Rail-type robot adaptive traction force enhancement walking mechanism

Abstract

The utility model discloses a track type robot self -adaptation traction force enhancement walking mechanism relates to track transportation field, aims at solving the weak climbing ability of track type robot, and the poor reliability of equipment under the heavy load or big gradient working condition operation, and the low problem of safety factor, including the track of annular, be equipped with the connecting frame under the track, both sides fixedly connected with the wheel train mounting panel of connecting frame, two groups wheel train mounting panel hang in the front and back two sides of track, two groups wheel train mounting panel inboard all are equipped with the guide wheel subassembly, the advantage lies in: through the cooperation of adjusting frame and down -going wheel, ingeniously solved the fundamental problem that the traction force is restricted under the big gradient because of the insufficient normal pressure, guarantees the reliability of equipment operation, improves the safety factor.

Description

Technical Field

[0001] This utility model relates to the field of rail transportation technology, and in particular to an adaptive traction-enhancing walking mechanism for rail-mounted robots. Background Technology

[0002] As a highly efficient automated mobile platform, track-mounted robots achieve suspended operation through fixed tracks. They have significant advantages such as saving ground space, avoiding ground obstacles, precise and controllable paths, high positioning accuracy, and stable and reliable operation. They are particularly suitable for performing long-distance, high-frequency material handling or equipment inspection tasks in narrow spaces or complex environments with mixed human and machine environments, and have broad application prospects.

[0003] As the core motion unit of a track-mounted robot, the performance of the locomotive directly determines whether the robot can travel smoothly and reliably on the track, especially its ability to traverse under heavy loads and complex slope conditions. Currently, most mainstream track-mounted robots use wheel drive and run along standard I-beam or similar cross-section tracks. However, this structure has a key technical bottleneck in practical applications: because the surface of I-beam tracks is usually quite smooth with a limited coefficient of friction, the adhesion coefficient between the wheels and the track is relatively low. When the robot carries a heavy load or needs to run on a track with a steep gradient, the traction force provided by the drive wheels can easily reach or exceed the maximum static friction force with the track, resulting in slippage. This not only limits the robot's effective climbing ability (i.e., maximum gradient) but may also cause inaccurate starting and stopping, positioning drift, and even safety accidents, severely restricting the application expansion of track-mounted robots under harsh conditions such as heavy loads and steep slopes.

[0004] To address the aforementioned insufficient traction problem, existing technologies primarily focus on three aspects: increasing the number of drives, optimizing the characteristics of the drive wheels, and improving the track's base surface. However, conventional methods have inherent limitations when dealing with steep inclines. On tracks with significant inclines, the component of the robot's gravity along the track's normal direction (i.e., the normal force) decreases significantly. According to the friction formula (maximum static friction = coefficient of friction × normal pressure), under specific drive wheel numbers, materials, and track surface conditions (i.e., a relatively fixed coefficient of friction), the decrease in normal force directly leads to a reduction in the maximum static friction force (i.e., the theoretical maximum traction) that can be provided between the drive wheels and the track. In other words, simply increasing the number of drive wheels or improving the material's coefficient of friction does not solve the traction "ceiling" problem caused by insufficient normal pressure on steep inclines. The drive wheels may still slip collectively due to insufficient normal pressure, making it difficult to achieve a fundamental breakthrough in the robot's effective climbing ability. Utility Model Content

[0005] In order to overcome the shortcomings of the prior art, this utility model provides an adaptive traction enhancement walking mechanism for track-type robots. This design effectively solves the problems of weak climbing ability of track-type robots, poor reliability of equipment operation under heavy load or steep slope conditions, and low safety factor.

[0006] To achieve the above objectives, the present invention provides the following technical solution: The present invention includes a ring-shaped track, a connecting frame is provided below the track, wheel system mounting plates are fixedly connected to both sides of the connecting frame, two sets of wheel system mounting plates are suspended on the front and rear sides of the track, and guide wheel assemblies are installed on the inner side of both sets of wheel system mounting plates; The guide wheel assembly includes two sets of symmetrically distributed upper traveling wheels, which are rotatably connected to the wheel system mounting plate. Lower traveling wheels are provided below the two sets of upper traveling wheels, and the lower traveling wheels are rotatably connected to an adjustment frame. The adjustment frame is hinged to the wheel system mounting plate.

[0007] Preferably, the adjustment frame includes a support base, the walking wheel is rotatably connected to the support base, the support base is rotatably connected to a connecting pin, and a tension spring is provided between the connecting pin and the wheel system mounting plate, the tension spring being located above the connecting pin.

[0008] Preferably, both the upper traveling wheel and the lower traveling wheel are fixedly connected to a synchronous pulley, the synchronous pulley is fitted with a connecting belt, the connecting belt is fitted with a drive pulley and a tension pulley, the drive pulley is rotatably connected to the wheel system mounting plate, and an automatic tensioner is connected between the tension pulley and the wheel system mounting plate.

[0009] Preferably, the automatic tensioner includes a slider, which is rotatably connected to the tensioning pulley. The pulley mounting plate is provided with a groove for the slider to slide in, and a first spring that abuts against the slider is fixedly connected in the groove.

[0010] Preferably, a support frame is fixedly connected to the wheel system mounting plate, and a card reader is fixedly connected to the support frame. The support frame is located between the two sets of upper travel wheels.

[0011] Preferably, a guide wheel is provided on the inner side of the upper traveling wheel, the guide wheel is rotatably connected to a guide frame, the guide frame is slidably connected to the wheel system mounting plate, and a second spring is provided between the guide frame and the wheel system mounting plate.

[0012] Preferably, end plates are fixedly connected to both sides of the connecting frame, the end plates are provided with grooves for the guide rail to pass through, and cleaning brushes are fixedly connected to the end plates.

[0013] Compared with the prior art, the outstanding advantages of this utility model are: This application, through the cooperation of the adjustment frame and the lower walking wheel, can actively and adaptively enhance the normal pressure between the walking wheel and the track. The additional normal force it provides is independent of the robot's own weight, thereby overcoming the fundamental defect that the effective normal force is drastically reduced due to the component of gravity on steep slopes, and significantly improving the robot's extreme climbing ability and heavy-load operation stability.

[0014] In this application, two sets of wheel system mounting plates are set on both sides of the track. Each set of wheel system mounting plates is equipped with two sets of upper traveling wheels and two sets of lower traveling wheels. Through the synchronous belt drive layout of eight wheels all-wheel drive, all traveling wheels are turned into driving wheels, which maximizes the use of available adhesion, maximizes traction, and ensures the synchronicity and smoothness of power transmission.

[0015] The road components in this application are all mounted on the wheel system mounting plate. The design is compact, highly self-adaptive, and requires no modification to the track. The performance breakthrough is achieved solely through the ingenious design of the mechanical structure. While ensuring a significant improvement in traction, it also takes into account the precise guidance and continuous cleaning functions achieved through components such as guide wheels and track cleaning brushes, comprehensively improving the reliability, passability, and maintenance convenience of the track robot in complex working conditions. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0017] Figure 2 This is a schematic diagram of the track connection structure for this utility model.

[0018] Figure 3 This is a schematic diagram of the rear cross-section of the box body of this utility model.

[0019] Figure 4 This is a schematic diagram of the connection structure of the wheel system mounting plate of this utility model.

[0020] Figure 5 This is a schematic diagram of the connection structure of the adjustment frame of this utility model.

[0021] Figure 6 This is a schematic diagram of the guide wheel assembly of this utility model from the left side.

[0022] Figure 7 This is a schematic diagram of the main structure of the guide wheel assembly of this utility model.

[0023] The diagram is labeled as follows: 1. Track; 2. Connecting frame; 3. Wheel system mounting plate; 4. Guide wheel assembly; 401. Upper traveling wheel; 402. Lower traveling wheel; 403. Adjusting frame; 4031. Support seat; 4032. Connecting pin; 4033. Tension spring; 404. Synchronous belt pulley; 405. Connecting belt; 406. Drive pulley; 407. Tensioning pulley; 408. Slider; 409. Slide groove; 410. First spring; 5. Support frame; 6. Card reader; 7. Guide wheel; 8. Guide frame; 9. Second spring; 10. End plate; 11. Groove; 12. Cleaning brush. Detailed Implementation

[0024] 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. 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.

[0025] Please see the appendix Figure 1-7 The adaptive traction enhancement walking mechanism of the track-type robot in this embodiment includes a ring-shaped (specifically, an I-shaped or similar cross-section) track 1, a connecting frame 2, and two sets of wheel mounting plates 3 symmetrically arranged on both sides of the connecting frame 2. The track 1 is a fixed load-bearing and guiding structure with horizontal and uphill sections. The connecting frame 2 is located below the track 1 and is used to support the main body of the robot (such as a handling module, robotic arm, or inspection equipment). A wheel mounting plate 3 is fixedly connected to the front and rear sides of the connecting frame 2, and these two wheel mounting plates 3 extend upward from the front and rear sides of the track 1 and are "suspended" on both sides of the web of the track 1, so that the entire walking mechanism can be stably suspended below the track 1.

[0026] Each set of wheel system mounting plate 3 has a set of guide wheel assembly 4 installed on its inner side (i.e., the side facing the web of track 1), such as Figure 4 As shown, the guide wheel assembly 4 includes two sets of symmetrically arranged upper traveling wheels 401 and one lower traveling wheel 402. The two sets of upper traveling wheels 401 are rotatably connected to the wheel system mounting plate 3 and are located on both sides above the web of the track 1, mainly undertaking the functions of suspension and guidance. The lower traveling wheel 402 is located below the web of the track 1 and is rotatably connected to an adjustment frame 403. The upper end of the adjustment frame 403 is hinged to the wheel system mounting plate 3 through a hinge shaft (e.g., connecting pin 4032), so that the entire adjustment frame 403 and the lower traveling wheel 402 can swing around the hinge point within a certain angle range.

[0027] The specific structure of the adjusting frame 403 includes a support base 4031. The lower traveling wheel 402 is rotatably connected to the support base 4031 through a bearing. The upper end of the support base 4031 is fixed or integrally formed with a connecting pin 4032. The connecting pin 4032 acts as a hinge and cooperates with the shaft hole on the wheel system mounting plate 3. Above the connecting pin 4032, a tension spring 4033 is provided. One end of the tension spring 4033 is connected to the wheel system mounting plate 3, and the other end is connected to the support base 4031 or the connecting pin 4032. In the natural state, the preload of the tension spring 4033 is transmitted through the adjusting frame 403, so that the lower traveling wheel 402 has a tendency to press against the lower surface of the web of the track 1. This design is the core of achieving adaptive traction enhancement: when the robot's load increases or it enters an uphill section, the normal pressure between the lower traveling wheel 402 and the lower surface of the track 1 will increase due to gravity. At this time, the adjustment frame 403 tends to rotate downward around the hinge point under the action of gravitational torque, but this rotation will further stretch the spring 4033, thereby generating a larger, upward elastic restoring force. This restoring force is directly converted into additional normal pressure of the lower traveling wheel 402 on the track 1, effectively compensating for the loss of the normal component of gravity caused by the increase in slope. Therefore, the maximum static friction between the lower traveling wheel 402 and the track 1 can be actively maintained or even increased, significantly enhancing traction and preventing slippage.

[0028] To achieve efficient power transmission and ensure synchronous rotation of multiple wheels, this application employs a synchronous belt drive system, such as... Figure 4 and Figure 5 As shown, a synchronous pulley 404 is fixedly connected to the axle of each upper traveling wheel 401 and lower traveling wheel 402. All synchronous pulleys 404 are linked by a closed-loop connecting belt 405 (such as a synchronous belt). On one side of the wheel system mounting plate 3, a drive pulley 406 driven by a motor is installed. The motor is located inside the wheel system mounting plate 3 and provides power to the entire traveling wheel assembly. In order to always maintain the connecting belt 405 with appropriate tension, a tensioning pulley 407 is also provided. The tensioning pulley 407 is connected to an automatic tensioner. There are a total of four upper traveling wheels 401 and four lower traveling wheels 402 on the two wheel system mounting plates 3.

[0029] The automatic tensioner includes a slider 408, and a tensioning pulley 407 is rotatably connected to the slider 408 via a bearing. A groove 409 is provided on the wheel system mounting plate 3, and the slider 408 can slide along the groove 409. A first spring 410 is installed in the groove 409, with one end fixed and the other end abutting against the slider 408. The elastic force of the first spring 410 pushes the slider 408 and the tensioning pulley 407 to move away from the drive pulley 406, thereby automatically tightening the connecting belt 405, compensating for belt length changes caused by wear or temperature changes, and ensuring reliable transmission at all times. To further ensure the horizontal sliding of the slider 408 in the groove 409, a support rod can pass through the slider 408, and the support rod guides the movement of the slider 408.

[0030] To further improve operational stability and positioning accuracy, a support frame 5 is fixedly connected to the wheel mounting plate 3. The support frame 5 is located in the middle of the two sets of upper traveling wheels 401, and a card reader 6 is fixedly installed on it. The card reader 6 can work with RFID tags or QR codes arranged along the track 1 to achieve precise positioning and site identification of the robot.

[0031] To provide lateral guidance and accommodate minor width deviations that may exist on track 1, a guide wheel 7 is also provided on the inner side of each of the two sets of upper traveling wheels 401, such as... Figure 5 As shown, the guide wheel 7 is rotatably connected to a guide frame 8, which is slidably connected to the wheel system mounting plate 3 via a guide rod and can be finely adjusted in a direction perpendicular to the web of the track 1. A second spring 9 is provided between the guide frame 8 and the wheel system mounting plate 3. Its elasticity ensures that the guide wheel 7 always gently rests against the side of the web of the track 1, which not only ensures the stability of the guide but also avoids excessive frictional resistance.

[0032] At both ends of the connecting frame 2, end plates 10 are also fixedly connected, such as... Figure 3 As shown, the end plate 10 has a groove 11 that matches the cross-sectional shape of the track 1. When the robot passes through a curve or complex section, this structure can provide auxiliary anti-derailment protection. A cleaning brush 12 is also fixedly installed on the end plate 10. The bristles of the cleaning brush 12 contact the surface of the track 1 and can automatically clean dust, oil and other debris on the track 1 during the robot's movement, keeping the wheel-rail contact surface clean and indirectly maintaining and improving the coefficient of friction.

[0033] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present 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 the present utility model should be included within the protection scope of the present utility model.

Claims

1. An adaptive traction-enhanced walking mechanism for a track-based robot, characterized in that: It includes a ring-shaped track (1), a connecting frame (2) is provided below the track (1), and wheel mounting plates (3) are fixedly connected to both sides of the connecting frame (2). Two sets of wheel mounting plates (3) are suspended on the front and rear sides of the track (1), and guide wheel assemblies (4) are installed on the inner side of both sets of wheel mounting plates (3). The guide wheel assembly (4) includes two sets of symmetrically distributed upper traveling wheels (401), the upper traveling wheels (401) being rotatably connected to the wheel system mounting plate (3), and a lower traveling wheel (402) being provided below the two sets of upper traveling wheels (401). The lower traveling wheel (402) is rotatably connected to an adjustment frame (403), and the adjustment frame (403) is hinged to the wheel system mounting plate (3).

2. The adaptive traction enhancement walking mechanism for a track-type robot according to claim 1, characterized in that: The adjustment frame (403) includes a support base (4031), the walking wheel is rotatably connected to the support base (4031), the support base (4031) is rotatably connected to a connecting pin (4032), a tension spring (4033) is provided between the connecting pin (4032) and the wheel system mounting plate (3), and the tension spring (4033) is located above the connecting pin (4032).

3. The adaptive traction enhancement walking mechanism for a track-type robot according to claim 2, characterized in that: Both the upper traveling wheel (401) and the lower traveling wheel (402) are fixedly connected to a synchronous pulley (404). A connecting belt (405) is fitted on the synchronous pulley (404). A drive pulley (406) and a tension pulley (407) are fitted on the connecting belt (405). The drive pulley (406) is rotatably connected to the wheel system mounting plate (3). An automatic tensioner is connected between the tension pulley (407) and the wheel system mounting plate (3).

4. The adaptive traction enhancement walking mechanism for a track-type robot according to claim 3, characterized in that: The automatic tensioner includes a slider (408), which is rotatably connected to the tensioning pulley (407). The wheel system mounting plate (3) is provided with a groove (409) for the slider (408) to slide. A first spring (410) that abuts against the slider (408) is fixedly connected in the groove (409).

5. The adaptive traction enhancement walking mechanism for a track-type robot according to claim 1, characterized in that: A support frame (5) is fixedly connected to the wheel system mounting plate (3), and a card reader (6) is fixedly connected to the support frame (5). The support frame (5) is located between the two sets of upper walking wheels (401).

6. The adaptive traction enhancement walking mechanism for a track-type robot according to claim 1, characterized in that: The inner side of the upper traveling wheel (401) is provided with a guide wheel (7), the guide wheel (7) is rotatably connected to a guide frame (8), the guide frame (8) is slidably connected to the wheel system mounting plate (3), and a second spring (9) is provided between the guide frame (8) and the wheel system mounting plate (3).

7. The adaptive traction enhancement walking mechanism for a track-type robot according to claim 1, characterized in that: Both sides of the connecting frame (2) are fixedly connected to end plates (10), and the end plates (10) are provided with grooves (11) for the guide rail to pass through. A cleaning brush (12) is fixedly connected to the end plates (10).

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