A friction wheel structure for a rail robot

Abstract

The utility model discloses a kind of friction wheel structures for track robot, including friction wheel and swing arm, friction wheel is rotatably connected on swing arm, and is rotatably set by driving mechanism driving, further include elastic support adjusting assembly, elastic support adjusting assembly includes connecting seat, adjusting bolt and elastic support piece, swing arm is movably connected with connecting seat, elastic support piece is located between connecting seat and swing arm, to provide the driving force of swing arm rotation along connecting seat, adjusting bolt part is located outside swing arm and is telescopically arranged on swing arm, and cooperate with elastic support piece for adjusting driving force size.The utility model improves the elastic support structure of friction wheel and track, can at least realize reducing the pressure of friction wheel and track bottom abutting contact on swing arm by adjusting the size of driving force, to facilitate the movement of track robot as a whole on track.

Description

Technical Field

[0001] This utility model relates to the field of track robot technology, and in particular to a friction wheel structure for track robots. Background Technology

[0002] A track robot (also known as a suspended track robot or a rail-mounted 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, substation and other places.

[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, using a drive motor, a first set of motion wheels, and a second set of motion wheels, can move along the track, thereby driving the robot body to move along the track. The first and second sets of motion wheels have similar structures, mainly using an elastic support frame to abut the friction wheels against the bottom of the track. Simultaneously, the friction wheels can rotate, thereby driving the entire robot to move along the track.

[0004] In the aforementioned patent, the elastic support is a spring, positioned between the swing arm connected to the friction wheel and the fixed platform, using elastic force to abut the friction wheel against the bottom of the track. However, in certain situations (such as when a robot is damaged and needs repair), it is necessary to directly drag the track-mounted robot rather than allowing it to move autonomously along the track. In this case, it is necessary to separate the friction wheel from the bottom of the track (or reduce the pressure of the contact) to facilitate the robot's movement on the track. However, the existing friction wheel structure does not change the separation and contact between the friction wheel and the track. Therefore, it is necessary to provide a friction wheel structure that is easy to adjust. Utility Model Content

[0005] To address the shortcomings of existing technologies, this invention provides a friction wheel structure for a track robot. The elastic support structure between the friction wheel and the track has been improved. By adjusting the magnitude of the driving force, the pressure between the friction wheel on the swing arm and the bottom of the track can be reduced, thereby facilitating the overall movement of the track robot on the track.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a friction wheel structure for a track robot, comprising a friction wheel and a swing arm, wherein the friction wheel is rotatably connected to the swing arm and is driven to rotate by a drive mechanism, and further comprising an elastic support adjustment assembly. The elastic support adjustment assembly includes a connecting seat, adjusting bolts, and elastic support components. The swing arm is movably connected to the connecting seat. The elastic support is located between the connecting seat and the swing arm to provide the driving force for the swing arm to rotate along the connecting seat. The adjusting bolt is located outside the swing arm and is telescopically mounted on the swing arm. It works with the elastic support to adjust the magnitude of the driving force.

[0007] Compared with the prior art, the present invention has the following beneficial effects: This application improves the installation position of the elastic support component. Instead of placing the elastic support component between the connecting seat and the swing arm as in the prior art, this method requires the length direction of the elastic support component (spring) to be perpendicular to the rotation axis of the swing arm to ensure the elastic force provided by the elastic support component ensures that the friction wheel on the swing arm can abut against the bottom of the track. Based on the installation position of the elastic support component, to change the elastic force (spring length) of the elastic support component, the length direction of the adjusting bolt must also intersect with the length direction of the rotation axis of the swing arm and the connecting seat (vertical projection perpendicular). Therefore, the adjusting bolt will be placed at the lower part of the swing arm. Since the swing arm must be "upturned" according to design requirements, there will be sufficient space at the lower part of the swing arm to place the adjusting bolt in this space. This allows for easy adjustment of the bolt's extension and retraction on the swing arm, thereby adjusting the pressure of the elastic support component, and further adjusting the abutting pressure between the friction wheel on the swing arm and the bottom of the track, thus achieving frictional sliding and "unlocking" dragging of the friction wheel and the track.

[0008] Furthermore, the connecting seat includes a connecting part that is hinged to the swing arm and a movable part that is connected to the elastic support member. The hinge axis of the swing arm and the connecting part is parallel to the axis of the friction wheel. The elastic support is a telescopic spring. One end of the telescopic spring is connected to the movable part, and the other end is connected to the swing arm. The length direction of the telescopic spring intersects with the hinge axis of the swing arm and the connecting part.

[0009] Furthermore, a movable pin is fixed to the other end of the telescopic spring. The movable pin is movable within the mounting groove of the swing arm. The adjusting bolt abuts against the movable pin, and the adjusting bolt extends and retracts within the swing arm to drive the movable pin to move within the mounting groove.

[0010] Furthermore, the swing arm includes a fixed swinging part and a mounting part. The swinging part is hinged to the connecting part, the mounting part has a connecting groove, and the friction wheel is located in the connecting groove and rotatably connected to the mounting part.

[0011] Furthermore, an adjustment block is provided on the mounting part below the connecting groove. The adjusting bolt is threadedly connected to the adjusting block, and the mounting groove is opened on the adjusting block.

[0012] Furthermore, the movable part includes a movable cylinder, one end of the telescopic spring is located inside the movable cylinder and connected to the movable cylinder, and the axial direction of the movable cylinder is perpendicular to the hinge axis direction of the swing arm and the connecting part.

[0013] Furthermore, the movable cylinder is slidably mounted on the connecting part and locked or unlocked by a locking structure; The locking structure includes a fixed cylinder, a sliding sleeve, and at least one limiting ball. The fixed cylinder is sleeved outside the movable cylinder and fixed to the connecting part. The side wall of the fixed cylinder has the same number of mounting through holes as the number of limit balls, and each limit ball is located in the mounting through hole. The outer wall of the movable cylinder is provided with a number of limiting grooves equal to the number of limiting balls. The movable cylinder moves along the fixed cylinder so that each limiting groove connects with the mounting through hole, so that the limiting balls are partially located in the limiting grooves and the fixed cylinder and the movable cylinder are locked together. The sliding sleeve is fitted outside the fixed cylinder and slidably connected to the connecting part. The sliding sleeve covers the mounting through hole and has a transition space that is connected to the mounting through hole. The sliding sleeve moves so that the transition space is connected to the mounting through hole. The movable cylinder is unlocked from the fixed cylinder so that the movable cylinder moves along the fixed cylinder under the action of the telescopic spring, and the limiting ball part enters the transition space.

[0014] Furthermore, a first spring is provided between the movable cylinder and the fixed cylinder, and the first spring is sleeved on the outside of the movable cylinder and abuts against and connects with the fixed cylinder and the movable cylinder respectively; A second spring is provided between the fixed cylinder and the sliding sleeve. The second spring is sleeved outside the fixed cylinder and abuts against and connects with both the fixed cylinder and the sliding sleeve, and / or A second spring is provided between the movable cylinder and the sliding sleeve. The second spring is sleeved outside the fixed cylinder and abuts against and connects with the movable cylinder and the sliding sleeve respectively.

[0015] Furthermore, the sliding sleeve is slidably connected to the connecting part via a limiting member. The limiting component includes an auxiliary seat, a sliding seat, and a limiting rod. The auxiliary seat is fixedly arranged relative to the connecting part. The sliding seat is fixed to the sliding sleeve and slidably connected to the connecting part. One end of the limiting rod is hinged to the sliding seat, and the other end of the limiting rod is hinged to a limiting arm. The limiting arm is hinged to the auxiliary seat. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of one possible structure of the friction wheel of this utility model; Figure 2 for Figure 1 A structural diagram from another perspective; Figure 3 for Figure 2 A schematic diagram of the structure excluding the drive mechanism; Figure 4 for Figure 3 A schematic diagram of the structure excluding the limiting component; Figure 5 for Figure 4 A structural cross-sectional view; Figure 6 for Figure 4 A schematic diagram of an exploded structure; Figure 7 for Figure 6 A structural diagram from another perspective.

[0017] In the figure: swing arm 100, swing part 110, mounting part 120, adjusting bolt 122, adjusting block 121, moving pin 123, telescopic spring 124, rotating shaft 111, friction wheel 200, pulley 310, transmission belt 320, connecting part 410, movable cylinder 420, sliding seat 431, limiting rod 432, auxiliary seat 433, limiting arm 434, sliding sleeve 440, transition space 441, limiting ball 442, snap-fit ​​groove 443, protruding structure 4312, slide groove 411, limiting slide rail 412, limiting slider 4311, limiting groove 421, fixed cylinder 450, second spring 460, first spring 470. Detailed Implementation

[0018] 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.

[0019] like Figure 1-7 As shown, a friction wheel structure for a track robot includes a friction wheel 200 and a swing arm 100. The friction wheel 200 is rotatably connected to the swing arm 100 and is driven to rotate by a drive mechanism. It also includes an elastic support adjustment assembly, which includes a connecting seat, an adjusting bolt 122, and an elastic support member. The swing arm 100 is movably connected to the connecting seat, and the elastic support member is located between the connecting seat and the swing arm 100 to provide a driving force for the swing arm 100 to rotate along the connecting seat. The adjusting bolt 122 is partially located outside the swing arm 100 and is telescopically mounted on the swing arm 100, cooperating with the elastic support member to adjust the magnitude of the driving force.

[0020] Understandably, this application improves the installation position of the elastic support by placing it between the connecting seat and the swing arm 100, as is done in the prior art. This requires the length of the elastic support (spring) to be perpendicular to the rotation axis 111 of the swing arm 100 to ensure the elastic force provided by the elastic support ensures that the friction wheel 200 on the swing arm 100 abuts against the bottom of the track. Therefore, based on the installation position of the elastic support, to change the elastic force (spring length) of the elastic support, the length of the adjusting bolt 122 must also be perpendicular to the axis of rotation 111 of the swing arm 100 and the connecting seat. The rotation shafts 111 of the seat are arranged in intersecting directions (vertical projection is perpendicular). Therefore, the adjusting bolt 122 will be set at the lower part of the swing arm 100. The swing arm 100 must be "tilted" according to the design requirements. Therefore, there will be enough space at the lower part of the swing arm 100 to set the adjusting bolt 122 in this space. This allows for easy adjustment of the extension and retraction of the bolt 122 on the swing arm 100, thereby adjusting the pressure of the elastic support member. This, in turn, adjusts the pressure between the friction wheel 200 on the swing arm 100 and the bottom of the track, thereby realizing the frictional sliding and "unlocking" drag between the friction wheel 200 and the track.

[0021] Since the friction wheel 200 is mounted on the swing arm 100, the swing arm 100 will swing along the connecting seat. Therefore, directly connecting the friction wheel 200 to the drive mechanism (drive motor) is not conducive to the swinging of the friction wheel 200. Therefore, the drive mechanism is actually a transmission mechanism with a drive motor, such as the driving method of the friction wheel 200 on the swing arm 100 in the applicant's earlier patent application (CN202311830833.6). In this application, the drive mechanism includes a drive shaft, the axis of which is collinear with the hinge axis of the swing arm 100 and the connecting seat. The drive shaft is driven by a drive motor, a reducer, etc. A pulley 310 is mounted on the drive shaft, and a friction wheel 200 is also mounted on the friction wheel 200 coaxially. The two pulleys 310 are connected by a transmission belt 320. When the drive shaft rotates, it can drive the friction wheel 200 to rotate. At the same time, this method can also facilitate the swinging of the swing arm 100 along the connecting seat and ensure that the friction wheel 200 can abut against the bottom of the track during use.

[0022] The connecting seat needs to facilitate the connection of both the swing arm 100 and the elastic support. Furthermore, the connecting seat must connect to the robot's mounting base (or base) to ensure that the friction wheel 200 structure can be installed on the robot. Therefore, the connecting seat can be differentiated based on its function. Specifically, the connecting seat includes a connecting part 410 that hinges to the swing arm 100 and a movable part that connects to the elastic support. The hinge axis between the swing arm 100 and the connecting part 410 is parallel to the axis of the friction wheel 200. The elastic support is a telescopic spring 124, with one end connected to the movable part and the other end connected to the swing arm 100. The length direction of the telescopic spring 124 intersects the hinge axis direction between the swing arm 100 and the connecting part 410.

[0023] like Figure 5 , 6 As shown in Figure 7, the connecting part 410 has a U-shaped groove structure and two spaced-apart connecting blocks. The swing arm 100 is connected to the two connecting blocks near one end via a rotating shaft 111, achieving a hinge connection between the swing arm 100 and the connecting part 410. The friction wheel 200 is rotatably connected to the swing arm 100 near the other end via a ball bearing, and the friction wheel 200 is located above the rotating shaft 111. The movable part is located between the two connecting blocks and below the rotating shaft 111. The telescopic spring 124 is located below the swing arm 100 and is connected to both the movable part and the swing arm 100.

[0024] In theory, as long as the length of the telescopic spring 124 between the movable part and the swing arm 100 is variable (elastic force changes), the driving force can be adjusted. For this purpose, the movable part can be a cylindrical structure fixed between two connecting blocks, with one end of the telescopic spring 124 placed inside the movable part and the other end of the telescopic spring 124 located inside the swing arm 100. In this case, if it is necessary to adjust the screw movement to change the length of the telescopic spring 124, it is only necessary to ensure that one end of the telescopic spring 124 is fixed inside the movable part and the other end is fixed relative to the adjusting bolt 122. Then, by moving the adjusting bolt 122, the length of the telescopic spring 124 can be changed, the elastic force can be changed, and thus the driving force of the swing arm against the bottom of the track can be changed.

[0025] Based on the above principle, it is necessary to ensure that the connection end of the telescopic spring 124 and the swing arm 100 is relatively fixed. For this purpose, the other end of the telescopic spring 124 of this application is fixed with a movable pin 123. The movable pin 123 is moved and set in the mounting groove of the swing arm 100. The adjusting bolt 122 abuts against the movable pin 123. The adjusting bolt 122 extends and retracts in the swing arm 100 to drive the movable pin 123 to move in the mounting groove.

[0026] like Figure 5As shown, the swing arm 100 is provided with a threaded through hole that is threadedly connected to the adjusting bolt 122, which allows for the telescopic connection between the adjusting bolt 122 and the swing arm 100. A mounting groove is located at one end of the threaded through hole and connects to it, forming a variable diameter hole structure. The movable pin 123 has a T-shaped block structure; the small end of the movable pin 123 is embedded in the mounting groove, and the large end is fixed to the telescopic spring 124. The size of the large end of the movable pin 123 is larger than the opening size of the mounting groove, allowing the movable pin 123 to move and be limited within the mounting groove. In use, rotating the adjusting bolt 122 changes the length of the adjusting thread within the swing arm 100, thereby adjusting the position of the movable pin 123 within the mounting groove. With the other end of the telescopic spring 124 (the end connected to the movable part) remaining unchanged, the elastic force of the telescopic spring 124 can be adjusted, thereby adjusting the pressing force between the friction wheel 200 on the swing arm 100 and the bottom of the track.

[0027] Since the swing arm 100 requires the installation of the friction wheel 200 and the adjusting bolt 122, this application also improves the structure of the swing arm 100 to facilitate the installation of the two components and to better suit its function. Specifically, the swing arm 100 includes a swinging part 110 and a mounting part 120 that are connected and fixed together. The swinging part 110 is hinged to the connecting part 410, and the mounting part 120 has a connecting groove. The friction wheel 200 is located in the connecting groove and is rotatably connected to the mounting part 120.

[0028] like Figure 1 , 2 As shown in Figures 3, 4, 5, 6, and 7, the entire swing arm 100 resembles a "Y"-shaped frame structure. The mounting part 120 is essentially two branches of the swing arm 100. Based on this structural feature, a connecting groove structure for mounting the friction wheel 200 can be constructed. The friction wheel 200 has a coaxially arranged rotating shaft 111, which is rotatably connected within the mounting groove via bearings. A pulley 310 is mounted on the extension of the rotating shaft 111, located outside the mounting part 120. The swing part 110 forms the trunk structure of the swing arm 100, and the swing part 110 and the connecting part 410 are hinged together via the rotating shaft 111.

[0029] Based on the structure of the swing arm 100, in order to facilitate the installation and adjustment of the adjusting bolt 122, this application provides an adjusting block 121 on the mounting part 120 below the connecting groove. The adjusting bolt 122 is threadedly connected to the adjusting block 121, and the mounting groove is opened on the adjusting block 121.

[0030] like Figure 6 , 7 As shown, by placing the adjusting block 121 close to one end of the friction wheel 200 on the swing arm 100, and by ensuring that the adjusting block 121 has a downwardly extending length, sufficient adjustment space can be ensured below the friction wheel 200 to facilitate the rotation of the adjusting bolt 122.

[0031] In theory, with the movable part and connecting part 410 relatively fixed, and the movable part and telescopic spring 124 fixed, the pressure between the friction wheel 200 and the bottom of the track can be adjusted when the adjusting bolt 122 moves, so as to reduce the force between the friction wheel 200 and the bottom of the track according to the usage requirements. However, in order to achieve complete separation between the friction wheel 200 and the bottom of the track as much as possible, which is beneficial to the robot's dragging on the track, this application has designed the structure of the movable part.

[0032] Specifically, such as Figure 1 , 2 As shown in Figures 3, 4, 5, 6, and 7, the movable part includes a movable cylinder 420. One end of the telescopic spring 124 is located inside the movable cylinder 420 and connected to it. The axial direction of the movable cylinder 420 is perpendicular to the hinge axis of the swing arm 100 and the connecting part 410. The movable cylinder 420 slides on the connecting part 410 and is locked or unlocked by a locking structure. The locking structure includes a fixed cylinder 450, a sliding sleeve 440, and at least one limiting ball 442. The fixed cylinder 450 is sleeved outside the movable cylinder 420 and fixed to the connecting part 410. The side wall of the fixed cylinder 450 has the same number of mounting through holes as the number of limiting balls 442, and each limiting ball 442 is located in the mounting through hole. The outer wall of the movable cylinder 420 has the same number of limiting grooves 421 as the number of limiting balls 442. The movable cylinder 420 moves along the fixed cylinder 450 so that each limiting groove 421 engages with the mounting through hole. The holes are connected so that the limiting ball 442 is partially located in the limiting groove 421, locking the fixed cylinder 450 and the movable cylinder 420. The sliding sleeve 440 is sleeved on the outside of the fixed cylinder 450 and slidably connected to the connecting part 410. The sliding sleeve 440 covers the mounting through hole and has a transition space 441 that is connected to the mounting through hole. The sliding sleeve 440 moves so that the transition space 441 is connected to the mounting through hole. The movable cylinder 420 is unlocked from the fixed cylinder 450 so that the movable cylinder 420 moves along the fixed cylinder 450 under the action of the telescopic spring 124, and the limiting ball 442 partially enters the transition space 441. A first spring 470 is provided between the movable cylinder 420 and the fixed cylinder 450. The first spring 470 is sleeved on the outside of the movable cylinder 420 and abuts against the fixed cylinder 450 and the movable cylinder 420 respectively. A second spring 460 is provided between the fixed cylinder 450 and the sliding sleeve 440. The second spring 460 is sleeved on the outside of the fixed cylinder 450 and abuts against the fixed cylinder 450 and the sliding sleeve 440 respectively. And / or a second spring 460 is provided between the movable cylinder 420 and the sliding sleeve 440. The second spring 460 is sleeved on the outside of the fixed cylinder 450 and abuts against the movable cylinder 420 and the sliding sleeve 440 respectively.

[0033] The fixed cylinder 450, sliding sleeve 440, limiting ball 442, transition space 441, mounting through hole, and limiting groove 421 can unlock or fix the fixed cylinder 450 and the movable cylinder 420, so that the movable cylinder 420 can move, thereby reducing the pushing force of the telescopic spring 124 on the swing arm 100, and can achieve "complete" unlocking of the friction wheel 200 and the track (of course, in the actual design process, it is also possible that the friction wheel 200 and the bottom of the track are not completely out of contact).

[0034] The sliding sleeve 440 is slidably connected to the connecting part 410 via a limiting member. The limiting member includes an auxiliary seat 433, a sliding seat 431, and a limiting rod 432. The auxiliary seat 433 is fixedly disposed relative to the connecting part 410. The sliding seat 431 is fixed to the sliding sleeve 440 and slidably connected to the connecting part 410. One end of the limiting rod 432 is hinged to the sliding seat 431, and the other end of the limiting rod 432 is hinged to a limiting arm 434. The limiting arm 434 is hinged to the auxiliary seat 433. Figure 1 , 2 As shown in Figures 3, 4, 5, 6, and 7, there are two limiting members, which are respectively arranged along the axial direction of the friction wheel 200. An annular locking groove 443 is provided on the outer wall of the sliding seat 431. The sliding seat 431 is embedded in the sliding groove 411 of the connecting part 410 and slides with the connecting part 410. The portion of the sliding seat 431 embedded in the connecting part 410 has a protruding structure 4312 that connects to the locking groove 443, thus connecting the sliding seat 431 and the sliding sleeve 440. A limiting slider 4311 is provided on the portion of the sliding seat 431 outside the connecting part 410. The limiting slider 4311 is connected to the limiting slide rail 412 on the connecting part 410 to limit the sliding of the sliding seat 431 and the sliding sleeve 440 along the length direction of the fixed cylinder 450. The setting of the limiting rod 432 and the limiting arm 434 ensures that the sliding distance of the sliding seat 431 along the connecting part 410 is constant, so that when the sliding sleeve 440 moves, it can block the mounting through hole or connect the mounting through hole and the transition space 441.

[0035] In use, after rotating the adjusting bolt 122, the adjusting bolt 122 presses the moving pin 123, changing the pressure of the telescopic spring 124. When the pressure of the telescopic spring 124 is large enough, in conjunction with the elastic force of the first spring 470 and the second spring 460, the sliding sleeve 440 can be moved on the outer wall of the fixed cylinder 450. After the sliding sleeve 440 moves, the transition space 441 on the sliding sleeve 440 will be opposite to the mounting through hole on the fixed cylinder 450. At this time, the fixed cylinder 450 and the movable cylinder 420 can be unlocked. The movable cylinder 420 moves under the elastic force of each spring. When the movable cylinder 420 moves, the telescopic spring 124 fixed inside the movable cylinder 420 moves. At this time, based on the position of the movable cylinder 420, the elastic force of the telescopic spring 124 is insufficient to make the friction wheel 200 abut against the bottom of the track, thereby unlocking the friction wheel 200 and the track, which facilitates the robot's dragging on the track. When a reset is required, the adjusting bolt 122 is rotated in the opposite direction, restoring the elastic force of the telescopic spring 124 to its initial state. Then, the movable cylinder 420 is driven by external force to reset, compressing the first spring 470 and the second spring 460. This causes the sliding sleeve 440 to move outside the fixed cylinder 450, covering the mounting through hole. At this time, the limiting ball 442 in the mounting through hole is partially squeezed into the limiting groove 421 on the outer wall of the movable cylinder 420, locking the movable cylinder 420 and the fixed cylinder 450. This achieves the contact between the friction wheel 200 and the bottom of the track, and the rotation of the friction wheel 200 enables the robot to move on the track.

[0036] The limiting element restricts the movement distance of the sliding sleeve 440 along the fixed cylinder 450. The limiting groove 421 on the outside of the movable cylinder 420 fits against the inner wall of the fixed cylinder 450. This structure ensures that the limiting ball 442 moves within the mounting through hole, and, depending on the requirements, is partially located within the limiting groove 421 or partially within the transition space 441. Furthermore, a limiting stop is provided on the outside of one end of the movable cylinder 420, based on the extension spring 124, restricting the movement of the movable cylinder 420 to a specific distance. Simultaneously, the large end of the moving pin 123 abuts against the end of the fixed cylinder 450, further limiting the movement distance of the movable cylinder 420.

[0037] 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.

[0038] 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.

[0039] 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 friction wheel structure for a tracked robot, comprising a friction wheel (200) and a swing arm (100), wherein the friction wheel (200) is rotatably connected to the swing arm (100) and is driven to rotate by a drive mechanism, characterized in that: It also includes a flexible support adjustment component. The elastic support adjustment assembly includes a connecting seat, an adjusting bolt (122), and an elastic support component. The swing arm (100) is movably connected to the connecting seat. The elastic support is located between the connecting seat and the swing arm (100) to provide the driving force for the swing arm (100) to rotate along the connecting seat. The adjusting bolt (122) is located outside the swing arm (100) and is telescopically set on the swing arm (100). It cooperates with the elastic support to adjust the magnitude of the driving force.

2. The friction wheel structure for a tracked robot according to claim 1, characterized in that: The connecting seat includes a connecting part (410) hinged to the swing arm (100) and a movable part connected to the elastic support member. The hinge axis of the swing arm (100) and the connecting part (410) is parallel to the axis of the friction wheel (200). The elastic support is a telescopic spring (124). One end of the telescopic spring (124) is connected to the movable part, and the other end is connected to the swing arm (100). The length direction of the telescopic spring (124) intersects the hinge axis direction of the swing arm (100) and the connecting part (410).

3. The friction wheel structure for a tracked robot according to claim 2, characterized in that: The other end of the telescopic spring (124) is fixed with a movable pin (123). The movable pin (123) is moved within the mounting groove of the swing arm (100). The adjusting bolt (122) abuts against the movable pin (123). The adjusting bolt (122) extends and retracts within the swing arm (100) to drive the movable pin (123) to move within the mounting groove.

4. The friction wheel structure for a tracked robot according to claim 3, characterized in that: The swing arm (100) includes a swinging part (110) and a mounting part (120) that are connected and fixed together. The swing part (110) is hinged to the connecting part (410), the mounting part (120) has a connecting groove, and the friction wheel (200) is located in the connecting groove and rotatably connected to the mounting part (120).

5. The friction wheel structure for a tracked robot according to claim 4, characterized in that: An adjusting block (121) is provided on the mounting part (120) below the connecting groove. The adjusting bolt (122) is threadedly connected to the adjusting block (121), and the mounting groove is opened on the adjusting block (121).

6. The friction wheel structure for a tracked robot according to any one of claims 2-5, characterized in that: The movable part includes a movable cylinder (420), one end of a telescopic spring (124) is located inside the movable cylinder (420) and connected to the movable cylinder (420), and the axial direction of the movable cylinder (420) is perpendicular to the hinge axis direction of the swing arm (100) and the connecting part (410).

7. The friction wheel structure for a tracked robot according to claim 6, characterized in that: The movable cylinder (420) is slidably disposed on the connecting part (410) and locked or unlocked by a locking structure; The locking structure includes a fixed cylinder (450), a sliding sleeve (440), and at least one limiting ball (442). The fixed cylinder (450) is sleeved outside the movable cylinder (420) and fixed to the connecting part (410). The side wall of the fixed cylinder (450) has the same number of mounting through holes as the number of limiting balls (442), and each limiting ball (442) is located in the mounting through hole. The outer wall of the movable cylinder (420) is provided with a number of limiting grooves (421) equal to the number of limiting balls (442). The movable cylinder (420) moves along the fixed cylinder (450) so that each limiting groove (421) is connected to the mounting through hole so that the limiting balls (442) are partially located in the limiting grooves (421) to lock the fixed cylinder (450) and the movable cylinder (420). The sliding sleeve (440) is fitted outside the fixed cylinder (450) and slidably connected to the connecting part (410). The sliding sleeve (440) covers the mounting through hole and has a transition space (441) connected to the mounting through hole. The sliding sleeve (440) moves so that the transition space (441) is connected to the mounting through hole. The movable cylinder (420) is unlocked from the fixed cylinder (450) so that the movable cylinder (420) moves along the fixed cylinder (450) under the action of the telescopic spring (124), and the limiting ball (442) partially enters the transition space (441).

8. The friction wheel structure for a tracked robot according to claim 7, characterized in that: A first spring (470) is provided between the movable cylinder (420) and the fixed cylinder (450). The first spring (470) is sleeved on the outside of the movable cylinder (420) and abuts against the fixed cylinder (450) and the movable cylinder (420) respectively. A second spring (460) is provided between the fixed cylinder (450) and the sliding sleeve (440). The second spring (460) is sleeved on the outside of the fixed cylinder (450) and abuts against the fixed cylinder (450) and the sliding sleeve (440) respectively, and / or A second spring (460) is provided between the movable cylinder (420) and the sliding sleeve (440). The second spring (460) is sleeved outside the fixed cylinder (450) and abuts against the movable cylinder (420) and the sliding sleeve (440) respectively.

9. The friction wheel structure for a tracked robot according to claim 7 or 8, characterized in that: The sliding sleeve (440) is slidably connected to the connecting part (410) via a limiting member. The limiting component includes an auxiliary seat (433), a sliding seat (431), and a limiting rod (432). The auxiliary seat (433) is fixedly disposed relative to the connecting part (410). The sliding seat (431) is fixed to the sliding sleeve (440) and slidably connected to the connecting part (410). One end of the limiting rod (432) is hinged to the sliding seat (431), and the other end of the limiting rod (432) is hinged to a limiting arm (434). The limiting arm (434) is hinged to the auxiliary seat (433).

10. The friction wheel structure for a tracked robot according to claim 8, characterized in that: The sliding sleeve (440) is slidably connected to the connecting part (410) via a limiting member. The limiting component includes an auxiliary seat (433), a sliding seat (431), and a limiting rod (432). The auxiliary seat (433) is fixedly disposed relative to the connecting part (410). The sliding seat (431) is fixed to the sliding sleeve (440) and slidably connected to the connecting part (410). One end of the limiting rod (432) is hinged to the sliding seat (431), and the other end of the limiting rod (432) is hinged to a limiting arm (434). The limiting arm (434) is hinged to the auxiliary seat (433).

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