A rail mobile platform with a clamping mechanism and a self-circulation driving mechanism

Abstract

This invention relates to a track-driven platform, specifically a suspended mobile platform. Addressing the problems of complex structure, difficult manufacturing and installation, high cost, easy track jamming, uneven stress, attitude deviation, and limited movement inherent in existing low-gravity mobile platforms due to multi-synchronous track constraints, this invention comprises a set of I-beam tracks, a platform base, a self-circulating drive mechanism, and multiple clamping mechanisms. The clamping mechanisms are evenly distributed circumferentially around the platform base and are clamped onto the I-beam tracks via clamping mechanisms above the platform base. The self-circulating drive mechanism is mounted on the platform base and drives the release and clamping of the multiple clamping mechanisms on the set of I-beam tracks. The self-circulating drive mechanism also drives the platform base to move or stop on the set of I-beam tracks.

Description

Technical Field

[0001] This invention relates to a track-driven platform, specifically a track-moving platform with a clamping mechanism and a self-circulating drive mechanism. This invention belongs to the field of suspended mobile platforms. Background Technology

[0002] In suspended microgravity simulation experiments, the mobile platform is one of the core components for achieving microgravity simulation. It is typically positioned directly above the experimental object, using suspension ropes to precisely compensate for the object's gravity, thereby simulating a microgravity environment. The core function of the mobile platform is to track the horizontal movement of the experimental object in real time, ensuring that the suspension ropes between the platform and the object remain vertical at all times. This prevents rope tilting from interfering with the object's motion, thus guaranteeing the accuracy and reliability of the microgravity simulation experiment.

[0003] Currently, the mainstream mobile platform in existing suspended microgravity simulation systems uses a two-dimensional crane solution to achieve horizontal motion tracking. However, this two-dimensional crane solution has significant limitations: when there are multiple experimental objects in the experimental scenario, and these objects need to move in opposite directions, unavoidable physical interference occurs between the main beams of the multiple cranes. This prevents each crane from simultaneously and synchronously following its corresponding experimental object to complete motion tracking, thus limiting the feasibility of conducting microgravity simulation experiments on multiple experimental objects in parallel and failing to meet the needs of complex experimental scenarios.

[0004] Besides the two-dimensional overhead crane solution, existing technologies also include pneumatic negative pressure and electromagnetic mobile platforms to attempt to solve the aforementioned interference problems. However, both types of mobile platforms have key performance defects: the pneumatic negative pressure mobile platform is limited by the inherent characteristics of pneumatic drive, resulting in a slow movement speed and positioning accuracy that is difficult to meet the high-precision requirements of micro-low gravity simulation experiments for platform motion control; the electromagnetic mobile platform suffers from electromagnetic interference and large positioning errors, and similarly cannot adapt to high-precision, high-response-speed experimental scenarios, making it difficult to achieve accurate motion tracking of experimental objects.

[0005] In addition, existing technologies include suspended mobile devices for material handling, such as the utility model patent for a suspended robot track-walking device with publication number CN206967470U, which suffers from complex structure, poor stability, and limited movement. The improved mobile suspension device disclosed in CN105621259A also employs an I-beam track combined with a mobile seat structure. Existing mechanical mobile platforms adapted to this scenario are suspended on the I-beam track via double-sided clamping mechanisms. The platform's positioning and movement are achieved through the clamping force between the clamping mechanisms and the I-beam track. Simultaneously, the double-sided clamping structure prevents the mobile platform from detaching from the I-beam track, ensuring platform operation. However, this type of clamping scheme for mechanical mobile platforms still has many technical drawbacks, specifically: the clamping action cannot be synchronously controlled, and during clamping, situations easily occur where one side clamps first and the other side clamps later, leading to uneven force on the platform.

[0006] The aforementioned multi-synchronous track constraint clamping scheme not only significantly increases the manufacturing and processing difficulty of the mobile platform and raises the equipment manufacturing cost, but also makes it difficult to guarantee the installation accuracy of multiple tracks, easily leading to problems such as track parallelism deviation and installation misalignment; it is also very likely to cause malfunctions such as track jamming and accelerated wear of the clamping mechanism, shortening the service life of the equipment and increasing the operation and maintenance costs of the equipment; in addition, the problem of uneven clamping force can also cause the mobile platform to deviate in attitude during movement, further affecting the motion accuracy of the platform and making it impossible to guarantee the smooth conduct of micro-low gravity simulation experiments. Summary of the Invention

[0007] This invention addresses the problems of complex structure, difficult manufacturing and installation, high cost, easy track jamming, uneven force, attitude deviation, and limited movement caused by the multi-synchronous track constraints of existing micro-low gravity mobile platforms. It provides a track-based mobile platform with a clamping mechanism and a self-circulating drive mechanism.

[0008] To address the aforementioned problems, this application provides the following technical solution:

[0009] A track-mounted mobile platform with a clamping mechanism and a self-circulating drive mechanism includes a set of I-beam tracks, a platform base, a self-circulating drive mechanism, and multiple clamping mechanisms; the clamping mechanism includes a U-shaped track seat, a clamping sliding shaft, and two clamping assemblies.

[0010] Multiple clamping mechanisms are evenly distributed around the platform base in the circumferential direction. The clamping mechanisms are clamped on a set of I-beam rails above the platform base. The fixed end of the U-shaped rail seat is installed on the self-circulating drive mechanism. The clamping sliding shaft is inserted into the strip groove of the U-shaped rail seat and slides along the circumference of the platform base. Two clamping components are installed on the clamping sliding shaft and the self-circulating drive mechanism. The clamping sliding shaft drives the two clamping components to clamp the bottom end of the set of I-beam rails above. The self-circulating drive mechanism is installed on the platform base and drives the release and clamping of multiple clamping mechanisms on the set of I-beam rails. The self-circulating drive mechanism also drives the platform base to move or stop on the set of I-beam rails.

[0011] Furthermore, a set of I-beam tracks includes multiple I-beams, which are installed side by side in parallel on the external space frame, with two connected I-beams spaced at equal intervals.

[0012] Furthermore, the platform base includes a double base connector, a right platform base, a left platform base, and a motor bracket;

[0013] The right platform base and the left platform base are arranged in parallel relative to each other. The double base connector and the motor bracket are located between the right platform base and the left platform base and are respectively installed on the right platform base and the left platform base. The self-circulating drive mechanism is installed on the motor bracket.

[0014] Furthermore, the right base of the platform and the left base of the platform have the same structure. The right base of the platform includes an outer vertical plate, an inner vertical plate, a horizontal plate, and three bearing end caps.

[0015] The outer vertical plate and the inner vertical plate are arranged parallel to each other, and the horizontal plate is installed vertically on the outer vertical plate and the inner vertical plate. The inner side of the outer vertical plate is machined with an outer plate circulating wheel groove, and the outer side of the inner vertical plate is machined with an inner plate circulating wheel groove. The outer plate circulating wheel groove and the inner plate circulating wheel groove are arranged opposite to each other. The drive end of the clamping mechanism is slidably set on the outer plate circulating wheel groove and the inner plate circulating wheel groove. Two bearing end caps are installed on the outer side of the outer vertical plate, and another bearing end cap is installed on the inner side of the inner vertical plate.

[0016] Furthermore, the self-circulating drive mechanism includes a circulating drive motor, a circulating motor coupling, a circulating motor reducer, two positioning cylinders, two sprocket active transmission assemblies, two sprocket passive transmission assemblies, and two transmission chains;

[0017] The circulating drive motor is connected to the input end of the circulating motor reducer through the circulating motor coupling. The two output shafts of the circulating motor reducer are respectively connected to the sprocket active transmission component. Each sprocket active transmission component is connected to the sprocket passive transmission component through the transmission chain. Multiple clamping mechanisms are symmetrically installed on the two transmission chains. The circulating motor reducer is installed on the platform base through two positioning cylinders.

[0018] Furthermore, the sprocket drive assembly includes a sprocket reducer, a drive sprocket shaft, and a drive sprocket; the sprocket drive assembly includes a driven sprocket and a driven sprocket shaft.

[0019] Each driving sprocket is rotatably connected to one end of the outer and inner vertical plates via a driving sprocket shaft, and each driven sprocket is rotatably connected to the other end of the outer and inner vertical plates via a driven sprocket shaft. The driving and driven sprockets are driven by a transmission chain. Each output shaft of the circulating motor reducer is fixedly connected to the driving sprocket shaft via a sprocket reducer. The circulating motor reducer and the two sprocket reducers are mounted on the inner side of the inner vertical plate via positioning cylinders. A bearing end cap is fastened to the end of the driving sprocket shaft on the outer side of the outer vertical plate. A bearing end cap is fastened to the outer and inner vertical plates at both ends of the driven sprocket shaft. The circulating drive motor is mounted on a motor bracket.

[0020] Furthermore, the clamping mechanism also includes two sliding bearing wheels; each end of the clamping sliding shaft is provided with a sliding bearing wheel, and the two sliding bearing wheels slide on the platform base along the circumference of the platform base.

[0021] Furthermore, the clamping assembly includes a clamping drive linkage, two clamping crank shafts, two clamping cranks, two clamping roller shafts, and two clamping rollers;

[0022] The ⊥-shaped track base is fixedly installed on the link of the transmission chain. Two clamping drive linkages are symmetrically arranged on both sides of the clamping sliding shaft. One end of the clamping drive linkage is rotatably connected to the clamping sliding shaft, and the other end of the clamping drive linkage is rotatably connected to one end of the clamping crank. The other end of the clamping crank is rotatably connected to the clamping roller shaft and the clamping roller. A clamping crank shaft is installed on the clamping crank. The clamping crank shaft is located near the connection between the clamping drive linkage and the clamping crank, and the clamping crank shaft is inserted into the transmission chain.

[0023] Furthermore, the outer plate circulating wheel groove and the inner plate circulating wheel groove have the same structure. The outer plate circulating wheel groove is an elliptical groove, with the clamping long groove above the elliptical groove and the releasing long groove below it arranged in parallel, and the clamping long groove above the elliptical groove is recessed.

[0024] Furthermore, the clamping mechanism also includes a bushing, which is fitted onto the clamping sliding shaft near the U-shaped track seat, and the bushing is located between the U-shaped track seat and the clamping drive linkage.

[0025] The clamping assembly also includes two gasket sleeves. A gasket sleeve is provided between the clamping drive linkage and the clamping crank. The gasket sleeve is coaxially arranged with the connection between the clamping drive linkage and the clamping crank.

[0026] The technical advantages of this application compared to existing technologies are as follows:

[0027] 1. The mobile platform of this application achieves installation and movement through a set of I-beam tracks and circumferentially distributed clamping mechanisms, eliminating the need for a space-consuming overhead crane main beam structure, resulting in a compact structure and flexible layout. This application uses combinations of multiple platform bases, self-circulating drive mechanisms, and multiple clamping mechanisms to correspond to different experimental objects, allowing independent movement along their respective adapted I-beam tracks. The track layout can be flexibly designed according to the experimental scenario, avoiding physical interference between multiple platforms. This enables the parallel conduct of micro-low gravity simulation experiments on multiple experimental objects, significantly improving the adaptability of experimental scenarios and broadening the scope of application compared to two-dimensional overhead crane solutions. It also features simple structure, low manufacturing cost, strong track adaptability, and flexible operation, making it more suitable for the operational needs of various track-based mobile platforms.

[0028] 2. This application directly drives multiple circumferentially distributed clamping mechanisms via a self-circulating drive mechanism, enabling the platform to move and stop on the I-beam. The drive power transmission is direct and has low loss, significantly improving the platform's movement speed and response sensitivity. Simultaneously, the circumferentially distributed clamping mechanisms ensure reliable positioning between the platform and the I-beam, while the self-circulating drive mechanism precisely controls the amplitude and frequency of the clamping mechanisms' movements, thus achieving high-precision platform positioning. This application can track the horizontal movement of the experimental object in real time and accurately, ensuring the suspension rope remains vertical and avoiding interference from rope tilt on the experimental object's motion posture. This guarantees the accuracy and reliability of the microgravity simulation experiment, solving the core pain points of insufficient positioning accuracy and slow response speed in existing technologies.

[0029] 3. This application features multiple clamping mechanisms evenly distributed along the circumference of the platform base, all driven by a single self-circulating drive mechanism. This ensures complete synchronization of the clamping and releasing actions, resolving the issue of asynchronous clamping actions in existing mobile platforms. The circumferentially distributed structure ensures even distribution of clamping forces across the platform base, preventing concentrated forces on one side and significantly improving platform stability, thus preventing attitude deviations during platform movement. Furthermore, the synchronous clamping structure of the clamping mechanisms ensures reliable clamping between the platform and the I-beam. This application eliminates the need to rely on track installation precision for synchronization, resulting in superior operational stability and a significantly reduced risk of jamming.

[0030] 4. This application requires only one set of I-beam rails to achieve platform installation, guidance, and movement, eliminating the need for multiple synchronous rails. This solves the problem of multiple synchronous rail constraints in existing mechanical mobile platforms and significantly simplifies the overall structural design of the mobile platform. The simplified structure not only reduces manufacturing difficulty and the number of parts, thus lowering manufacturing costs, but also ensures higher installation accuracy for the single set of I-beam rails. This effectively avoids malfunctions such as rail jamming and accelerated wear caused by rail parallelism deviations and installation misalignments, extending the service life of components such as the clamping mechanism and rails. Furthermore, the self-circulating drive mechanism and clamping mechanism have simple structural designs and are easy to maintain, further reducing equipment operation and maintenance costs. Compared to existing mechanical mobile platforms, this application significantly reduces manufacturing and operation and maintenance costs; compared to existing technologies, this application offers higher operational reliability and greater long-term maintenance cost advantages.

[0031] 5. This application achieves synchronous movement of the clamping mechanism through a self-circulating drive mechanism. Synchronization is guaranteed by the drive mechanism itself, eliminating reliance on the installation accuracy of the I-beam. Even with slight installation deviations in the track, stable platform movement can still be achieved through the synchronous movement of the clamping mechanism, reducing the equipment's requirements for installation accuracy and further lowering installation difficulty and cost. Simultaneously, the circumferentially distributed clamping mechanism provides reliable clamping, effectively counteracting environmental interference such as slight vibrations that may occur in micro-low gravity simulation experiments. Compared to existing mobile platforms and technologies, it exhibits stronger environmental adaptability and can operate stably in complex experimental scenarios, further enhancing the equipment's practicality and reliability.

[0032] 6. This application solves the technical problems of physical interference, low positioning accuracy, slow movement speed, asynchronous clamping, uneven force, difficult manufacturing and processing, high operation and maintenance costs, and poor adaptability. It has achieved significant improvements in experimental scenario adaptability, motion control accuracy, operational stability, safety, and economy, and has practicality and promotion value.

[0033] 7. In this application, the self-circulating drive mechanism and the symmetrical clamping mechanism work together to achieve synchronous clamping of the I-beam on both sides. The clamping mechanism consists of two crank-slider mechanisms symmetrical about the center of the I-beam. The clamping action is performed by two crank components, and the driving component of both is the clamping sliding shaft. The clamping of the I-beam by the cranks is achieved by controlling the single degree of freedom sliding of the clamping sliding shaft. That is, when the clamping sliding shaft moves from the upper limit to the lower limit, the two crank components are in a synchronous symmetrical clamping state; when the clamping sliding shaft moves from the lower limit to the upper limit, the two crank components are in a synchronous symmetrical clamping state. The symmetrical clamping and releasing action avoids asymmetrical clamping forces and reaction impact forces. The clamping mechanism and driving method are simple.

[0034] 8. This invention utilizes only the closed outer and inner plate circulating wheel grooves to drive the clamping mechanism, achieving self-circulating clamping and release switching actions. Specifically, the clamping mechanism is a single-degree-of-freedom mechanism; the closed outer and inner plate circulating wheel grooves enable self-circulation of the clamping mechanism. The arc-shaped grooves on both sides and the lower release groove drive the clamping mechanism to release the I-beam, while the upper clamping groove maintains the clamping state of the clamping mechanism. The cam groove structure serves both a guiding function and a constraint driving function. The closed outer and inner plate circulating wheel groove structure has the advantages of small motion error and low processing cost.

[0035] 9. This invention enables the mobile platform to move and change direction arbitrarily along the vertical I-beam by using symmetrical closed outer and inner plate circulating wheel grooves. Specifically, the cam grooves at both ends of the mobile platform transition from curved sections to straight sections, with symmetrically distributed arc-shaped grooves on both sides; the middle section is straight. The invented clamping mechanism corresponds one-to-one with the I-beam. Taking clamping as an example, the action sequence of the arc-shaped groove on one side is to first cycle the clamping mechanism to below the I-beam, and then drive the clamping mechanism to clamp the I-beam; taking release as an example, the action sequence of the arc-shaped groove is to first drive the clamping mechanism to release the I-beam, and then cycle the clamping mechanism away from below the I-beam. Attached Figure Description

[0036] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0037] Figure 2 A schematic diagram of the clamping mechanism 4 being clamped onto a set of I-beam rails 1;

[0038] Figure 3 A schematic diagram of the self-circulating drive mechanism 3 mounted on the platform base 2;

[0039] Figure 4 This is a schematic diagram of the right base 22 of the platform.

[0040] Figure 5 A schematic diagram of machining the inner plate circulation wheel groove 226 on the inner vertical plate 223;

[0041] Figure 6 for Figure 3 C-axis sectional view;

[0042] Figure 7 A cross-sectional schematic diagram of the working state of the track-driven platform;

[0043] Figure 8 for Figure 2 Enlarged view at point H;

[0044] Figure 9 for Figure 2 Enlarged view of section L in the middle.

[0045] 1. I-beam track in the diagram;

[0046] 2. Platform base; 21. Double base connector; 22. Right platform base; 221. Bearing end cover; 222. Outer vertical plate; 223. Inner vertical plate; 224. Horizontal plate; 225. Outer plate circulation wheel groove; 226. Inner plate circulation wheel groove; 23. Left platform base; 24. Motor bracket;

[0047] 3. Self-circulating drive mechanism; 31. Circulating drive motor; 32. Circulating motor coupling; 33. Circulating motor reducer; 34. Positioning cylinder; 35. Sprocket active transmission assembly; 351. Sprocket reducer; 352. Active sprocket shaft; 353. Active sprocket; 354. Active bearing; 355. Key; 36. Drive chain; 37. Sprocket passive transmission assembly; 371. Passive sprocket; 372. Passive sprocket shaft; 373. Passive bearing;

[0048] 4. Clamping mechanism; 41. U-shaped track seat; 42. Clamping sliding shaft; 43. Bushing; 44. Clamping assembly; 441. Clamping drive connecting rod; 442. Clamping crankshaft; 443. Shim sleeve; 444. Clamping crank; 445. Clamping roller shaft; 446. Clamping roller; 45. Sliding bearing wheel; Detailed Implementation

[0049] Combination Figure 1 This embodiment describes a track-moving platform with a clamping mechanism and a self-circulating drive mechanism. It includes a set of I-beam tracks 1, a platform base 2, a self-circulating drive mechanism 3, and multiple clamping mechanisms 4. The clamping mechanism 4 includes a U-shaped track seat 41, a clamping sliding shaft 42, and two clamping components 44.

[0050] Multiple clamping mechanisms 4 are evenly distributed around the platform base 2 in the circumferential direction. The clamping mechanisms 4 are clamped on a set of I-beam rails 1 above the platform base 2. The fixed end of the ⊥-shaped rail seat 41 is installed on the self-circulating drive mechanism 3. The clamping sliding shaft 42 is inserted into the strip groove of the ⊥-shaped rail seat 41 and slides along the circumference of the platform base 2. Two clamping components 44 are installed on the clamping sliding shaft 42 and the self-circulating drive mechanism 3. The clamping sliding shaft 42 drives the two clamping components 44 to clamp the bottom end of the set of I-beam rails 1 above. The self-circulating drive mechanism 3 is installed on the platform base 2. The self-circulating drive mechanism 3 drives the release and clamping of multiple clamping mechanisms 4 on the set of I-beam rails 1, and drives the platform base 2 to move or stop on the set of I-beam rails 1 through the self-circulating drive mechanism 3.

[0051] In this embodiment, the self-circulating drive mechanism 3 is equipped with I-beams spaced apart on a set of I-beam tracks 1 and corresponding clamping mechanisms 4, which complete the cyclic clamping and releasing action of the clamping mechanism 4, thereby enabling the drive platform to move along the vertical I-beams.

[0052] When the track-driven platform moves forward, the head clamping mechanism 4 changes from the released state to the clamping state, and the tail clamping mechanism 4 changes from the clamping state to the released state. When the track-driven platform changes from forward to backward movement, the head clamping mechanism 4 changes from the clamping state to the released state, and the tail clamping mechanism 4 changes from the released state to the clamping state; at least four clamping mechanisms 4 on one side are in the clamping state. With this design, the self-circulating clamping and releasing actions of the clamping mechanisms 4 on different I-beams on a set of I-beam tracks 1 can realize the forward or backward movement of the track-driven platform along the direction perpendicular to the I-beams in any state.

[0053] Combination Figure 1 and Figure 2 As shown, a set of I-beam rails 1 includes multiple I-beams, which are installed side by side in parallel on the external space frame, and two connected I-beams are set at equal intervals.

[0054] In this embodiment, each I-beam cooperates with two symmetrically arranged clamping mechanisms 4 below, and ensures that the distance between two adjacent I-beams is equal to the distance between the two horizontally arranged clamping mechanisms 4 below, so as to realize the clamping or release of the I-beam by the two clamping mechanisms 4.

[0055] Combination Figure 1 and Figure 3 As shown, the platform base 2 includes a double base connector 21, a right platform base 22, a left platform base 23, and a motor bracket 24;

[0056] The right platform base 22 and the left platform base 23 are arranged in parallel relative to each other. The double base connector 21 and the motor bracket 24 are arranged between the right platform base 22 and the left platform base 23 and are respectively installed on the right platform base 22 and the left platform base 23. The self-circulating drive mechanism 3 is installed on the motor bracket 24.

[0057] Combination Figures 1 to 7 As shown, the right base 22 and the left base 23 of the platform have the same structure. The right base 22 of the platform includes an outer vertical plate 222, an inner vertical plate 223, a horizontal plate 224 and three bearing end caps 221.

[0058] The outer vertical plate 222 and the inner vertical plate 223 are arranged parallel to each other, and the horizontal plate 224 is vertically installed on the outer vertical plate 222 and the inner vertical plate 223. The inner side of the outer vertical plate 222 is machined with an outer plate circulating wheel groove 225, and the outer side of the inner vertical plate 223 is machined with an inner plate circulating wheel groove 226. The outer plate circulating wheel groove 225 and the inner plate circulating wheel groove 226 are arranged opposite to each other. The driving end of the clamping mechanism 4 is slidably arranged on the outer plate circulating wheel groove 225 and the inner plate circulating wheel groove 226. Two bearing end caps 221 are installed on the outer side of the outer vertical plate 222, and another bearing end cap 221 is installed on the inner side of the inner vertical plate 223.

[0059] Combination Figure 1 , Figure 3 , Figure 6 and Figure 7 As shown, the self-circulating drive mechanism 3 includes a circulating drive motor 31, a circulating motor coupling 32, a circulating motor reducer 33, two positioning cylinders 34, two sprocket active transmission components 35, two sprocket passive transmission components 37, and two transmission chains 36.

[0060] The circulating drive motor 31 is connected to the input end of the circulating motor reducer 33 through the circulating motor coupling 32. The dual output shafts of the circulating motor reducer 33 are respectively connected to the sprocket active transmission assembly 35. Each sprocket active transmission assembly 35 is connected to the sprocket passive transmission assembly 37 through the transmission chain 36. Multiple clamping mechanisms 4 are symmetrically installed on the two transmission chains 36. The circulating motor reducer 33 is installed on the platform base 2 through two positioning cylinders 34.

[0061] In this embodiment, the circulating drive motor 31 and the circulating motor reducer 33 are T-type reducers with single input and dual output. The circulating motor reducer 33 synchronously drives the sprocket active transmission components 35 on both sides. The output shaft of the circulating drive motor 31 and the input shaft of the circulating motor reducer 33 are coaxially arranged.

[0062] Combination Figure 1 , Figures 3 to 7 As shown, the sprocket drive assembly 35 includes a sprocket reducer 351, a drive sprocket shaft 352, and a drive sprocket 353; the sprocket drive assembly 37 includes a driven sprocket 371 and a driven sprocket shaft 372.

[0063] Each drive sprocket 353 is rotatably connected to one end of the outer vertical plate 222 and the inner vertical plate 223 via a drive sprocket shaft 352. Each driven sprocket 371 is rotatably connected to the other end of the outer vertical plate 222 and the inner vertical plate 223 via a driven sprocket shaft 372. The drive sprockets 353 and the driven sprockets 371 are driven by a transmission chain 36. Each output shaft of the circulating motor reducer 33 is fixedly connected to the drive sprocket shaft 352 via a sprocket reducer 351. The circulating motor reducer 33 and the two sprocket reducers 351 are mounted on the inner side of the inner vertical plate 223 via a positioning cylinder 34. A bearing end cap 221 is fastened to the end of the drive sprocket shaft 352 located on the outer side of the outer vertical plate 222. A bearing end cap 221 is fastened to the outer vertical plate 222 and the inner vertical plate 223 at both ends of the driven sprocket shaft 372, respectively. The circulating drive motor 31 is mounted on the motor bracket 24.

[0064] In this embodiment, the transmission chain 36 is tensioned by the driving sprocket 353 and the driven sprocket 371. The two ends of the driving sprocket shaft 352 are rotatably connected to the outer vertical plate 222 and the inner vertical plate 223 through the driving bearing 354. The driving sprocket shaft 352 is connected to the driving sprocket 353 through the key 355 and transmits torque. The driven sprocket 371 and the driven sprocket shaft 372 are rotatably connected through the driven bearing 373.

[0065] In this embodiment, a chain drive is used to provide power to the vertical I-beam of the track drive platform. The clamping mechanism 4 achieves self-circulation through the self-circulating drive mechanism 3, and the clamping and releasing actions are achieved through the outer plate circulating wheel groove 225 and the inner plate circulating wheel groove 226.

[0066] Combination Figure 1 , Figure 8 and Figure 9 As shown, the clamping mechanism 4 also includes two sliding bearing wheels 45; each end of the clamping sliding shaft 42 is provided with a sliding bearing wheel 45, and the two sliding bearing wheels 45 slide on the platform base 2 in the circumferential direction.

[0067] In this embodiment, the ⊥-shaped track seat 41, the clamping sliding shaft 42, the clamping assembly 44, and the sliding bearing wheel 45 form a crank-slider assembly, wherein the clamping sliding shaft 42 has the degree of freedom to slide on the ⊥-shaped track seat 41.

[0068] Combination Figure 1 , Figure 2 , Figure 8 and Figure 9 As shown, the clamping assembly 44 includes a clamping drive linkage 441, two clamping crank shafts 442, two clamping cranks 444, two clamping roller shafts 445, and two clamping rollers 446.

[0069] The base of the ⊥-shaped track seat 41 is fixedly installed on the link of the transmission chain 36. Two clamping drive connecting rods 441 are symmetrically arranged on both sides of the clamping sliding shaft 42. One end of the clamping drive connecting rod 441 is rotatably connected to the clamping sliding shaft 42, and the other end of the clamping drive connecting rod 441 is rotatably connected to one end of the clamping crank 444. The other end of the clamping crank 444 is rotatably connected to the clamping roller shaft 445 and the clamping roller 446. A clamping crank shaft 442 is installed on the clamping crank 444. The clamping crank shaft 442 is located near the connection between the clamping drive connecting rod 441 and the clamping crank 444, and the clamping crank shaft 442 is inserted into the transmission chain 36.

[0070] In this embodiment, the clamping sliding shaft 42 can move within the outer plate circulating wheel groove 225 and the inner plate circulating wheel groove 226 under the drag of the transmission chain 36.

[0071] The base of the U-shaped track seat 41 has the same shape as the outer chain plate of the transmission chain 36 and is fixed to the transmission chain 36 by a pin. In the clamped state, the clamping rollers 446 at the upper end of the clamping crank 444 are constrained to the upper surface of a set of I-beam tracks 1 and can roll along the I-beam. The clamping rollers 446 on the two clamping cranks 444 are symmetrically clamped on the I-beam.

[0072] The degrees of freedom of the clamping mechanism 4 are 3n-2f=3×5-2×7=1. The sliding bearing wheel 45 of the clamping sliding shaft 42 is embedded in the outer plate circulating wheel groove 225 and the inner plate circulating wheel groove 226. The sliding along the outer plate circulating wheel groove 225 and the inner plate circulating wheel groove 226 provides the relative velocity of the car body relative to the I-beam. The different curvatures of the outer plate circulating wheel groove 225 and the inner plate circulating wheel groove 226 control the clamping and release of the clamping mechanism on the I-beam. The closed outer plate circulating wheel groove 225 and the inner plate circulating wheel groove 226 design realizes the self-circulation function of the clamping mechanism.

[0073] Combination Figure 1 , Figure 4 , Figure 5 and Figure 8 As shown, the outer plate circulating wheel groove 225 and the inner plate circulating wheel groove 226 have the same structure. The outer plate circulating wheel groove 225 is an elliptical groove. The clamping long groove above the elliptical groove and the releasing long groove below the elliptical groove are arranged in parallel. The clamping long groove above the elliptical groove is recessed. The clamping long groove above the elliptical groove is smoothly connected to the arc grooves on both sides.

[0074] In this embodiment, the circulating drive motor 31 serves as a power source to drive the transmission chain 36 to move, causing the platform base 2 to generate a relative speed with respect to the chain. The clamping mechanism 4 is installed on the chain, and the clamping mechanism installed in the clamping long groove above the elliptical groove is clamped on the I-beam. The I-beam has no displacement relative to the clamping mechanism 4 and the chain at that location, so the platform base 2 generates displacement relative to the chain at that location.

[0075] In this embodiment, the closed elliptical groove includes a straight section and a variable curvature arc section, which serves as a constraint on the clamping sliding shaft 42 and acts as a guide and drive for the clamping mechanism 4. During operation, at least four sets of clamping mechanisms 4 are clamped onto the I-beams of a set of I-beam tracks 1. Each I-beam is clamped by one set of clamping mechanisms 4, and each set of clamping mechanisms 4 consists of two symmetrically arranged clamping mechanisms 4. The clamping mechanisms 4 of the arc-shaped grooves on both sides and the release groove of the lower clamping assembly are in a released state.

[0076] When the clamping assembly 44 is in the clamping state, the clamping sliding shaft 42 is located near the base in the strip groove of the ⊥-shaped track seat 41, the sliding bearing wheel 45 is located in the clamping long groove above the elliptical groove, and the clamping roller 446 is in contact with the upper surface of a set of I-beam tracks 1; when in the released state, the clamping sliding shaft 42 is located away from the base in the strip groove of the ⊥-shaped track seat 41, the sliding bearing wheel 45 is located in the arc groove on both sides or in the release long groove of the clamping assembly below, and the clamping roller 446 is disengaged from the set of I-beam tracks 1.

[0077] Combination Figure 8 and Figure 9 As shown, the clamping mechanism 4 also includes a bushing 43, which is sleeved on the clamping sliding shaft 42 near the U-shaped track seat 41, and the bushing 43 is located between the U-shaped track seat 41 and the clamping drive linkage 441.

[0078] The clamping assembly 44 also includes two gasket sleeves 443. A gasket sleeve 443 is provided between the clamping drive link 441 and the clamping crank 444. The gasket sleeve 443 is coaxially arranged with the connection between the clamping drive link 441 and the clamping crank 444.

Claims

1. A track-mounted mobile platform with a clamping mechanism and a self-circulating drive mechanism, characterized in that: It includes a set of I-beam rails (1), a platform base (2), a self-circulating drive mechanism (3), and multiple clamping mechanisms (4); the clamping mechanism (4) includes a ⊥-shaped rail seat (41), a clamping sliding shaft (42), and two clamping assemblies (44); the self-circulating drive mechanism (3) includes two transmission chains (36); the clamping assembly (44) includes a clamping drive linkage (441), two clamping crank shafts (442), two clamping cranks (444), two clamping roller shafts (445), and two clamping rollers (446); Multiple clamping mechanisms (4) are evenly distributed around the platform base (2) in the circumferential direction. The clamping mechanisms (4) are clamped on a set of I-beam rails (1) above the platform base (2). The fixed end of the ⊥-shaped rail seat (41) is installed on the self-circulating drive mechanism (3). The clamping sliding shaft (42) is inserted into the strip groove of the ⊥-shaped rail seat (41). The clamping sliding shaft (42) is slidably arranged in the circumferential direction of the platform base (2). Two clamping components (44) are installed on the clamping sliding shaft (42). 2) On the self-circulating drive mechanism (3), the clamping sliding shaft (42) drives two clamping components (44) to clamp the bottom end of the upper set of I-beam rails (1). The self-circulating drive mechanism (3) is installed on the platform base (2). The self-circulating drive mechanism (3) drives multiple clamping mechanisms (4) to release and clamp on the set of I-beam rails (1), and drives the platform base (2) to move or stop on the set of I-beam rails (1) through the self-circulating drive mechanism (3). The base of the ⊥-shaped track seat (41) is fixedly installed on the link of the transmission chain (36). Two clamping drive linkages (441) are symmetrically arranged on both sides of the clamping sliding shaft (42). One end of the clamping drive linkage (441) is rotatably connected to the clamping sliding shaft (42), and the other end of the clamping drive linkage (441) is rotatably connected to one end of the clamping crank (444). The other end of the clamping crank (444) is rotatably connected to the clamping roller shaft (445) and the clamping roller (446). A clamping crank shaft (442) is installed on the clamping crank (444). The clamping crank shaft (442) is located near the connection between the clamping drive linkage (441) and the clamping crank (444), and the clamping crank shaft (442) is inserted into the transmission chain (36).

2. The track-mounted mobile platform with a clamping mechanism and a self-circulating drive mechanism according to claim 1, characterized in that: A set of I-beam tracks (1) includes multiple I-beams, which are installed side by side in parallel on the external space frame, and two connected I-beams are set at equal intervals.

3. The track-mounted mobile platform with a clamping mechanism and a self-circulating drive mechanism according to claim 1, characterized in that: The platform base (2) includes a double base connector (21), a right platform base (22), a left platform base (23), and a motor bracket (24); The right base (22) and the left base (23) of the platform are arranged in parallel relative to each other. The double base connector (21) and the motor bracket (24) are arranged between the right base (22) and the left base (23) of the platform and are respectively installed on the right base (22) and the left base (23) of the platform. The self-circulating drive mechanism (3) is installed on the motor bracket (24).

4. The track-mounted mobile platform with a clamping mechanism and a self-circulating drive mechanism according to claim 3, characterized in that: The right base (22) and the left base (23) of the platform have the same structure. The right base (22) includes an outer vertical plate (222), an inner vertical plate (223), a horizontal plate (224), and three bearing end caps (221). The outer vertical plate (222) and the inner vertical plate (223) are arranged in parallel relative to each other, and the horizontal plate (224) is installed vertically on the outer vertical plate (222) and the inner vertical plate (223). The inner side of the outer vertical plate (222) is machined with an outer plate circulating wheel groove (225), and the outer side of the inner vertical plate (223) is machined with an inner plate circulating wheel groove (226). The outer plate circulating wheel groove (225) and the inner plate circulating wheel groove (226) are arranged opposite to each other. The driving end of the clamping mechanism (4) is slidably arranged on the outer plate circulating wheel groove (225) and the inner plate circulating wheel groove (226). Two bearing end caps (221) are installed on the outer side of the outer vertical plate (222), and another bearing end cap (221) is installed on the inner side of the inner vertical plate (223).

5. The track-mounted mobile platform with a clamping mechanism and a self-circulating drive mechanism according to claim 4, characterized in that: The self-circulating drive mechanism (3) also includes a circulating drive motor (31), a circulating motor coupling (32), a circulating motor reducer (33), two positioning cylinders (34), two sprocket active drive assemblies (35) and two sprocket passive drive assemblies (37). The circulating drive motor (31) is connected to the input end of the circulating motor reducer (33) through the circulating motor coupling (32). The dual output shafts of the circulating motor reducer (33) are connected to the sprocket active transmission assembly (35) respectively. Each sprocket active transmission assembly (35) is connected to the sprocket passive transmission assembly (37) through the transmission chain (36). Multiple clamping mechanisms (4) are symmetrically installed on the two transmission chains (36). The circulating motor reducer (33) is installed on the platform base (2) through two positioning cylinders (34).

6. The track-mounted mobile platform with a clamping mechanism and a self-circulating drive mechanism according to claim 5, characterized in that: The sprocket drive assembly (35) includes a sprocket reducer (351), a drive sprocket shaft (352), and a drive sprocket (353); the sprocket drive assembly (37) includes a driven sprocket (371) and a driven sprocket shaft (372). Each driving sprocket (353) is rotatably connected to one end of the outer vertical plate (222) and the inner vertical plate (223) via a driving sprocket shaft (352). Each driven sprocket (371) is rotatably connected to the other end of the outer vertical plate (222) and the inner vertical plate (223) via a driven sprocket shaft (372). The driving sprockets (353) and the driven sprockets (371) are driven by a transmission chain (36). Each output shaft of the circulating motor reducer (33) is connected to the driving sprocket shaft (353) via a sprocket reducer (351). 2) Fixed connection: The circulating motor reducer (33) and two sprocket reducers (351) are installed on the inner side of the inner vertical plate (223) through the positioning cylinder (34). A bearing end cover (221) is fastened to the end of the active sprocket shaft (352) on the outer side of the outer vertical plate (222). A bearing end cover (221) is fastened to the outer vertical plate (222) and the inner vertical plate (223) at both ends of the passive sprocket shaft (372). The circulating drive motor (31) is installed on the motor bracket (24).

7. The track-mounted mobile platform with a clamping mechanism and a self-circulating drive mechanism according to claim 1, characterized in that: The clamping mechanism (4) also has two sliding bearing wheels (45); each end of the clamping sliding shaft (42) is provided with a sliding bearing wheel (45), and the two sliding bearing wheels (45) slide on the platform base (2) circumferentially.

8. A track-mounted mobile platform with a clamping mechanism and a self-circulating drive mechanism according to claim 6, characterized in that: The outer plate circulating wheel groove (225) and the inner plate circulating wheel groove (226) have the same structure. The outer plate circulating wheel groove (225) is an elliptical groove. The clamping long groove above the elliptical groove and the releasing long groove below the elliptical groove are arranged in parallel, and the clamping long groove above the elliptical groove is recessed.

9. A track-mounted mobile platform with a clamping mechanism and a self-circulating drive mechanism according to claim 1, characterized in that: The clamping mechanism (4) also includes a bushing (43), which is sleeved on the clamping sliding shaft (42) near the ⊥-shaped track seat (41), and the bushing (43) is located between the ⊥-shaped track seat (41) and the clamping drive linkage (441). The clamping assembly (44) also includes two gasket sleeves (443). A gasket sleeve (443) is provided between the clamping drive link (441) and the clamping crank (444). The gasket sleeve (443) is coaxially arranged with the connection between the clamping drive link (441) and the clamping crank (444).

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