A robot track joint self-adaptive compensation device
Patent Information
- Application Number
- CN202621093835.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2026-07-20
- Publication Date
- 2026-08-18
- Estimated Expiration
- 2036-07-20
AI Technical Summary
当轨道长度较长且处于冷热温差较大的工业环境中时，各段轨道会因热胀冷缩产生长度方向的尺寸变化；在高温状态下，相邻轨道端部容易相互挤压，导致轨道局部歪斜或连接处受力变形；在低温状态下，相邻轨道端部又容易形成较大的拼缝，且该拼缝可能不均匀地集中出现在某一段轨道接头处，导致移动机器人或巡检设备经过该处时发生颠簸、卡滞甚至停止运行
[0011]与现有技术相比，本实用新型所达到的有益效果是：本实用新型通过在左轨道与右轨道的拼缝处设置可滑移的补偿连接结构，使右钣金连接件能够借助条形孔沿轨道长度方向产生相对位移，从而吸收轨道因热胀冷缩产生的伸缩变化，避免高温膨胀时相邻轨道相互挤压造成轨道歪斜，也避免低温收缩时拼缝过大导致机器人经过时发生卡滞；
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Figure CN224643614U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robot track technology, specifically to a robot track seam adaptive compensation device. Background Technology
[0002] Track structures are commonly used to guide mobile robots, inspection equipment, or other walking mechanisms, enabling them to move stably along predetermined routes within industrial settings. In applications such as power plants, steel mills, and warehouses, tracks often need to be continuously laid out along equipment areas, production lines, or inspection routes, with lengths reaching tens or even hundreds of meters. To facilitate processing, transportation, and on-site installation, tracks are typically formed by sequentially splicing multiple fixed-length track segments. Adjacent track segments are connected and positioned using connectors, screws, pressure plates, clamps, or other structures to ensure that the track as a whole has a continuous walking support surface and basic installation stability.
[0003] Existing track splicing structures tend to be fixed connections, with weak compensation capabilities for seams between adjacent tracks. When the track length is long and in industrial environments with large temperature differences, the track segments will experience dimensional changes along their length due to thermal expansion and contraction. At high temperatures, the ends of adjacent tracks are prone to mutual compression, leading to localized track misalignment or deformation at the joints. At low temperatures, large seams are easily formed at the ends of adjacent tracks, and these seams may be unevenly concentrated at certain track joints, causing mobile robots or inspection equipment to experience bumps, jams, or even stoppages when passing through these areas. Furthermore, connection structures using slotted holes for slip compensation may encounter problems in dusty or metal-shaving industrial environments where impurities may enter the slotted holes, affecting the smoothness of slippage. Therefore, it is necessary to improve the adaptive compensation and protection structure at the track splices. Utility Model Content
[0004] The purpose of this invention is to provide an adaptive compensation device for robot track seams, so as to solve the problems mentioned in the background art.
[0005] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a robot track seam adaptive compensation device, including a left track and a right track, one end of the left track and one end of the right track are arranged opposite to each other, a left sheet metal connector is installed on one side of the left track and the right track, and a right sheet metal connector is installed on the other side of the left track and the right track, and the left sheet metal connector and the right sheet metal connector are both arranged at the joint of the left track and the right track.
[0006] According to the above technical solution, a pressure plate is installed above the left sheet metal connector and the right sheet metal connector, and a lower clamping plate is provided at the bottom of the left track and the right track. A hexagonal bolt is installed between the pressure plate and the lower clamping plate, and a hexagonal nut is installed at one end of the hexagonal bolt. The pressure plate is a U-shaped plate, and a through hole for the hexagonal bolt to pass through is opened in the middle of the pressure plate. A through hole for the hexagonal bolt to pass through is opened in the middle of the lower clamping plate. The hexagonal bolt passes through the pressure plate and the lower clamping plate.
[0007] According to the above technical solution, a second hexagon socket screw is installed between the left sheet metal connector and the right sheet metal connector, and the second hexagon socket screw penetrates the side wall of the left track.
[0008] According to the above technical solution, both the left and right sheet metal connectors have strip-shaped holes on their side walls. A hexagon socket screw is inserted through the right track. The hexagon socket screw passes through the strip-shaped hole. Both the hexagon socket screw and the hexagon socket screw are equipped with anti-loosening nuts, washers, and spring washers.
[0009] According to the above technical solution, a straight connector is installed between the opposite ends of the left and right tracks. Multiple straight connectors are provided, and the multiple straight connectors are respectively inserted into the grooves of the left and right tracks. The straight connector is provided with a set screw, and the set screw is in contact with the inner wall of the groove of the left and right tracks.
[0010] According to the above technical solution, a dust cover is fitted onto one of the internal hexagon screws. The dust cover is attached to one side wall of the strip hole, and one side of the dust cover is in contact with the spring washer. The width of the dust cover is greater than the width of the strip hole.
[0011] Compared with the prior art, the beneficial effects achieved by this utility model are as follows: By setting a sliding compensation connection structure at the joint between the left and right tracks, the right sheet metal connector can generate relative displacement along the length of the track by means of the strip hole, thereby absorbing the expansion and contraction of the track caused by thermal expansion and contraction, avoiding the mutual compression of adjacent tracks during high temperature expansion and causing track skew, and also avoiding the excessive joint size during low temperature contraction, which would cause the robot to get stuck when passing through. Meanwhile, the upper and lower clamping mechanism, consisting of a pressure plate, hexagonal bolts, hexagonal nuts, and a lower clamping plate, ensures that the sheet metal connectors fit stably against the track joints, guaranteeing continuous and reliable support at the joints. Furthermore, by installing dust covers at the slotted holes and utilizing elastic pads to provide elastic fit, the slotted holes can be shielded without affecting their slip compensation function, reducing the entry of dust, iron filings, and other impurities into the slotted holes. This improves the smoothness of slippage and long-term stability of the compensation device in industrial environments such as power plants and steel mills. Attached Figure Description
[0012] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the overall structure of this utility model. Figure 2 ; Figure 3 This is a schematic diagram of the bottom structure of this utility model; Figure 4 This is a side view of the structure of this utility model; Figure 5 This is a schematic diagram of the installation of the dust cover of this utility model; In the diagram: 1. Left rail, 2. Hex socket head cap screw 1, 3. Left sheet metal connector, 4. Pressure plate, 5. Hex bolt, 6. Hex nut, 7. Slotted connector, 8. Lower clamping plate, 9. Right rail, 10. Washer, 11. Spring washer, 12. Locking nut, 13. Right sheet metal connector, 22. Strip hole, 21. Hex socket head cap screw 2, 23. Dust cover. Detailed Implementation
[0013] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0014] Please see Figure 1-5 This utility model provides a technical solution: a robot track seam adaptive compensation device, including a left track 1 and a right track 9. One end of the left track 1 and one end of the right track 9 are arranged opposite each other. A left sheet metal connector 3 is installed on one side of the left track 1 and the right track 9, and a right sheet metal connector 13 is installed on the other side of the left track 1 and the right track 9. The left sheet metal connector 3 and the right sheet metal connector 13 are both arranged at the joint of the left track 1 and the right track 9. The left track 1 and the right track 9 form a track seam by being arranged opposite each other. The left sheet metal connector 3 and the right sheet metal connector 13 are located on both sides of the track seam, so that the track joint can be simultaneously limited and supported by the connectors on both sides, thereby improving the lateral stability of the joint, reducing the skew caused by unilateral force, and providing an installation foundation for the subsequent sliding compensation structure. A pressure plate 4 is installed above the left sheet metal connector 3 and the right sheet metal connector 13. A lower clamping plate 8 is provided at the bottom of the left rail 1 and the right rail 9. A hexagonal bolt 5 is installed between the pressure plate 4 and the lower clamping plate 8. A hexagonal nut 6 is installed at one end of the hexagonal bolt 5. The pressure plate 4 is a U-shaped plate. A through hole for the hexagonal bolt 5 to pass through is opened in the middle of the pressure plate 4. A through hole for the hexagonal bolt 5 to pass through is opened in the middle of the lower clamping plate 8. The hexagonal bolt 5 passes through the pressure plate 4 and the lower clamping plate 8. The pressure plate 4 is located on top, and the lower clamping plate... Located below, the hexagonal bolts 5 and hexagonal nuts 6 connect the pressure plate 4 and the lower clamping plate 8 to form an upper and lower clamping structure, so that the left sheet metal connector 3 and the right sheet metal connector 13 can be stably attached to the splice of the left track 1 and the right track 9; the U-shaped pressure plate 4 can provide a better covering and pressing effect at the track splice, while the lower clamping plate 8 supports the track from the bottom, thereby improving the connection strength and load-bearing continuity at the splice and reducing the local warping or loosening caused when the robot passes through the splice position; A second hexagonal screw 21 is installed between the left sheet metal connector 3 and the right sheet metal connector 13. The second hexagonal screw 21 penetrates the side wall of the left track 1 and connects the left sheet metal connector 3, the left track 1 and the right sheet metal connector 13 together, so that the left sheet metal connector 3 and the right sheet metal connector 13 can form a fixed connection end with the left track 1 as the reference. Through this fixed connection end, one side of the compensation device can be kept stably positioned, avoiding the entire compensation structure from moving randomly during the track expansion and contraction process, thereby ensuring that the right track 9 has a clear sliding reference when it performs compensation displacement relative to the strip hole 22. Both the left sheet metal connector 3 and the right sheet metal connector 13 have strip-shaped holes 22 on their side walls. A hexagon socket head cap screw 2 is inserted through the right track 9. The hexagon socket head cap screw 2 moves through the strip-shaped hole 22. Both the hexagon socket head cap screw 2 and the hexagon socket head cap screw 21 are equipped with anti-loosening nuts 12, washers 10 and spring washers 11. When the right track 9 is displaced in the length direction relative to the left track 1 due to temperature changes, the hexagon socket head cap screw 2 can move relative to the strip-shaped hole 22, thereby releasing the expansion and contraction caused by thermal expansion and contraction of the track. The anti-loosening nuts 12, washers 10 and spring washers 11 can limit and prevent the hexagon socket head cap screw 2 and the hexagon socket head cap screw 21, so that the connection has the necessary assembly stability and does not affect the compensation activity at the strip-shaped hole 22, thereby reducing the risk of robot jamming caused by mutual compression of track ends, track skew, or excessive gaps. A single-line connector 7 is installed between the opposite ends of the left track 1 and the right track 9. Multiple single-line connectors 7 are provided and are respectively inserted into the grooves of the left track 1 and the right track 9. Each single-line connector 7 is equipped with a set screw, which contacts the inner wall of the groove of the left track 1 and the right track 9. After the single-line connector 7 is inserted into the groove of the left track 1 and the right track 9, it presses against the inner wall of the groove through the set screw, so that the single-line connector 7 can play an auxiliary positioning role for the opposite ends of the left track 1 and the right track 9. Multiple single-line connectors 7 distributed in the track groove can improve the alignment stability of the left and right tracks at the splicing point, reduce the vertical misalignment or lateral offset at the track splicing point, and give the robot a more stable walking foundation when passing through the track splicing point. A dust cover 23 is fitted onto the hex socket screw 2. The dust cover 23 is attached to one side wall of the slot 22, and one side of the dust cover 23 is in contact with the spring washer 11. The width of the dust cover 23 is greater than the width of the slot 22. Because the width of the dust cover 23 is greater than the width of the slot 22, it can shield the exposed area of the slot 22. When the hex socket screw 2 moves relative to the slot 22, the dust cover 23 can be held outside the slot 22 with the hex socket screw 2, thereby reducing the entry of dust, iron filings and other impurities into the slot 22, reducing the possibility of blockage or poor slippage at the slot 22, and improving the long-term stability of the compensation device in dusty environments such as power plants and steel plants.
[0015] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.
[0016] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.
Claims
1. A robot track seam adaptive compensation device, comprising a left track (1) and a right track (9), characterized in that: One end of the left track (1) is positioned opposite to one end of the right track (9). A left sheet metal connector (3) is installed on one side of the left track (1) and the right track (9), and a right sheet metal connector (13) is installed on the other side of the left track (1) and the right track (9). Both the left sheet metal connector (3) and the right sheet metal connector (13) are located at the joint between the left track (1) and the right track (9).
2. The adaptive compensation device for robot track seams according to claim 1, characterized in that: A pressure plate (4) is installed above the left sheet metal connector (3) and the right sheet metal connector (13). A lower clamping plate (8) is provided at the bottom of the left rail (1) and the right rail (9). A hexagonal bolt (5) is installed between the pressure plate (4) and the lower clamping plate (8). A hexagonal nut (6) is installed at one end of the hexagonal bolt (5). The pressure plate (4) is a U-shaped plate. A through hole for the hexagonal bolt (5) is opened in the middle of the pressure plate (4). A through hole for the hexagonal bolt (5) is opened in the middle of the lower clamping plate (8). The hexagonal bolt (5) passes through the pressure plate (4) and the lower clamping plate (8).
3. The adaptive compensation device for robot track seams according to claim 2, characterized in that: A second hexagonal screw (21) is installed between the left sheet metal connector (3) and the right sheet metal connector (13), and the second hexagonal screw (21) penetrates the side wall of the left track (1).
4. The adaptive compensation device for robot track seams according to claim 3, characterized in that: The left sheet metal connector (3) and the right sheet metal connector (13) are provided with strip holes (22) on their side walls. A hexagonal screw (2) is inserted through the right track (9). The hexagonal screw (2) moves through the strip hole (22). Anti-loosening nuts (12), washers (10) and spring washers (11) are installed on the hexagonal screw (2) and the hexagonal screw (21).
5. The adaptive compensation device for robot track seams according to claim 4, characterized in that: A straight connector (7) is installed between the opposite ends of the left track (1) and the right track (9). Multiple straight connectors (7) are provided, and the multiple straight connectors (7) are respectively inserted into the grooves of the left track (1) and the right track (9). A set screw is provided on the straight connector (7), and the set screw is in contact with the inner wall of the groove of the left track (1) and the right track (9).
6. The adaptive compensation device for robot track seams according to claim 5, characterized in that: A dust cover (23) is fitted onto the internal hex screw (2). The dust cover (23) is attached to one side wall of the strip hole (22). One side of the dust cover (23) is in contact with the spring washer (11). The width of the dust cover (23) is greater than the width of the strip hole (22).