Adjustable rail robot driving base

Abstract

The utility model discloses an adjustable rail robot driving base which comprises a supporting frame, a driving structure and a tensioning adjusting mechanism are installed on the supporting frame, the tensioning adjusting mechanism is connected with the driving structure, and the driving structure achieves movement of the whole device. The supporting frame comprises a side plate, a side support, a driven wheel, a side guide wheel, a bottom plate, a speed reducer mounting frame, a motor mounting frame, a fixed rigid shaft, a spring upper hanging plate and a driven wheel shaft. The driving structure comprises a driving wheel, a speed reducer, a speed reducer mounting frame, a driving motor, a motor mounting frame, a rotating shaft and a climbing gear, the tensioning adjusting mechanism comprises an extension spring, a spring lower hanging plate and an adjusting screw, a motor mounting frame groove is formed in the motor mounting frame, and the spring lower hanging plate is mounted in the motor mounting frame groove and can slide up and down in the motor mounting frame groove.

Description

Technical Field

[0001] The utility model belongs to the technical field of rail logistics, and in particular relates to an adjustable rail robot driving base. Background Art

[0002] With the continuous improvement of the degree of automation in logistics and transportation systems, how to optimize the operating efficiency of rail logistics carts is an important issue in the field of rail logistics. Due to transportation requirements, rail logistics systems need to design climbing sections according to the terrain, and will pass through different track conditions such as horizontal, turning, and climbing during operation. Existing rail logistics carts may experience insufficient climbing power and slippage during long-distance climbing, resulting in difficulty in climbing or inability to guarantee climbing speed. When passing through corners, the carts are prone to getting stuck and other poor curve passability, which seriously affects the overall efficiency and stability of the logistics system. Therefore, an adjustable drive device is needed to solve the problem of stable driving of logistics carts under different tracks and improve the stability and efficiency of transportation. Utility Model Content

[0003] The purpose of the utility model is to solve the above problems and provide a track robot drive base with strong driving climbing ability, excellent curve passability, low operating noise, adjustable according to changes in load and track curvature, simple overall structure, easy installation and maintenance, and long service life.

[0004] Base comprises support, castor, and frame upper is provided with guide rail, and support and conveyer frames movable end contact site are provided with recoil spring, and castor is arranged on the pin of base bottom four, to carry mobile handler location. The gear train is connected to the side plate, and the reducer mounting frame is installed in the middle of the rotating shaft, and the reducer mounting frame rotates around the rotating shaft; the reducer is fixedly mounted on the reducer mounting frame, the driving wheel is mounted on one side of the output shaft of the reducer, and the climbing gear is installed between the driving wheel and the reducer, and rotates coaxially with the driving wheel; the driving motor is connected to the input end of the reducer and fixedly mounted on the motor mounting frame, and the motor mounting frame is fixedly connected to the reducer; the tensioning adjustment mechanism includes a tension spring, a spring lower hanging plate and an adjusting screw, and the motor mounting frame is provided with a motor mounting frame slot, the spring lower hanging plate is installed in the motor mounting frame slot and can slide up and down in the slot, a threaded hole is opened above the motor mounting frame slot, and the adjusting screw is screwed into the threaded hole of the spring lower hanging plate, and the upper and lower ends of the tension spring are respectively connected to the spring upper hanging plate and the spring lower hanging plate. The stroke of the spring lower hanging plate in the motor mounting frame slot of the motor mounting frame can be adjusted by adjusting the depth of the adjusting screw screwed into the threaded hole, thereby adjusting the tension of the spring upper hanging plate and the bottom plate.

[0005] Preferably, a limit block is installed at the end of the driven wheel shaft. The limit block is a block structure, and the cross section of the limit block is a "U"-shaped structure. The limit block realizes axial limitation of the driven wheel.

[0006] Preferably, the side guide wheel is located in the middle of the limit block, and a bolt is passed through the top of the limit block. After the bolt passes through the limit block, it passes through the middle of the side guide wheel, thereby causing the side guide wheel to rotate around the bolt.

[0007] Preferably, the upper spring hanging plate and the lower spring hanging plate are both provided with connecting bolts, and the upper and lower ends of the tension spring are respectively connected to the connecting bolts on the upper spring hanging plate and the lower spring hanging plate.

[0008] Preferably, the side panel is a plate-shaped structure, and the outer shape of the side panel is a trapezoidal structure.

[0009] Preferably, the reducer mounting frame includes two parallel arranged reducer mounting frame plates and a mounting frame plate connecting block, the two reducer mounting frame plates are connected via the mounting frame plate connecting block, and the reducer mounting frame plates are in a "9"-shaped structure.

[0010] Preferably, the motor mounting frame is in a T-shaped structure, the threaded hole on the motor mounting frame is connected to the motor mounting frame slot, and the motor mounting frame slot is a rectangular through-slot structure.

[0011] Preferably, the number of the driven wheels, side guide wheels and driven wheel shafts is four, and the driven wheels, side guide wheels and driven wheel shafts constitute a group of driven structures, a total of four groups of driven structures, and every two groups of driven structures are located at the bottom of the side plate.

[0012] The beneficial effects of the utility model are:

[0013] 1. This utility model provides an adjustable track robot drive base that combines the advantages of traditional rubber wheels and gears. It adopts an integrated gear-tooth structure design. Drive is achieved by friction between the rubber wheels and the track in horizontal sections, eliminating the need for racks on straight tracks and reducing track manufacturing costs. During ramp climbing, the track is driven by a meshing rack and pinion mechanism. The rubber wheels idle, and the meshing force propels the vehicle forward, eliminating the problem of insufficient driving force during ramp climbing. An adjustable tensioning mechanism adapts to different operating conditions, ensuring friction while reducing noise.

[0014] 2. The utility model can ensure the stable transmission of driving force between the climbing gear and the track rack, achieve stable climbing and avoid slipping.

[0015] 3. The utility model realizes adaptive adjustment under different working conditions through an adjustable tensioning mechanism.

[0016] 4. The utility model can reduce the impact of the car when it goes through a bend and improve the curve passability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is the overall front view of an adjustable track robot driving base of the utility model;

[0018] Figure 2 It is an overall bottom view of the utility model;

[0019] Figure 3 It is the overall left side view of the utility model;

[0020] Figure 4 It is a schematic diagram of the tension adjustment mechanism of the utility model;

[0021] Figure 5 This is the front view of the tension adjustment mechanism of the utility model;

[0022] Figure 6 This is a left side view of the utility model in use on track;

[0023] Figure 7 It is a schematic diagram of the utility model in use on track;

[0024] Figure 8 This is a schematic diagram of the driven wheel assembly of the utility model;

[0025] Figure 9 It is a schematic diagram of the straight rail of the utility model;

[0026] Figure 10 This is a schematic diagram of the horizontal curved track of the utility model;

[0027] Figure 11 This is a schematic diagram of the vertical curved track of the utility model;

[0028] Figure 12 It is a structural diagram of the side panel of the utility model;

[0029] Figure 13 This is a structural diagram of the reducer mounting bracket of the utility model;

[0030] Figure 14 It is a structural schematic diagram of the motor mounting bracket of the utility model.

[0031] Explanation of the accompanying reference numerals: 201, side plate; 202, side support; 203, driving wheel; 204, driven wheel; 205, side guide wheel; 206, limit block; 207, bottom plate; 208, reducer; 209, reducer mounting bracket; 210, drive motor; 211, motor mounting bracket; 212, fixed rigid shaft; 213, rotating shaft; 214, climbing gear; 215, tension spring; 216, spring lower hanging plate; 217, spring upper hanging plate; 218, adjusting screw; 219, driven wheel shaft. DETAILED DESCRIPTION

[0032] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0033] like Figures 1 to 14As shown, the utility model provides an adjustable rail robot driving base, including a support frame, on which a driving structure and a tensioning adjustment mechanism are installed. The tensioning adjustment mechanism is connected to the driving structure, and the driving structure realizes the movement of the entire device. The support frame includes side plates 201, side supports 202, driven wheels 204, side guide wheels 205, a bottom plate 207, a reducer mounting frame 209, a motor mounting frame 211, a fixed rigid shaft 212, a spring upper hanging plate 217 and a driven wheel shaft 219. The two side plates 201 are arranged in parallel and are bolted together by the bottom plate 207 and the spring upper hanging plate 217. The side supports 202 are located at the bottom of the bottom plate 207 and at the top of the side plates 201, tightening the side plates 201. The fixed rigid shaft 212 is provided at the bottom of the side plates 201 to provide support, and together they form the mounting frame. The driven wheel shaft 219 is passed through the side plate 201 , the driven wheel 204 is sleeved on the driven wheel shaft 219 , and the side guide wheel 205 is installed at the end of the driven wheel shaft 219 .

[0034] The drive structure includes a driving wheel 203, a speed reducer 208, a speed reducer mounting frame 209, a driving motor 210, a motor mounting frame 211, a rotating shaft 213, and a climbing gear 214. The two ends of the rotating shaft 213 are connected to the side plates 201. The speed reducer mounting frame 209 is mounted in the middle of the rotating shaft 213, and the speed reducer mounting frame 209 rotates around the rotating shaft 213. The speed reducer 208 is fixedly mounted on the speed reducer mounting frame 209, the driving wheel 203 is mounted on one side of the speed reducer output shaft, and the climbing gear 214 is installed between the driving wheel 203 and the speed reducer 208 and rotates coaxially with the driving wheel 203. The driving motor 210 is connected to the input end of the speed reducer 208 and fixedly mounted on the motor mounting frame 211. The motor mounting frame 211 is fixedly connected to the speed reducer 208.

[0035] The tensioning adjustment mechanism includes a tension spring 215, a spring lower hanging plate 216 and an adjusting screw 218. A motor mounting frame slot is provided on the motor mounting frame 211. The spring lower hanging plate 216 is installed in the motor mounting frame slot and can slide up and down in the slot. A threaded hole is provided above the motor mounting frame slot. The adjusting screw 218 is screwed into the threaded hole of the spring lower hanging plate 216. The upper and lower ends of the tension spring 215 are respectively connected to the spring upper hanging plate 217 and the spring lower hanging plate 216. The stroke of the spring lower hanging plate 216 in the motor mounting frame slot of the motor mounting frame 211 can be adjusted by adjusting the depth of the threaded hole into which the adjusting screw 218 is screwed, thereby adjusting the tension of the spring upper hanging plate 217 and the base plate 207.

[0036] A limiting block 206 is installed at the end of the driven wheel shaft 219 . The limiting block 206 is a block-shaped structure with a cross section in the shape of a Chinese character “U”. The limiting block 206 realizes axial limitation of the driven wheel 204 .

[0037] The side guide wheel 205 is located in the middle of the limit block 206. A bolt is passed through the top of the limit block 206. After the bolt passes through the limit block 206, it passes through the middle of the side guide wheel 205, thereby causing the side guide wheel 205 to rotate around the bolt.

[0038] Both the upper spring plate 217 and the lower spring plate 216 are equipped with connecting bolts, and the upper and lower ends of the tension spring 215 are connected to the connecting bolts on the upper spring plate 217 and the lower spring plate 216, respectively. In this embodiment, the selected tension spring 215 should be in a stretched state after assembly. During operation, the lower spring plate 216 is subjected to a tensile force from the tension spring 215 in the direction opposite to the normal of the track plane. This tensile force drives the motor mounting bracket 211 and the entire power structure to rotate around the rotating shaft 213, causing the front driving wheel 203 to be forced toward the track plane, keeping it in close contact with the track plane and preventing insufficient driving force due to slippage. The distance between the upper and lower spring plates can be changed by adjusting the screw 218, thereby changing the tension of the tension spring 215 and thus the elastic force, achieving dynamic tension adjustment. Adjustments can be made to account for the different driving friction forces required for the vehicle body under different working conditions such as empty and fully loaded, as well as the different climbing slopes and curvatures under different track layouts, including different spring elastic coefficients, thereby increasing the overall adaptability and versatility of the drive structure.

[0039] The side panel 201 is a plate-shaped structure, and the outer shape of the side panel 201 is a trapezoidal structure.

[0040] The reducer mounting frame 209 includes two parallel arranged reducer mounting frame plates and a mounting frame plate connecting block. The two reducer mounting frame plates are connected via the mounting frame plate connecting block. The reducer mounting frame plates are in a "9"-shaped structure.

[0041] The motor mounting frame 211 is in a T-shaped structure. The threaded hole on the motor mounting frame 211 is connected to the motor mounting frame slot, and the motor mounting frame slot is a rectangular through-slot structure.

[0042] The number of driven wheels 204 , side guide wheels 205 and driven wheel shafts 219 are all four. The driven wheels 204 , side guide wheels 205 and driven wheel shafts 219 constitute a group of driven structures, a total of four groups of driven structures, and every two groups of driven structures are located at the bottom of the side plate 201 .

[0043] In this embodiment, an adjustable track robot driving base of the utility model is placed on a track for operation. The track includes a straight track, a horizontal curved track and a vertical curved track. The edge of the track is rolled inward to form a "C"-shaped C-shaped groove, and a rack is fixed in the middle of the vertical curved track. The driven wheel 204 is mounted on the side plate 201 through a bearing and a driven wheel shaft 219. The side guide wheel 205 is mounted on the end of the driven wheel shaft 219. The limit block 206 realizes the axial limitation of the driven wheel. During operation, the driven wheel 204 is placed in the C-shaped groove of the track and maintains contact with the upper and lower surfaces of the guide groove to achieve guidance and support. The side guide wheel 205 contacts the side of the guide groove to achieve cornering guidance. The driving wheel 203 is coaxially connected to the climbing gear 214 for rotation, and is driven to rotate by the drive motor 210 and the reducer 208. The diameter of the climbing gear 214 is smaller than that of the driving wheel 203. During horizontal track operation, the drive unit is placed entirely within the track. The power output by the drive motor 210 passes through the reducer 208 and drives the driving wheel 203 to rotate. The friction between the driving wheel 203 and the track drives the unit, and in this state, the climbing gear 214 idles. When the unit reaches the ramp climbing section, the climbing gear 214 engages with the rack installed at the corresponding position on the track. Because the rack meshing plane is higher than the track plane, the drive wheel axle is forced to lift away from the track plane, causing the drive wheel to break away from the track plane and begin to idle. At the same time, the climbing gear 214 engages with the rack arranged on the track, providing sufficient driving force through the gear meshing force to ensure that the drive unit can climb the ramp stably.

[0044] When the adjustable track robot driving base of the present invention is running on the track, the driven wheels 204 are embedded in the C-shaped guide grooves on both sides of the track. Under the action of gravity, the driven wheels 204 contact the lower surface of the guide groove. When driving to the inverted state of the ceiling, under the influence of gravity, the driven wheels 204 contact the upper surface of the guide groove. The side guide wheels 205 are installed at the axial end positions of the driven wheels. The side guide wheels 205 on both sides of the trolley successively contact the side surfaces of the guide groove during the cornering process to achieve a guiding effect.

[0045] During actual use of the present invention, after the tension adjustment mechanism is assembled, tension spring 215 is in a tensioned state and contracts inward. The rear end of reducer mounting bracket 209 is subjected to an upward tension from the tension spring. This tension is transmitted via the rotating shaft, pressing the driving wheel 203 and climbing gear 214 mounted at the front end toward the track plane, thereby pressing them against the track surface and ensuring sufficient friction to prevent slippage. By adjusting the installation position of adjustment screw 218, the length of tension spring 215 can be varied to adjust the tension, thereby adapting the drive device to different load conditions and track sizes with different climbing curvatures.

[0046] Those skilled in the art will appreciate that the embodiments described herein are intended to help readers understand the principles of the present invention, and should be understood that the scope of protection of the present invention is not limited to such specific descriptions and embodiments. Those skilled in the art can, based on the technical teachings disclosed in this utility model, make various other specific variations and combinations that do not depart from the essence of the present invention, and such variations and combinations are still within the scope of protection of the present invention.

Claims

1. An adjustable track robot driving base, characterized by: The invention comprises a support frame, a driving structure and a tensioning adjustment mechanism are installed on the support frame, the tensioning adjustment mechanism is connected to the driving structure, and the driving structure realizes the movement of the entire device; the support frame comprises a side plate (201), a side support (202), a driven wheel (204), a side guide wheel (205), a bottom plate (207), a reducer mounting frame (209), a motor mounting frame (211), a fixed rigid shaft (212), a spring upper hanging plate (217) and a driven wheel shaft (219), two side plates (201) are arranged in parallel, and are bolted together by the bottom plate (207) and the spring upper hanging plate (217), the side support (202) is located at the bottom of the bottom plate (207), and the side support (202) is located at the side The top of the plate (201) plays a role in tightening the side plate (201), and the fixed rigid shaft (212) is passed through the bottom of the side plate (201) to play a supporting role, and together they form a mounting frame; the driven wheel shaft (219) is passed through the side plate (201), the driven wheel (204) is sleeved on the driven wheel shaft (219), and the side guide wheel (205) is installed at the end of the driven wheel shaft (219); the driving structure includes a driving wheel (203), a reducer (208), a reducer mounting frame (209), a driving motor (210), a motor mounting frame (211), a rotating shaft (213) and a climbing gear (214), the two ends of the rotating shaft (213) are connected to the side plate (201), the reducer The mounting frame (209) is mounted on the middle of the rotating shaft (213), and the reducer mounting frame (209) rotates around the rotating shaft (213); the reducer (208) is fixedly mounted on the reducer mounting frame (209), the driving wheel (203) is mounted on one side of the output shaft of the reducer, and the climbing gear (214) is mounted between the driving wheel (203) and the reducer (208) and rotates coaxially with the driving wheel (203); the driving motor (210) is connected to the input end of the reducer (208) and fixedly mounted on the motor mounting frame (211), and the motor mounting frame (211) is fixedly connected to the reducer (208); the tensioning adjustment mechanism includes a tension spring (215), a spring lower A hanging plate (216) and an adjusting screw (218) are provided on the motor mounting frame (211). The motor mounting frame groove is provided. The spring lower hanging plate (216) is installed in the motor mounting frame groove and can slide up and down in the groove. A threaded hole is provided above the motor mounting frame groove. The adjusting screw (218) is screwed into the threaded hole of the spring lower hanging plate (216). The upper and lower ends of the tension spring (215) are respectively connected to the spring upper hanging plate (217) and the spring lower hanging plate (216). The travel of the spring lower hanging plate (216) in the motor mounting frame groove of the motor mounting frame (211) can be adjusted by adjusting the depth of the screw (218) screwed into the threaded hole, thereby adjusting the tension of the spring upper hanging plate (217) and the bottom plate (207).

2. The adjustable track robot driving base according to claim 1, characterized in that: A limiting block (206) is installed at the end of the driven wheel shaft (219). The limiting block (206) is a block-shaped structure. The cross section of the limiting block (206) is a "U"-shaped structure. The limiting block (206) realizes axial limitation of the driven wheel (204).

3. The adjustable track robot driving base according to claim 1, characterized in that: The side guide wheel (205) is located in the middle of the limit block (206), and a bolt is passed through the top of the limit block (206). After the bolt passes through the limit block (206), it passes through the middle of the side guide wheel (205), thereby causing the side guide wheel (205) to rotate around the bolt.

4. The adjustable track robot driving base according to claim 1, characterized in that: The spring upper hanging plate (217) and the spring lower hanging plate (216) are both provided with connecting bolts, and the upper and lower ends of the tension spring (215) are respectively connected to the connecting bolts on the spring upper hanging plate (217) and the spring lower hanging plate (216).

5. The adjustable track robot driving base according to claim 1, characterized in that: The side plate (201) is a plate-shaped structure, and the outer shape of the side plate (201) is a trapezoidal structure.

6. The adjustable track robot driving base according to claim 1, characterized in that: The reducer mounting frame (209) comprises two parallel arranged reducer mounting frame plates and a mounting frame plate connecting block, the two reducer mounting frame plates are connected via the mounting frame plate connecting block, and the reducer mounting frame plates are in a "9"-shaped structure.

7. The adjustable track robot driving base according to claim 1, characterized in that: The motor mounting frame (211) is in a T-shaped structure, and the threaded hole on the motor mounting frame (211) is connected to the motor mounting frame slot, and the motor mounting frame slot is a rectangular through-slot structure.

8. The adjustable track robot driving base according to claim 1, characterized in that: The number of the driven wheels (204), the side guide wheels (205) and the driven wheel shaft (219) is four. The driven wheels (204), the side guide wheels (205) and the driven wheel shaft (219) constitute a set of driven structures, with a total of four sets of driven structures. Every two sets of driven structures are located at the bottom of the side plate (201).

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