CN112621708A - Steering unit and track robot assembly - Google Patents
Steering unit and track robot assembly Download PDFInfo
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- CN112621708A CN112621708A CN202011255838.7A CN202011255838A CN112621708A CN 112621708 A CN112621708 A CN 112621708A CN 202011255838 A CN202011255838 A CN 202011255838A CN 112621708 A CN112621708 A CN 112621708A
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- 239000003638 chemical reducing agent Substances 0.000 claims description 18
- 238000004146 energy storage Methods 0.000 claims description 12
- 238000013016 damping Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims description 5
- 239000004677 Nylon Substances 0.000 description 6
- 229920001778 nylon Polymers 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000035939 shock Effects 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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- 238000000926 separation method Methods 0.000 description 1
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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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Abstract
The invention relates to the technical field of rail robots, and discloses a steering unit and a rail robot assembly; the steering unit includes: mounting a plate; a rotating member rotatably connected to the mounting plate and rotatable about a first axis; the elastic pieces are arranged on two sides of the first axis, and two ends of each elastic piece act on the mounting plate and the rotating piece respectively; and the rotating piece is provided with the guide wheels on two sides of the first axis in a rotating manner. Because the rotation piece can rotate for the mounting panel, and all be provided with the elastic component in the both sides of axis of rotation, when rotating under the turning radius's of difference condition, can make the rotation piece rotate under the effect of elastic component, can make the unit that turns to adapt to different turning radii. And steering is possible with a small turning radius.
Description
Technical Field
The invention relates to the technical field of rail robots, in particular to a steering unit and a rail robot assembly.
Background
With the rapid development and high repetition of the robot technology, high-risk work is gradually replaced by automatic equipment, and part of manual work is gradually replaced in special fields such as exploration, security and protection, combat and the like in the aspect of robots. The main feature of these areas is the complexity and uncertainty of the working environment, where work is often difficult or inefficient to develop by a human-dominated workforce.
Under the background, the rail type robot can run at various heights along the rail compared with a ground robot, the rail type robot works in a space with low utilization rate in the environment, high-speed operation under a preset track can be realized, and the rail type robot has extremely high value in the aspects of routing inspection, transportation and the like. On occasions with certain requirements on safety, robots walking along a track are increasingly adopted. However, the conventional track robot has the defects of overlarge volume, inconvenience in maintenance and difficulty in realizing turning with different turning radiuses and small radiuses. In some special occasions with dense equipment, prisons and troops, the practical requirements are difficult to meet.
Therefore, a steering unit and a track robot assembly are needed to solve the above-mentioned problems.
Disclosure of Invention
The invention aims to provide a steering unit and a track robot assembly, which can adapt to different turning radiuses and can steer under the condition of a small turning radius.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, there is provided a steering unit comprising:
mounting a plate;
a rotating member rotatably connected to the mounting plate and rotatable about a first axis;
the elastic pieces are arranged on two sides of the first axis, and two ends of each elastic piece act on the mounting plate and the rotating piece respectively;
and the rotating piece is provided with the guide wheels on two sides of the first axis in a rotating manner.
As a preferable mode of the steering unit, the steering unit further includes a driven wheel rotatably provided on the rotating member and rotatable about a second axis, and the first axis and the second axis are provided perpendicular to each other.
As a preferred technical scheme of the steering unit, the guide wheel and the driven wheel are rubber wheels; or rubber rings are sleeved on the outer sides of the guide wheel and the driven wheel.
As a preferred technical solution of the steering unit, the mounting plate is provided with two engaging lugs, the rotating member is disposed between the two engaging lugs and is rotatably connected with the engaging lugs, and a wear pad is disposed between the rotating member and the engaging lugs; or
The rotor is provided with two engaging lugs, the mounting panel sets up two between the engaging lug, and with the engaging lug rotates to be connected, the mounting panel with be provided with wear pad between the engaging lug.
In a second aspect, a rail robot assembly is provided, which comprises a robot and a T-shaped rail, wherein the T-shaped rail comprises a bearing rail and a guide rail which are vertically arranged; the robot includes:
the steering unit is characterized in that the guide wheel is in rolling contact with the guide rail, and the driven wheel is in rolling contact with one side of the bearing rail close to the guide rail;
and the driving unit comprises a driving piece and a driving wheel in transmission connection with the driving piece, and the driving wheel rolls and presses against one side of the bearing rail, which is far away from the guide rail.
As a preferred technical solution of the track robot assembly, the robot further comprises a skeleton and auxiliary wheels;
the mounting plate is fixed on the framework, the number of the steering units is four, the steering units are divided into two groups, the two groups of steering units are arranged at intervals along the length direction of the T-shaped track, and the two steering units in each group are respectively positioned on two sides of the guide rail;
the auxiliary wheel is rotationally arranged on the framework, the auxiliary wheel rolls to abut against the bearing rail, and the driving wheel and the auxiliary wheel are arranged at intervals.
As an optimal technical scheme of a track robot assembly, the drive unit still includes speed reducer and damper, the driving piece passes through the speed reducer with the drive wheel transmission is connected, damper sets up on the skeleton, the speed reducer sets up damper is last.
As an optimal technical scheme of a track robot assembly, shock-absorbing component includes attenuator, support and support frame, the both ends of attenuator respectively with the one end of support frame is articulated, the other end of support with the other end of support frame is articulated, the support frame sets up on the skeleton, the speed reducer sets up on the support.
As an optimal technical scheme of a track robot assembly, the robot further comprises an energy storage device and a driving controller, wherein the energy storage device is arranged in the framework, the energy storage device and the driving controller are both electrically connected with the driving piece, and the driving controller is used for controlling the operation of the driving piece.
As a preferred technical solution of the track robot assembly, the robot further includes an electrostatic brush disposed on the skeleton, and the electrostatic brush is in contact with the T-shaped track.
The invention has the beneficial effects that:
when the robot needs to turn, the guide wheel at the front end of the steering unit can be compressed, and the rotating part can rotate under the action of the elastic part, so that the driven wheel can be steered, and the robot can be steered. The rotating part can rotate relative to the mounting plate, and the elastic parts are arranged on the two sides of the first axis, so that when the robot rotates under the condition of different turning radiuses, the rotating part can rotate under the action of the elastic parts, the driven wheel can be steered, and the robot can be steered; so that the steering unit can be adapted to different turning radii to change the turning radius of the robot. After the vehicle turns, the elastic piece can drive the guide wheel to be adjusted to a straight-going state in time.
The two guide wheels of the steering unit are guided and the rotary part can be rotated relative to the mounting plate, also in the case of small turning radii.
Drawings
FIG. 1 is a first schematic structural diagram of a track robot assembly provided by the present invention;
FIG. 2 is a schematic structural diagram II of the track robot assembly provided by the present invention;
FIG. 3 is a cross-sectional view of the orbital robot assembly provided by the present invention;
FIG. 4 is a first schematic structural diagram of a steering unit provided in the present invention;
FIG. 5 is a second schematic structural view of a steering unit according to the present invention;
FIG. 6 is a first schematic structural diagram of a driving unit provided in the present invention;
fig. 7 is a schematic structural diagram of a driving unit according to the present invention.
In the figure: 10. a robot;
1. a steering unit; 11. mounting a plate; 111. connecting lugs; 12. a rotating member; 13. a rotating shaft; 14. an elastic member; 15. a guide wheel; 16. a driven wheel; 17. a wear resistant sheet;
2. a drive unit; 21. a drive member; 22. a drive wheel; 23. a speed reducer; 24. a shock absorbing assembly; 241. a damper; 242. a support; 243. a support frame; 2431. a support plate; 2432. a connecting plate; 244. a nylon spacer sleeve;
3. a framework; 4. an auxiliary wheel; 5. an energy storage device; 6. a drive controller; 7. an electrostatic brush;
20. a T-shaped track; 201. a load bearing rail; 202. a guide rail.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally placed when the products of the present invention are used, and are used only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements to be referred to must have specific orientations, be constructed in specific orientations, and operate, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
As shown in fig. 1 to 7, the present embodiment discloses a rail robot assembly including a robot 10 and a T-shaped rail 20, the robot 10 including a steering unit 1 and a driving unit 2.
The steering unit 1 includes a mounting plate 11, a rotating member 12, an elastic member 14, and a guide wheel 15. The rotating part 12 is rotatably connected with the mounting plate 11 and can rotate around a first axis, specifically, the rotating part 12 is rotatably connected with the mounting plate 11 through a rotating shaft 13, and the axis of the rotating shaft 13 is the first axis. In this embodiment, the mounting plate 11 is provided with two connecting lugs 111, the rotating shaft 13 penetrates through the connecting lugs 111 and the rotating member 12, a wear-resistant plate 17 is arranged between the rotating member 12 and the connecting lugs 111, and the rotating shaft 13 is sleeved with the wear-resistant plate 17. The wear-resistant plate 17 can prevent the rotating member 12 and the engaging lug 111 from directly contacting, and the wear-resistant plate 17 is relatively wear-resistant, so that the contact wear between the engaging lug 111 and the rotating member 12 can be avoided, and the wear of the rotating member 12 and the engaging lug 111 can be reduced, thereby ensuring the operation precision of the steering unit 1. In other embodiments, two connecting lugs 111 may be further disposed on the rotating member 12, the rotating shaft 13 is disposed through the connecting lugs 111 and the mounting plate 11, a wear-resistant plate 17 is disposed between the mounting plate 11 and the connecting lugs 111, and the wear-resistant plate 17 is sleeved on the rotating shaft 13.
Both sides of the rotation shaft 13 are provided with elastic members 14, and both ends of the elastic members 14 respectively act on the mounting plate 11 and the rotation member 12. Specifically, both ends of the elastic member 14 abut against the mounting plate 11 and the rotating member 12, grooves are provided on both the mounting plate 11 and the rotating member 12, and the ends of the elastic member 14 are located in the grooves. The elastic member 14 in this embodiment is preferably a compression spring. The mounting plate 11 can be parallel to the rotating member 12 by the two elastic members 14.
The rotary member 12 is rotatably provided with guide wheels 15 on both sides of the rotary shaft 13, and the rotary shaft 13 line of the guide wheels 15 and the steering shaft are arranged in parallel. Preferably, the steering unit 1 further comprises a driven wheel 16, which is rotatably arranged on the rotary member 12 and is rotatable about a second axis, the first and second axes being arranged perpendicular to each other. Preferably, in the present embodiment, the guide wheel 15 and the driven wheel 16 are both rubber wheels; in other embodiments, rubber rings can also be sleeved on the outer sides of the guide wheel 15 and the driven wheel 16. This arrangement increases the friction between the guide wheel 15 and the driven wheel 16 and the T-shaped rail 20, and prevents the guide wheel 15 and the driven wheel 16 from slipping.
The T-shaped rail 20 includes a carrier rail 201 and a guide rail 202 vertically connected to the middle of the carrier rail 201. The mounting plate 11 is fixed on the framework 3, the guide wheel 15 rolls and presses against the guide rail 202, and the driven wheel 16 of the steering unit 1 rolls and presses against one side of the bearing rail 201 close to the guide rail 202.
Preferably, the robot 10 further includes a skeleton 3 and auxiliary wheels 4. In this embodiment, the number of the steering units 1 is four, and the steering units are divided into two groups, two groups of the steering units 1 are arranged at intervals along the length direction of the T-shaped rail 20, and two steering units 1 in each group are respectively located on two sides of the guide rail 202. Specifically, four steering units 1 are respectively located at four corners of the frame 3, and the guide wheels 15 and the driven wheels 16 are both disposed toward the inside. The guide wheels 15 of two steering units 1 in the same group respectively roll and press against two sides of the guide rail 202, and the driven wheels 16 are respectively located on two sides of the guide rail 202 and roll and press against one side of the bearing rail 201 close to the guide rail 202.
The driving unit 2 includes a driving member 21 and a driving wheel 22 in transmission connection with an output end of the driving member 21, and the driving wheel 22 rolls and presses against a side of the carrying rail 201 away from the guide rail 202. The driving units 2 are arranged on the framework 3, the auxiliary wheels 4 are rotationally arranged on the framework 3, the auxiliary wheels 4 roll to abut against the bearing rail 201, the driving wheels 22 and the auxiliary wheels 4 are arranged at intervals, and specifically, the driving wheels 22 are positioned on one side of one group of steering units 1 far away from the bearing rail 201; the auxiliary wheels 4 are located on the side of the other set of steering units 1 remote from the carrier rail 201. I.e. the driving wheel 22 and the auxiliary wheel 4 are located at the respective ends of the frame 3. In this embodiment, the number of the auxiliary wheels 4 is two, and the two auxiliary wheels 4 are arranged side by side and are both rolled and pressed against the bearing rail 201. The arrangement of the two sets of steering units 1 and the auxiliary wheels 4 can balance the problem of uneven distribution of front and rear inertia forces during high-speed running of the robot 10. The driving wheel 22 and the driven wheel 16 are respectively pressed against two sides of the bearing rail 201, and the guide wheels 15 of the steering units 1 in the same group are respectively pressed against two sides of the guide rail 202, so that the phenomenon that the driving wheel 22, the driven wheel 16 and the guide wheels 15 slip can be greatly avoided, and the position of the robot 10 can be calculated according to the number of turns of the driving wheel 22.
Preferably, the driving unit 2 further includes a speed reducer 23 and a damping assembly 24, the driving wheel 22 is disposed at an output end of the speed reducer 23, an output end of the driving member 21 is connected to an input end of the speed reducer 23, the damping assembly 24 is disposed on the framework 3, and the speed reducer 23 is disposed on the damping assembly 24. The specific driving wheel 22 is a rubber wheel or a rubber ring is sleeved on the outer side of the driving wheel 22, so that the friction force between the driving wheel 22 and the bearing rail 201 can be increased, and the driving wheel 22 is prevented from slipping. The speed reducer 23 is fixedly connected with the driving member 21, and an output shaft of the driving member 21 is fixedly connected with an input shaft of the speed reducer 23, and specifically, the speed reducer can be connected through a coupling or can be integrally formed. The driving member 21 is a servo motor in this embodiment, and may be a stepping motor in other embodiments.
Specifically, the shock absorbing assembly 24 includes a damper 241, a bracket 242, and a support bracket 243, two ends of the damper 241 are respectively hinged to one end of the bracket 242 and one end of the support bracket 243, the other end of the bracket 242 is hinged to the other end of the support bracket 243, the support bracket 243 is disposed on the framework 3, and the speed reducer 23 is disposed on the bracket 242. More specifically, the number of the dampers 241 in the present embodiment is two, specifically, the spring dampers 241, and the two dampers 241 are arranged side by side. Two lug plates extend out of the first end of the support 242, a connecting shaft penetrates through the two lug plates, the first end of the damper 241 is rotatably arranged on the connecting shaft, nylon isolation sleeves 244 are arranged between the lug plates and the damper 241 and between the two dampers 241, and the nylon isolation sleeves 244 are sleeved on the connecting shaft. The support frame 243 includes two support plates 2431 and a connecting plate 2432, which are disposed side by side, the support plate 2431 is L-shaped, the connecting plate 2432 is connected to an end of a short side of the support plate 2431, and the connecting plate 2432 is fixed to the frame 3 to fix the damping member 24 to the frame 3. The turning positions of the two supporting plates 2431 are connected through a connecting shaft, the second ends of the dampers 241 are rotatably arranged on the connecting shaft, nylon isolating sleeves 244 are arranged between the supporting plates 2431 and the dampers 241 and between the two dampers 241, and the nylon isolating sleeves 244 are sleeved on the connecting shaft. The nylon spacer 244 can position the damper 241 at a set position without displacement, which results in failure to continue damping. The end of the long side of the support plate 2431 is rotatably connected to the bracket 242 by a rotating shaft. The support 242 can rotate relative to the support 243 to allow the damper 241 to contract or extend for shock absorption.
Preferably, the robot 10 further includes an energy storage device 5 and a driving controller 6, the energy storage device 5 is disposed in the framework 3, the energy storage device 5 and the driving controller 6 are both electrically connected to the driving member 21, the driving controller 6 is disposed on the framework 3, and the driving controller 6 is configured to control operation of the driving member 21. The driving controller may be a centralized or distributed controller, for example, it may be a single-chip microcomputer, such as an STM32 single-chip microcomputer, or it may be composed of a plurality of distributed single-chip microcomputers, and the single-chip microcomputers may run control programs to control the operation of the driving member 21 electrically connected thereto. The energy storage means 5 is embodied as a super capacitor energy storage system and incorporates a dc power supply system for providing power to the drive member 21. The driving controller 6 is used to control the rotation speed of the driving member 21 to control the rotation speed of the driving wheel 22, thereby controlling the walking speed of the robot 10.
Preferably, the robot 10 further includes an electrostatic brush 7 disposed on the skeleton 3, the electrostatic brush 7 being in contact with the T-shaped rail 20. Specifically, the electrostatic brush 7 is provided on both sides of the guide rail 202, and the electrostatic brush 7 is in contact with the carrier rail 201. The electrostatic brush 7 can transfer static electricity generated by the robot 10 in the operation process to the T-shaped track 20 and then transmit the static electricity to the ground, so that the static electricity is prevented from influencing the normal operation of the robot 10.
The overall structural design of the robot 10 is compact, each function is modular, the robot is applicable to small turning radii, and the robot is stable in operation and convenient to maintain and repair.
After the driving member 21 is powered on, the driving member 21 drives the speed reducer 23 to operate, so as to drive the driving wheel 22 to rotate, and drive the framework 3 to move relative to the T-shaped rail 20, and the driven wheel 16 and the guide wheel 15 will follow the rotation during the moving process. When a turn is required, the guide wheels 15 at the front end of the steering unit 1 are compressed, and the rotation member 12 is rotated by the elastic member 14, so that the driven wheels 16 and thus the robot 10 are steered. Because the rotating part 12 can rotate relative to the mounting plate 11 and the elastic parts 14 are arranged on both sides of the rotating shaft 13, when the robot rotates under the condition of different turning radii, the rotating part 12 can be rotated under the action of the elastic parts 14, so that the driven wheel 16 and the robot 10 are turned; to adapt the steering unit 1 to different turning radii and thereby change the turning radius of the robot 10. After turning, the elastic member 14 can drive the guide wheel 15 to adjust to the straight state in time.
The two guide wheels 15 of the steering unit 1 are guided, the rotating piece 12 can rotate relative to the mounting plate 11, and the steering can be performed under the condition of small turning radius, and the smaller the spacing distance between the two guide wheels 15 of the steering unit 1 is, the smaller the turning radius of the steering unit 1 can be; the smaller the separation distance of the two sets of steering units 1, the smaller the turning radius of the robot 10 can be.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A steering unit, characterized by comprising:
a mounting plate (11);
a rotor (12) rotatably connected to the mounting plate (11) and rotatable about a first axis;
the elastic piece (14) is arranged on each of two sides of the first axis, and two ends of the elastic piece (14) respectively act on the mounting plate (11) and the rotating piece (12);
a guide wheel (15), the rotary member (12) being rotatably provided with the guide wheel (15) on both sides of the first axis.
2. Steering unit according to claim 1, further comprising a driven wheel (16) rotatably arranged on the rotary member (12) and rotatable about a second axis, the first and second axes being arranged perpendicular to each other.
3. Steering unit according to claim 1, characterized in that the guide wheel (15) and the driven wheel (16) are both rubber wheels; or the like, or, alternatively,
rubber rings are sleeved on the outer sides of the guide wheel (15) and the driven wheel (16).
4. Steering unit according to claim 2, wherein the mounting plate (11) is provided with two lugs, the rotary member (12) is arranged between the two lugs and is rotatably connected to the lugs, and a wear plate (17) is arranged between the rotary member (12) and the lugs; or
Rotate and be provided with two engaging lugs on piece (12), mounting panel (11) set up two between the engaging lug, and with the engaging lug rotates to be connected, mounting panel (11) with be provided with wear pad (17) between the engaging lug.
5. A track robot assembly is characterized by comprising a robot (10) and a T-shaped track (20), wherein the T-shaped track (20) comprises a bearing track (201) and a guide track (202) which are vertically arranged; the robot (10) comprises:
steering unit (1) according to any one of claims 2-4, the guide wheel (15) rolling against the guide rail (202), the driven wheel (16) rolling against the side of the carrying rail (201) close to the guide rail (202);
the driving unit (2) comprises a driving piece (21) and a driving wheel (22) in transmission connection with the driving piece (21), and the driving wheel (22) is in rolling contact with one side, away from the guide rail (202), of the bearing rail (201).
6. The orbital robot assembly of claim 5 wherein the robot (10) further comprises a skeleton (3) and auxiliary wheels (4);
the mounting plates (11) are fixed on the framework (3), the number of the steering units (1) is four, the steering units are divided into two groups, the two groups of steering units (1) are arranged at intervals along the length direction of the T-shaped track (20), and the two steering units (1) in each group are respectively positioned on two sides of the guide rail (202);
the auxiliary wheel (4) is rotationally arranged on the framework (3), the auxiliary wheel (4) rolls to abut against the bearing rail (201), and the driving wheel (22) and the auxiliary wheel (4) are arranged at intervals.
7. The orbital robot assembly according to claim 6, wherein the driving unit (2) further comprises a speed reducer (23) and a damping assembly (24), the driving member (21) is in transmission connection with the driving wheel (22) through the speed reducer (23), the damping assembly (24) is provided on the frame (3), and the speed reducer (23) is provided on the damping assembly (24).
8. The tracked robot assembly of claim 5, wherein the shock-absorbing component (24) comprises a damper (241), a support (242) and a support frame (243), two ends of the damper (241) are respectively hinged with one end of the support (242) and one end of the support frame (243), the other end of the support (242) is hinged with the other end of the support frame (243), the support frame (243) is arranged on the framework (3), and the speed reducer (23) is arranged on the support frame (242).
9. The orbital robot assembly of claim 6, wherein the robot (10) further comprises an energy storage device (5) and a drive controller (6), the energy storage device (5) being disposed within the skeleton (3), the energy storage device (5) and the drive controller (6) both being electrically connected to the driving member (21), the drive controller (6) being configured to control operation of the driving member (21).
10. The orbital robot assembly according to claim 6, wherein the robot (10) further comprises an electrostatic brush (7) provided on the skeleton (3), the electrostatic brush (7) being in contact with the T-shaped orbit (20).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN2020108508794 | 2020-08-21 | ||
| CN202010850879 | 2020-08-21 |
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| CN112621708A true CN112621708A (en) | 2021-04-09 |
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| CN202011255838.7A Pending CN112621708A (en) | 2020-08-21 | 2020-11-11 | Steering unit and track robot assembly |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114012698A (en) * | 2021-11-25 | 2022-02-08 | 武汉理工大学 | Storage robot based on circular orbit |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN213946441U (en) * | 2020-08-21 | 2021-08-13 | 智慧起源机器人(苏州)有限公司 | Steering unit and track robot assembly |
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| CN213946441U (en) * | 2020-08-21 | 2021-08-13 | 智慧起源机器人(苏州)有限公司 | Steering unit and track robot assembly |
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2020
- 2020-11-11 CN CN202022594496.3U patent/CN213946441U/en active Active
- 2020-11-11 CN CN202011255838.7A patent/CN112621708A/en active Pending
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| CN106711823A (en) * | 2017-03-22 | 2017-05-24 | 四川阿泰因机器人智能装备有限公司 | Power polling robot |
| CN109760014A (en) * | 2019-03-21 | 2019-05-17 | 深圳昱拓智能有限公司 | A kind of rail mounted coal transporting trestle automatic crusing robot and system |
| CN109760013A (en) * | 2019-03-21 | 2019-05-17 | 深圳昱拓智能有限公司 | A kind of track machine people power-driven mechanism, system and track machine people |
| CN109773746A (en) * | 2019-03-21 | 2019-05-21 | 深圳昱拓智能有限公司 | Rail mounted robot and its rail mounted running gear, system and flexible guiding mechanism |
| CN210557563U (en) * | 2019-07-22 | 2020-05-19 | 广东省能源集团有限公司珠海发电厂 | Coal conveying trestle rail type automatic inspection device |
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| CN213946441U (en) * | 2020-08-21 | 2021-08-13 | 智慧起源机器人(苏州)有限公司 | Steering unit and track robot assembly |
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| CN114012698A (en) * | 2021-11-25 | 2022-02-08 | 武汉理工大学 | Storage robot based on circular orbit |
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| CN213946441U (en) | 2021-08-13 |
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