small shaft 27 and are respectively fixedly connected with the wheel fixed plate 28, and the wheel fixed plate 28 is rotatably connected with the first wheel 29.

[0037] The joint motor 30 is used to drive the shaft 24 to rotate, and the shaft 24 drives the left bridge arm, the right bridge arm 26, the wheel fixed plate 28, the first wheel 29 and the small shaft 24 connected with the shaft 24 to rotate relative to the vehicle body 1. The structure of the front supporting bridge arm device 6 is the same as that of the rear supporting bridge arm device 7.

[0038] The robot further comprises four eccentric rudders, which are respectively rotatably connected to the four corners of the vehicle body 1 and are all located below the vehicle body 1. The four eccentric rudders, the front track folding device 8 and the rear track folding device 9 are located on the same side of the vehicle body 1. The four eccentric rudders are the same in structure and are respectively a right front eccentric rudder 2, a right rear eccentric rudder 4, a left front eccentric rudder 3 and a left rear eccentric rudder 5. The eccentric rudders change their directions by rotation to cooperate with the corresponding tracks.

[0039] Please refer to Figure 3 , Figure 4 and Figure 5 , the eccentric steering wheel comprises a first fixed plate 12, a steering gear pair 13, a bearing 16, a support plate 17, a vehicle connecting plate, a second wheel 19, a steering motor 20 and a driving motor 21. One side of the first fixed plate 12 is connected to the vehicle body 1, and the other side is fixedly connected to the steering gear pair 13 through a connecting shaft. The steering gear pair 13 comprises a large gear 14 and a small gear 15. One side of the large gear 14 is fixedly connected to one end of the connecting shaft, and the other end is connected to one side of the bearing 16. The large gear 14 is in meshing connection with the small gear 15. The large gear 14 is fixedly provided with an annular plate on one side facing the support plate 17, and a cavity is formed between the annular plate and the large gear 14. The bearing 16 is connected to the support plate 17 through a connecting assembly. The connecting assembly comprises a stepped cylinder, and an annular protrusion is arranged on the step of the cylinder. The outer diameter of the annular protrusion is greater than the outer diameter of the step of the cylinder. The bearing 16 is arranged in one end of the cylinder away from the annular protrusion, and an active connection is formed between the two. The annular protrusion is accommodated in the accommodating cavity and abuts against the annular plate. The annular plate is located between the annular protrusion and the step of the cylinder. One end of the cylinder away from the bearing 16 is fixedly connected to the support plate 17.

[0040] The output shaft of the steering motor 20 is connected to the small gear 15, and the small gear 15 is fixedly connected to the support plate 17. The wheel connecting plate 18 is L-shaped, one end of which is connected to the support plate 17, and the other end is connected to the driving motor 21. The output shaft of the driving motor 21 is connected to the second wheel 19 for driving the second wheel 19 to rotate. Wherein, the second wheel 19 is formed with a rim, so that the second wheel 19 contacts the front and side surfaces of the track; the steering motor 20 drives the small gear 15 to rotate, the small gear 15 is in meshing connection with the large gear 14, and it drives the second wheel 19 to rotate through the support plate 17 and the wheel connecting plate 18.

[0041] In one embodiment, please refer to Figure 13 and Figure 14 , the wheel connecting plate 18 can be omitted, and the shape of the support plate 17 is adjusted accordingly, so that the driving motor 21 is directly connected to the support plate 17.

[0042] In another embodiment, the second wheel 19 can be directly connected to a rotating shaft, and the rotating shaft is connected to the vehicle body 1, and the second wheel 19 is driven to rotate by driving the rotating shaft to change direction.

[0043] Please refer to Figure 6 , Figure 7 and Figure 8 , the front rail retraction device 8 and the rear rail retraction device 9 have the same structure, both including a second fixed plate 31, a friction wheel pair 32, a sliding rail 33, a pulley pair 34, a left rail retraction mechanism 35, a right rail retraction mechanism 36, a friction wheel drive motor 37, and a recyclable rail 10. One side of the second fixed plate 31 is fixedly connected to the vehicle body 1, and the other side is fixed with multiple pairs of connecting pieces along the length direction, each pair of connecting pieces including ear hooks arranged along the width direction of the second fixed plate 31. The output shaft of the friction wheel drive motor 37 passes through the ear hooks, the sliding rail 33, the friction wheel pair 32, and the corresponding ear hooks in turn. The friction wheel pair 32 is movably arranged in the sliding rail 33 and can rotate in the sliding rail 33. The pulley pair 34 is also movably arranged in the sliding rail 33 and is connected to the corresponding ear hook through a rotating shaft. The sliding rail 33 is a frame structure, and the pulley pair 34 and the pulley pair 34 are embedded in the sliding rail 33. The sliding rail 33 is provided with a friction wheel pair 32 at opposite ends. The left rail retraction mechanism 35 and the right rail retraction mechanism 36 are fixedly connected to the opposite sides of the sliding rail 33, and the recyclable rail 10 is connected to the left rail retraction mechanism 35 and the right rail retraction mechanism 36 away from one end of the second fixed plate 31.

[0044] The left rail retraction mechanism 35 and the right rail retraction mechanism 36 have the same structure, both including a lead screw fixed plate 38, a lead screw 39, a lead screw sliding block 40, a first movable block 41, a first fixed block 42, a stroke expansion mechanism 43, a second fixed block 44, a second movable block 45, a rail grabbing platform 46, an electromagnetic knob 47, a small wheel 48, and a lower drive motor. One side of the lead screw fixed plate 38 is fixedly connected to the sliding rail 33, and the other side is fixed with a first fixed block 42. The output shaft of the lower drive motor passes through the protrusion of the lead screw fixed plate 38 and is connected to one end of the lead screw, the other end of the lead screw 39 is threadedly connected to the lead screw sliding block 40, and the lead screw sliding block 40 is fixedly connected to the first movable block 41. One end of the stroke expansion mechanism 43 is rotatably connected to the first movable block 41 and the first fixed block 42, respectively, and the other end is rotatably connected to the second movable block 45 and the second fixed block 44, respectively. The second fixed block 44 is fixed on one side of the rail grabbing platform 46, and the electromagnetic knob 47 is arranged on the other side of the rail grabbing platform 46. A slide groove is formed on the side of the rail grabbing platform 46 facing the stroke expansion mechanism, and the small wheels 48 are arranged on both sides of the second movable block 45, which are movably connected to the slide groove and can slide in the slide groove.

[0045] The stroke expansion mechanism 43 is a rhombic hinge structure, similar to a rhombic retractable door. The stroke expansion mechanism 43 comprises a plurality of groups of connecting rods connected together, each group of connecting rods comprising a first connecting rod and a second connecting rod, the middle part of the first connecting rod being hingedly connected to the middle part of the second connecting rod, the two ends of the first connecting rod of the connecting rod group in the middle being hingedly connected to one end of the second connecting rod of the adjacent connecting rod group, and the two ends of the second connecting rod being hingedly connected to one end of the first connecting rod of the adjacent connecting rod group. The other end of the first connecting rod and the other end of the second connecting rod of the connecting rod group adjacent to the lead screw are hingedly connected to the first movable block 41 and the first fixed block 42, respectively. The other end of the first connecting rod and the other end of the second connecting rod of the connecting rod group adjacent to the track grabbing platform 46 are hingedly connected to the second fixed block 44 and the second movable block 45, respectively. In this embodiment, the shape of the first movable block 41, the shape of the second movable block 45, the shape of the first fixed block 42, and the shape of the second fixed block 44 are all U-shaped. The stroke expansion mechanism can be extended and retracted in the vertical direction; the bottom of the vehicle body 1 is also provided with a detection element for positioning and detecting whether the vehicle body 1 reaches the right-angle intersection; the middle part and the ends of the slide rail 33 are provided with a pair of pulleys 34, and the upper top and the lower bottom of the slide rail 33 clamp the pulley pair 34; the upper top and the lower bottom of the slide rail 33 clamp the friction wheel pair 32.

[0046] The track on which the robot travels is provided with a positioning structure 50, and the track at each of the four corners of the right-angle intersection of the track is provided with a positioning structure 50. The positioning structure 50 is provided to ensure that when the recyclable track 10 is placed on the positioning structure 50, the upper side and the inner side are respectively coincident with the upper side and the inner side of the track outside the intersection, and the upper middle part of the positioning structure 50 has a protruding part for fixing the recyclable track 10.

[0047] Please refer to Figure 9 , Figure 10 , Figure 11 and Figure 12 , there are two cases of the robot passing through the right-angle intersection of the track, which are turning from the longitudinal track into the transverse track and turning from the transverse track into the longitudinal track, wherein the steps of the robot turning from the longitudinal track into the transverse track are:

[0048] The first step, the robot advances along the longitudinal track, the direction of the eccentric rudder is longitudinal, the front support bridge arm device 6 and the rear support bridge arm device 7 are in the retracted state, the first wheel 29 is not in contact with the track, the front track retraction device 8 and the rear track retraction device 9 respectively hold the recoverable track 10 and are in the retracted state. When the robot advances along the longitudinal track to the right angle intersection, the front support bridge arm device 6 is rotated at a certain angle and then lowered, so that the corresponding first wheel 29 is placed on the track on the opposite side of the right angle intersection, and the rear support bridge arm device 7 is rotated at a certain angle to make the corresponding first wheel 29 contact the track.

[0049] The second step, the robot continues to advance to the intersection by means of the support of the bridge arm, the track retraction device lowers the bottom-held recoverable track 10 along the vertical direction, connecting the track at the intersection, and then the track retraction device 9 is returned to the original position.

[0050] The third step, the robot lifts the vehicle body 1 by means of the support bridge arm, so that the eccentric rudder is separated from the track and does not contact the track, the left front eccentric rudder 3 and the right rear eccentric rudder 4 are respectively rotated clockwise by 90 degrees, and the right front eccentric rudder 2 and the left rear eccentric rudder 5 are respectively rotated counterclockwise by 90 degrees, so that the four eccentric rudders can be changed from falling on the longitudinal track to falling on the transverse track, and the robot lowers the vehicle body 1 by means of the bridge arm so that the eccentric rudder contacts the track, and the wheel steering is completed.

[0051] The fourth step, the front support bridge arm device 6 and the rear support bridge arm device 7 are retracted after being rotated at a certain angle, and the robot drives along the transverse direction to just pass through the intersection.

[0052] The fifth step, the robot extends the track retraction device along the transverse direction, the track retraction device is lowered, and the recoverable track 10 at the intersection is grabbed, and then the robot is returned to the original position, and the robot is mechanically driven.

[0053] The steps of the robot turning from the transverse track to the longitudinal track are as follows:

[0054] The first step, the robot advances along the transverse track, the direction of the eccentric rudder is transverse, the front support bridge arm device 6 and the rear support bridge arm device 7 are in the retracted state, the corresponding first wheel 29 is not in contact with the track, and the front track retraction device 8 and the rear track retraction device 9 respectively hold the recoverable track 10 and are in the retracted state. When the robot advances along the transverse track to the intersection, the track retraction device is extended forward along the transverse direction to the intersection, the track retraction device lowers the bottom-held recoverable track 10 along the vertical direction, connecting the track at the intersection, and then the track retraction device 9 is returned to the original position.

[0055] Second step, the robot continues to advance along the transverse track to the intersection directly above, and then lowers the front support bridge arm device 6 and the rear support bridge arm device 7 after a certain angle of pitch rotation, so that the first wheels 29 at the end of the support bridge arm contact the longitudinal track, and then continues to rotate the front support bridge arm device 6 and the rear support bridge arm device 7 by a certain angle to make the robot support the vehicle body 1 by means of the bridge arm, the eccentric rudders are disengaged from the track, the left front eccentric rudder 3 and the right rear eccentric rudder 4 are rotated counterclockwise by 90 degrees respectively, the right front eccentric rudder 2 and the left rear eccentric rudder 5 are rotated clockwise by 90 degrees respectively, so that the four eccentric rudders can just fall on the transverse track to be changed to fall on the longitudinal track, the robot lowers the vehicle body 1 by means of the support bridge arm, so that the eccentric rudders contact the track, and the wheel turning is completed.

[0056] Third step, adjust the position so that the robot is located directly above the intersection, the track retraction device is lowered, the recyclable track 10 located at the intersection is grabbed, and then the track retraction device is retracted to the original position of the vehicle body 1.

[0057] Fourth step, the robot drives along the longitudinal direction by means of the bridge arm support to just pass through the right-angled intersection, and then retracts the bridge arm after a certain angle of pitch rotation of the front support bridge arm device 6 and the rear support bridge arm device 7, and continues to drive in the longitudinal direction.

[0058] Taking the robot turning from the longitudinal track into the transverse track as an example, the detailed steps of the robot passing through the right-angled intersection of the track provided by the embodiment of the application are as follows:

[0059] The robot is driven by the driving motor to drive the four second wheels 19 to advance along the track 11 to the intersection, the T-shaped joint motor 30 is used to drive the shaft coupling 24 to rotate by 90 degrees, the shaft coupling 24 drives the left bridge arm and the right bridge arm to rotate by the same angle, so that the first wheels 29 of the front support bridge arm device 6 are placed on the track opposite to the intersection, the first wheels 29 contact the track, and then the T-shaped joint motor 30 is used to drive the rear support bridge arm device 7 to rotate by 90 degrees so that the first wheels 29 at the end contact the track.

[0060] Then, the robot continues to drive forward to the top of the intersection by the front support bridge arm device 6 and the rear support bridge arm device 7, and the second wheels 19 are driven by the driving motor. The lower driving motor 49 in the front rail retraction device 8 and the rear rail retraction device 9 drives the screw to rotate forward, and the screw block 400 cooperating with the screw rotates linearly towards the first fixed block 42 of the U-shaped structure. The first movable block 41 connected with the screw block 40 also rotates linearly, and the first movable block 41 drives the stroke expansion mechanism 43 to contract in the left-right direction and expand in the up-down direction. The stroke expansion mechanism 43 lowers the rail grabbing platform 46 through the second fixed block 44 and the second movable block 45, and the rail grabbing platform 46 is lowered to the position where the recyclable rail 10 is just filled in the gap of the rail in the left-right direction, so as to connect the rails in the left-right direction. At this time, the electromagnetic knob 47 is rotated by 90 degrees to release the fixation of the recyclable rail 10 by the rail grabbing platform 46, and the lower driving motor 49 drives the screw to rotate reversely to restore the rail retraction device, and the recyclable rail 10 remains on the rail.

[0061] After the placement of the recyclable rail 10 is completed, the joint motor 30 drives the coupling 24 to rotate by a certain angle, and the coupling 24 drives the left and right bridge arms to rotate by the same angle. The robot supports the vehicle body 1 by the bridge arm support device, so that the second wheels 19 are separated from the rail and no longer contact with the rail. After the second wheels 19 are separated from the rail by a certain distance, they are suspended in the air. The steering motor 20 drives the pinion gear 15 to rotate, and the large gear 14 meshing with the pinion gear 15 is fixed, and the support plate 17 connected with the pinion gear 15 rotates, so that the left front eccentric rudder 3 and the right rear eccentric rudder 4 rotate clockwise by 90 degrees respectively, and the right front eccentric rudder 2 and the left rear eccentric rudder 5 rotate counterclockwise by 90 degrees respectively. After rotation, the rear eccentric rudder can be turned from the front and rear direction rail on the rail to the left and right direction rail on the rail. After the eccentric rudder steering is completed, the joint motor 30 drives the coupling 24 to rotate by a certain angle, and the coupling 24 drives the left and right bridge arms to rotate by the same angle. The robot lowers the vehicle body 1 by the bridge arm support device, so that the second wheels 19 fall on the rail and contact with the rail. At this time, the robot can travel along the rail in the left-right direction.

[0062] After the eccentric rudder steering is completed, the joint motor 30 drives the coupling 24 to rotate reversely by 90 degrees, and the coupling 24 drives the left and right bridge arms to rotate by the same angle. The robot restores the support bridge arm device to the original position, and then the driving motor drives the four second wheels 19 to drive forward and travel to the left (or to the right) through the intersection.

[0063] After the robot passes the intersection, the friction wheel driving motor 37 drives the friction wheel pair 32 to rotate forward, the friction wheel pair 32 rotates and drives the slide rail 33 to move linearly by friction, the slide rail 33 extends rightward (or leftward) from the right side (or left side) of the vehicle body 1, drives the left rail folding mechanism 35 and the right rail folding mechanism 36 to extend from the right side (or left side) of the vehicle body 1 to the top of the recyclable rail 10, at this time the friction wheel driving motor 37 stops, then the down driving motor 49 drives the lead screw to rotate forward, the lead screw block 40 in screw cooperation with the lead screw moves linearly to the first fixed block 42, the first movable block 41 in cooperation with the lead screw block 40 moves linearly, the first movable block 41 drives the stroke expansion mechanism 43 to contract in the left-right direction and extend in the up-down direction, the stroke expansion mechanism 43 drives the rail grabbing platform 46 to descend through the second fixed block 44 and the second movable block 45, until the rail grabbing platform 46 just contacts the recyclable rail 10, at this time the electromagnetic knob 47 rotates 90 degrees, completes the fixation of the recyclable rail 10 by the rail grabbing platform 46, the down driving motor 49 drives the lead screw to rotate reversely, so that the left rail folding mechanism 35 and the right rail folding mechanism 36 return to the original position, the recyclable rail 10 is separated from the rail, the friction wheel driving motor 37 drives the friction wheel pair 32 to rotate reversely, so that the slide rail 33 returns to the original position, the rail folding device is retracted into the vehicle body 1, and the robot continues to drive.

[0064] Those skilled in the art will easily understand that the above description is only the preferred embodiment of the present application, and is not used to limit the present application, any modification, equivalent replacement and improvement within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A track-mounted robot capable of turning at right angles, characterized in that: The robot includes a vehicle body, a front support bridge arm, a rear support bridge arm, a front track deployment / retraction device, and a rear track deployment / retraction device. The front and rear support bridge arms are rotatably connected to opposite sides of the vehicle body. Both can rotate to mount or detach from the tracks on opposite sides of the track intersection along a first direction. The front and rear track deployment / retraction devices are connected to opposite ends of the bottom of the vehicle body. Each device is detachably connected to a retrievable track, which extends from or retracts below the vehicle body via horizontal movement. Both devices move vertically to place the retrievable track at the track intersection, connecting the tracks on opposite sides of the intersection along a second direction, or to retrieve the retrievable track from the intersection. The first and second directions are orthogonal. The robot also includes four eccentric steering wheels, which are rotatably connected to the four corners of the vehicle body and are all located below the vehicle body. The four eccentric steering wheels have the same structure and are respectively a right front eccentric steering wheel, a right rear eccentric steering wheel, a left front eccentric steering wheel, and a left rear eccentric steering wheel. The eccentric steering wheels change their own direction by rotating to cooperate with the corresponding track.

2. The track-mounted robot capable of right-angle turns as described in claim 1, characterized in that: The front support axle arm device includes a left axle arm fixing plate, a right axle arm fixing plate, a coupling, a left axle arm, a right axle arm, a first wheel, a joint motor, a wheel fixing plate, and a small coupling. The left axle arm fixing plate and the right axle arm fixing plate are fixed at intervals to the front side of the vehicle body. One end of the coupling is fixedly connected to the joint motor, and the other end passes sequentially through the right axle arm fixing plate, the right axle arm, the left axle arm fixing plate, and the left axle arm. The ends of the right axle arm and the left axle arm away from the coupling are connected through the small coupling and are respectively fixed with wheel fixing plates. The first wheel is rotatably connected to the wheel fixing plate.

3. The track-mounted robot capable of right-angle turns as described in claim 2, characterized in that: The structure of the front support arm device is the same as that of the rear support arm device.

4. The track-mounted robot capable of right-angle turns as described in claim 1, characterized in that: The eccentric steering wheel includes a second wheel, a steering motor, and a drive motor. The second wheel is directly connected to the rotating shaft, and the rotating shaft is connected to the vehicle body. The drive motor is connected to the second wheel, and the steering motor is connected to the rotating shaft. It is used to drive the rotating shaft to rotate, thereby driving the second wheel to rotate to change the direction of the second wheel.

5. The track-mounted robot capable of right-angle turning as described in any one of claims 1-4, characterized in that: The front rail deployment and take-up device and the rear rail deployment and take-up device have the same structure.

6. The track-mounted robot capable of right-angle turns as described in claim 5, characterized in that: The front track deployment and retraction device includes a second fixed plate, friction wheel pairs, a slide rail, pulley pairs, a left track deployment and retraction mechanism, a right track deployment and retraction mechanism, a friction wheel drive motor, and a recyclable track. One side of the second fixed plate is fixedly connected to the vehicle body, and the other side has multiple pairs of connectors fixed at intervals along its length. Each pair of connectors includes a hanging lug spaced at intervals along the width direction of the second fixed plate. The output shaft of the friction wheel drive motor passes through the hanging lug, the slide rail, the friction wheel pairs, and the corresponding hanging lug in sequence. The friction wheel pairs are movably disposed within the slide rail and can rotate within the slide rail. The pulley pairs are also movably disposed within the slide rail and are connected to the corresponding hanging lugs via a rotating shaft. The slide rail has a frame structure, and the pulley pairs are embedded within the slide rail. Friction wheel pairs are provided at both opposite ends of the slide rail. The left track deployment and retraction mechanism and the right track deployment and retraction mechanism are respectively fixedly connected to the opposite sides of the slide rail, and the opposite ends of the recyclable track are respectively connected to the ends of the left track deployment and retraction mechanism and the right track deployment mechanism away from the second fixed plate.

7. The track-mounted robot capable of right-angle turns as described in claim 6, characterized in that: The left and right track retraction mechanisms have the same structure, each including a lead screw fixing plate, a lead screw, a lead screw slider, a first movable block, a first fixed block, a stroke expansion mechanism, a second fixed block, a second movable block, a track gripping platform, an electromagnetic knob, small wheels, and a lower drive motor. One side of the lead screw fixing plate is fixedly connected to the slide rail, and the other side is fixed to the first fixed block. The output shaft of the lower drive motor passes through a protrusion of the lead screw fixing plate and is connected to one end of the lead screw. The other end of the lead screw is threadedly connected to the lead screw slider, and the lead screw slider is fixedly connected to the first movable block. One end of the stroke expansion mechanism is rotatably connected to the first movable block and the first fixed block, and the other end is rotatably connected to the second movable block and the second fixed block. The second fixed block is fixed to one side of the track gripping platform, and the electromagnetic knob is located on the other side of the track gripping platform. The track gripping platform has a groove on the side facing the stroke expansion mechanism, and the small wheels are arranged on both sides of the second movable block. The small wheels are movably connected to the groove and can slide within the groove.

8. The track-mounted robot capable of right-angle turns as described in claim 7, characterized in that: The stroke extension mechanism is a diamond-shaped hinge structure, comprising multiple sets of connecting rods rotatably connected together. Each connecting rod set includes a first connecting rod and a second connecting rod. The middle portion of the first connecting rod is hinged to the middle portion of the second connecting rod. The two ends of the first connecting rod in the middle connecting rod set are respectively hinged to one end of the second connecting rod in the adjacent connecting rod set. The two ends of the second connecting rod are respectively hinged to one end of the first connecting rod in the adjacent connecting rod set. The other ends of the first connecting rod and the second connecting rod in the connecting rod set adjacent to the lead screw are respectively hinged to the first movable block and the first fixed block. The other ends of the first connecting rod and the second connecting rod in the connecting rod set adjacent to the track gripping platform are respectively hinged to the second fixed block and the second movable block.

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