An asymmetric multi-layer guided embedded modular track structure

Abstract

This invention relates to the field of track guidance technology, specifically to an asymmetric multi-layered guided embedded modular track structure, including a track base and a traveling mechanism. Multiple guide structures at different heights are arranged within a receiving space, with guide structures at adjacent heights positioned on opposite sides of the receiving space and alternately distributed along the height direction. The traveling mechanism is at least partially located within the receiving space and includes at least one set of guide wheels. Each guide wheel set includes multiple guide wheels coaxially arranged, and each guide wheel establishes a unilateral rolling guiding relationship with a guide structure at a corresponding height. At least two guide wheels in the same guide wheel set cooperate with guide structures at opposite sides of the receiving space and at different heights to form spatial guiding constraints. The track base can be formed from a track profile with an asymmetric multi-layered guiding cross-section and can be provided with a driving track surface, a conductive track surface, and detachably connected track modules.

Description

Technical Field

[0001] This invention relates to the field of track guidance technology, and in particular to an embedded modular track structure with asymmetric multi-layer guidance. Background Technology

[0002] Embedded track systems are widely used in automated conveying equipment, mobile robots, warehousing and logistics equipment, intelligent manufacturing equipment, and architectural decoration. They utilize a traveling mechanism installed inside the track to move along its direction, enabling linear, curved, or cyclical movement of the equipment. To ensure the stability of the traveling mechanism during operation, a guide structure is typically installed within the track, and guidance and positioning are achieved through the cooperation between guide wheels and the guide structure.

[0003] In existing embedded track systems, the guide structure is mostly arranged symmetrically on both sides, with guide wheels contacting the corresponding guide structures on both sides of the track to form guide constraints. This type of structure is easy to manufacture, but its guide fit is usually concentrated at the same height or within a single guide layer, and the guide constraint form is relatively fixed. When the traveling mechanism needs to adapt to different installation postures, curved tracks, or complex operating conditions, it is often necessary to redesign the track cross-section, guide structure, or guide wheel arrangement.

[0004] As automated equipment develops towards lightweight, modular, and multi-scenario applications, the adaptability of existing symmetrical guide structures is gradually being limited. On the one hand, symmetrical guide structures at the same height position make it difficult for multiple coaxially arranged guide wheels to establish unilateral rolling guide relationships with guide structures at different height positions and on different sides. On the other hand, traditional guide methods struggle to create spatial guide constraints within the track cross-section, making it difficult to balance guide stability and structural compactness in situations involving curved tracks, multi-posture installations, or installation errors. Therefore, it is necessary to improve the guide structure and guide engagement methods of existing embedded track systems. Summary of the Invention

[0005] In view of this, the purpose of this invention is to propose an asymmetric multi-layer guided embedded modular track structure to solve the problem that the existing embedded track system guide structure is symmetrically arranged, the guide constraint form is single, and it is impossible to realize the cross-side single-sided guide cooperation between coaxial multi-guide wheels and guide structures at different height positions.

[0006] To achieve the above objectives, the present invention provides an asymmetric multi-layer guided embedded modular track structure, including a track base and a traveling mechanism. The track base has a receiving space, and multiple guide structures at different height positions are arranged in the receiving space. The guide structures at adjacent height positions are respectively arranged on both sides of the receiving space and are alternately distributed along the height direction.

[0007] The walking mechanism is at least partially disposed within the accommodating space and includes at least one set of guide wheels. The guide wheel set includes multiple guide wheels arranged coaxially. The multiple guide wheels correspond to guide structures at different height positions and establish a unilateral rolling guide cooperation relationship with the corresponding guide structures.

[0008] In this arrangement, at least two guide wheels in the same guide wheel group establish a unilateral rolling guide relationship with guide structures at different heights on different sides of the accommodating space.

[0009] A track profile includes a track base extending along its length, the cross-section of which includes a first sidewall portion and a second sidewall portion disposed opposite to each other, and a receiving space is formed between the first sidewall portion and the second sidewall portion;

[0010] The first sidewall and the second sidewall are provided with a plurality of guide structures at different height positions on the side facing the accommodating space. The guide structure is provided only on one side of the first sidewall and the second sidewall at the same height position, and the guide structures at adjacent height positions are respectively provided on the first sidewall and the second sidewall and are alternately distributed along the height direction, thereby forming an asymmetrical multi-layer guide structure.

[0011] Preferably, the guide structure is a guide track surface extending along the track extension direction, and a guide structure is provided on one side of the accommodating space at the same height position, and guide structures at adjacent height positions are alternately arranged on both sides of the accommodating space along the height direction.

[0012] Preferably, the guide structure is disposed on the guide functional layer, and the guide functional layer is installed on the inner wall of the track base through a detachable connection structure. The cross-sectional profile of the guide structure is any one or any combination of V-shaped, arc-shaped, planar, or spherical. The cross-sectional profiles of the guide structures at different height positions may be the same or different.

[0013] Preferably, the inner wall of the track base is provided with a detachable drive function layer, the drive function layer is provided with a drive track surface, and the drive function layer is any one of friction strip, rack and pinion, or synchronous belt.

[0014] Preferably, the walking mechanism includes a front guide wheel group and a rear guide wheel group spaced apart along the track extension direction, and both the front guide wheel group and the rear guide wheel group include a plurality of guide wheels arranged coaxially;

[0015] At least two guide wheels in the front guide wheel group and the rear guide wheel group establish a unilateral rolling guide relationship with the guide structure at different heights on different sides of the accommodating space.

[0016] Preferably, at least two guide wheels in the same guide wheel group form contact points with the corresponding guide structure at different heights of the track cross section and on different sides of the accommodating space; the lines connecting the contact points are distributed laterally along the track cross section and perpendicular to the tangent direction of the track extension direction at the corresponding position, so that multiple contact points are distributed non-collinearly within the track cross section.

[0017] Preferably, multiple guide wheels in the same guide wheel group establish unilateral rolling guide engagement relationships with guide structures at different height positions. The multiple unilateral rolling guide engagement relationships together form a spatial guide constraint on the traveling mechanism, so that no chord constraint is formed in the cross section of the track, and the guide stability of the traveling mechanism during the running process along the track is improved.

[0018] Preferably, the track base is provided with a conductive track surface arranged along the track extension direction, and the walking mechanism further includes a current collector component electrically connected to the conductive track surface to realize power supply or signal transmission to the walking mechanism; the track base includes a plurality of track modules connected in sequence along the track extension direction, and adjacent track modules are connected by a detachable connection structure.

[0019] Preferably, the bottom wall of the track base forming the accommodating space is provided with at least one through hole penetrating the track base; the track base can be installed in any of the following installation postures: horizontal installation, inverted installation, hoisting installation or lateral installation, and under different installation postures, the guide wheel can maintain a unilateral rolling guide engagement relationship with the corresponding guide structure.

[0020] The beneficial effects of this invention are as follows:

[0021] I. This invention establishes an asymmetrical multi-layered guiding structure by setting multiple guide structures at different heights within the accommodating space of the track substrate, with guide structures at adjacent heights positioned on opposite sides of the accommodating space and alternately distributed along the height direction. This ensures that a guide structure at the same height is only located on one side of the accommodating space. Compared to existing track systems employing symmetrical guiding structures, this invention forms a multi-layered guiding interface within the track cross-section, providing a structural foundation for establishing multi-layered guiding relationships within the traveling mechanism. This enhances the guiding capability of the track system and its adaptability to different operating conditions.

[0022] II. This invention establishes multiple coaxial guide wheels in a guide wheel assembly, with each guide wheel establishing a unilateral rolling guide engagement with guide structures at different heights. At least two guide wheels in the same guide wheel assembly establish guide engagements with guide structures on opposite sides of the accommodating space at different heights, allowing these multiple guide engagements to collectively form a spatial guiding constraint on the traveling mechanism. Compared to traditional double-sided symmetrical guiding methods, this invention improves the guiding stability, load-bearing stability, and adaptability to track installation errors during the traveling mechanism's operation.

[0023] Third, this invention establishes guiding engagement between multiple guide wheels in the same guide wheel set and guide structures at different heights on opposite sides of the accommodating space, so that the corresponding contact points are located at different heights on the track cross-section and on opposite sides of the accommodating space. The lines connecting the contact points are distributed laterally along the track cross-section and perpendicular to the tangent direction of the track extension at the corresponding positions, so that multiple contact points are non-collinearly distributed within the track cross-section, thereby forming spatial guiding constraints. This avoids the chordal constraints formed by traditional planar guidance, which is beneficial to improving the guiding state of the traveling mechanism on straight and curved tracks, and improving the running stability and guiding reliability.

[0024] Fourth, this invention enables the walking mechanism to move along the track extension direction by setting a driving track surface that cooperates with the driving wheel; it enables power supply and signal transmission to the walking mechanism by setting a conductive track surface that cooperates with the current collector; it facilitates the disassembly and replacement of worn parts by setting the guide structure on a detachable guide functional layer and the driving track surface on a detachable drive functional layer; the track base is composed of multiple detachable track modules, which facilitates the installation, disassembly, maintenance and expansion of the track system, and improves the modularity, engineering application convenience and economic efficiency of the track system throughout its entire life cycle. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 This is a schematic diagram of the track base and guide structure of the present invention;

[0028] Figure 3 For the present invention Figure 1 The front view;

[0029] Figure 4 This is a schematic diagram of the walking mechanism of the present invention via straight and curved tracks.

[0030] In the figure: 1. Track base; 101. First side wall; 102. Second side wall; 2. Walking mechanism; 3. Guide structure; 4. Guide wheel; 5. Drive track surface; 6. Conductive track surface. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0032] like Figures 1-4 As shown, an asymmetric multi-layer guided embedded modular track structure includes a track base 1 and a traveling mechanism 2.

[0033] The track base 1 has a receiving space along the track extension direction. The traveling mechanism 2 is set in the receiving space and can move along the track extension direction. The inner wall of the track base 1 is provided with multiple guide structures 3 at different height positions. The guide structures 3 at adjacent height positions are respectively set on opposite sides of the receiving space and are alternately distributed along the height direction, so that the guide structures 3 form an asymmetrical arrangement within the track cross-section.

[0034] The above arrangement ensures that guide structures 3 are installed on only one side of the same height position within the accommodating space, while no guide structure 3 is installed on the corresponding position on the other side, thus forming a staggered guide interface along the height direction. This asymmetrical arrangement allows for the creation of multiple guide engagement positions at different heights within a limited cross-sectional space, improving guide stability and providing a structural foundation for multi-layered guides.

[0035] The traveling mechanism 2 includes at least one set of guide wheels, each containing multiple guide wheels 4 located within an accommodating space. These guide wheels 4 are spaced apart along the same rotation axis and correspond to guide structures 3 at different heights. Each guide wheel 4 establishes a unilateral rolling guide relationship with its corresponding guide structure 3, thereby providing a guiding constraint for the traveling mechanism 2.

[0036] Furthermore, at least two guide wheels 4 in the same guide wheel assembly establish a unilateral rolling guide relationship with guide structures 3 at different heights and on different sides of the receiving space, so that the guiding effect is distributed at different spatial positions of the track cross-section. Compared with the traditional symmetrical guiding method, the same guide wheel assembly can simultaneously utilize guide structures 3 at different heights and on different sides to achieve guiding limitation. "Different sides of the receiving space" refers to the two sides that are mutually distinct in the left and right directions of the receiving space within the track cross-section, specifically the side where the first sidewall 101 is located and the side where the second sidewall 102 is located; when the two guide structures 3 are respectively set on different sides of the receiving space, it means that they are respectively set on the side of the first sidewall 101 and the second sidewall 102 facing the receiving space.

[0037] In one implementation, the guide structure 3 is a guide track surface extending along the track extension direction. The guide structure 3 is provided only on one side of the accommodating space at the same height position, and the guide structures 3 at adjacent height positions are alternately arranged on both sides of the accommodating space along the height direction.

[0038] The guide structure 3 is set on the guide function layer, which is installed on the inner wall of the track base 1 by screw connection, snap-fit, dovetail connection, plug-in or other detachable connection structure, so as to facilitate disassembly, replacement and maintenance after wear.

[0039] The cross-sectional profile of the guide structure 3 can be any of the following: V-shaped, arc-shaped, planar, or spherical. It can also be any combination of the above cross-sectional profiles (for example, the cross-sectional profile of the guide structure 3 located in the first height layer within the accommodating space is V-shaped, and the cross-sectional profile of the guide structure 3 located in the second height layer is arc-shaped). Guide structures 3 at different height positions can use the same cross-sectional profile or different cross-sectional profiles to adapt to different guiding accuracy and load-bearing requirements.

[0040] The inner wall of the track base 1 is also provided with a driving function layer. The driving function layer is installed on the track base 1 through a detachable connection structure, and its surface forms a driving track surface 5.

[0041] The drive function layer can take the form of any of the friction strips, racks, or timing belts, and cooperate with the drive wheel on the walking mechanism 2 to realize the movement of the walking mechanism 2 along the extension direction of the track.

[0042] The drive function layer can be disassembled and replaced separately after wear, without replacing the track base 1, thereby reducing maintenance costs.

[0043] In one embodiment, the walking mechanism 2 includes a front guide wheel group and a rear guide wheel group spaced apart along the track extension direction, and both the front guide wheel group and the rear guide wheel group include a plurality of guide wheels 4 coaxially arranged.

[0044] At least two guide wheels 4 in the front guide wheel assembly establish a unilateral rolling guide relationship with the guide structures 3 on opposite sides of the accommodating space and at different height positions; at least two guide wheels 4 in the rear guide wheel assembly also establish a unilateral rolling guide relationship with the guide structures 3 on opposite sides of the accommodating space and at different height positions.

[0045] At least two guide wheels 4 in the same guide wheel set form contact points with the corresponding guide structure 3 at different heights in the track cross-section, and are located on opposite sides of the accommodating space. Within the track cross-section, the lines connecting the contact points are distributed laterally and perpendicular to the tangent direction of the track extension at the corresponding positions, so that multiple contact points are non-collinearly distributed within the track cross-section.

[0046] Since multiple guide wheels 4 in the same guide wheel group establish unilateral rolling guide cooperation relationships with guide structures 3 at different height positions and on different sides, the multiple unilateral rolling guide cooperation relationships together form a spatial guide constraint on the walking mechanism 2.

[0047] Unlike traditional track systems that use symmetrical left-right guidance to form planar guidance constraints, this invention establishes an asymmetrical unilateral guidance cooperation between guide structures 3 at different height positions and coaxial multi-guide wheels 4, transforming the guidance constraint from a planar constraint to a spatial constraint. This avoids forming traditional chord constraints within the track cross-section, thereby improving the guidance stability of the traveling mechanism 2 during operation and enhancing the track system's adaptability to curved sections, installation errors, and structural deformations.

[0048] In the traditional track guide structure 3, the guide wheel 4 usually forms a guide fit with the guide structure 3 at the same height position or relative position within the cross section of the track. Their guide contact points are mainly distributed in the same plane. When the track undergoes curvature changes, installation errors, or deformation under force, a planar constraint relationship similar to a chord is easily formed between the guide contact points, causing the traveling mechanism 2 to generate additional constraints or local jamming. In this application, this constraint form is referred to as chord constraint.

[0049] In this embodiment, since multiple guide wheels 4 in the same guide wheel group establish unilateral rolling guide engagement relationships with guide structures 3 at different heights on different sides of the accommodating space, the corresponding contact points are located at different heights on the track cross section and are distributed on different sides of the accommodating space. Multiple contact points form a non-collinear distribution within the track cross section, and multiple unilateral rolling guide engagement relationships together form spatial guide constraints. Therefore, the aforementioned planar chord constraint will not be formed, which is beneficial to improving the guide stability and operational reliability of the traveling mechanism in straight tracks, curved tracks, and multi-posture installation states.

[0050] The track base 1 is provided with a conductive track surface 6 arranged along the track extension direction. The walking mechanism 2 is provided with a current collector that is electrically connected to the conductive track surface 6, which is used to provide working power or transmit control signals to the walking mechanism 2.

[0051] The track base 1 includes multiple track modules connected sequentially along the track extension direction. Adjacent track modules are connected by bolts, plug-in connections, positioning pin connections, or other detachable connection structures to achieve flexible expansion of track length and rapid installation.

[0052] The track base 1 can be formed by integral extrusion molding or by combining multiple components.

[0053] The bottom wall of the track base 1 forming the accommodating space is provided with at least one working through hole penetrating the track base 1. The working through hole is used for at least one of the following: installation, maintenance, drainage, wiring, or auxiliary construction operations.

[0054] The track base 1 of this invention can be arranged in various installation postures, such as horizontal installation, inverted installation, hoisting, or lateral installation. Under different installation postures, there is no need to adjust the correspondence between the guide wheel group and the guide structure 3. The guide wheel 4 can maintain a unilateral rolling guide engagement with the corresponding guide structure 3, thereby ensuring the stable operation of the walking mechanism 2. It is suitable for fields such as logistics transportation, automated production lines, robot slide rails, automated warehousing, and intelligent equipment.

[0055] As one embodiment, a track profile includes a track base 1 extending along the length direction. The cross-section of the track base 1 includes a first sidewall portion 101 and a second sidewall portion 102 disposed opposite to each other, forming a through-hole receiving space between them.

[0056] Multiple guide structures 3 at different heights are provided on the side of the first sidewall 101 and the second sidewall 102 facing the accommodating space. At the same height position, the guide structure 3 is provided only on one side of the first sidewall 101 and the second sidewall 102. The guide structures 3 at adjacent height positions are respectively provided on the first sidewall 101 and the second sidewall 102 and are alternately distributed along the height direction, thereby forming a track profile cross section with asymmetrical multi-layer guide characteristics.

[0057] The track profile can be integrally extruded from aluminum alloy profiles or rolled from steel profiles. Its cross-section remains consistent along the length direction, and it can be directly manufactured, transported, and sold as an independent product.

[0058] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the invention is limited to these examples; within the framework of the invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity.

Claims

1. An asymmetric multi-layer guided embedded modular track structure, comprising a track base (1) and a traveling mechanism (2), characterized in that, The track base (1) has a accommodating space, and multiple guide structures (3) at different height positions are provided in the accommodating space. The guide structures (3) at adjacent height positions are respectively arranged on both sides of the accommodating space and are alternately distributed along the height direction. The walking mechanism (2) is set in the accommodating space and includes at least one set of guide wheels. The guide wheel set includes multiple guide wheels (4) arranged coaxially in the accommodating space. The multiple guide wheels (4) correspond to guide structures (3) at different height positions and establish a single-sided rolling guide cooperation relationship with the corresponding guide structures (3). Among them, at least two guide wheels (4) in the same guide wheel group establish a single-sided rolling guide relationship with the guide structure (3) on different sides and at different heights of the accommodating space.

2. A track profile for implementing the track structure of claim 1, characterized in that, The track profile includes a track base (1) extending along the length direction. The cross section of the track base (1) includes a first side wall portion (101) and a second side wall portion (102) disposed opposite to each other, and an accommodating space is formed between the first side wall portion (101) and the second side wall portion (102). The first sidewall portion (101) and the second sidewall portion (102) are provided with a plurality of guide structures (3) at different height positions on the side facing the accommodating space. The guide structure (3) is provided only on one side of the first sidewall portion (101) and the second sidewall portion (102) at the same height position. The guide structures (3) at adjacent height positions are respectively provided on the first sidewall portion (101) and the second sidewall portion (102) and are alternately distributed along the height direction, thereby forming an asymmetrical multi-layer guide structure.

3. The asymmetric multi-layer guided embedded modular track structure according to claim 1, characterized in that, The guide structure (3) is a guide track surface that extends along the track extension direction. A guide structure (3) is provided on one side of the accommodating space at the same height position, and guide structures (3) at adjacent height positions are alternately provided on both sides of the accommodating space along the height direction.

4. The asymmetric multi-layer guided embedded modular track structure according to claim 3, characterized in that, The guide structure (3) is set on the guide function layer. The guide function layer is installed on the inner wall of the track base (1) through a detachable connection structure. The cross-sectional profile of the guide structure (3) is any one or any combination of V-shaped, arc-shaped, planar or spherical. The cross-sectional profiles of the guide structures (3) at different height positions are the same or different.

5. The asymmetric multi-layer guided embedded modular track structure according to claim 1, characterized in that, The inner wall of the track base (1) is provided with a detachable driving function layer, and the driving function layer is provided with a driving track surface (5). The driving function layer is any one of friction strip, rack and pinion or synchronous belt.

6. The asymmetric multi-layer guided embedded modular track structure according to claim 1, characterized in that, The walking mechanism (2) includes a front guide wheel group and a rear guide wheel group arranged at intervals along the track extension direction, and both the front guide wheel group and the rear guide wheel group include multiple guide wheels (4) arranged coaxially. At least two guide wheels (4) in the front guide wheel group and the rear guide wheel group establish a single-sided rolling guide relationship with the guide structure (3) at different heights on different sides of the accommodating space.

7. The asymmetric multi-layer guided embedded modular track structure according to claim 6, characterized in that, At least two guide wheels (4) in the same guide wheel group form contact points with the corresponding guide structure (3) at different heights of the track cross section and on different sides of the accommodating space respectively; the lines connecting the contact points are distributed laterally along the track cross section and perpendicular to the tangent direction of the track extension direction at the corresponding position, so that multiple contact points are distributed non-collinearly within the track cross section.

8. The asymmetric multi-layer guided embedded modular track structure according to claim 7, characterized in that, Multiple guide wheels (4) in the same guide wheel group establish a single-sided rolling guide relationship with the guide structure (3) at different height positions. The multiple single-sided rolling guide relationships together form a spatial guide constraint on the walking mechanism (2), so that no chord constraint is formed in the cross section of the track, and improve the guide stability of the walking mechanism (2) during the running process along the track.

9. The asymmetric multi-layered guided embedded modular track structure according to claim 1, characterized in that, The track base (1) is provided with a conductive track surface (6) arranged along the track extension direction. The walking mechanism (2) also includes a current collector component electrically connected to the conductive track surface to realize power supply or signal transmission to the walking mechanism (2). The track base (1) includes multiple track modules connected in sequence along the track extension direction. Adjacent track modules are connected by a detachable connection structure.

10. The asymmetric multi-layer guided embedded modular track structure according to claim 1, characterized in that, The bottom wall of the track base (1) forming the accommodating space is provided with at least one working through hole through the track base (1); the track base (1) can be set up in any of the following installation postures: horizontal installation, inverted installation, hoisting installation or lateral installation, and under different installation postures, the guide wheel (4) can maintain a single-sided rolling guide cooperation relationship with the corresponding guide structure (3).

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