Rail mobile platform with clamping mechanism and self-walking

Abstract

The application relates to a track moving platform with a clamping mechanism and self-walking, belongs to the field of suspension moving platforms, and aims at the problems of complex structure, difficult manufacturing and installation, high cost, easy rail jamming, uneven stress, attitude deviation and limited movement of a micro-low-gravity moving platform in the prior art. Multiple clamping walking mechanisms are arranged around a platform base, the clamping walking mechanisms are clamped on I-beam tracks, a self-circulation transverse driving mechanism is installed on the platform base, the self-circulation transverse driving mechanism drives the platform base to move or stop along the transverse direction on a group of I-beam tracks, a longitudinal driving mechanism is installed on the platform base, a longitudinal walking transmission mechanism is installed on each clamping walking mechanism, and the longitudinal driving mechanism drives the longitudinal walking transmission mechanism and the clamping walking mechanism to move or stop along the longitudinal direction on a group of I-beam tracks.

Description

Technical Field

[0001] This invention relates to a self-propelled track-mounted mobile platform, specifically to a self-propelled track-mounted mobile platform with a clamping mechanism. This invention belongs to the field of suspended mobile platforms. Background Technology

[0002] In a suspended microgravity simulation system, the clamp-on mobile platform is one of the core components for achieving accurate microgravity simulation. Its main function is to track the horizontal movement trajectory of the experimental object in real time, ensuring that the suspension rope between itself and the experimental object remains plumb, thereby guaranteeing the accuracy and stability of the microgravity simulation. Based on this core functional requirement, the clamp-on mobile platform must have high-precision active position control capability for its movement along the I-beam track. The smoothness of the track movement and the speed adjustment accuracy directly determine the performance of the entire simulation system.

[0003] Currently, there are existing technologies in the industrial field related to suspended movement based on I-beam rails, such as the utility model patent for a suspended robot rail walking device with publication number CN206967470U. This patent discloses a bracket, outer guide rail, inner guide rail, parallel hanger, walking drive device, and lateral movement device, but suffers from poor versatility, low load-bearing capacity, and inflexible direction switching. Another patent, CN105621259A, entitled "Improved Mobile Suspension Device," discloses a suspension structure for material conveying. This device includes a top crossbeam, an I-beam rail, a moving seat, a drive motor, a gear and rack mechanism, and a material suspension device. The drive motor drives the gear to rotate, and the moving seat moves along the I-beam rail by meshing the gear with the rack at the lower end of the I-beam rail. Limit baffles are set at both ends of the I-beam rail, and limit switches are correspondingly set on the moving seat, solving the problem of traditional suspension devices being easily damaged by collisions with the ends of the rail. Furthermore, it also includes a cable sling for... While auxiliary cable routing is used to avoid cable interference during movement, this patented technology is mainly applied to material conveying in scenarios such as shipbuilding workshops. Its core design goal is to achieve stable suspended material conveying. It can only achieve unidirectional movement of the moving seat along the I-beam track, which cannot meet the real-time tracking requirements of the clamping mobile platform for the horizontal movement of the experimental object in the suspended micro-gravity simulation system. Furthermore, it lacks the ability to control horizontal bidirectional movement. Moreover, its gear and rack meshing structure is only used for unidirectional drive and does not consider the self-circulating motion characteristics of the clamping mechanism, making it unsuitable for the high-precision position control requirements of micro-gravity simulation.

[0004] In addition to the aforementioned patented technologies, the current drive solutions for the track-mounted clamping wheels of the clamping mobile platform in the suspended micro-low gravity simulation system are mainly divided into two categories in the industry: direct drive and indirect drive. Both types of drive solutions have insurmountable technical defects and cannot meet the system's requirements for high precision and high stability in track-mounted drive. In the direct drive method, due to the self-circulating motion characteristic of the clamping mechanism in the vertical track direction, if a hub motor is used to directly drive the clamping wheel, cable entanglement will inevitably occur. This problem will not only affect the normal operation of the drive mechanism, but may also lead to safety hazards such as motor failure and signal interruption, which seriously limits the practical application of the direct drive solution. In the indirect drive method, the most widely used method is friction transmission. Although this method can avoid the cable entanglement problem to a certain extent, it has inherent disadvantages such as easy slippage, low transmission efficiency, and inability to achieve precise speed adjustment. It is difficult to match the dynamic tracking requirements of the horizontal movement of the experimental object, which makes the suspension rope prone to tilting, thereby reducing the accuracy of micro-low gravity simulation. It cannot meet the requirements of high-precision experiments, cannot adapt to the self-circulating motion and bidirectional movement requirements of the clamping mobile platform, and cannot be directly applied to micro-low gravity simulation systems.

[0005] In view of the shortcomings of the existing technologies, including general drive solutions and related patented technologies, there is an urgent need to design a new track-direction drive solution to solve problems such as cable entanglement, slippage, inaccurate speed regulation, and inability to achieve bidirectional movement tracking, so as to improve the track-direction motion control accuracy and stability of the clamp-on mobile platform and adapt to the usage requirements of the suspended micro-low gravity simulation system. Summary of the Invention

[0006] This invention addresses the problems of existing micro-low gravity mobile platforms, such as cable entanglement, slippage and poor speed regulation in friction transmission, inability to perform bidirectional movement and tracking, poor universal adaptability, and difficulty in meeting the high precision requirements of micro-low gravity simulation systems. Therefore, it provides a track-mounted mobile platform with a clamping mechanism and self-propelled movement.

[0007] To address the aforementioned problems, this application provides the following technical solution:

[0008] A track-mounted mobile platform with a clamping mechanism and self-propelled movement includes a set of I-beam tracks, a platform base, a self-circulating lateral drive mechanism, a longitudinal drive mechanism, multiple clamping and walking mechanisms, and multiple longitudinal walking transmission mechanisms.

[0009] Multiple clamping and traveling mechanisms are evenly distributed around the platform base in a circumferential direction. The clamping and traveling mechanisms are clamped onto the I-beam rails above the platform base. A self-circulating lateral drive mechanism is installed on the platform base. The self-circulating lateral drive mechanism drives the multiple clamping and traveling mechanisms to release and clamp on a set of I-beam rails, and drives the platform base to move laterally or stop on the set of I-beam rails through the self-circulating lateral drive mechanism.

[0010] The longitudinal drive mechanism is installed on the platform base. Each clamping and traveling mechanism is equipped with a longitudinal traveling transmission mechanism. Multiple longitudinal traveling transmission mechanisms are installed on the longitudinal drive mechanism. The longitudinal drive mechanism drives the longitudinal traveling transmission mechanism and the clamping and traveling mechanism to move or stop longitudinally along a set of I-beam tracks.

[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 right platform base, a left platform base, and two dual-base motor connection frames;

[0013] The right and left bases of the platform are arranged in parallel relative to each other. Two dual-base motor connecting frames are set between the right and left bases of the platform and are respectively installed on the right and left bases of the platform. The self-circulating lateral drive mechanism and the longitudinal drive mechanism are respectively installed on the dual-base motor connecting frames.

[0014] Furthermore, the right platform base and the left platform base have the same structure. The right platform base includes an outer vertical plate, an inner vertical plate, a horizontal plate, and two 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 and walking 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.

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

[0017] The transverse circulation drive motor is connected to the input end of the transverse circulation motor reducer via a transverse circulation motor coupling. The dual output shafts of the transverse circulation motor reducer are respectively connected to the transverse sprocket active transmission assembly. Each transverse sprocket active transmission assembly is connected to the transverse passive transmission sprocket via a transverse transmission chain. Multiple clamping and walking mechanisms are symmetrically installed on two transverse transmission chains. The transverse circulation motor reducer is installed on the right base and left base of the platform via two transverse positioning cylinders.

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

[0019] Each transverse drive sprocket is rotatably connected to one end of the outer and inner vertical plates via a transverse drive sprocket shaft. Each transverse passive drive sprocket is rotatably connected to the other end of the outer and inner vertical plates via a shaft. The transverse drive sprockets and transverse passive drive sprockets are driven by a transverse drive chain. Each output shaft of the transverse circulation motor reducer is fixedly connected to the transverse drive sprocket shaft via a transverse sprocket reducer. The transverse circulation motor reducer and the two transverse sprocket reducers are mounted on the inner side of the inner vertical plate via transverse positioning cylinders. A bearing end cap is fastened to the end of the transverse drive sprocket shaft located on the outer side of the outer vertical plate. The transverse circulation drive motor is mounted on a double-base motor connecting frame.

[0020] Furthermore, the clamping and traveling mechanism includes a U-shaped track base, a clamping sliding shaft, two clamping assemblies, and two sliding bearing wheels;

[0021] The fixed end of the ⊥-shaped track seat is installed on the self-circulating transverse drive mechanism. The clamping sliding shaft is inserted into the strip groove of the ⊥-shaped track seat. Each end of the clamping sliding shaft is provided with a sliding bearing wheel. The two sliding bearing wheels slide on the platform base along the circumference of the platform base. Two clamping assemblies are installed on the clamping sliding shaft and the self-circulating transverse drive mechanism. The clamping sliding shaft drives the clamping assemblies to clamp the bottom end of the upper I-beam track.

[0022] Furthermore, the clamping assembly includes a clamping drive linkage, two clamping crank shafts, two clamping cranks, two clamping roller shafts, and two clamping rollers;

[0023] The ⊥-shaped track base is fixedly installed on the link of the transverse 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 transverse transmission chain.

[0024] Furthermore, the longitudinal drive mechanism includes a longitudinal circulating drive motor, a longitudinal circulating motor coupling, a longitudinal circulating motor reducer, two longitudinal positioning cylinders, two longitudinal sprocket drive assemblies, two longitudinal double-row drive chains, and two longitudinal passive drive sprockets; the longitudinal sprocket drive assembly includes a longitudinal sprocket reducer, a longitudinal drive sprocket shaft, and a longitudinal drive sprocket.

[0025] The longitudinal circulating drive motor is connected to the input end of the longitudinal circulating motor reducer via a longitudinal circulating motor coupling. The dual output shafts of the longitudinal circulating motor reducer are respectively connected to the longitudinal sprocket drive assembly. The longitudinal sprocket reducer is mounted on the inner side of the inner vertical plate via a longitudinal positioning cylinder. The longitudinal sprocket reducer is fixedly connected to the longitudinal drive sprocket shaft. The longitudinal drive sprocket is rotatably connected to one end of the outer vertical plate and the inner vertical plate via the longitudinal drive sprocket shaft. The longitudinal drive sprocket and the longitudinal passive drive sprocket are connected by a longitudinal double-row drive chain. The two longitudinal passive drive sprockets are rotatably connected and mounted on the transverse drive sprocket shaft via bearings. The two transverse passive drive sprockets are rotatably connected and mounted on the longitudinal drive sprocket shaft via bearings. A bearing end cap is fastened to the end of the longitudinal drive sprocket shaft located on the outer side of the outer vertical plate.

[0026] Furthermore, the longitudinal travel transmission mechanism includes a travel drive sprocket, a travel drive synchronous pulley, a travel synchronous belt, a travel driven synchronous pulley, a travel drive bevel gear, and a travel driven bevel gear;

[0027] Both the driving sprocket and the driving synchronous belt pulley are rotatably connected and mounted on the clamping crank shaft. The driving sprocket and the driving synchronous belt pulley are integrally fixedly connected. The driven bevel gear is fixedly mounted on the clamping roller shaft. The driven synchronous belt pulley and the driving bevel gear are integrally fixedly connected via a rotating shaft, which is rotatably connected and mounted on the clamping crank. The rotating shaft of the driven synchronous belt pulley and the clamping roller shaft are perpendicularly arranged. The driving bevel gear and the driven bevel gear mesh. The driving synchronous belt pulley and the driven synchronous belt pulley are connected by a driving synchronous belt.

[0028] The technical advantages of this application compared to existing technologies are as follows:

[0029] 1. This application utilizes a self-circulating lateral drive mechanism in conjunction with a longitudinal drive mechanism, multiple clamping and traveling mechanisms, and multiple longitudinal traveling transmission mechanisms. This eliminates the reliance on hub motors in direct drive systems. By combining the circumferentially distributed layout and self-circulating motion characteristics of the multiple clamping and traveling mechanisms, it fundamentally avoids the cable entanglement hazards associated with the self-circulating motion of the clamping and traveling mechanisms. This effectively prevents safety hazards such as drive mechanism jamming, motor failure, and signal interruption caused by cable entanglement, ensuring the long-term stable and reliable operation of the drive mechanism and providing a safety guarantee for the continuous operation of the clamping mobile platform. The track-based mobile platform of this application achieves a qualitative improvement in mobility, load-bearing stability, versatility, load-bearing capacity, and ease of operation. Its applicable scenarios have also expanded from simple robot suspension operations to track-based movement of various equipment and materials in industrial production.

[0030] 2. This application abandons the friction transmission method that is prone to defects in existing indirect drives. Through the precise cooperation of a self-circulating lateral drive mechanism, a longitudinal drive mechanism, multiple clamping and walking mechanisms, and multiple longitudinal walking transmission mechanisms, it adopts the core logic of mechanism meshing transmission to achieve smooth and precise transmission of driving force, solving the inherent defect of friction transmission that is prone to slippage. At the same time, through the coordinated control of multiple mechanisms, it can achieve high-precision speed regulation of the clamping mobile platform in the lateral and longitudinal directions along the track, and the speed regulation range is controllable and the speed regulation response is rapid. It can accurately match the dynamic speed change requirements of the horizontal movement of the experimental object, greatly improving the transmission efficiency and speed regulation accuracy, and avoiding motion tracking lag caused by inaccurate speed regulation and slippage.

[0031] 3. This application utilizes multiple clamping and traveling mechanisms evenly distributed around the platform base along the circumference to achieve bidirectional movement of the platform base on a set of I-beam tracks, both perpendicular to and parallel to the I-beams. Simultaneously, the coordinated control of the self-circulating lateral and longitudinal drive mechanisms enables smooth switching and precise positioning of the platform's lateral and longitudinal movements. This allows for real-time and accurate tracking of the experimental object's horizontal trajectory, ensuring the suspension rope between the clamping mobile platform and the experimental object remains in a plumb bob state. This overcomes the shortcomings of existing technologies and related patents, which cannot achieve bidirectional movement and lack sufficient tracking accuracy, effectively improving the simulation accuracy and stability of the suspended micro-low gravity simulation system.

[0032] 4. This application uses a self-circulating lateral drive mechanism to drive the clamping and walking mechanism to complete the release and clamping of the track. At the same time, it cooperates with the longitudinal drive mechanism to achieve bidirectional precise drive, which is adapted to the vertical track self-circulating motion characteristics of the clamping and walking mechanism. This breaks the limitation of existing related patents that are only applicable to material conveying scenarios, and can be directly applied to suspended micro-low gravity simulation systems. Moreover, through the high-precision control design of multi-mechanism collaboration, it meets the high-precision position control requirements of the clamping mobile platform track movement in micro-low gravity simulation experiments, improves the working performance of the entire simulation system, and can better adapt to the use needs of high-precision micro-low gravity simulation experiments.

[0033] 5. The mobile platform of this application achieves installation and movement through a set of I-beam tracks and a circumferentially distributed clamping and traveling mechanism, eliminating the need for a space-consuming overhead crane main beam structure. This results in a compact structure and flexible layout. It avoids physical interference between multiple platforms, enabling parallel micro-low gravity simulation experiments on multiple experimental objects, significantly improving the adaptability to experimental scenarios, and broadening the applicable scope compared to two-dimensional overhead crane solutions.

[0034] 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 strong practicality and promotion value.

[0035] 7. In this application, the self-circulating lateral drive mechanism and the symmetrical clamping and traveling mechanism work together to achieve synchronous clamping of the I-beam on both sides. The clamping and traveling 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 and 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 and symmetrical clamping state. The symmetrical clamping and releasing action avoids asymmetrical clamping forces and reaction impact forces. The clamping and traveling mechanism has a simple structure and a simple driving method.

[0036] 8. This invention utilizes only the closed outer and inner plate circulating wheel grooves to drive the clamping and traveling mechanism, achieving self-circulating clamping and releasing switching actions. Specifically, the clamping and traveling mechanism is a single-degree-of-freedom mechanism. The closed outer and inner plate circulating wheel grooves enable the clamping and traveling mechanism to self-circulate. The arc-shaped grooves on both sides and the lower release groove drive the clamping and traveling mechanism to release the I-beam, while the upper clamping groove maintains the clamping state of the clamping and traveling 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.

[0037] 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 and traveling 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 and traveling mechanism to the bottom of the I-beam, and then drive the clamping and traveling 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 and traveling mechanism to release the I-beam, and then cycle the clamping and traveling mechanism away from the bottom of the I-beam. Attached Figure Description

[0038] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0039] Figure 2 This is a top view of the assembly structure of the platform base 2, the self-circulating lateral drive mechanism 3, the clamping and walking mechanism 4, the longitudinal drive mechanism 5, and the longitudinal walking transmission mechanism 6 of the present invention.

[0040] Figure 3 for Figure 2 C-axis sectional view;

[0041] Figure 4 for Figure 2 Sectional view along the DD direction;

[0042] Figure 5 This is a schematic diagram showing the structural connection of a set of I-beam track 1, platform base 2, self-circulating lateral drive mechanism 3, clamping and walking mechanism 4, longitudinal drive mechanism 5, and longitudinal walking transmission mechanism 6.

[0043] Figure 6 for Figure 5 Enlarged view of position 6 of the longitudinal travel transmission mechanism;

[0044] Figure 7 A schematic diagram showing the connection between the outer vertical plate 222, the inner vertical plate 223, and the horizontal plate 224;

[0045] Figure 8 A schematic diagram of machining the inner plate circulation wheel groove 226 on the inner vertical plate 223;

[0046] Figure 9 An enlarged view of the clamping and traveling mechanism 4 in the released state of the I-beam;

[0047] Figure 10 This is an enlarged view of the clamping and traveling mechanism 4 in the clamped state of the I-beam.

[0048] 1. I-beam track in the diagram;

[0049] 2. Platform base; 21. Double base motor connection frame; 22. Right platform base; 221. Bearing end cover; 222. Outer vertical plate; 223. Inner vertical plate; 224. Horizontal plate; 225. Outer plate circulating wheel groove; 226. Inner plate circulating wheel groove; 23. Left platform base;

[0050] 3. Self-circulating lateral drive mechanism; 31. Lateral circulating drive motor; 32. Lateral circulating motor coupling; 33. Lateral circulating motor reducer; 34. Lateral positioning cylinder; 35. Lateral sprocket active transmission assembly; 351. Lateral sprocket reducer; 352. Lateral active sprocket shaft; 353. Lateral active sprocket; 36. Lateral transmission chain; 37. Lateral passive transmission sprocket;

[0051] 4. Clamping and traveling mechanism; 41. ⊥-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;

[0052] 5. Longitudinal drive mechanism; 51. Longitudinal circulating drive motor; 52. Longitudinal circulating motor coupling; 53. Longitudinal circulating motor reducer; 54. Longitudinal positioning cylinder; 55. Longitudinal sprocket drive assembly; 551. Longitudinal sprocket reducer; 552. Longitudinal drive sprocket shaft; 553. Longitudinal drive sprocket; 56. Longitudinal double-row drive chain; 57. Longitudinal passive drive sprocket;

[0053] 6. Longitudinal travel transmission mechanism; 61. Travel drive sprocket; 62. Travel drive synchronous pulley; 63. Travel synchronous belt; 64. Travel driven synchronous pulley; 65. Travel drive bevel gear; 66. Travel driven bevel gear. Detailed Implementation

[0054] Combination Figure 1 This embodiment describes a track-based mobile platform with a clamping mechanism and a self-propelled mechanism, which includes a set of I-beam tracks 1, a platform base 2, a self-circulating lateral drive mechanism 3, a longitudinal drive mechanism 5, multiple clamping and walking mechanisms 4, and multiple longitudinal walking transmission mechanisms 6.

[0055] Multiple clamping and traveling mechanisms 4 are evenly distributed around the platform base 2 in a circumferential direction. The clamping and traveling mechanisms 4 are clamped onto the I-beam rails 1 above the platform base 2. The self-circulating lateral drive mechanism 3 is installed on the platform base 2. The self-circulating lateral drive mechanism 3 drives the multiple clamping and traveling mechanisms 4 to release and clamp on a set of I-beam rails 1, and drives the platform base 2 to move laterally or stop on the set of I-beam rails 1 through the self-circulating lateral drive mechanism 3.

[0056] The longitudinal drive mechanism 5 is installed on the platform base 2. Each clamping and walking mechanism 4 is equipped with a longitudinal walking transmission mechanism 6. Multiple longitudinal walking transmission mechanisms 6 are installed on the longitudinal drive mechanism 5. The longitudinal drive mechanism 5 drives the longitudinal walking transmission mechanism 6 and the clamping and walking mechanism 4 to move or stop longitudinally along a set of I-beam tracks 1.

[0057] In this embodiment, the self-circulating transverse drive mechanism 3 is equipped with I-beams spaced apart on a set of I-beam tracks 1 and corresponding clamping and walking mechanisms 4, which complete the cyclic clamping and releasing action of the clamping and walking mechanisms 4, thereby realizing the movement of the drive platform along the vertical I-beams.

[0058] When the track-moving platform moves forward, the clamping and traveling mechanism 4 changes from the released state to the clamping state, and the tail clamping and traveling mechanism 4 changes from the clamping state to the released state. When the platform changes from forward to backward, the head clamping and traveling mechanism 4 changes from the clamping state to the released state, and the tail clamping and traveling mechanism 4 changes from the released state to the clamping state; at least four clamping and traveling mechanisms 4 on one side are in the clamping state. Through the self-circulating clamping and releasing actions of the clamping and traveling mechanisms 4 on different I-beams on a set of I-beam tracks 1, the track-moving platform can move forward or backward in any state along the direction perpendicular to the I-beams. At the same time, the longitudinal driving mechanism 5 drives the longitudinal traveling transmission mechanism 6 to move and cooperate with the self-circulating transverse driving mechanism 3 to drive the clamping and traveling mechanism 4 to move or stop along the longitudinal direction of a set of I-beam tracks 1.

[0059] Combination Figure 1 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.

[0060] In this embodiment, each I-beam cooperates with two symmetrically arranged clamping and traveling mechanisms 4 below, and ensures that the distance between two adjacent I-beams is equal to the distance between the two horizontally arranged clamping and traveling mechanisms 4 below, so as to realize the clamping or releasing of the I-beam by the two clamping and traveling mechanisms 4.

[0061] Combination Figure 1 , Figure 7 and Figure 8 As shown, the platform base 2 includes a right platform base 22, a left platform base 23, and two dual-base motor connection frames 21;

[0062] The right base 22 and the left base 23 of the platform are arranged in parallel relative to each other. Two dual-base motor connecting frames 21 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 lateral drive mechanism 3 and the longitudinal drive mechanism 5 are respectively installed on the dual-base motor connecting frames 21.

[0063] Combination Figure 1 , Figure 7 and Figure 8 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 two bearing end caps 221.

[0064] 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 and walking 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 vertical plate 222.

[0065] Combination Figures 1 to 5 As shown, the self-circulating lateral drive mechanism 3 includes a lateral circulation drive motor 31, a lateral circulation motor coupling 32, a lateral circulation motor reducer 33, two lateral positioning cylinders 34, two lateral sprocket active transmission components 35, two lateral passive transmission sprockets 37, and two lateral transmission chains 36.

[0066] The transverse circulation drive motor 31 is connected to the input end of the transverse circulation motor reducer 33 through the transverse circulation motor coupling 32. The dual output shafts of the transverse circulation motor reducer 33 are respectively connected to the transverse sprocket active transmission assembly 35. Each transverse sprocket active transmission assembly 35 is connected to the transverse passive transmission sprocket 37 through the transverse transmission chain 36. Multiple clamping and walking mechanisms 4 are symmetrically installed on two transverse transmission chains 36. The transverse circulation motor reducer 33 is installed on the right base 22 and the left base 23 of the platform through two transverse positioning cylinders 34.

[0067] In this embodiment, the transverse circulating motor reducer 33 is a T-type reducer with single input and dual output. The transverse circulating motor reducer 33 synchronously drives the transverse sprocket active transmission assembly 35 on both sides. The output shaft of the transverse circulating drive motor 31 is coaxially arranged with the input shaft of the transverse circulating motor reducer 33.

[0068] Combination Figures 1 to 5 As shown, the transverse sprocket drive assembly 35 includes a transverse sprocket reducer 351, a transverse drive sprocket shaft 352, and a transverse drive sprocket 353;

[0069] Each transverse drive sprocket 353 is rotatably connected to one end of the outer vertical plate 222 and the inner vertical plate 223 via a transverse drive sprocket shaft 352. Each transverse passive drive sprocket 37 is rotatably connected to the other end of the outer vertical plate 222 and the inner vertical plate 223 via a shaft. The transverse drive sprocket 353 and the transverse passive drive sprocket 37 are driven by a transverse drive chain 36. Each output shaft of the transverse circulation motor reducer 33 is fixedly connected to the transverse drive sprocket shaft 352 via a transverse sprocket reducer 351. The transverse circulation motor reducer 33 and the two transverse sprocket reducers 351 are mounted on the inner side of the inner vertical plate 223 via a transverse positioning cylinder 34. A bearing end cap 221 is fastened to the end of the transverse drive sprocket shaft 352 located on the outer side of the outer vertical plate 222. The transverse circulation drive motor 31 is mounted on the double base motor connecting frame 21.

[0070] In this embodiment, the transverse transmission chain 36 is tensioned by the transverse drive sprocket 353 and the transverse passive transmission sprocket 37. The two ends of the transverse drive sprocket shaft 352 are rotatably connected to the outer vertical plate 222 and the inner vertical plate 223 through bearings. The transverse drive sprocket shaft 352 is connected to the transverse drive sprocket 353 through a key and transmits torque.

[0071] In this embodiment, a chain drive is used to provide power to the vertical I-beam of the track drive platform. The clamping and walking mechanism 4 achieves self-circulation through the self-circulating lateral 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.

[0072] Combination Figure 1 , Figure 2 , Figure 9 and Figure 10 As shown, the clamping and traveling mechanism 4 includes a U-shaped track seat 41, a clamping sliding shaft 42, two clamping assemblies 44, and two sliding bearing wheels 45;

[0073] The fixed end of the ⊥-shaped track seat 41 is installed on the self-circulating transverse drive mechanism 3. The clamping sliding shaft 42 is inserted into the strip groove of the ⊥-shaped track seat 41. A sliding bearing wheel 45 is provided at each end of the clamping sliding shaft 42. The two sliding bearing wheels 45 slide on the platform base 2 in the circumferential direction. Two clamping assemblies 44 are installed on the clamping sliding shaft 42 and the self-circulating transverse drive mechanism 3. The clamping sliding shaft 42 drives the clamping assembly 44 to clamp the bottom end of the upper I-beam track 1.

[0074] 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.

[0075] Combination Figure 1 , Figure 2, Figure 9 and Figure 10 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.

[0076] The base of the U-shaped track seat 41 is fixedly installed on the link of the transverse 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 transverse transmission chain 36.

[0077] The clamping and traveling 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.

[0079] 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 transverse transmission chain 36. The base of the ⊥-shaped track seat 41 has the same shape as the outer chain plate of the transverse transmission chain 36 and is fixed to the transverse transmission chain 36 by a pin. In the clamping state, the clamping roller 446 at the upper end of the clamping crank 444 is constrained to the upper surface of the I-beam track and can roll along the I-beam. The clamping rollers 446 on the two clamping cranks 444 are symmetrically clamped on the I-beam. The clamping and traveling mechanism 4 is a planar mechanism with a component degree of freedom of 3n-2f=3×5-2×7=1, where n is the number of components and f is the number of lower pairs. 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 speed of the vehicle 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 releasing of the clamping and traveling 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 and traveling mechanism.

[0080] Combination Figure 1 , Figures 7 to 10As 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.

[0081] In this embodiment, the transverse circulating drive motor 31 serves as a power source to drive the transverse transmission chain 36 to move, causing the platform base 2 to generate a relative speed with respect to the chain. The clamping and traveling mechanism 4 is installed on the chain, and the clamping and traveling 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 and traveling mechanism 4 and the chain at that location, so the platform base 2 generates displacement relative to the chain at that location.

[0082] 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 guides and drives the clamping traveling mechanism 4. During operation, at least four sets of clamping traveling 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 traveling mechanisms 4, and each set consists of two symmetrically arranged clamping traveling mechanisms 4. The clamping traveling mechanisms 4 located in the arc-shaped grooves on both sides and the release groove of the lower clamping assembly are in a released state.

[0083] 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 the I-beam track; when the release state is in the release 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 I-beam track.

[0084] Combination Figures 1 to 4 As shown, the longitudinal drive mechanism 5 includes a longitudinal circulating drive motor 51, a longitudinal circulating motor coupling 52, a longitudinal circulating motor reducer 53, two longitudinal positioning cylinders 54, two longitudinal sprocket drive assemblies 55, two longitudinal double-row drive chains 56, and two longitudinal passive drive sprockets 57; the longitudinal sprocket drive assembly 55 includes a longitudinal sprocket reducer 551, a longitudinal drive sprocket shaft 552, and a longitudinal drive sprocket 553;

[0085] The longitudinal circulating drive motor 51 is connected to the input end of the longitudinal circulating motor reducer 53 via the longitudinal circulating motor coupling 52. The dual output shafts of the longitudinal circulating motor reducer 53 are respectively connected to the longitudinal sprocket drive assembly 55. The longitudinal sprocket reducer 551 is installed on the inner side of the inner vertical plate 223 via the longitudinal positioning cylinder 54. The longitudinal sprocket reducer 551 is fixedly connected to the longitudinal drive sprocket shaft 552. The longitudinal drive sprocket 553 is rotatably connected to one end of the outer vertical plate 222 and the inner vertical plate 223 via the longitudinal drive sprocket shaft 552. The longitudinal drive sprocket 553 and the longitudinal passive drive sprocket 57 are connected by a longitudinal double-row drive chain 56. The two longitudinal passive drive sprockets 57 are respectively rotatably connected and mounted on the transverse drive sprocket shaft 352 via bearings. The two transverse passive drive sprockets 37 are respectively rotatably connected and mounted on the longitudinal drive sprocket shaft 552 via bearings. A bearing end cap 221 is fastened and installed at the end of the longitudinal drive sprocket shaft 552 on the outer side of the outer vertical plate 222.

[0086] In this embodiment, the longitudinal cyclic drive motor 51 is a bidirectional motor that rotates in both directions. Half of the thickness of the longitudinal active sprocket 553 is toothed along the circumferential direction, and the other half is toothless. The pitch circle radii of the two parts are the same. Half of the thickness of the longitudinal passive drive sprocket 57 is toothed along the circumferential direction, and the other half is toothless. The pitch circle radii of the two parts are the same, and it can rotate arbitrarily.

[0087] When the longitudinal circulating drive motor 51 is working, it drives the longitudinal circulating motor coupling 52 and the longitudinal circulating motor reducer 53 to work, and drives the longitudinal drive sprocket shaft 552 and the longitudinal drive sprocket 553 of the longitudinal sprocket reducer 551 to rotate synchronously. The longitudinal drive sprocket shaft 552 and the longitudinal drive sprocket 553 are connected by a key. The longitudinal drive sprocket 553 drives the longitudinal passive drive sprocket 57 to rotate through the longitudinal double-row drive chain 56, and is tensioned through the longitudinal drive sprocket 553 and the longitudinal passive drive sprocket 57. The longitudinal double-row drive chain 56 rotates around the longitudinal drive sprocket 553 and the longitudinal passive drive sprocket 57.

[0088] Combination Figures 1 to 10 As shown, the longitudinal travel transmission mechanism 6 includes a travel drive sprocket 61, a travel drive synchronous pulley 62, a travel synchronous belt 63, a travel driven synchronous pulley 64, a travel drive bevel gear 65, and a travel driven bevel gear 66.

[0089] Both the driving sprocket 61 and the driving synchronous belt pulley 62 are rotatably connected and mounted on the clamping crankshaft 442, and the driving sprocket 61 and the driving synchronous belt pulley 62 are integrally fixedly connected. The driving bevel gear 66 is fixedly mounted on the clamping roller shaft 445. The driving synchronous belt pulley 64 and the driving bevel gear 65 are integrally fixedly connected through a rotating shaft, and the rotating shaft is rotatably connected and mounted on the clamping crank 444. The rotating shaft of the driving synchronous belt pulley 64 is perpendicular to the clamping roller shaft 445. The driving bevel gear 65 and the driving bevel gear 66 mesh. The driving synchronous belt pulley 62 and the driving synchronous belt pulley 64 are connected by a driving synchronous belt 63.

[0090] In this embodiment, the speed difference between the transverse transmission chain 36 and the longitudinal double-row transmission chain 56 enables the walking drive sprocket 61 to move relative to the longitudinal double-row transmission chain 56, thereby achieving the rotation of the walking drive sprocket 61. The walking drive sprocket 61 then drives the walking drive synchronous pulley 62 and the walking passive synchronous pulley 64 to rotate. The walking passive synchronous pulley 64 drives the walking drive bevel gear 65 to rotate. Since the walking drive bevel gear 65 and the walking passive bevel gear 66 mesh, the clamping roller 446 rotates and moves longitudinally along the track. The walking drive sprocket 61, the longitudinal drive sprocket 553, and the longitudinal passive transmission sprocket 57 are respectively located on the two rows of the longitudinal double-row transmission chain 56 to avoid interference between the walking drive sprocket 61 and the longitudinal drive sprocket 553 and the longitudinal passive transmission sprocket 57.

[0091] This invention provides a speed control method based on a differential drive system for a clamp-on mobile platform. Based on a kinematic model, the speed command m of the longitudinal cyclic drive motor 51 is calculated. Specifically, based on the linear velocity v of the transverse transmission chain 36... X Longitudinal double-row drive chain, 56 speed v c 61 radius walking drive sprocket The transmission ratio i between the driving bevel gear 65 and the driven bevel gear 66, and the radius of the clamping roller 446. Calculate the linear velocity v of the clamping roller 446. Y (i.e., the longitudinal speed of the mobile platform), the differential speed control kinematic model is as follows:

[0092] ;

[0093] The present invention also proposes a speed regulation method, comprising: for quantitative calculation, setting the parameters of the differential drive system in this embodiment as follows before control:

[0094] The diameter d of both the longitudinal drive sprocket 553 and the transverse drive sprocket 353 is 200mm. The reduction ratio of the longitudinal circulating motor reducer 53 is... The radius of the walking drive sprocket is 61, which is 2. The diameter of the travel drive bevel gear 65 and the travel driven bevel gear 66 is 40mm, so the reduction ratio is 20mm. Clamping roller with a radius of 446 It is 25mm.

[0095] The target operating condition in this embodiment is: the mobile platform... The linear velocity moves laterally along the vertical I-beam track, and the longitudinal velocity of the moving platform is adjusted to... .

[0096] Substituting the parameters, we get:

[0097]

[0098] In the formula, v c The linear velocity of the longitudinal double-row drive chain is 56. The corresponding speed (m) of the longitudinal circulating drive motor 51 is...

[0099]

[0100] Differential speed working principle: In this example, the linear speed of the clamping roller 446 is controlled by the differential speed between the transverse drive chain 36 and the longitudinal double-row drive chain 56, utilizing the traveling active synchronous pulley 62, traveling synchronous belt 63, traveling passive synchronous pulley 64, traveling active bevel gear 65, and traveling passive bevel gear 66. Specifically, it is assumed that the linear speed of the transverse drive chain (i.e., the transverse speed of the moving platform) is v. X The longitudinal double-row drive chain has a linear velocity of 0, and the clamping wheel has a linear velocity of v. Y The linear velocity of the lateral transmission chain (i.e., the lateral velocity of the moving platform) is v. X The longitudinal double-row drive chain has a linear velocity of v. X If the linear velocity of the clamping wheel is 0, then the linear velocity of the lateral transmission chain (i.e., the lateral velocity of the moving platform) is v. X The longitudinal double-row drive chain has a linear speed of -2V. X The linear velocity of the clamping wheel is -v Y .

Claims

1. A track-mounted mobile platform with a clamping mechanism and self-propelled movement, characterized in that: It includes a set of I-beam rails (1), a platform base (2), a self-circulating lateral drive mechanism (3), a longitudinal drive mechanism (5), multiple clamping and traveling mechanisms (4) and multiple longitudinal traveling transmission mechanisms (6); the self-circulating lateral drive mechanism (3) includes two lateral transmission chains (36); the clamping and traveling mechanism (4) includes a ⊥-shaped rail seat (41), a clamping sliding shaft (42), two clamping assemblies (44) and two sliding bearing wheels (45); 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 and traveling mechanisms (4) are evenly distributed around the platform base (2) in the circumferential direction. The clamping and traveling mechanisms (4) are clamped on the I-beam rails (1) above the platform base (2). The self-circulating lateral drive mechanism (3) is installed on the platform base (2). The self-circulating lateral drive mechanism (3) drives the multiple clamping and traveling mechanisms (4) to release and clamp on a set of I-beam rails (1), and drives the platform base (2) to move or stop laterally on a set of I-beam rails (1) through the self-circulating lateral drive mechanism (3). The longitudinal drive mechanism (5) is installed on the platform base (2), and each clamping walking mechanism (4) is equipped with a longitudinal walking transmission mechanism (6). Multiple longitudinal walking transmission mechanisms (6) are installed on the longitudinal drive mechanism (5). The longitudinal drive mechanism (5) drives the longitudinal walking transmission mechanism (6) and the clamping walking mechanism (4) to move or stop longitudinally along a set of I-beam tracks (1). The fixed end of the ⊥-shaped track seat (41) is installed on the self-circulating transverse drive mechanism (3). The clamping sliding shaft (42) is inserted into the strip groove of the ⊥-shaped track seat (41). A sliding bearing wheel (45) is provided at each end of the clamping sliding shaft (42). The two sliding bearing wheels (45) slide on the platform base (2) circumferentially. Two clamping assemblies (44) are installed on the clamping sliding shaft (42) and the self-circulating transverse drive mechanism (3). The clamping sliding shaft (42) drives the clamping assembly (44) to clamp the bottom end of the upper I-beam track (1). The base of the ⊥-shaped track seat (41) is fixedly installed on the link of the transverse 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 transverse transmission chain (36).

2. The track-mounted mobile platform with a clamping mechanism and self-propelled movement 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 self-propelled movement according to claim 1, characterized in that: The platform base (2) includes a right platform base (22), a left platform base (23), and two dual-base motor connection frames (21); The right base (22) and the left base (23) of the platform are arranged in parallel relative to each other. Two dual-base motor connecting frames (21) 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). The self-circulating transverse drive mechanism (3) and the longitudinal drive mechanism (5) are respectively installed on the dual-base motor connecting frames (21).

4. The track-mounted mobile platform with a clamping mechanism and self-propelled movement 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 two 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 and walking 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).

5. A track-mounted mobile platform with a clamping mechanism and self-propelled movement as described in claim 1 or 4, characterized in that: The self-circulating lateral drive mechanism (3) also includes a lateral circulation drive motor (31), a lateral circulation motor coupling (32), a lateral circulation motor reducer (33), two lateral positioning cylinders (34), two lateral sprocket active transmission assemblies (35), and two lateral passive transmission sprockets (37). The transverse circulation drive motor (31) is connected to the input end of the transverse circulation motor reducer (33) through the transverse circulation motor coupling (32). The dual output shafts of the transverse circulation motor reducer (33) are connected to the transverse sprocket active transmission assembly (35) respectively. Each transverse sprocket active transmission assembly (35) is connected to the transverse passive transmission sprocket (37) through the transverse transmission chain (36). Multiple clamping and walking mechanisms (4) are symmetrically installed on two transverse transmission chains (36). The transverse circulation motor reducer (33) is installed on the right base (22) and the left base (23) of the platform through two transverse positioning cylinders (34).

6. The track-mounted mobile platform with a clamping mechanism and self-propelled movement according to claim 5, characterized in that: The transverse sprocket drive assembly (35) includes a transverse sprocket reducer (351), a transverse drive sprocket shaft (352), and a transverse drive sprocket (353). Each transverse drive sprocket (353) is rotatably connected to one end of the outer vertical plate (222) and the inner vertical plate (223) via a transverse drive sprocket shaft (352). Each transverse passive drive sprocket (37) is rotatably connected to the other end of the outer vertical plate (222) and the inner vertical plate (223) via a shaft. The transverse drive sprockets (353) and the transverse passive drive sprockets (37) are chain driven by a transverse drive chain (36). Each output shaft of the transverse circulating motor reducer (33) The transverse sprocket reducer (351) is fixedly connected to the transverse drive sprocket shaft (352). The transverse circulation motor reducer (33) and the two transverse sprocket reducers (351) are installed on the inner side of the inner vertical plate (223) through the transverse positioning cylinder (34). A bearing end cover (221) is fastened to the end of the transverse drive sprocket shaft (352) located on the outer side of the outer vertical plate (222). The transverse circulation drive motor (31) is installed on the double base motor connecting frame (21).

7. The track-mounted mobile platform with a clamping mechanism and self-propelled movement according to claim 1, characterized in that: The longitudinal drive mechanism (5) includes a longitudinal circulating drive motor (51), a longitudinal circulating motor coupling (52), a longitudinal circulating motor reducer (53), two longitudinal positioning cylinders (54), two longitudinal sprocket drive assemblies (55), two longitudinal double-row drive chains (56), and two longitudinal passive drive sprockets (57); the longitudinal sprocket drive assembly (55) includes a longitudinal sprocket reducer (551), a longitudinal drive sprocket shaft (552), and a longitudinal drive sprocket (553); The longitudinal circulating drive motor (51) is connected to the input end of the longitudinal circulating motor reducer (53) via the longitudinal circulating motor coupling (52). The dual output shafts of the longitudinal circulating motor reducer (53) are respectively connected to the longitudinal sprocket drive assembly (55). The longitudinal sprocket reducer (551) is installed on the inner side of the inner vertical plate (223) via the longitudinal positioning cylinder (54). The longitudinal sprocket reducer (551) is fixedly connected to the longitudinal drive sprocket shaft (552). The longitudinal drive sprocket (553) is rotatably connected to the outer vertical plate via the longitudinal drive sprocket shaft (552). (222) and one end of the inner vertical plate (223), the longitudinal drive sprocket (553) and the longitudinal passive drive sprocket (57) are connected by a longitudinal double-row drive chain (56). The two longitudinal passive drive sprockets (57) are respectively mounted on the transverse drive sprocket shaft (352) through bearing rotation connection. The two transverse passive drive sprockets (37) are respectively mounted on the longitudinal drive sprocket shaft (552) through bearing rotation connection. A bearing end cap (221) is fastened to the end of the longitudinal drive sprocket shaft (552) on the outer side of the outer vertical plate (222).

8. The track-mounted mobile platform with a clamping mechanism and self-propelled movement according to claim 7, characterized in that: The longitudinal travel transmission mechanism (6) includes a travel drive sprocket (61), a travel drive synchronous pulley (62), a travel synchronous belt (63), a travel passive synchronous pulley (64), a travel drive bevel gear (65), and a travel passive bevel gear (66). The driving sprocket (61) and the driving synchronous belt pulley (62) are both rotatably connected and mounted on the clamping crank shaft (442), and the driving sprocket (61) and the driving synchronous belt pulley (62) are integrally fixedly connected. The driving passive bevel gear (66) is fixedly mounted on the clamping roller shaft (445). The driving passive synchronous belt pulley (64) and the driving bevel gear (65) are integrally fixedly connected through a rotating shaft, and the rotating shaft is rotatably connected and mounted on the clamping crank (444). The rotating shaft of the driving passive synchronous belt pulley (64) and the clamping roller shaft (445) are perpendicularly arranged. The driving active bevel gear (65) and the driving passive bevel gear (66) mesh. The driving active synchronous belt pulley (62) and the driving passive synchronous belt pulley (64) are connected by a driving synchronous belt (63).

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