A rail-mounted robot drive mechanism

Abstract

The utility model discloses a kind of hanging rail robot driving mechanisms, including mounting seat, driving assembly and suspension subassembly, driving assembly includes driving shaft and even number of swing arm wheel groups, driving shaft is rotationally arranged on mounting seat and extends along horizontal vertical through track length direction;Swing arm wheel group all includes driving wheel, driving wheel is connected with driving shaft by connecting piece, to make driving shaft rotation drive each driving wheel same direction rotation;Each driving wheel is evenly arranged in the two sides of driving shaft along its length direction, and multiple driving wheels located in the same side of driving shaft are spaced apart and arranged along the length direction of driving shaft.This application designs the structure layout of the driving assembly of driving mechanism, so that each driving wheel and driving shaft constitute at least one "triangle positioning structure", cooperate the pressure of Z direction exerted by suspension subassembly, so that the whole mechanism has better grip to track, to ensure that driving mechanism moves more stable on track, especially when passing through track arc segment, can reduce or avoid the risk of driving mechanism derailment.

Description

Technical Field

[0001] This utility model relates to the field of drive mechanism technology, and in particular to a drive mechanism for a rail-mounted robot. Background Technology

[0002] A track-mounted robot (also known as a suspended track robot) is a robot that can be suspended on a track and move along the track. It is used to replace manual labor in inspection work in harsh environments such as high temperature, high humidity, toxicity and danger. It is widely used in places such as power room, large warehouse, factory workshop, power distribution station, and substation.

[0003] The existing track-mounted robot structure, as shown in the applicant's prior patent application (CN202311830833.6), includes a robot body and a drive mechanism respectively mounted on a track. The drive mechanism, utilizing a drive motor and a swing arm wheel assembly, can move along the track, thereby driving the robot body to move along the track. The swing arm wheel assembly mainly includes two drive wheels and a first hinge and a second hinge. The two hinges are arranged side-by-side along the length of the track and are inclined below the track so that the drive wheels of the hinges can abut against the bottom of the track, facilitating the movement of the entire robot when the drive wheels rotate under the action of the drive motor.

[0004] In the aforementioned patent, the output shaft of the drive motor extends along the length of the vertical track, and both hinges are located on one side of the length of the output shaft. This layout results in uneven force distribution on both sides of the output shaft along its length, causing excessive local preload in the connection between the drive mechanism and the track. In particular, when the robot passes through the curved section of the track, the entire robot is at risk of derailment. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a rail-mounted robot drive mechanism that improves the layout of the swing arm wheel assembly, ensuring that drive wheels are provided on both sides of the output shaft (drive shaft) along its length. This ensures more balanced force distribution and minimizes the risk of the drive mechanism derailing.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a rail-mounted robot drive mechanism, comprising a mounting base and at least one drive component and at least two suspension components disposed on the mounting base, wherein each suspension component is used to slide the mounting base and the rail.

[0007] The drive assembly includes a drive shaft and an even number of swing arm wheel sets.

[0008] The drive shaft is rotatably mounted on the mounting base and extends along the length of the horizontal and vertical through-track.

[0009] Each swing arm wheel assembly includes a hinge, a connector, and a drive wheel. The axis of the drive wheel is parallel to the axis of the drive shaft. Under the action of the hinge, the drive wheel abuts against the bottom of the outer side of the track. The drive wheel is connected to the drive shaft through the connector so that the rotation of the drive shaft drives each drive wheel to rotate in the same direction.

[0010] Each drive wheel is arranged on both sides of the drive shaft along its length, and multiple drive wheels located on the same side of the drive shaft are arranged at intervals along the length of the drive shaft.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] This application designs the structural layout of the drive components of the drive mechanism so that drive wheels are provided on both sides of each drive shaft, rather than on one side. At least one drive wheel of the same number is provided on both sides of the drive shaft, so that each drive wheel and the drive shaft form at least one "triangular positioning structure". With the Z-axis pressure applied by the suspension component, the entire mechanism has better grip on the track, so as to ensure that the drive mechanism moves more stably on the track. Especially when passing through the curved section of the track, it can reduce or avoid the risk of the drive mechanism derailing.

[0013] Furthermore, each drive assembly contains four swing arm wheel sets.

[0014] The distance from either of the two drive wheels located on one side of the drive shaft to the drive shaft is equal to the distance from either of the two drive wheels on the other side of the drive shaft to the drive shaft.

[0015] Furthermore, the four drive wheels corresponding to the four swing arm wheel sets are arranged in a rectangular pattern.

[0016] Furthermore, the four drive wheels are symmetrically distributed along the axis of the drive shaft.

[0017] Furthermore, each suspension component includes a connecting frame and a set of sliding wheels mounted on the connecting frame.

[0018] The connecting bracket is rotatably connected to the mounting base.

[0019] The sliding wheel assembly engages with the bottom of the track, and each sliding wheel assembly is located above the corresponding drive wheel and engages with the drive wheel to clamp the track.

[0020] Furthermore, each connecting component includes a drive shaft, a transmission part connected to the drive shaft, a drive part connected to the drive shaft, and a connecting part for connecting the transmission part and the drive part.

[0021] The transmission shaft is coaxially connected to the corresponding drive wheel, and the drive unit is connected to the drive shaft so that the rotation of the drive shaft drives the transmission shaft to rotate.

[0022] Furthermore, each hinge component includes a swing arm and a spring element.

[0023] The swing arms are hinged to the drive shaft and the drive shaft, respectively.

[0024] The elastic element is located between the swing arm and the mounting base so that the drive wheel on the drive shaft abuts against the bottom of the track.

[0025] Furthermore, it also includes at least one dust removal roller, which is rotatably mounted on the mounting base and abuts against the bottom of the track.

[0026] Furthermore, there are two dust removal rollers, with each drive wheel located between the two dust removal rollers.

[0027] Furthermore, the dust collector roller includes a roller section and a rolling frame for mounting the roller section. The rolling frame has two movable sections, which are movably connected to the mounting base respectively. A spring element is provided between each movable section and the mounting base to make the dust collector roller abut against the bottom of the track. Attached Figure Description

[0028] Figure 1 This is a diagram showing the connection between a drive mechanism and a track in this utility model;

[0029] Figure 2 for Figure 1 A structural diagram from another perspective;

[0030] Figure 3 This is a schematic diagram of another driving mechanism of this utility model;

[0031] Figure 4 for Figure 3 A structural diagram excluding a suspension component and a connector;

[0032] Figure 5 This is an exploded structural diagram of the drive mechanism in this utility model;

[0033] Figure 6 These are four layout diagrams of the drive shaft and four drive wheels in the utility model.

[0034] In the diagram: track 100, mounting base 200, mounting platform 201, positioning groove 2011, mounting bracket 202, drive shaft 210, connector 220, transmission shaft 221, reinforcing shaft 2211, transmission part 222, connecting part 223, drive part 224, hinge 230, swing arm 231, elastic element 323, drive wheel 240, rolling wheel 241, suspension assembly 250, connecting frame 251, sliding wheel group 252, second sliding wheel 2521, first sliding wheel 2522, third sliding wheel 2523, base plate 253, drive motor 260, sprocket assembly 261, dust removal roller 270, elastic element 271, rolling frame 272, roller part 273, base 280, swing arm wheel group 290, drive assembly 20, ultrasonic radar 600, smoke alarm 400, pan-tilt unit 300, horn 500. Detailed Implementation

[0035] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0036] like Figure 1 , 2 As shown, a track-mounted robot drive mechanism includes a mounting base 200 and at least one drive assembly 20 and at least two suspension assemblies 250 disposed on the mounting base 200. Each suspension assembly 250 is used to slide the mounting base 200 and the track 100. The drive assembly 20 includes a drive shaft 210 and an even number of swing arm wheel sets 290. The drive shaft 210 is rotatably disposed on the mounting base 200 and extends along the length of the track 100 in a horizontal and vertical direction. Each swing arm wheel set 290 includes a hinge 230 and a connecting member. 220 and drive wheel 240, the axis of drive wheel 240 is parallel to the axis of drive shaft 210, drive wheel 240 abuts against the bottom of outer side of track 100 under the action of hinge 230, drive wheel 240 is connected to drive shaft 210 through connector 220 so that drive shaft 210 rotates and drives each drive wheel 240 to rotate in the same direction; wherein, each drive wheel 240 is evenly distributed on both sides of drive shaft 210 along its length direction, and multiple drive wheels 240 located on the same side of drive shaft 210 are spaced apart along the length direction of drive shaft 210.

[0037] Understandably, the mounting base 200 serves as the mounting structure for the entire drive mechanism and can be a plate-like structure, mounting bracket 202, etc., to provide mounting positions for each component. The suspension assembly 250 can adopt the same structure as the suspension mechanism in the prior application (CN202311830833.6) to ensure that the entire mechanism can be mounted on the track 100 to achieve the functions of guidance and load-bearing. There can be one or more drive assemblies 20. When there are multiple drive assemblies 20, each drive assembly 20 can be arranged along the length of the track 100 or along the length perpendicular to the track 100. Each drive assembly 20 includes a rotatably mounted drive shaft 210. Each drive shaft 210 can be driven by a different driver (servo motor, etc.) or by the same driver. The rotation of each drive shaft 210 can drive each drive wheel 240 to rotate. Meanwhile, the swing arm wheel assembly 290 and the suspension assembly 250 work together to ensure that the drive mechanism can be "clamped" on the track 100. When each drive wheel 240 rotates, it can ensure that the drive mechanism can move smoothly along the track 100, thereby driving the robot body or other mechanisms hanging on the track 100 to move along the track 100.

[0038] The track 100 in this application is an I-shaped track 100. Taking the length direction of the track 100 as the Y-axis and the vertical direction of the I-shape of the track 100 as the Z-axis, the length direction of the drive shaft 210 extends along the X-axis. Correspondingly, when there are two swing arm wheel sets 290, the two drive wheels 240 are located on both sides of the drive shaft 210. The two drive wheels 240 and the drive shaft 210 can form a "triangular positioning structure". Combined with the Z-axis pressure applied by the suspension assembly 250, the bottom (base plate 253) of the entire track 100 can be "clamped". When there are two or more even numbers of swing arm wheel sets 290, taking four as an example, the four swing arm wheels... The four drive wheels 240 corresponding to group 290 are located on both sides of the drive shaft 210. The two drive wheels 240 on the same side of the drive shaft 210 are arranged along the X direction. Thus, each drive wheel 240 and the drive shaft 210 can form four "triangular positioning structures". Combined with the pressure applied in the Z direction by the suspension assembly 250, the bottom of the entire track 100 (base plate 253) can be "clamped" at multiple points. Similarly, depending on the width of the track 100 and the volume of the drive mechanism, different numbers of swing arm wheel groups 290 can be set. The number of swing arm wheel groups 290 is even, which can balance the force on both sides of the drive shaft 210 as much as possible, making the connection between the entire drive mechanism and the track 100 more stable.

[0039] Specifically, in this application, the mounting base 200 includes a mounting platform 201 and at least one mounting bracket 202 at the bottom. A drive assembly 20 is disposed on the mounting platform 201, and the drive shaft 210 of the drive assembly 20 is located on the mounting platform 201 and rotatably connected to the mounting platform 201 via bearings or the like. The drive shaft 210 is driven by a drive motor 260. The drive motor 260 can be directly coaxially arranged with the drive shaft 210, or it can be connected to the drive shaft 210 via a pulley assembly, a sprocket assembly 261, or a gear assembly, depending on the installation and layout requirements. In this application, the output shafts of the drive shaft 210 and the drive motor 260 are driven by a sprocket assembly 261. The drive motor 260 is connected to one of the mounting brackets 202, achieving a fixed connection between the drive motor 260 and the mounting base 200. When the drive motor 260 operates, it drives the drive shaft 210 to rotate via the sprocket assembly 261. The drive motor 260 can be a DC geared motor, servo motor, stepper motor, or other electrically controllable motor. Regardless of the type of motor selected, it is equipped with a corresponding gearbox. The gearbox adjusts the motor speed and torque by changing the frequency and amplitude of the motor input signal, thereby ensuring that the motor operates at the most efficient speed, extending its lifespan, reducing maintenance time, and providing better protection against problems such as overheating, overload, phase protection, undervoltage, and overvoltage. The drive motor 260 is fixed to the mounting bracket 202, and its operation drives the drive shaft 210 to rotate.

[0040] At least one drive wheel 240 of the same number is provided on both sides of the drive shaft 210. The drive wheel 240 is a friction wheel, such as the drive wheel 240 that cooperates with the track 100 disclosed in patent publication number CN114407033A. Each drive wheel 240 can abut against the bottom of the track 100 through a corresponding hinge 230. The hinge 230 is equivalent to the first hinge 230 (second hinge 230) described in the applicant's earlier patent application, patent application number CN202311830833.6, to ensure that the drive wheel 240 abuts against the outer bottom of the track 100 under the action of the corresponding hinge 230. Each drive wheel 240 can also be driven by a corresponding connector 220 and a drive shaft 210. Common connectors 220 include belt drive, sprocket drive, gear drive, etc., to ensure that the rotation of the drive shaft 210 can drive multiple drive wheels 240 to rotate in the same direction, thereby enabling the entire drive mechanism to move in the preset direction on the track 100.

[0041] This application designs the structural layout of the drive assembly 20 so that each drive shaft 210 has drive wheels 240 on both sides, instead of just one side. At least one drive wheel 240 of the same number is provided on both sides of the drive shaft 210, so that each drive wheel 240 and the drive shaft 210 form at least one "triangular positioning structure". With the Z-axis pressure applied by the suspension assembly 250, the entire mechanism has a better grip on the track 100, so as to ensure that the drive mechanism moves more stably on the track 100. Especially when passing through the arc section of the track 100, the risk of the drive mechanism derailing can be reduced or avoided.

[0042] In some embodiments of this application, each drive assembly 20 has four swing arm wheel sets 290. Any one of the two drive wheels 240 on one side of the drive shaft 210 is equidistant from the drive shaft 210 as any one of the two drive wheels 240 on the other side of the drive shaft 210.

[0043] Understandably, since the track 100 is an I-beam structure, it indicates the existence of "left" and "right" sides. In order to enable the drive assembly 20 to have a better force distribution effect, this application sets four swing arm wheel sets 290. The four drive wheels 240 corresponding to the four swing arm wheel sets 290 are located on both sides of the drive shaft 210, and the two drive wheels 240 located on the same side of the drive shaft 210 respectively cooperate with the left and right sides of the track 100.

[0044] Since the distances between the two drive wheels 240 located on the same side of the drive shaft 210 and the drive shaft 210 can be the same or different, and the distance between the two drive wheels 240 located on the same side of the drive shaft 210 and the distance between the two drive wheels 240 on the other side of the drive shaft 210 can be the same or different, theoretically, the four drive wheels 240 can form a quadrilateral of any structure.

[0045] However, this application takes into account the force distribution at the contact point between the drive assembly 20 and the track 100, and at least ensures that the distance from any one of the two drive wheels 240 on one side of the drive shaft 210 to the drive shaft 210 is equal to that from any one of the two drive wheels 240 on the other side of the drive shaft 210. This is equivalent to labeling the four drive wheels 240 as 1-4. Drive wheels 1 and 2 are located on one side of the drive shaft 210, while drive wheels 3 and 4 are located on the other side. The distance from drive wheel 1 to drive shaft 210 (the distance between the axis of drive wheel 240 and the axis of drive shaft 210) can be equal to the distance from drive wheel 3 to drive shaft 210, or it can be equal to the distance from drive wheel 4 to drive shaft 210. Correspondingly, the distance from drive wheel 240 to drive shaft 210 is equal to the distance from drive wheel 3 (or drive wheel 4) to drive shaft 210.

[0046] like Figure 6 As shown, the four drive wheels 240 that enable the above layout can be arranged in a spatial configuration similar to a parallelogram. Figure 6 As shown in (c), isosceles trapezoid ( Figure 6 As shown in (b), rectangle ( Figure 6 As shown in (a), a regular quadrilateral ( Figure 6 (as shown in (d)). The layout of the four drive wheels 240 can minimize the problem of excessive preload at certain points when the drive wheels 240 contact the track 100.

[0047] In some embodiments of this application, the four drive wheels 240 are symmetrically distributed along the axis of the drive shaft 210.

[0048] To ensure a more balanced force distribution at the contact points between the four drive wheels 240 and the track 100, in this application, the four drive wheels 240 are symmetrically distributed along the axis of the drive shaft 210. Preferably, the four drive wheels 240 are arranged in a rectangular or square shape. This layout maximizes the preload of the contact points between the four drive wheels 240 and the track 100, avoiding the problem of excessive preload at certain locations when the drive wheels 240 contact the track 100.

[0049] In some embodiments of this application, the number of suspension components 250 is four, and the four suspension components 250 are respectively installed in conjunction with four drive wheels 240.

[0050] Understandably, the suspension assembly 250 ensures that the entire mechanism can be attached to the track 100 to achieve the functions of guidance and load-bearing. Since the track 100 has left and right sides, as long as two suspension assemblies 250 are fixed on the mounting platform 201 and the two suspension assemblies 250 are respectively attached to the left and right sides of the track 100, the guiding and load-bearing functions of the suspension assembly 250 can be achieved.

[0051] Since the suspension assembly 250 provides a downward force in the Z direction, and the drive wheel 240 has an upward force in the Z direction under the action of the hinge 230, in order to make the Z-direction force more conducive to the movement of the entire drive mechanism, this application also sets four suspension assemblies 250 based on the layout of four drive wheels 240. The suspension assembly 250 cooperates with the corresponding four drive wheels 240 to ensure that the upward and downward force points in the Z direction can be collinear as much as possible.

[0052] The four suspension components 250 are used in conjunction with the four drive wheels 240 arranged in a rectangular pattern. The four suspension components 250 are arranged in pairs, and the two groups of suspension components 250 are arranged along the Y direction (the length direction of the track 100). The two suspension components 250 in each group are located on the left and right sides of the track 100, respectively.

[0053] Each suspension component 250 in this application adopts the structure of the applicant's prior patent application (CN202311830833.6), such as... Figure 1 , 2 As shown in Figures 3, 4, and 5, the suspension assembly 250 includes a connecting frame 251 and a set of sliding wheels 252 disposed on the connecting frame 251.

[0054] The two connecting frames 251 corresponding to the two suspension components 250 in each group are fixed to the base plate 253. The bottom is rotatably connected to the base 280 on the mounting platform 201 through bearings, etc., so as to realize the rotatable connection between the connecting frame 251 and the mounting base 200.

[0055] Each connecting frame 251 is fixed with a sliding wheel assembly 252. Each sliding wheel assembly 252 includes three sliding wheels: a first sliding wheel 2522 located in the middle, and second and third sliding wheels 2521 and 2523 located on both sides. The axis of the first sliding wheel 2522 is set along the X direction and slides in contact with the inner bottom of the track 100. The axes of the second and third sliding wheels 2521 and 2523 are both set along the Z direction, and the second and third sliding wheels 2521 and 2523 slide in contact with the middle side plate of the track 100.

[0056] Each first sliding wheel 2522 is located directly above the corresponding drive wheel 240 (set vertically in the Z direction). The axis of the drive wheel 240 is parallel to the axis of the first sliding wheel 2522, so that the entire drive mechanism is connected to the track 100 in a "four-point clamping" manner, without any other force points, thereby avoiding the problem of excessive local preload between the drive mechanism and the track 100 as much as possible.

[0057] To enable the drive shaft 210 to rotate each drive wheel 240, each connecting member 220 of this application includes a drive shaft 221, a transmission part 222 connected to the drive shaft 221, a drive part 224 connected to the drive shaft 210, and a connecting part 223 for connecting the transmission part 222 and the drive part 224. The drive shaft 221 is coaxially connected to the corresponding drive wheel 240, and the drive part 224 is connected to the drive shaft 210, so that the rotation of the drive shaft 210 drives the rotation of the drive shaft 221. The transmission part 222 and the drive part 224 can be pulleys or sprockets. Since the transmission part 222 is coaxially connected to the drive shaft 221 and the drive part 224 is coaxially arranged with the drive shaft 210, the connecting part 223 can be a transmission belt or a transmission chain, thus enabling the drive shaft 210 to rotate and drive the four drive wheels 240 to rotate.

[0058] like Figure 1 , 2 As shown in Figures 3 and 4, all four connecting parts 220 are connected to the drive shaft 210. Therefore, the four drive units 224 corresponding to the four connecting parts 220 are all fixed on the drive shaft 210. For this reason, the lengths of the four drive shafts 221 are not equal, so as to ensure that the four drive wheels 240 are distributed in a rectangular shape.

[0059] To ensure that the drive wheel 240 can abut against the outer bottom of the track 100, a hinge 230 is also required, such as... Figure 1 , 2As shown in Figures 3 and 4, each hinge component 230 includes a swing arm 231 and an elastic element 323. The swing arm 231 is hinged to the drive shaft 221 and the drive shaft 210, respectively. The elastic element 323 is located between the swing arm 231 and the mounting base 200, so that the drive wheel 240 on the drive shaft 221 abuts against the outer bottom of the track 100. The elastic element 323 is a spring. The upper end of the elastic element 323 extends into the swing arm 231 and abuts against the swing arm 231, and the lower end of the elastic element 323 abuts against the positioning groove 2011 on the mounting platform 201. The presence of the elastic element 323 can lift the drive shaft 221, the transmission part 222, and the corresponding drive wheel 240, so that the drive wheel 240 abuts against the outer bottom of the track 100. The clamping force (preload) of the drive wheel 240 and the cooperating first sliding wheel 2522 on the track 100 can also be adjusted by adjusting the compression of the elastic element 323. The specific principle is described in the specification

[0054] to

[0056] of the applicant's prior patent application (CN202311830833.6), and will not be repeated in this application.

[0060] It is worth noting that, such as Figure 5 As shown, in this application, the two drive wheels 240 located on the same side of the drive shaft 210 are configured as a wide rolling wheel 241, and the two transmission shafts 221 that cooperate with the two drive wheels 240 are connected and fixed as a reinforcing shaft 2211. This layout can further reduce the pre-pressure of the drive shaft and the track 100, and realize the smooth operation of the drive mechanism on the track 100.

[0061] In some embodiments of this application, at least one dust removal roller 270 is also included, which is rotatably disposed on the mounting base 200 and abuts against the bottom of the track 100.

[0062] It is understandable that the track 100 is usually made of metal. When the track 100 is in use, due to vibration, friction and other effects, there is a situation where dust is attracted by static electricity. The dust is usually fine spherical particles, which will reduce the friction between the drive wheel 240 and the bottom of the track 100. Therefore, in order to reduce the above-mentioned effects, this application also provides at least one dust removal roller 270 on the installation platform 201.

[0063] The axial direction of the dust removal roller 270 is parallel to the axial direction of the drive wheel 240, and the dust removal roller 270 is fixedly installed. At the same time, the dust removal roller 270 can be set in front of or behind the drive wheel 240. Because the entire drive mechanism can reciprocate along both ends of the track 100, no matter where the dust removal roller 270 is set, it can clean the dust in at least one of the running directions.

[0064] The surface of the dust removal roller 270 can be provided with an adhesive structure or a felt structure. When the drive mechanism moves, the dust removal roller 270 is fixed, which can remove as much dust as possible adhering to the bottom of the track 100, ensuring that the track 100 and the drive wheel 240 have a good friction effect so that the drive mechanism (and its robot body) can move on the track 100.

[0065] Since the entire drive mechanism has two directions of movement on the track 100, the dust removal rollers 270 of this application are of two types, and each drive wheel 240 is located between the two dust removal rollers 270. In use, regardless of which end of the drive mechanism moves along the length of the track 100, the corresponding dust removal roller 270 can first clean the bottom of the track 100, and then each drive wheel 240 can engage with the cleaned track 100.

[0066] Since the track 100 is not always a straight section but has curved sections, if the dust collector roller 270 is connected to the mounting platform 201 in a fixed position, there is a risk of jamming. Therefore, this application designs the connection method between the dust collector roller 270 and the mounting platform 201, such as... Figure 3 , 4 As shown, the dust removal roller 270 includes a roller section 273 and a rolling frame 272 for mounting the roller section 273. The rolling frame 272 is similar to a gate-shaped structure. The roller section 273 is sleeved on the middle section of the rolling frame 272 and rotatably connected to the rolling frame 272. The two vertical ends of the rolling frame 272 are two movable parts of the rolling frame 272. The two movable parts are respectively hinged to the mounting platform 201, and an elastic element 271 is provided between each movable part and the mounting base 200. The elastic element 271 is at least one torsion spring to ensure that the rolling frame 272 can swing within a certain range so that the roller section 273 of the dust removal roller 270 abuts against the bottom of the track 100.

[0067] It is worth noting that the drive mechanism of this application is used to move the robot body on the track 100. Normally, components such as alarms are mounted on the robot body. However, to ensure a smoother connection between the robot as a whole and the track 100, some components can be fixed to the mounting base 200 of the drive mechanism. Therefore, this application… Figure 1 , 2 The drive mechanism is equipped with an ultrasonic radar 600, a smoke detector 400, a gimbal 300, and a speaker 500 to reduce the weight of the robot body and make the gravity distribution of the entire robot on the track 100 more uniform, which is beneficial to the overall movement of the robot.

[0068] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0069] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0070] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A drive mechanism for a track-mounted robot, characterized in that: It includes a mounting base (200) and at least one drive assembly (20) disposed on the mounting base (200) and at least two suspension assemblies (250), wherein each suspension assembly (250) is used to slide the mounting base (200) and the rail (100); The drive assembly (20) includes a drive shaft (210) and an even number of swing arm wheel sets (290). The drive shaft (210) is rotatably mounted on the mounting base (200) and extends along the length of the horizontal and vertical through-track (100); Each swing arm wheel assembly (290) includes a hinge (230), a connector (220), and a drive wheel (240). The axial direction of the drive wheel (240) is parallel to the axial direction of the drive shaft (210). The drive wheel (240) abuts against the bottom of the track (100) under the action of the hinge (230). The drive wheel (240) is connected to the drive shaft (210) through the connector (220) so that the drive shaft (210) rotates and drives each drive wheel (240) to rotate in the same direction. Each drive wheel (240) is arranged on both sides of the drive shaft (210) along its length direction, and multiple drive wheels (240) located on the same side of the drive shaft (210) are arranged at intervals along the length direction of the drive shaft (210).

2. The rail-mounted robot drive mechanism according to claim 1, characterized in that: The number of swing arm wheel sets (290) in each drive assembly (20) is four. The distance from either of the two drive wheels (240) located on one side of the drive shaft (210) to the drive shaft (210) is equal to that from either of the two drive wheels (240) on the other side of the drive shaft (210).

3. The rail-mounted robot drive mechanism according to claim 2, characterized in that: The four drive wheels (240) are symmetrically distributed along the axis of the drive shaft (210).

4. The rail-mounted robot drive mechanism according to claim 2 or 3, characterized in that: There are four suspension components (250), and each of the four suspension components (250) is installed in conjunction with one of the four drive wheels (240).

5. The rail-mounted robot drive mechanism according to claim 4, characterized in that: Each suspension assembly (250) includes a connecting frame (251) and a set of sliding wheels (252) mounted on the connecting frame (251). The connecting bracket (251) is rotatably connected to the mounting base (200). The sliding wheel assembly (252) engages with the bottom of the track (100), and each sliding wheel assembly (252) is located above the corresponding drive wheel (240) and engages with the drive wheel (240) to clamp the track (100).

6. The rail-mounted robot drive mechanism according to claim 1, 2, 3 or 5, characterized in that: Each connector (220) includes a drive shaft (221), a transmission part (222) connected to the drive shaft (221), a drive part (224) connected to the drive shaft (210), and a connecting part (223) for connecting the transmission part (222) and the drive part (224). The drive shaft (221) is coaxially connected to the corresponding drive wheel (240), and the drive unit (224) is connected to the drive shaft (210) so that the drive shaft (210) rotates and drives the drive shaft (221) to rotate.

7. The rail-mounted robot drive mechanism according to claim 6, characterized in that: Each hinge (230) includes a swing arm (231) and an elastic element (323). The swing arm (231) is hinged to the drive shaft (221) and the drive shaft (210) respectively. The elastic element (323) is located between the swing arm (231) and the mounting base (200) so that the drive wheel (240) on the drive shaft (221) abuts against the bottom of the track (100).

8. The rail-mounted robot drive mechanism according to claim 1, 2, 3, 5 or 7, characterized in that: It also includes at least one dust removal roller (270), which is rotatably mounted on the mounting base (200) and abuts against the bottom of the track (100).

9. The rail-mounted robot drive mechanism according to claim 8, characterized in that: There are two dust removal rollers (270), and each drive wheel (240) is located between the two dust removal rollers (270).

10. The rail-mounted robot drive mechanism according to claim 9, characterized in that: The dust removal roller (270) includes a roller section (273) and a rolling frame (272) for mounting the roller section (273). The rolling frame (272) has two movable parts, which are movably connected to the mounting base (200) respectively. A spring member (271) is provided between each movable part and the mounting base (200) so that the dust removal roller (270) abuts against the bottom of the track (100).

Images