CN111604882A - Guide driving mechanism and walking mechanism of mobile robot - Google Patents
Guide driving mechanism and walking mechanism of mobile robot Download PDFInfo
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- CN111604882A CN111604882A CN202010581175.1A CN202010581175A CN111604882A CN 111604882 A CN111604882 A CN 111604882A CN 202010581175 A CN202010581175 A CN 202010581175A CN 111604882 A CN111604882 A CN 111604882A
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- guiding
- guide
- limiting
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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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- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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Abstract
The invention discloses a guide driving mechanism of a mobile robot, which comprises a driving unit and a guide limiting unit, wherein the driving unit comprises a first mounting assembly, a driving part, a driving wheel and a plurality of groups of bearing wheels; the multiple groups of bearing wheels are all positioned on the running track; the guide limiting unit comprises a second mounting assembly and a plurality of groups of guide limiting wheel sets, the lower end of the second mounting assembly is rotatably mounted on the first mounting assembly, at least one group of bearing wheels is mounted on the first mounting assembly, and the guide limiting wheel sets are arranged on the first mounting assembly or/and the second mounting assembly to limit the guide of the driving unit. The invention has the advantages of simple and compact structure, flexible action, strong trafficability and the like.
Description
Technical Field
The invention mainly relates to the technical field of robots, in particular to a guide driving mechanism and a walking mechanism of a mobile robot.
Background
With the development of economy and the progress of technology, robots are increasingly introduced into various industries to automatically transport goods or replace manual work to regularly inspect the goods. In many specific environments, due to the restriction of field conditions, the rail-mounted robot can only be used for conveying goods from the air or replacing manpower for periodic inspection. At present, guide driving mechanisms of rail-mounted robots are made to be relatively complex, for example, a cable tunnel inspection robot walking mechanism disclosed in patent No. CN201510159496.1 entitled "a cable tunnel inspection robot walking mechanism", and a walking mechanism disclosed in patent No. 2016101862211 entitled "a robot walking mechanism", which are all complex in structure.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides a guide driving mechanism and a walking mechanism of a mobile robot, which have simple and compact structure and strong trafficability.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a guide driving mechanism of a mobile robot comprises a driving unit and a guide limiting unit,
the driving unit comprises a first mounting assembly, a driving part, a driving wheel and a plurality of groups of bearing wheels, the driving part and the driving wheel are mounted on the first mounting assembly, the output end of the driving part is connected with the driving wheel, and the driving wheel is matched with the running track of the mobile robot for driving; the multiple groups of bearing wheels are all positioned on the running track;
the guide limiting unit comprises a second mounting assembly and a plurality of groups of guide limiting wheel sets, the lower end of the second mounting assembly is rotatably mounted on the first mounting assembly, at least one group of bearing wheels is mounted on the second mounting assembly, and the guide limiting wheel sets are arranged on the first mounting assembly or/and the second mounting assembly to guide and limit the driving unit.
As a further improvement of the above technical solution:
the second installation component comprises an installation plate and an installation arm, the installation plate is horizontally rotatably installed on the first installation component, the upper end of the installation arm is connected with the bearing wheel, and the lower end of the installation arm is connected with the installation plate through a fastening component.
The fastening assembly comprises a mounting column and a tension spring, one end of the mounting column penetrates through the mounting plate and the mounting arm and then is connected with one end of the tension spring, and the other end of the tension spring is connected with the first mounting assembly.
The multi-group guide limiting wheel set comprises a first guide limiting wheel set, the first guide limiting wheel set comprises a plurality of groups of first guide limiting wheels, each group of first guide limiting wheels comprises two first guide limiting wheels, and the two first guide limiting wheels are respectively clamped on the two sides of the upper portion of the operation track.
The multiple groups of guide limiting wheel sets also comprise second guide limiting wheel sets, each second guide limiting wheel set comprises more than one group of second guide limiting wheels, and each group of second guide limiting wheels comprises two second guide limiting wheels which are respectively positioned at two sides of the lower part of the running track so as to clamp the running track; the first guide limiting wheel set and the second guide limiting wheel set are matched together to guide and limit the driving unit in the left and right directions.
The multiple groups of guide limiting wheel sets comprise third guide limiting wheel sets, each third guide limiting wheel set comprises more than one group of third guide limiting wheels, each group of third guide limiting wheels comprises four third guide limiting wheels, two third guide limiting wheels are positioned above and below one side of the upper part of the running track to clamp and limit the upper part and the lower part of the upper part of the running track, and the other two third guide limiting wheels are positioned above and below the other side of the upper part of the running track to clamp, guide and limit the upper part and the lower part of the upper part of the running track; the first guide limiting wheel set and the third guide limiting wheel set are matched together to guide and limit the driving unit in the up-and-down direction.
At least one group of first guide limiting wheels are positioned on the second mounting assembly.
The running track is provided with a rack, and the driving wheel is meshed with the rack to drive.
The invention also discloses a walking mechanism of the mobile robot, which comprises a running track and the guide driving mechanism of the mobile robot.
As a further improvement of the above technical solution:
the running track is an I-shaped track.
Compared with the prior art, the invention has the advantages that:
according to the guide driving mechanism of the mobile robot, the second mounting assembly is rotatably mounted on the first mounting assembly, so that the robot can be guaranteed to smoothly turn in a small radius, and the trafficability of the robot is improved; and the driving unit and the guide limiting unit have simple and compact integral structure, simple and convenient operation and flexible action.
According to the guide driving mechanism of the mobile robot, when the mobile robot turns in a small radius, the second mounting assembly can integrally rotate at a certain angle, so that the mobile robot can smoothly pass through the guide driving mechanism; on this basis, connect mount pad and second installation component through the extension spring, guarantee that second installation component both can rotate smoothly when the small radius turns, also can guarantee through its pulling force that it can not rotate when the straight line track simultaneously, guarantee its normal linear motion.
The guide driving mechanism of the mobile robot is provided with a plurality of groups of guide limiting wheel sets for guide limiting on the basis of the running track with simple structure, so that the running stability of the robot is guaranteed, and meanwhile, the integral guide limiting unit is simple and compact in structure, flexible in action and easy to realize.
Drawings
Fig. 1 is one of the structural views of the guide driving mechanism of the present invention in a specific application.
Fig. 2 is a second structural view of the guiding driving mechanism of the present invention in a specific application.
The reference numbers in the figures denote: 1. a drive unit; 11. a first mounting assembly; 111. a mounting seat; 12. a drive wheel; 13. a load-bearing wheel; 14. a rack; 2. a guide limit unit; 21. a second mounting assembly; 211. mounting a plate; 212. mounting an arm; 213. a fastening assembly; 2131. mounting a column; 22. a guide limit wheel set; 221. a first guiding limit wheel set; 2211. a first guide limiting wheel; 222. a second guiding limit wheel set; 2221. a second guide limiting wheel; 223. a third guiding limit wheel set; 2231. a third guide limiting wheel; 3. running the track; 4. a rail hanging assembly; 41. hanging a rail; 42. a connecting plate; 5. a power supply assembly; 51. installing the section bar; 52. a card holder; 53. a trolley line; 54. a current collector.
Detailed Description
The invention is further described below with reference to the figures and the specific embodiments of the description.
As shown in fig. 1 and fig. 2, the guiding driving mechanism of the mobile robot in this embodiment is suitable for a rail-mounted robot, and specifically includes a driving unit 1 and a guiding limiting unit 2, where the driving unit 1 includes a first mounting assembly 11, a driving member (e.g., a driving motor, not shown in the figure), a driving wheel 12 and a plurality of sets of bearing wheels 13, the driving member and the driving wheel 12 are both mounted on the first mounting assembly 11, an output end of the driving motor is connected to the driving wheel 12, and the driving wheel 12 and the running track 3 of the mobile robot are matched with each other to drive; the multiple groups of bearing wheels 13 are all positioned on the running track 3 to bear the mobile machine and rotate on the running track 3; the guiding limiting unit 2 comprises a second mounting assembly 21 and a plurality of guiding limiting wheel sets 22, the lower end of the second mounting assembly 21 is horizontally and rotatably mounted on the first mounting assembly 11, at least one group of bearing wheels 13 is mounted on the second mounting assembly 21, and each guiding limiting wheel set 22 is arranged on the first mounting assembly 11 or/and the second mounting assembly 21 to guide and limit the driving unit 1.
According to the guide driving mechanism of the mobile robot, the second mounting assembly 21 can horizontally rotate on the first mounting assembly 11, so that the robot can be guaranteed to smoothly turn in a small radius, and the passing performance of the robot is improved; and the driving unit 1 and the guide limiting unit 2 have simple and compact integral structure, simple and convenient operation and flexible action.
In this embodiment, the first mounting assembly 11 includes a mounting seat 111, the second mounting assembly 21 includes a mounting plate 211 and a mounting arm 212, and the mounting plate 211 is horizontally and rotatably mounted on the first mounting assembly 11 and can rotate on a horizontal plane; the mounting arms 212 are disposed on both sides of the running rail 3, and have upper ends connected to the bearing wheels 13 and lower ends connected to the mounting plates 211 through fastening members 213. The fastening assembly 213 includes a mounting post 2131 and a tension spring (not shown), one end of the mounting post 2131 passes through the mounting plate 211 and the mounting arm 212 and then is connected to one end of the tension spring, and the other end of the tension spring is hooked on the mounting base 111, for example, the mounting base 111 is also provided with the tension spring mounting post. When the small-radius turning is carried out, the whole second mounting assembly 21 can rotate at a certain angle, so that the mobile robot can smoothly pass through the whole second mounting assembly; on this basis, connect mount pad 111 and second installation component 21 through the extension spring, guarantee that second installation component 21 both can rotate smoothly when the small radius turns, also can guarantee through its pulling force that it can not rotate when the straight line track simultaneously, guarantee its normal rectilinear motion.
As shown in fig. 1 and fig. 2, in this embodiment, the running rail 3 is an i-steel rail, and the bearing wheels 13 roll on the upper surface of the running rail 3, and the structure of the running rail 3 is relatively simple, so each group of guiding limiting wheel sets 22 is designed on the basis, specifically, the plurality of groups of guiding limiting wheel sets 22 includes a first guiding limiting wheel set 221, the first guiding limiting wheel set 221 includes two groups of first guiding limiting wheels 2211, each group of first guiding limiting wheels 2211 includes two first guiding limiting wheels 2211, and the circumferential side of the first guiding limiting wheels 2211 is provided with a slot, and is clamped on two sides of the upper portion of the running rail 3 through the slot. Specifically, one set of the first guiding limiting wheels 2211 is located on the mounting base 111, and the other set of the first guiding limiting wheels 2211 is located on the mounting arm 212, so that the whole driving unit 1 can be guided and limited in the vertical and horizontal directions by the arrangement of the first guiding limiting wheels 2211, and smooth operation of the mobile robot is guaranteed.
Further, the plurality of guiding and limiting wheel sets 22 further include a second guiding and limiting wheel set 222, the second guiding and limiting wheel set 222 includes a plurality of second guiding and limiting wheels 2221, each second guiding and limiting wheel 2221 includes two second guiding and limiting wheels 2221, which are respectively located at two sides of the lower portion of the running track 3 to clamp the lower portion of the running track 3; specifically, the second guide spacing wheel 2221 is located on the mounting base 111, and is close to the mounting plate 211 side. The driving unit 1 is guided and limited in the left-right direction by the cooperation of the first guiding and limiting wheel set 221 and the second guiding and limiting wheel set 222. The whole structure is simple and compact, and the operation reliability is high.
Furthermore, the multiple guiding and limiting wheel sets 22 further include a third guiding and limiting wheel set 223, the third guiding and limiting wheel set 223 includes a set of third guiding and limiting wheels 2231, each set of third guiding and limiting wheels 2231 includes four third guiding and limiting wheels 2231, two of the third guiding and limiting wheels 2231 are located above and below one side of the upper portion of the running track 3 to clamp and limit the upper and lower portions of the upper portion of the running track 3, and the other two third guiding and limiting wheels 2231 are located above and below the other side of the upper portion of the running track 3 to clamp and limit the upper and lower portions of the upper portion of the running track 3; the first guiding limiting wheel set 221 and the third guiding limiting wheel set 223 are matched together to guide and limit the driving unit 1 in the up-down direction. The whole structure is simple and compact, and the operation reliability is high.
In above-mentioned specific direction spacing unit 2, on the basis of simple structure's orbit 3, dispose the spacing wheelset 22 of multiunit direction and lead spacing, ensured the operating stability of robot, the spacing unit 2's of whole direction simple structure is compact simultaneously, and the action is dexterous, and easily realizes. Of course, the number of the guiding and limiting wheel sets 22 is not limited, and in other embodiments, different numbers of guiding and limiting wheel sets 22 are configured according to actual field requirements.
In this embodiment, the running track 3 is provided with a rack 14, and the driving wheel 12 and the rack 14 are engaged with each other to drive, so that the structure is simple and compact, and the implementation is easy.
As shown in fig. 1 and fig. 2, the invention also discloses a running mechanism of a mobile robot, comprising a running track 3, a rail hanging assembly 4, a power supply assembly 5 and the guiding driving mechanism of the mobile robot. Wherein the running track 3 is an i-shaped track. The hanging rail assembly 42 comprises a hanging rail 41 and a connecting plate 42, one end of the hanging rail 41 is connected with the running track 3, the other end of the hanging rail is connected with the connecting plate 42, and the connecting plate 42 is installed on the wall surface; the power supply assembly 5 comprises a mounting section 51, a plurality of clamping seats 52 and a sliding contact line 53, the mounting section 51 is fixed on the hanging rail 41 along the arrangement direction of the running rail 3 and is positioned above the running rail 3, namely, the mounting section is parallel to the running rail 3, the sliding contact line 53 is fixed on the mounting section 51 through the clamping seats 52 distributed on the mounting section 51 at intervals, wherein one side of each clamping seat 52 is provided with more than one clamping groove, and the sliding contact line 53 is arranged in each clamping groove; one end of the trolley line 53 is connected to a power supply, and then can perform carrier communication and supply power to the mobile robot.
In this embodiment, the upper surface of the travel rail 3 forms a rail surface on which the load bearing wheels 13 of the mobile robot travel. When the mobile robot runs, the bearing wheels 13 move on the track surface of the running track 3, and the current collector 54 on the mobile robot is in close elastic contact with the sliding contact line 53 to continuously supply power to the robot; the track system adopts a simple track appearance structural design, the operation track 3 is miniaturized while the structural design is simplified, the weight of the operation track 3 is reduced while the load is met, the processing, the hoisting and the splicing are convenient, the installation is convenient, and the operation track 3 is small and simple in structure and does not need to reduce weight and adopts a hollow lightening hole, so that the deformation is not easy to occur even in horizontal bending, and the trafficability of the mobile robot is ensured; because the running track 3 has a simple structure, the correspondingly configured guide limiting unit 2 has a simple and compact structure, and the whole running mechanism has a simple and compact structure.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make numerous possible variations and modifications to the present invention, or modify equivalent embodiments to equivalent variations, without departing from the scope of the invention, using the teachings disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.
Claims (10)
1. A guide driving mechanism of a mobile robot is characterized by comprising a driving unit (1) and a guide limiting unit (2),
the driving unit (1) comprises a first mounting assembly (11), a driving part, driving wheels (12) and a plurality of groups of bearing wheels (13), wherein the driving part and the driving wheels (12) are mounted on the first mounting assembly (11), the output end of the driving part is connected with the driving wheels (12), and the driving wheels (12) are matched with the running track (3) of the mobile robot for driving; the multiple groups of bearing wheels (13) are all positioned on the running track (3);
the guide limiting unit (2) comprises a second mounting assembly (21) and a plurality of groups of guide limiting wheel sets (22), the lower end of the second mounting assembly (21) is rotatably mounted on the first mounting assembly (11), at least one group of bearing wheels (13) is mounted on the second mounting assembly (21), and the guide limiting wheel sets (22) are arranged on the first mounting assembly (11) or/and the second mounting assembly (21) to limit the guide of the driving unit (1).
2. The guiding driving mechanism of mobile robot as claimed in claim 1, wherein the second mounting assembly (21) comprises a mounting plate (211) and a mounting arm (212), the mounting plate (211) is horizontally and rotatably mounted on the first mounting assembly (11), the upper end of the mounting arm (212) is connected with the bearing wheel (13), and the lower end of the mounting arm (212) is connected with the mounting plate (211) through a fastening assembly (213).
3. The guide driving mechanism of a mobile robot according to claim 2, wherein the fastening assembly (213) comprises a mounting post (2131) and a tension spring, one end of the mounting post (2131) passes through the mounting plate (211) and the mounting arm (212) and is connected with one end of the tension spring, and the other end of the tension spring is connected with the first mounting assembly (11).
4. The guiding driving mechanism of mobile robot as claimed in claim 1, 2 or 3, wherein the guiding limiting wheel sets (22) comprise first guiding limiting wheel sets (221), the first guiding limiting wheel sets (221) comprise first guiding limiting wheels (2211), and each first guiding limiting wheel set (2211) comprises two first guiding limiting wheels (2211) respectively clamped on two sides of the upper part of the running track (3).
5. The guiding driving mechanism of mobile robot as claimed in claim 4, wherein the plurality of guiding and limiting wheel sets (22) further comprises a second guiding and limiting wheel set (222), the second guiding and limiting wheel set (222) comprises more than one set of second guiding and limiting wheels (2221), each set of second guiding and limiting wheels (2221) comprises two second guiding and limiting wheels (2221) respectively located at two sides of the lower part of the running track (3) to clamp the running track (3); the first guide limiting wheel set (221) and the second guide limiting wheel set (222) are matched together to guide and limit the driving unit (1) in the left and right directions.
6. The guiding driving mechanism of the mobile robot according to claim 4, wherein the plurality of guiding and limiting wheel sets (22) comprise a third guiding and limiting wheel set (223), the third guiding and limiting wheel set (223) comprises more than one group of third guiding and limiting wheels (2231), each group of third guiding and limiting wheels (2231) comprises four third guiding and limiting wheels (2231), two of the third guiding and limiting wheels (2231) are located above and below one side of the upper part of the running track (3) to clamp and limit the upper part and the lower part of the upper part of the running track (3), and the other two third guiding and limiting wheels (2231) are located above and below the other side of the upper part of the running track (3) to clamp, guide and limit the upper part and the lower part of the upper part of the running track (3); the first guide limiting wheel set (221) and the third guide limiting wheel set (223) are matched together to guide and limit the driving unit (1) in the up-down direction.
7. The guiding driving mechanism of mobile robot as claimed in claim 4, characterized in that at least one set of the first guiding limiting wheels (2211) is located on the second mounting assembly (21).
8. The guiding driving mechanism of a mobile robot according to claim 1, 2 or 3, characterized in that a rack (14) is installed on the running track (3), and the driving wheel (12) and the rack (14) are engaged with each other for driving.
9. A running gear of a mobile robot, comprising a running rail (3), characterized by further comprising a guiding drive of a mobile robot according to any of claims 1-8.
10. Running gear for a mobile robot according to claim 9, characterised in that the running rails (3) are i-shaped rails.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010581175.1A CN111604882A (en) | 2020-06-23 | 2020-06-23 | Guide driving mechanism and walking mechanism of mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010581175.1A CN111604882A (en) | 2020-06-23 | 2020-06-23 | Guide driving mechanism and walking mechanism of mobile robot |
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| Publication Number | Publication Date |
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| CN111604882A true CN111604882A (en) | 2020-09-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010581175.1A Pending CN111604882A (en) | 2020-06-23 | 2020-06-23 | Guide driving mechanism and walking mechanism of mobile robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113815655A (en) * | 2021-01-08 | 2021-12-21 | 京东科技信息技术有限公司 | Rail-mounted driving device and driving system, rail-mounted robot and robot system |
| CN114147681A (en) * | 2021-11-15 | 2022-03-08 | 杭州申昊科技股份有限公司 | High-precision curve guide rail driven electric driving mechanism based on double reference surfaces and robot |
| CN114393562A (en) * | 2021-12-22 | 2022-04-26 | 山西三合盛智慧科技股份有限公司 | Intelligent conveying belt is with hanging rail formula robot of patrolling and examining |
-
2020
- 2020-06-23 CN CN202010581175.1A patent/CN111604882A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113815655A (en) * | 2021-01-08 | 2021-12-21 | 京东科技信息技术有限公司 | Rail-mounted driving device and driving system, rail-mounted robot and robot system |
| CN114147681A (en) * | 2021-11-15 | 2022-03-08 | 杭州申昊科技股份有限公司 | High-precision curve guide rail driven electric driving mechanism based on double reference surfaces and robot |
| CN114393562A (en) * | 2021-12-22 | 2022-04-26 | 山西三合盛智慧科技股份有限公司 | Intelligent conveying belt is with hanging rail formula robot of patrolling and examining |
| CN114393562B (en) * | 2021-12-22 | 2024-02-02 | 山西三合盛智慧科技股份有限公司 | Intelligent conveying belt is with hanging rail formula robot of patrolling and examining |
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