Robot walking training protection sky rail frame

Abstract

A robot walking training protection sky rail frame comprises a supporting frame body structure and a sky rail transverse frame structure, the two ends of the sky rail transverse frame structure are movably installed on the top of the supporting frame body structure, and a sky rail sliding frame structure is movably installed on the sky rail transverse frame structure. A rotation driving mechanism and a wheel disc structure are installed on the sky rail sliding frame structure, the rotation driving mechanism is used for controlling the wheel disc structure to rotate, a hoisting assembly structure is arranged on the wheel disc structure and used for hoisting a robot, and the rotation driving mechanism or the wheel disc structure is further connected with a height measuring encoder and a power-off brake. The device can be conveniently built on various simulated obstacle road surfaces or real obstacle road surfaces, the training environment can be infinitely replaced, the robot can be prevented from toppling over and being damaged, and the safety of the robot can be timely guaranteed even under the condition that electronic equipment breaks down.

Description

Technical Field

[0001] The utility model belongs to the technical field of robot research and development auxiliary mechanisms, and in particular relates to a robot walking training protective overhead rail frame. Background Art

[0002] Legged robots are the most cutting-edge research and development direction in the field of robotics research today. They integrate multiple disciplines such as mechanics, electronics, computers, materials, sensors, control technology, and artificial intelligence, including bipedal robots, quadrupedal robots or robot dogs, and hexapod robots. Among them, the stability of the legs of the legged robot determines the stability and safety of the entire robot operating environment. Therefore, leg walking training for legged robots is an important foundation project for robot training and learning. It is best for robots to be trained and learned under complex environmental conditions so that they have certain obstacle avoidance and obstacle crossing capabilities. However, there is a great risk of tipping over during the training and learning of legged robots, especially for bipedal robots with a high center of gravity. Once tipping over occurs, it is usually accompanied by damage to multiple parts and electronic components. Not only do they need to replace parts, which is a huge economic loss; they also need to be reassembled, adjusted, and retrained, which is a huge loss of time.

[0003] Therefore, it is necessary to provide adequate protection during the training of the legged robot to avoid the robot from tipping over. In the prior art, the patent document with the announcement number CN 117519074 A discloses a method, system, device and storage medium for testing the motion performance of a robot. The system includes a motor, a test panel for constituting a test path, and a control device for controlling the motor, wherein the motor is associated with the test panel, the motor is used to adjust the motor state through the control instruction generated by the control device, and the test panel is used to adjust at least one of the uphill angle, obstacle panel height, gap width, downhill angle and linkage door opening width of the test path according to the motor state. Although the above technical solution can meet the test requirements of various test scenarios, it does not provide anti-tipover safety protection for the robot, and although the test road surface can be adjusted to set various slopes and obstacles, this also makes the training environment obstacles not have random authenticity, and the data that can be collected is limited, which has certain limitations. Summary of the invention

[0004] 1. Technical Problems Solved

[0005] In view of the deficiencies in the prior art, the utility model proposes a robot walking training protective overhead rail frame which has a simple structure and is easy to be assembled on various simulated obstacle roads or real obstacle roads. The training environment can be infinitely changed and can prevent the robot from being damaged by tipping over. Even in the event of electronic equipment failure, the robot's safety can be promptly guaranteed.

[0006] 2. Specific technical solutions

[0007] A robot walking training protective overhead rail frame, comprising a supporting frame structure and an overhead rail cross frame structure, wherein both ends of the overhead rail cross frame structure are movably mounted on the top of the supporting frame structure, an overhead rail sliding frame structure is movably mounted on the overhead rail cross frame structure, a rotating drive mechanism and a wheel disc structure are mounted on the overhead rail sliding frame structure, the rotating drive mechanism is used to control the rotation of the wheel disc structure, a hoisting assembly structure is arranged on the wheel disc structure, and is used to hoist a robot, and the rotating drive mechanism or the wheel disc structure is also connected to a height measuring encoder and a power-off brake;

[0008] Slide rail structures are arranged on both sides of the top of the support frame structure, support frames are arranged at both ends of the ceiling rail cross frame structure, and Y-axis sliding blocks are installed at the bottom of the support frames. The Y-axis sliding blocks are respectively slidably matched with the slide rail structures, and a Y-axis moving drive mechanism and a Y-axis position measuring encoder are also installed in the support frame;

[0009] The overhead rail sliding frame structure includes an installation support plate frame, on the top of which an X-axis sliding block, an X-axis movement drive mechanism and an X-axis position measurement encoder are arranged, the X-axis sliding block is slidably matched with the bottom of the overhead rail cross frame structure, and the rotation drive mechanism and the wheel structure are both installed in the installation support plate frame.

[0010] Preferably, the Y-axis moving drive mechanism comprises a Y-axis drive motor and a Y-axis drive wheel, the Y-axis drive motor is connected to the Y-axis drive wheel via a reduction transmission mechanism, and the Y-axis drive wheel acts on a slide rail structure.

[0011] Preferably, the X-axis moving drive mechanism comprises an X-axis drive motor and an X-axis drive wheel, the X-axis drive motor is connected to the X-axis drive wheel through a reduction transmission mechanism, and the X-axis drive wheel acts on the mounting support plate frame.

[0012] Preferably, the X-axis driving wheel and / or the Y-axis driving wheel is a synchronous pulley structure or a gear structure, and a synchronous belt or rack structure matching the synchronous pulley structure or the gear structure is arranged on the overhead rail cross frame structure and / or the slide rail structure.

[0013] Preferably, a position sensor, a camera mechanism and / or an image sensor are also installed in the mounting support plate frame, and the X-axis position measurement encoder and the Y-axis position measurement encoder are respectively connected to the output shafts of the X-axis movement drive mechanism and the Y-axis movement drive mechanism.

[0014] Preferably, the support frame structure includes four vertical frames and a horizontal square frame. The four vertical frames are respectively arranged at the four corners of the horizontal square frame, and the slide rail structures are respectively arranged at the two long sides of the horizontal square frame.

[0015] Preferably, the wheel disc structure includes a belt wheel disc and at least one guide wheel assembly. The belt wheel disc is rotatably installed on the installation support plate frame, and the guide wheel assembly is installed on the installation support plate frame and is aligned with the belt wheel disc.

[0016] Preferably, the belt wheel disc is composed of a driven belt wheel part and a wire groove disc part, and the guide wheel assembly is aligned with the wire groove disc part;

[0017] The rotary drive mechanism includes a drive motor, a driving belt wheel and a transmission belt. The driving belt wheel is connected to the output end of the drive motor. The transmission belt is sleeved between the driving belt wheel and the driven belt wheel part. A brake shaft structure is installed on the driving belt wheel, and the power-off brake and the height measurement encoder are respectively connected to the brake shaft structure.

[0018] The beneficial effects of the present utility model are as follows: The support frame structure is provided to facilitate stable assembly on various simulated obstacle roads or real obstacle roads to achieve the training purpose of truly restoring the real scene. And the sliding vehicle frame structure is provided to move following the robot under the drive control of the X-axis drive motor and the Y-axis drive motor, and the lifting component structure provides anti-tipping protection for the robot; in the case of electronic equipment failure, the power-off brake is used to control the brake shaft structure to stop rotating, so as to be able to timely brake the output shaft of the rotary drive mechanism and avoid the risk of the robot collapsing to the ground; the height measurement encoder is provided to calculate the height and extension speed of the lifting component structure through the rotation of the output shaft of the rotary drive mechanism. If there is an abnormality, it can feedback and brake in time, providing the last guarantee feedback protection before the robot fails to land, and avoiding providing sufficient safety protection for the robot when other position sensors, camera mechanisms and / or image sensor analyses fail, so as to avoid causing greater losses and damage to machines or personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic three-dimensional structure diagram of the whole of the present utility model.

[0020] Figure 2 It is a schematic top view structure diagram of the end of the overhead rail cross frame structure of the present utility model.

[0021] Figure 3 It is a schematic three-dimensional structure diagram of the overhead rail sliding vehicle frame structure of the present utility model.

[0022] Figure 4 It is a schematic partial cross-sectional view of the bottom of the overhead rail sliding vehicle frame structure of the present utility model.

[0023] Figure 5 This is a partial side view schematic diagram of the overhead rail sliding vehicle frame structure in the present utility model.

[0024] Figure 6 This is a schematic diagram of the structure of the rotation drive mechanism cooperating with the wheel disc structure in the present utility model.

[0025] Figure 7 This is a schematic diagram of the structure of the guide wheel assembly in the present utility model.

[0026] In the figure: support frame body structure 1; overhead rail cross frame structure 2; overhead rail sliding vehicle frame structure 3; rotation drive mechanism 4; wheel disc structure 5; hoisting component structure 6; height measurement encoder 7; power-off brake 8;

[0027] slide rail structure 11; vertical stand 12; horizontal square frame 13;

[0028] support frame 21; Y-axis sliding block 22; Y-axis moving drive mechanism 23; Y-axis position measurement encoder 24;

[0029] installation support plate frame 31; X-axis sliding block 32; X-axis moving drive mechanism 33; X-axis position measurement encoder 34;

[0030] Y-axis drive motor 231; Y-axis drive wheel 232; X-axis drive motor 331; X-axis drive wheel 332;

[0031] belt wheel disc 52; guide wheel assembly 53;

[0032] installation base plate 312; upper line clamping plate 313; lower line clamping plate 314; belt wheel disc installation bushing 315; guide installation shell 331; pulley 332;

[0033] driven belt wheel part 521; wire groove disc part 522; drive motor 41; driving belt wheel 42; transmission belt 43; brake shaft structure 44. Detailed implementation manners

[0034] The following elaborates on the preferred embodiments of the present utility model in conjunction with the accompanying drawings, so that the advantages and features of the present utility model can be more easily understood by those skilled in the art, thereby making the protection scope of the present utility model more clearly defined.

[0035] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model.

[0036] In the description of the present utility model, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "installed", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a direct connection or a connection through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances. Embodiment

[0037] As Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 and Figure 7 As shown in

[0038] : A protective overhead rail frame for robot walking training is provided with a support frame body structure 1 and an overhead rail cross frame structure 2. The two ends of the overhead rail cross frame structure 2 are movably installed on the top of the support frame body structure 1. An overhead rail sliding vehicle frame structure 3 is movably installed on the overhead rail cross frame structure 2. A rotary drive mechanism 4 and a wheel disc structure 5 are installed on the overhead rail sliding vehicle frame structure 3. The rotary drive mechanism 4 is used to control the rotation of the wheel disc structure 5. A hoisting component structure 6 is arranged on the wheel disc structure 5 for hoisting the robot. The rotary drive mechanism 4 or the wheel disc structure 5 is also connected with a height measuring encoder 7 and a power-off brake 8.

[0039] An X-axis movement driving mechanism 33 and an X-axis position measuring encoder 34 are installed on the overhead rail sliding frame structure 3, and a Y-axis movement driving mechanism 23 and a Y-axis position measuring encoder 24 are also installed at both ends of the overhead rail cross frame structure 2. The X-axis position measuring encoder 34 and the Y-axis position measuring encoder 24 are respectively connected to the output shafts of the X-axis movement driving mechanism 33 and the Y-axis movement driving mechanism 23; of course, the X-axis position measuring encoder 34 and the Y-axis position measuring encoder 24 can also be set separately.

[0040] According to the X-axis movement driving mechanism 33 and the Y-axis movement driving mechanism 23, the overhead rail sliding frame structure 3 can be driven to move freely in the support frame body structure 1 following the robot, that is, the robot can walk or run freely within the range of the support frame body structure 1, and provide protection for following at any time. Obstacles can be set within the range of the support frame body structure 1, or the support frame body structure 1 is integrally erected in the outdoor real scene to achieve a training effect closer to the robot usage scenario; the X-axis position measuring encoder 34 and the Y-axis position measuring encoder 24 can determine and feedback the moving position of the overhead rail sliding frame structure 3 in the support frame body structure 1, so as to achieve the purpose of automatically aligning the position of the overhead rail sliding frame structure 3 with the position of the robot.

[0041] Slide rail structures 11 are provided on both sides of the top of the support frame body structure 1. Support frames 21 are provided at both ends of the overhead rail cross frame structure 2. Y-axis sliding blocks 22 are installed at the bottoms of the support frames 21. The Y-axis sliding blocks 22 are respectively in sliding fit with the slide rail structures 11. The Y-axis movement driving mechanism 23 and the Y-axis position measuring encoder 24 are both installed on the support frames 21.

[0042] The support frame body structure 1 includes four vertical stands 12 and a horizontal square frame 13. The four vertical stands 12 are respectively arranged at the four corners of the horizontal square frame 13. The slide rail structures 11 are respectively arranged at the two long sides of the horizontal square frame 13. The vertical stands 12 and the horizontal square frame 13 are both aluminum profile square truss structures and are assembled by bolt connection, which can be easily and stably assembled on various simulated obstacle roads or real obstacle roads.

[0043] The overhead rail sliding frame structure 3 includes an installation support plate frame 31. An X-axis sliding block 32 is provided on the top of the installation support plate frame 31. The X-axis sliding block 32 is in sliding fit with the bottom of the overhead rail cross frame structure 2. The X-axis movement driving mechanism 33 and the X-axis position measuring encoder 34 are both installed on the top of the installation support plate frame 31, and the rotation driving mechanism 4 and the wheel disc structure 5 are both installed in the installation support plate frame 31. And, two X-axis sliding blocks 32 are provided on the top of the installation support plate frame 31. The output end of the X-axis movement driving mechanism 33 is located between the two X-axis sliding blocks 32, so that the overhead rail sliding frame structure 3 slides more stably along the overhead rail cross frame structure 2 and the force is more uniform.

[0044] The Y-axis moving driving mechanism 23 includes a Y-axis driving motor 231 and a Y-axis driving wheel 232. The Y-axis driving motor 231 is connected to the Y-axis driving wheel 232 through a reduction transmission mechanism, and the Y-axis driving wheel 232 acts on the slide rail structure 11.

[0045] Similarly, the X-axis moving drive mechanism 33 includes an X-axis drive motor 331 and an X-axis drive wheel 332 . The X-axis drive motor 331 is connected to the X-axis drive wheel 332 through a reduction transmission mechanism, and the X-axis drive wheel 332 acts on the mounting support plate frame 31 .

[0046] More preferably, the X-axis driving wheel 332 and / or the Y-axis driving wheel 232 is a synchronous pulley structure or a gear structure, and a synchronous belt or rack structure matching the synchronous pulley structure or the gear structure is arranged on the overhead rail cross frame structure 2 and / or the slide rail structure 11. This can avoid drive slippage as much as possible, and the drive control can be more accurate and the positioning can be more precise.

[0047] A position sensor, a camera mechanism and / or an image sensor are also installed in the mounting support plate frame 31, which are used to further cooperate with the visual algorithm system to assist in monitoring the status of the robot, and further avoid the situation where the robot tipping system does not recognize and make a feedback response.

[0048] The wheel disc structure 5 includes a pulley disc 52 and four guide wheel assemblies 53. Two or other numbers of guide wheel assemblies 33 are also acceptable. Two or four guide wheel assemblies 33 are more stable and meet the use requirements. The lifting assembly structure 6 is composed of four slings, and the four slings are respectively matched with the four guide wheel assemblies 53. The telescopic movement of the lifting assembly structure 6 is equivalent to the Z-axis movement, and cooperates with the movement of the X-axis and Y-axis overhead rail sliding frame structure 3, so the equipment has the ability to move in any direction in three-dimensional space.

[0049] The pulley disk 52 is rotatably mounted on the mounting support plate frame 31, and the guide wheel assembly 53 is mounted on the mounting support plate frame 31, and the guide wheel assembly 53 is arranged to align with the pulley disk 52, and a pulley disk mounting sleeve 315 is arranged in the mounting support plate frame 31, and the pulley disk 32 is rotatably mounted on the outer surface of the pulley disk mounting sleeve 315, wherein the inner hole of the pulley disk mounting sleeve 315 is the through hole in the center of the pulley disk mounting sleeve 315, and the main part of the pulley disk mounting sleeve 315 is tubular, and a position sensor, a camera mechanism and / or an image sensor can also be installed in the inner hole of the pulley disk mounting sleeve 315.

[0050] The above-mentioned mounting support plate frame 31 includes a mounting base plate 312, an upper wire clamping plate 313 and a lower wire clamping plate 314. The upper wire clamping plate 313 and the lower wire clamping plate 314 are respectively connected to the lower part of the mounting base plate 312 through two groups of connecting columns, that is, there is a spaced arrangement between the upper wire clamping plate 313, the lower wire clamping plate 314 and the mounting base plate 312. A pulley disc mounting bushing 315 is also installed on the lower surface of the mounting base plate 312 through a screw structure, and the pulley disc 32 is rotatably installed on the outer surface of the pulley disc mounting bushing 315.

[0051] The pulley disc 52 is composed of a driven pulley part 521 and a wire groove disc part 522. The guide wheel assembly 53 is arranged to align with the wire groove disc part 522. The pulley disc 32 has a mounting hole that cooperates with the pulley disc mounting bushing 315, and a separating ring plate is arranged between the driven pulley part 321 and the wire groove disc part 322 of the mounting hole. Bearing structures are respectively installed on the upper and lower sides of the separating ring plate. Through the bearing structures, the pulley disc 32 is rotatably matched with the pulley disc mounting bushing 315, so that the rotation is more stable and accurate.

[0052] An avoidance round hole is provided between the upper wire clamping plate 313 and the lower wire clamping plate 314. The avoidance round hole is sleeved on the wire groove disc part 322, and the upper wire clamping plate 313 and the lower wire clamping plate 314 respectively align with the upper and lower sides of the wire groove disc part 322, which is used for guiding to avoid the scattering of the suspension ropes of the hoisting assembly structure 5.

[0053] The guide wheel assembly 33 is composed of a guide mounting shell 331 and a pulley 332. The guide mounting shell 331 is installed at the corresponding hole opening provided on the lower wire clamping plate 314, and the pulley 332 is rotatably installed inside the guide mounting shell 331.

[0054] The above-mentioned rotation driving mechanism 4 is installed on the lower surface of the mounting base plate 312, and the rotation driving mechanism 4 is arranged side by side with the pulley disc 32 and the pulley disc mounting bushing 315. The power-off brake 8 is installed on the upper surface of the mounting base plate 312. The height measuring encoder 7 is installed above the mounting base plate 312 through the housing frame of the power-off brake 8. The brake shaft structure 44 passes through the mounting base plate 312 and is rotatably matched with the mounting base plate 312 through a deep groove ball bearing.

[0055] Among them, the rotation drive mechanism 4 includes a drive motor 41, a driving pulley 42 and a transmission belt 43. The driving pulley 42 is connected to the output end of the drive motor 41. The transmission belt 43 is sleeved between the driving pulley 42 and the driven pulley part 521. And a brake shaft structure 44 is installed on the driving pulley 42. The power-off brake 8 and the height measurement encoder 7 are respectively connected to the brake shaft structure 44. Among them, the transmission belt 43 is a synchronous belt structure. Correspondingly, the driving pulley 42 and the driven pulley part 521 are synchronous pulley structures. And the material of the synchronous pulley structure is preferably a tough material such as rubber. In this way, while ensuring that the height measurement encoder 7 can more accurately measure the height and movement speed of the hoisting component structure 6 through the rotation speed and rotation number of rotations of the rotation drive mechanism 4, there is a certain buffer space when the rotation drive mechanism 4 locks or rotates the hoisting and pulling robot in the reverse direction, avoiding excessive impact force of the robot when it is hard locked, resulting in damage to the connecting joints such as the hoisting component structure 6 or the robot.

[0056] Specifically, the brake shaft structure 44 is successively composed of a connecting disc part, a braking pin shaft part and a rotation monitoring thin shaft. And the connecting disc part, the braking pin shaft part and the rotation monitoring thin shaft are an integral structure, that is, integrally cast or machined into an integral structure. The power-off brake 8 is installed on the braking pin shaft part, the height measurement encoder 7 is connected to the end of the rotation monitoring thin shaft, and the connecting disc part is fixedly installed on the end face of the driving pulley.

[0057] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A robot walking training protective overhead rail frame, characterized in that: The invention comprises a supporting frame structure (1) and a ceiling rail cross frame structure (2), wherein both ends of the ceiling rail cross frame structure (2) are movably mounted on the top of the supporting frame structure (1), a ceiling rail sliding frame structure (3) is movably mounted on the ceiling rail cross frame structure (2), a rotating drive mechanism (4) and a wheel disc structure (5) are mounted on the ceiling rail sliding frame structure (3), the rotating drive mechanism (4) is used to control the rotation of the wheel disc structure (5), a hoisting assembly structure (6) is arranged on the wheel disc structure (5) for hoisting a robot, and the rotating drive mechanism (4) or the wheel disc structure (5) is also connected to a height measuring encoder (7) and a power-off brake (8); Slide rail structures (11) are arranged on both sides of the top of the support frame structure (1), support frames (21) are arranged at both ends of the ceiling rail cross frame structure (2), a Y-axis sliding block (22) is installed at the bottom of the support frame (21), the Y-axis sliding block (22) is slidably matched with the slide rail structure (11), and a Y-axis moving drive mechanism (23) and a Y-axis position measuring encoder (24) are also installed in the support frame (21); The overhead rail sliding frame structure (3) comprises a mounting support plate frame (31), on the top of which an X-axis sliding block (32), an X-axis movement drive mechanism (33) and an X-axis position measurement encoder (34) are arranged, the X-axis sliding block (32) is slidably matched with the bottom of the overhead rail cross frame structure (2), and the rotation drive mechanism (4) and the wheel structure (5) are both mounted in the mounting support plate frame (31).

2. The robot walking training protective rail frame according to claim 1, characterized in that: The Y-axis moving drive mechanism (23) comprises a Y-axis drive motor (231) and a Y-axis drive wheel (232); the Y-axis drive motor (231) is transmission-connected to the Y-axis drive wheel (232) via a reduction transmission mechanism; and the Y-axis drive wheel (232) acts on the slide rail structure (11).

3. The robot walking training protective rail frame according to claim 1, characterized in that: The X-axis moving drive mechanism (33) comprises an X-axis drive motor (331) and an X-axis drive wheel (332); the X-axis drive motor (331) is connected to the X-axis drive wheel (332) via a reduction transmission mechanism; the X-axis drive wheel (332) acts on the mounting support plate frame (31).

4. The robot walking training protective rail frame according to claim 3 is characterized in that: The X-axis driving wheel (332) and / or the Y-axis driving wheel (232) are synchronous pulley structures or gear structures, and a synchronous belt or rack structure matching the synchronous pulley structure or gear structure is provided on the overhead rail cross frame structure (2) and / or the slide rail structure (11).

5. The robot walking training protective rail frame according to claim 3 or 4, characterized in that: A position sensor, a camera mechanism and / or an image sensor are also installed in the mounting support plate frame (31), and the X-axis position measuring encoder (34) and the Y-axis position measuring encoder (24) are respectively connected to the output shafts of the X-axis moving drive mechanism (33) and the Y-axis moving drive mechanism (23).

6. The robot walking training protective overhead rail frame according to claim 5, characterized in that: The support frame structure (1) comprises four vertical frames (12) and a horizontal square frame (13); the four vertical frames (12) are respectively arranged at four corners of the horizontal square frame (13); and the slide rail structure (11) is respectively arranged at two long sides of the horizontal square frame (13).

7. The robot walking training protective overhead rail frame according to claim 1 or 6, characterized in that: The wheel disc structure (5) comprises a pulley disc (52) and at least one guide wheel assembly (53); the pulley disc (52) is rotatably mounted on a mounting support plate frame (31); the guide wheel assembly (53) is mounted on the mounting support plate frame (31), and the guide wheel assembly (53) is aligned with the pulley disc (52).

8. The robot walking training protective overhead rail frame according to claim 7, characterized in that: The pulley disc (52) is composed of a driven pulley portion (521) and a wire groove disc portion (522), and the guide wheel assembly (53) is arranged to align with the wire groove disc portion (522); The rotary drive mechanism (4) comprises a drive motor (41), a driving pulley (42) and a transmission belt (43); the driving pulley (42) is connected to the output end of the drive motor (41); the transmission belt (43) is sleeved between the driving pulley (42) and a driven pulley portion (521); a brake shaft structure (44) is mounted on the driving pulley (42); and the power-off brake (8) and the height measuring encoder (7) are respectively connected to the brake shaft structure (44).

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