CN110253536A - A kind of track machine people - Google Patents
A kind of track machine people Download PDFInfo
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- CN110253536A CN110253536A CN201910669457.4A CN201910669457A CN110253536A CN 110253536 A CN110253536 A CN 110253536A CN 201910669457 A CN201910669457 A CN 201910669457A CN 110253536 A CN110253536 A CN 110253536A
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- 229910052751 metal Inorganic materials 0.000 claims description 8
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- 238000000034 method Methods 0.000 abstract description 10
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 9
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 206010018325 Congenital glaucomas Diseases 0.000 description 2
- 206010012565 Developmental glaucoma Diseases 0.000 description 2
- 208000007157 Hydrophthalmos Diseases 0.000 description 2
- 201000001024 buphthalmos Diseases 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 206010037660 Pyrexia Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
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- 239000000956 alloy Substances 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 230000004297 night vision Effects 0.000 description 1
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- 230000008569 process Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to robotic technology fields, in particular a kind of track machine people, including track, the power plant module for operating in the multifunctional movement module below the track and being mounted below the multifunctional movement module, wherein: the multifunctional movement module includes multifunctional movement unit and rotary connection unit, and the multifunctional movement unit is made of moving cell frame, supporting roller, power wheel, axis, damper, encoder and electric brake；It is rolled in the trough of belt by the supporting roller on the outside of the power wheel, convenient for the turning of robot, four kinds of different assembly methods are formed by the mutual cooperation of the moving frame ontology, the axis, the power wheel and supporting roller in the moving cell frame, respectively lock mode, semiautomatic fashion A, semiautomatic fashion B and full-automatic mode, for corresponding to situation different in the track, so that robot is in the more smooth of track moved beneath, application is wider.
Description
Technical field
The invention belongs to robotic technology field more particularly to a kind of track machine people.
Background technique
Robot (Robot) is the automatic installations for executing work, it can not only receive mankind commander, but also can run
The program of preparatory layout, can also be according to principle program action formulated with artificial intelligence technology, and its task is to assist or take
For the work of human work, such as production industry, construction industry, or dangerous work.
Track machine people currently on the market carries out track movement under traditional guide wheel movement mode, but due to track
The case where different, single motion mode, be unfavorable for track machine people and make in orbit quickly to be moved.
Summary of the invention
The present invention provides a kind of track machine people, it is intended to which the track machine people solved currently on the market transports in traditional guide wheel
Track movement is carried out under flowing mode, but different the case where due to track, single motion modes, it is unfavorable for track machine people and exists
The problem of quickly being moved is made on track.
The invention is realized in this way a kind of track machine people, including track, operate in it is multi-functional below the track
Motion module and the power plant module being mounted below the multifunctional movement module, in which: the multifunctional movement module packet
Multifunctional movement unit and rotary connection unit are included, the multifunctional movement unit is by moving cell frame, supporting roller, power
Wheel, axis, damper, encoder and electric brake composition, the power wheel are mounted on the moving cell frame by the axis
Center, the supporting roller is provided on the outside of the power wheel, the damper is mounted on the lower section of the axis, the volume
Code device and the electric brake are mounted on one end of the axis, and the rotary connection unit includes rotary shaft, swivel bearing, rotation
Nut and connector, the rotary shaft are spirally connected through the connector and the swivel bearing and by the rotating nuts, institute
State the two sides up and down that swivel bearing is located at the connector, the power plant module includes robot balladeur train and robot core portion,
The robot balladeur train is bolted in the lower surface of the moving cell frame, and the robot core portion is installed on the robot
The lower section of balladeur train, the robot core portion include electric-controlled box and sensor, are provided with below the electric-controlled box with surrounding described
Sensor.
Preferably, the track is provided with trough of belt and trapezoidal protrusion ridge, wherein the trapezoidal protrusion ridge can also be arranged
For rack shape.
Preferably, moving cell frame setting is there are four types of assembly method, respectively lock mode, semiautomatic fashion A,
Semiautomatic fashion B and full-automatic mode.
Preferably, the moving cell frame includes moving frame ontology, upper bearing (metal) slot, lower bearing slot, upper shaft hole, lower axle
Hole, side are servo-actuated hole and side supporting roller axial trough, and when lock mode, the moving cell frame further includes rotation stop shaft end lock, rotation stop
Axis；When semiautomatic fashion A, the moving cell frame further includes bearing locating part, bearing, axis, rotation stop shaft end lock；Semi-automatic side
When formula B, the moving cell frame further includes rotation stop shaft end lock, rotation stop axis；When full-automatic mode, the moving cell frame is also
Including bearing, axis, rotation stop shaft end lock.
Preferably, two kinds of structures are arranged in the supporting roller, respectively rotate coaxially and be freely rotated two kinds.
Preferably, it is respectively that hub motor and wheel shaft are rigidly connected that the power wheel, which is provided with two ways, wherein institute
State lock mode and semiautomatic fashion B that hub motor corresponds to the moving cell frame, the wheel shaft rigid connection correspondence
The full-automatic mode and semiautomatic fashion A of the moving cell frame.
Preferably, the axis is divided into axis and lower axle, wherein there are two types of differential structures, respectively differential for lower axle setting
Structure A and differential structure B, the differential structure A correspond to the full-automatic mode and semiautomatic fashion of the moving cell frame
A, the differential structure B correspond to the lock mode of the moving cell frame.
Preferably, the damper is set to the upper axis and the lower axle with the moving cell frame using semi-automatic
Mode B and when automated manner.
Preferably, the encoder and when corresponding with the differential structure A electric brake, wherein the electricity is stopped
Vehicle is divided into two kinds of situations.
Preferably, the electric-controlled box includes integrated dissipating cover, primary control box, sensor quick-disassembly structure and battery, and described one
Body dissipating cover is covered on the primary control box, and the sensor quick-disassembly structure is installed on the lower section of the primary control box, and the battery is received
It is dissolved in the inside of the primary control box；The sensor quick-disassembly structure includes Quick Release female and Quick Release male connector, the Quick Release female peace
Lower section loaded on the main aperture box, the Quick Release male connector are installed on the sensor upper surface, the Quick Release male connector and described fast
Female is torn open to be adapted.
Compared with prior art, the beneficial effects of the present invention are: a kind of track machine people of the invention, by the rail
Road lower surface is provided with the trapezoidal protrusion ridge, for the power wheel in the multifunctional movement module its lower surface into
Row movement, while the supporting roller on the outside of the power wheel rolls in the trough of belt, convenient for the turning of robot, described
By the cooperation of the moving frame ontology, the axis, the power wheel and supporting roller in moving cell frame, four kinds are formed
Different assembly methods, respectively lock mode, semiautomatic fashion A, semiautomatic fashion B and full-automatic mode, for corresponding to
Situation different in track is stated, so that robot is in the more smooth of track moved beneath, application is wider.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is middle orbit structural schematic diagram of the present invention；
Fig. 3 is lock mode structural schematic diagram in the present invention；
Fig. 4 is semiautomatic fashion A structural schematic diagram in the present invention；
Fig. 5 is semiautomatic fashion B structure schematic diagram in the present invention；
Fig. 6 is full-automatic mode structural schematic diagram in the present invention；
Fig. 7 is rotary connection unit structural schematic diagram in the present invention；
Fig. 8 is whole the schematic diagram of the section structure in the present invention；
Fig. 9 is robot core portion structural schematic diagram in the present invention；
In figure: 1, track；11, trough of belt；12, trapezoidal protrusion ridge；2, multifunctional movement module；21, multifunctional movement unit；
211, moving cell frame；2111, moving frame ontology；2112, upper bearing (metal) slot；2113, lower bearing slot；2114, upper shaft hole；
2115, lower shaft hole；2116, it is servo-actuated wheel bore；212, supporting roller；213, power wheel；214, axis；2141, upper axis；2142, lower axle；
215, damper；216, encoder；217, electric brake；22, rotary connection unit；221 rotary shafts；222, swivel bearing；223,
Rotating nuts；224, connector；3, power plant module；31, robot balladeur train；32, robot core portion；321, electric-controlled box；3211,
Integrated dissipating cover；3212, primary control box；3213, sensor quick-disassembly structure；32131, Quick Release female；32132, Quick Release male connector；322,
Sensor；411, rotation stop shaft end is locked；412, rotation stop axis；421, bearing locating part, 422, bearing.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In the description of the present invention, it is to be understood that, term " length ", " width ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to limit of the invention
System.In addition, in the description of the present invention, the meaning of " plurality " is two or more, unless otherwise specifically defined.
Please refer to Fig. 1-9, the present invention provides a kind of technical solution: a kind of 1 robot of track, including track 1, operation it is in-orbit
The multifunctional movement module 2 of 1 lower section of road and the power plant module 3 for being mounted on 2 lower section of multifunctional movement module, in which: multi-functional
Motion module 2 includes multifunctional movement unit 21 and rotary connection unit 22, and multifunctional movement unit 21 is by moving cell frame
Frame 211, supporting roller 212, power wheel 213, axis 214, damper 215, encoder 216 and electric brake 217 form, power wheel
213 are mounted on the center of moving cell frame 211 by axis 214, and the outside of power wheel 213 is provided with supporting roller 212, damping
Device 215 is mounted on the lower section of axis 214, and encoder 216 and electric brake 217 are mounted on one end of axis 214, rotary connection unit 22
Including rotary shaft 221, swivel bearing 222, rotating nuts 223 and connector 224,221 through-connections 224 of rotary shaft and rotation
Shaft holds 222 and is spirally connected by rotating nuts 223, and swivel bearing 222 is located at the two sides up and down of connector 224, and power plant module 3 includes
Robot balladeur train 31 and robot core portion 32, robot balladeur train 31 are bolted in the lower surface of moving cell frame 211, robot
Core 32 is installed on the lower section of robot balladeur train 31, and robot core portion 32 includes electric-controlled box 321 and sensor 322, automatically controlled
321 lower section of box and surrounding are provided with sensor 322.
In the present embodiment, rotary connection unit 22 acts on: by two or more multifunctional movement units 21
It is fixed together, thus movement when realizing turning, wherein rotary shaft 221 is separately connected two moving cell frames 211
Bottom, two rotary shafts 221, which have, to be located at the left and right ends of connector 224 through swivel bearing 222 and is consolidated by rotating nuts 223
It is fixed.
In the present embodiment, when moving cell frame 211 selects full-automatic mode, the selection of supporting roller 212 is freely rotated,
The selection of power wheel 213 is rigidly connected with wheel shaft 214, and lower axle 2142 selects differential structure A, is equipped with encoder 216, subtracts
When shaking device 215 and electrical brake device A, power wheel 213 is rotationally connected under moving cell frame 211 by lower axle 2142
In axis hole 2115, while motor is fixedly connected on 211 outside of moving cell frame, motor is passed power by belt or gear
Lower axle 2142 is passed, power wheel 213 is driven to rotate, power wheel 213 is rotated in the lower surface of track 1, and then is driven entire
Moving cell frame 211 is moved along track 1, while lateral supporting roller 212 is mounted on moving cell frame by axis 214
211 supporting roller 212 lateral, in addition is adapted to by upper axis 2141 with upper shaft hole 2114, is mounted in moving cell frame 211
Side is moved along the trough of belt 11 of guide rail, and lower axle 2142 is equipped with one and rotates supporting roller 212 in lower axle 2142, and
Equipped with one and the rigidly connected supporting roller 212 of lower axle 2142 or power wheel 213, that is, form a differential structure, when straight way,
Two supporting rollers 212 are contacted with track 1, and space rate is consistent, so wheel rotor speed is consistent, revolving speed is consistent, when turning round in bend
Inside and outside wheel space rate it is different, cause revolving speed different, form differential, the one or more positioned at 2142 lower section of lower axle
Damper 215 is used to carry out lower axle 2142 damping, while code sensor 322 passes through 214 device of flexible coupling and lower axle 2142
Connection, to record robot real-time speed in orbit and distance travelled, when braking, electrical brake device and lower axle
2142 are linked together by 214 device of flexible coupling, and electrical brake device can brake the rotation of lower axle 2142, when braking,
Motor does not work, and brake gear makes lower axle 2142 stop rotating, so that robot stops.
Further, track 1 is provided with trough of belt 11 and trapezoidal protrusion ridge 12, wherein trapezoidal protrusion ridge 12 can also be arranged
For rack gear.
In the present embodiment, trapezoidal protrusion ridge 12 and trough of belt 11 can be transported for supporting roller 212 or power wheel 213 in track 1
Guiding function and increasing friction force effect are provided when row, when trapezoidal protrusion ridge 12 processes integral rack gear, for realizing dynamic
Wheels 213 is set as kind of drive when gear, to flexibly cope with different application scene.
Further, there are four types of assembly methods, respectively lock mode, semiautomatic fashion for the setting of moving cell frame 211
A, semiautomatic fashion B and full-automatic mode；Moving cell frame 211 include moving frame ontology 2111, upper bearing (metal) slot 2112, under
Bearing groove 2113, upper shaft hole 2114, lower shaft hole 2115, side are servo-actuated hole 2116 and side supporting roller axial trough, when lock mode, movement
Unit framework 211 further includes that 411, rotation stop axis 412 are locked in rotation stop shaft end；When semiautomatic fashion A, moving cell frame 211 further includes
Bearing locating part 421, bearing 422, axis 214, rotation stop shaft end lock 411；When semiautomatic fashion B, moving cell frame 211 further includes
Lock 411, rotation stop axis 412 in rotation stop shaft end；When full-automatic mode, moving cell frame 211 further includes bearing 422, axis 214, rotation stop
Shaft end lock 411.
In the present embodiment, upper shaft hole 2114, lower shaft hole 2115 are the same arcuate socket, and upper bearing (metal) slot 2112 is under
Bearing groove 2113 is also the same arc groove, axis 214, upper shaft hole 2114, lower shaft hole 2115,2141 bearing bore of upper axis, lower axle 2142
Having 4 kinds of assembly methods between bearing bore is respectively lock mode, semiautomatic fashion A, semiautomatic fashion B and full-automatic mode, locking
Mode: it is consistent with upper bearing (metal) slot 2112,2113 shape of lower bearing slot that 411 outer shapes are locked in rotation stop shaft end, so rotation stop shaft end is locked
411 are fixed on upper bearing (metal) slot 2112, can not rotate in lower bearing slot 2113, and rotation stop shaft end lock 411 is equipped with and 412 liang of rotation stop axis
Hold consistent slotted hole structure, rotation stop axis 412 is inserted into rotation stop shaft end lock 411, place into 2141 slot of axis, in 2142 slot of lower axle,
So that rotation stop axis 412 can not rotate；Semiautomatic fashion A: axis 214 can rotate in slot to be slided in slot again, i.e., commonly
214 both ends of circular shaft are equipped with multiple bearings 422, and after being mounted in 2141 slot of axis, 2142 slot of lower axle, gap section can be installed
Upper axis 2141 holds locating part, prevents axis 214 from sliding in upper 2141 slot of axis, 2142 slot of lower axle in conjunction with bearing 422, but do not interfere
Axis 214 rotates；Semiautomatic fashion B: axis 214 is not rotated but can be slided in upper 2141 slot of axis, 2142 slot of lower axle, with lock mode
Similar, only it is shorter to lock 411 for rotation stop shaft end, so such rotation stop axis 412 can in conjunction with rotation stop shaft end lock 411 there are gap
To slide a distance in upper 2141 slot of axis, 2142 slot of lower axle, cushioning buffer effect is played；Full-automatic mode；Axis 214 can oneself
Rotation can also be slided in upper 2141 slot of axis, 2142 slot of lower axle；Structure and application method are similar to semiautomatic fashion A, still
Bearing locating part 421 is not needed.
Further, two kinds of structures are arranged in supporting roller 212, and respectively coaxial 214 rotate and be freely rotated two kinds.
In the present embodiment, supporting roller 212 by with lateral 212 axis of supporting roller, 214 slot and upper axis 2141, lower axle
After 2142 assembly, refills and be fitted in upper bearing (metal) slot 2112, lower bearing slot 2113 and be laterally servo-actuated in wheel bore 2116, with 1 table of track
Face contact, random device people it is in-orbit movement and passively rotate, when undertaking robot in orbit with the load of 1 all directions of track,
Supporting roller 212 is there are two types of structure, and a kind of structure is coaxial 214 rotation, i.e., is rigidly connected with axis 214, and coaxial 214 rotate together,
Another structure is to be freely rotated, that is, is installed on axis 214, but can be freely rotated with relative axle 214, wherein lateral supporting roller
212 rotate freely fixed form using with axis 214 always；Wherein lateral supporting roller 212 can only use the second way.
Further, it is respectively that hub motor and wheel shaft 214 are rigidly connected that power wheel 213, which is provided with two ways,
Middle hub motor corresponds to the lock mode and semiautomatic fashion B of moving cell frame 211, and the rigid connection of wheel shaft 214 is to meeting the tendency of
The full-automatic mode and semiautomatic fashion A of moving cell frame 211.
In the present embodiment, power wheel 213 equally passes through in the installation of axis 214 and upper shaft hole 2114, lower shaft hole 2115, with
Track 1 contacts, active rotation, provides power in orbit for robot, wherein the same two ways of power wheel 213, the first
Power wheel 213 is hub motor, and hub motor stator and axis 214 are rigidly connected, and axis 214 can only cannot be revolved using axis 214 at this time
The assembly method turned, that is, 214 lock mode of axis and semi-automatic B mode, another kind are that wheel is rigidly connected with axis 214, motor
Power wheel 213 is imparted power to by kinds of drive such as belt or gears, i.e. power wheel 213 and axis 214 is rigidly connected, electricity
Machine is rigidly connected with moving cell frame 211, and motor passes to axis 214 by belt or gear and drives power wheel 213
The corresponding other two kinds of axis 214 of rotation rotate assembly method, i.e. automated manner and semiautomatic fashion A.
Further, axis 214 divides for upper axis 2141 and lower axle 2142, and wherein the setting of lower axle 2142 is there are two types of differential structure,
Respectively differential structure A and differential structure B, differential structure A correspond to the full-automatic mode of moving cell frame 211 and semi-automatic
Mode A, differential structure B correspond to the lock mode of moving cell frame 211.
In the present embodiment, lower axle 2142 is equipped with a kind of differential structure, differential structure A: the use of axis 214 is rotatable certainly
Flowing mode and when semiautomatic fashion A, axis 214 is equipped with one and rotates supporting roller 212 on axis 214, and is equipped with one and axis 214
The supporting roller 212 or power wheel 213 of perception connection, that is, form a differential structure, when straight way, two supporting rollers 212 and track 1
Contact, space rate is consistent, so wheel rotor speed is consistent, revolving speed is consistent, the wheel straight line when turning round inside and outside bend
Speed is different, causes revolving speed different, forms differential, differential structure B: while lower axle 2142 is using lock mode, lower axle
2142, which are equipped with the power wheel 213 of a hub motor type and a supporting roller 212, can equally form a differential structure.
Further, damper 215 is set to axis 2141 and lower axle 2142 with moving cell frame 211 using semi-automatic
Mode B and when automated manner.
In the present embodiment, when upper axis 2141, lower axle 2142 and moving cell frame 211 using semiautomatic fashion B and
Axis 214 is equipped with one or more dampers 215 when automated manner.
Further, encoder 216 and when corresponding with differential structure A electric brake 217, wherein electric brake 217 divides
For two kinds of situations.
In the present embodiment, when using differential structure A, code sensor 322 connects with 211 rigidity of moving cell frame
It connects, code sensor 322 is connect by 214 device of flexible coupling with lower axle 2142, to record the reality of robot in orbit
Shi Sudu and distance travelled, electrical brake device A: when using differential structure A, electrical brake device and moving cell frame
211 rigid connections, electrical brake device are linked together with lower axle 2142 by 214 device of flexible coupling, and electrical brake device can
To brake the rotation of lower axle 2142, when braking, motor does not work, and brake gear makes lower axle 2142 stop rotating, to make
Robot is obtained to stop；In moving cell frame 211, it is rigidly connected with moving cell frame 211, and this moving cell frame
Uneasiness loads axis 2142 on 211, and when needing to brake, power wheel 213 stops operating, electrical brake device work, and brake block is straight
It is contacted with guide rail surface, frictional force increases, so that robot stops.
Further, electric-controlled box 321 includes integrated dissipating cover 3211, primary control box 3212,322 quick-disassembly structure 3213 of sensor
And battery, integrated dissipating cover 3211 are covered on primary control box 3212,322 quick-disassembly structure 3213 of sensor is installed on primary control box 3212
Lower section, battery container is in the inside of primary control box 3212；322 quick-disassembly structure 3213 of sensor is including Quick Release female 32131 and fastly
Tear male connector 32132 open, Quick Release female 32131 is installed on the lower section of main aperture box, and Quick Release male connector 32132 is installed on table on sensor 322
Face, Quick Release male connector 32132 are adapted with Quick Release female 32131.
In the present embodiment, integrated dissipating cover 3211 is aluminum alloy material, and there are radiating fin and multiple matrixes in upper end
The screw hole of array, the main fever accessory in primary control box 3212 are directly directly connected with upper cover plate bottom together, one
Dissipating cover 3211 and master control and between be equipped with gasket, can just accomplish to accomplish effectively to radiate in the case that primary control box 3212 is closed,
Installation site is provided in primary control box 3212 for master control borad cell basis sensor 322；3212 cassette bottom of primary control box is equipped with Quick Release female
32131, the interior USB PORT COM for being equipped with sensor 322 of Quick Release female 32131 can be with quick-replaceable sensor 322, and Quick Release is female
First 32131 bottom is equipped with oval bayonet arrangement, sets that there are three holes to be located on a diameter at the top of 32131 stand of Quick Release female,
Both ends are symmetrical about the center of circle, and intermediate hole forms eccentric structure in center of circle side, and Quick Release locking pin lower part three is rod-shaped to insert respectively
Enter in female stand, intermediate thimble is equipped with buphthalmos wheel construction, and is higher than two sides locking pin, and the locking level on top is pierced by one
Dissipating cover 3211, sensor 322 have the sensors 322 such as ordinary video camera shooting, infrared night vision, radar, infrared temperature sensor 322
It is equipped with Quick Release male connector 32132 above, Quick Release male connector 32132 is equipped with: male connector trip, communication terminal oralia, upper-lower seal circle, male connector card
It is next on tenon to be equipped with an o-ring groove upper-lower seal circle and be just put into wherein, and it is arranged that there are four hole and base locking levels one
One is corresponding, another is electronics string holes compared with large through-hole, and the bayonet knot as base bottom is equipped at the top of male connector trip
Structure connects working principle fastly: when male connector is inserted into female, two communication terminal oralia conductings, the thimble of base is and on male connector trip
Surface contact, and thimble up pushes up locking pin, is rotated by 90 ° rear locking pin thimble and just falls into three holes of male connector trip,
The rotation of male connector has been organized to unlock, buphthalmos wheel reduces the abrasion of locking pin Yu male connector trip.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of track machine people, which is characterized in that including track, operate in the multifunctional movement module below the track with
And it is mounted on the power plant module below the multifunctional movement module, in which: the multifunctional movement module includes multi-functional fortune
Moving cell and rotary connection unit, the multifunctional movement unit is by moving cell frame, supporting roller, power wheel, axis, damping
Device, encoder and electric brake composition, the power wheel is mounted on the center of the moving cell frame by the axis, in institute
It states and is provided with the supporting roller on the outside of power wheel, the damper is mounted on the lower section of the axis, the encoder and described
Electric brake is mounted on one end of the axis, and the rotary connection unit includes rotary shaft, swivel bearing, rotating nuts and company
Fitting, the rotary shaft are spirally connected through the connector and the swivel bearing and by the rotating nuts, the swivel bearing
Positioned at the two sides up and down of the connector, the power plant module includes robot balladeur train and robot core portion, the robot
Balladeur train nut is connected to the lower surface of the moving cell frame, and the robot core portion is installed under the robot balladeur train
Side, the robot core portion include electric-controlled box and sensor, and the electric-controlled box lower section and surrounding are provided with the sensor.
2. a kind of track machine people as described in claim 1, which is characterized in that the track is provided with trough of belt and trapezoidal convex
Ridge out, wherein the trapezoidal protrusion ridge may be arranged as rack shape.
3. a kind of track machine people as described in claim 1, which is characterized in that there are four types of dresses for the moving cell frame setting
With mode, respectively lock mode, semiautomatic fashion A, semiautomatic fashion B and full-automatic mode.
4. a kind of track machine people as claimed in claim 3, which is characterized in that the moving cell frame includes moving frame
Ontology, upper bearing (metal) slot, lower bearing slot, upper shaft hole, lower shaft hole, side are servo-actuated hole and side supporting roller axial trough, described when lock mode
Moving cell frame further includes rotation stop shaft end lock, rotation stop axis；When semiautomatic fashion A, the moving cell frame further includes bearing
Locating part, bearing, axis, rotation stop shaft end lock；When semiautomatic fashion B, the moving cell frame further includes rotation stop shaft end lock, rotation stop
Axis；When full-automatic mode, the moving cell frame further includes bearing, axis, rotation stop shaft end lock.
5. a kind of track machine people as described in claim 1, which is characterized in that two kinds of structures are arranged in the supporting roller, respectively
To rotate coaxially and being freely rotated two kinds.
6. a kind of track machine people as claimed in claim 3, which is characterized in that the power wheel is provided with two ways difference
Be rigidly connected for hub motor and wheel shaft, wherein the hub motor correspond to the moving cell frame lock mode and
Semiautomatic fashion B, the full-automatic mode and semiautomatic fashion A of the corresponding moving cell frame of wheel shaft rigid connection.
7. a kind of track machine people as claimed in claim 3, which is characterized in that the axis is divided into axis and lower axle, wherein institute
Stating lower axle setting, there are two types of differential structures, and respectively differential structure A and differential structure B, the differential structure A correspond to the movement
The full-automatic mode and semiautomatic fashion A, the differential structure B of unit framework correspond to the locking side of the moving cell frame
Formula.
8. a kind of track machine people as claimed in claim 7, which is characterized in that the damper is set to the upper axis and institute
When stating lower axle and the moving cell frame using semiautomatic fashion B and automated manner.
9. a kind of track machine people as claimed in claim 7, which is characterized in that the encoder and the electric brake with
When the differential structure A is corresponding, wherein the electric brake is divided into two kinds of situations.
10. a kind of track machine people as described in claim 1, which is characterized in that the electric-controlled box includes integrated dissipating cover, master
Box, sensor quick-disassembly structure and battery are controlled, the one dissipating cover is covered on the primary control box, the sensor quick-disassembly structure
It is installed on the lower section of the primary control box, the battery container is in the inside of the primary control box；The sensor quick-disassembly structure includes
Quick Release female and Quick Release male connector, the Quick Release female are installed on the lower section of the main aperture box, and the Quick Release male connector is installed on described
Sensor upper surface, the Quick Release male connector are adapted with the Quick Release female.
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Application publication date: 20190920 |