CN112975901A

CN112975901A - Robot walking ground rail

Info

Publication number: CN112975901A
Application number: CN202110398230.8A
Authority: CN
Inventors: 廖碧文
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-04-14
Filing date: 2021-04-14
Publication date: 2021-06-18
Anticipated expiration: 2041-04-14
Also published as: CN112975901B

Abstract

The invention discloses a robot walking ground rail, which comprises a rail mechanism, a movable mechanism, a driving mechanism and a brake mechanism, wherein the movable mechanism is arranged on the rail mechanism; the track mechanism is arranged on the ground; the movable mechanism comprises a movable plate and a plurality of rolling assemblies, and the rolling assemblies are arranged below the movable plate; brake mechanism includes brake driving piece, brake connecting rod, brake screw rod, connecting piece, mount pad and embraces the claw, and the mount pad sets up the interior screw hole that link up from top to bottom, and screw rod threaded connection is in the interior screw hole of mount pad, and the first end of brake connecting rod is connected to the drive end of brake driving piece, and the second end of brake connecting rod and the top rigid coupling of screw rod, the bottom of screw rod is connected and is embraced the claw, embraces the claw and just to rail mechanism. The self-locking characteristic of the screw rod when the lead angle of the screw rod is smaller than the friction angle is utilized in the scheme, the brake mechanism has extremely high reliability and safety, the brake reaction force acts on the screw thread of the screw rod during braking, the structure is compact and stable, the manufacturing cost of equipment is low, and the improvement of the product competitiveness is facilitated.

Description

Robot walking ground rail

Technical Field

The invention relates to the field of walking ground rails, in particular to a robot walking ground rail.

Background

The linear guide and the gear rack of the current robot walking ground rail belong to precision parts, the manufacturing cost is high, if the robot walking ground rail runs in severe environments such as cement production, the protection is difficult, the ball linear guide used on equipment can be damaged due to the fact that the service life of the ball linear guide is shortened due to the fact that the invasion of dust is accelerated, and the gear rack can be stuck due to the dust, and the phenomena of blocking and the like are caused.

In addition, because the robot generally has a large weight, the robot can generate large inertia in the process of high-speed movement, and if only the internal contracting brake of the motor is used, the robot is unreliable and the motor is easy to damage.

Therefore, there is a need to provide a walking ground rail for a robot to solve the problems of the existing walking ground rail for a robot.

The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a robot walking ground rail.

In order to achieve the purpose, the invention adopts the following technical scheme:

the invention provides a robot walking ground rail, which comprises a rail mechanism, a movable mechanism, a driving mechanism and a brake mechanism, wherein the movable mechanism is arranged on the rail mechanism; the track mechanism is arranged on the ground; the movable mechanism comprises a movable plate and a plurality of rolling assemblies, the rolling assemblies are arranged below the movable plate and on the track mechanism, and the rolling assemblies roll relative to the track mechanism so as to enable the movable plate to move relative to the track mechanism; the driving end of the driving mechanism is connected with the rolling assembly so as to drive the movable plate to move along the track mechanism; brake mechanism includes brake driving piece, brake connecting rod, brake screw rod, connecting piece, mount pad and embraces the claw, the interior screw hole that link up about the mount pad sets up, screw rod threaded connection in the interior screw hole of mount pad, the drive end of brake driving piece is connected the first end of brake connecting rod, the second end of brake connecting rod with the top rigid coupling of screw rod, the bottom of screw rod is connected embrace the claw, it is just right to embrace the claw track mechanism, the flexible drive of brake driving piece the brake connecting rod rotates, and drive screw is relative the mount pad is along the up-and-down motion of axle, so that it embraces the claw and embraces tightly or keeps away from track mechanism.

Furthermore, the track mechanism comprises a guide rail fixing plate, steel rails and a pressing block, wherein the guide rail fixing plate is fixedly arranged on the ground, the two steel rails are oppositely arranged on the guide rail fixing plate, the pressing block presses and fixedly connects the steel rails to the guide rail fixing plate to form the track mechanism, and the holding claw is arranged opposite to the steel rails.

Further, the brake mechanism further comprises a thrust ball bearing; the thrust ball bearing is fixedly arranged on the upper surface of the mounting seat, the second end of the brake connecting rod is connected to the inner ring of the thrust ball bearing, and the thrust ball bearing is used for limiting the axial degree of freedom of the brake connecting rod.

Furthermore, the brake mechanism further comprises a pin shaft connecting piece, one end of the pin shaft connecting piece is connected with the bottom end of the screw rod, and the other end of the pin shaft connecting piece is connected with the holding claw.

Further, the two brake mechanisms are arranged on two sides of the movable plate respectively and face the two steel rails, so that the two embracing claws correspondingly embrace or keep away from the two different steel rails.

Further, the rolling assembly comprises a roller, an intermediate shaft, a rolling bearing and a bearing mounting plate, the two ends of the intermediate shaft are respectively connected with the rolling bearing and the roller, one end of the intermediate shaft penetrates out of the rolling bearing or the roller, the rolling bearing is arranged on the lower surface of the bearing mounting plate, the bearing mounting plate is arranged below the movable plate, and the roller is arranged on the steel rail so as to arrange the rolling assembly on the steel rail below the movable plate.

Further, the movable mechanism comprises at least two rolling assemblies, and a roller of at least one rolling assembly is a rubber wheel.

Furthermore, the driving mechanism comprises a driving motor, a first transmission gear, a second transmission gear and a transmission chain, a rotating shaft of the driving motor is in transmission connection with the first transmission gear, the second transmission gear is connected to one end, penetrating out of the rolling bearing, of the intermediate shaft, and the transmission chain is simultaneously in meshing connection with the first transmission gear and the second transmission gear so as to drive the second transmission gear to rotate through the rotation of the first transmission gear.

Furthermore, the device also comprises an elastic compensation mechanism, wherein the elastic compensation mechanism comprises a pressure plate, a first guide shaft, an adjusting screw, an elastic piece, a second guide shaft and a limiting support; the top end of the first guide shaft is connected with the pressing plate, the bottom end of the first guide shaft penetrates through the movable plate and is connected with the bearing mounting plate, the elastic part is arranged on the periphery of the first guide shaft, and two ends of the elastic part respectively abut against the lower surface of the pressing plate and the upper surface of the bearing mounting plate; the adjusting screw penetrates out of the pressing plate downwards to be in threaded adjustable connection with the movable plate; the bearing mounting panel is provided with a guide hole which is through from top to bottom, the first end of the second guide shaft is connected to the lower surface of the movable plate, the second end of the second guide shaft penetrates out of the guide hole and is connected with a limiting support, and the transverse size of the limiting support is larger than the diameter of the guide hole.

Further, still include tow chain mechanism, tow chain mechanism includes tow chain groove, tow chain mounting panel and tow chain, the opening in tow chain groove set up in on the guide rail fixed plate, the tow chain set up in the tow chain inslot, tow chain mounting panel one end is connected the tow chain, the other end is connected the fly leaf.

Compared with the prior art, the invention has the beneficial effects that: according to the robot walking ground rail provided by the invention, the robot is arranged on the movable plate, the rolling assembly is driven by the driving mechanism to roll on the rail mechanism, so that the movable plate can freely move along the rail mechanism, different terrain conditions can be adapted, and meanwhile, the robot is ensured to be stable when moving at a high speed; in addition, set up brake driving piece drive screw and move from top to bottom simultaneously to make terminal the claw of embracing of screw rod hold tightly track mechanism realizes the stable brake of robot walking ground rail, and this scheme utilizes the screw rod at the auto-lock characteristic when its lead angle is less than the friction angle, and brake mechanism has high reliability and security, and brake reaction force acts on the screw thread of screw rod during the brake, and not only compact structure is stable, and equipment low in manufacturing cost is favorable to improving product competitiveness.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented according to the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more apparent, the following detailed description will be given of preferred embodiments.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of a robot walking ground rail according to the present invention;

FIG. 2 is a side view of an embodiment of a robot walking ground rail of the present invention;

FIG. 3 is a top view of an embodiment of a robot walking ground rail of the present invention;

FIG. 4 is a partial enlarged view of a brake mechanism of an embodiment of the ground rail for robot walking according to the present invention;

FIG. 5 is a cross-sectional view of the brake mechanism and the elastic compensation mechanism of an embodiment of the ground rail for robot walking according to the present invention;

FIG. 6 is a sectional view of the structure of the movable mechanism of the embodiment of the walking ground rail of the robot of the present invention;

FIG. 7 is a schematic structural diagram of a driving mechanism of an embodiment of a robot walking ground rail according to the present invention;

fig. 8 is a schematic structural diagram of a robot equipped with the robot walking ground rail according to an embodiment of the present invention.

Description of the drawings:

100. a robot; 10. a track mechanism; 11. a guide rail fixing plate; 13. a steel rail; 12. briquetting; 20. a brake mechanism; 21. a brake actuating member; 22. a brake connecting rod; 23. a thrust ball bearing; 24. a mounting seat; 25. a brake screw; 26. a connecting member; 27. embracing a claw; 30. a movable mechanism; 31. a movable plate; 32. a rolling component; 321. a bearing mounting plate; 322. a roller; 323. an intermediate shaft; 40. a drive mechanism; 41. a drive motor; 42. a motor mounting plate; 43. a drive chain; 44. a first drive gear; 45. a second transmission gear; 50. a drag chain mechanism; 51. a drag chain; 52. a tow chain groove; 60. an elastic compensation mechanism; 61. pressing a plate; 64. a first guide shaft; 62. an adjusting screw; 63. an elastic member; 65. a second guide shaft; 66. and a limiting support.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and the detailed description.

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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be connected or detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

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.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above should not be understood to necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by one skilled in the art.

Referring to fig. 1-8, the present invention provides a robot walking ground rail, which includes a track mechanism 10, a movable mechanism 30, a driving mechanism 40 and a brake mechanism 20, wherein the driving mechanism 40 is used for driving the movable mechanism 30 to move relative to the track mechanism 10, so as to adapt to different terrain conditions and ensure that the robot 100 keeps stable when moving at a high speed; when the movable mechanism 30 needs to brake, the brake mechanism 20 grips the rail to resist the inertia force of the robot 100 when moving at a high speed.

In an alternative embodiment, a travel switch is further disposed on the movable mechanism 30, and the travel switch is used for inductive triggering of ground track return to the original point, fixed-point parking, limit limiting and the like.

In this embodiment, the track mechanism 10 is disposed on the ground for disposing the moving mechanism 30, the driving mechanism 40 and the braking mechanism 20. Referring to fig. 1 and 3, in the present embodiment, the track mechanism 10 includes a rail fixing plate 11, rails 13 and a pressing block 12, the rail fixing plate 11 is fixed on the ground to provide a supporting plane for the foundation, the two rails 13 are oppositely disposed on the rail fixing plate 11, the pressing block 12 presses and fixes the rails 13 to the rail fixing plate 11 to form a guide rail, the holding claw 27 of the braking mechanism 20 is disposed opposite to the rail 13, and the moving mechanism 30 is driven by the driving mechanism 40 to move along the track mechanism 10, so as to drive the robot 100 mounted on the moving mechanism 30 to move along the track mechanism 10.

In the present embodiment, the movable mechanism 30 includes a movable plate 31 and a plurality of rolling assemblies 32, the rolling assemblies 32 are disposed below the movable plate 31 and disposed on the rail mechanism 10, and the rolling assemblies 32 roll relative to the rail mechanism 10, so that the movable plate 31 moves relative to the rail mechanism 10. Specifically, the driving end of the driving mechanism 40 is connected to the rolling assembly 32 to drive the movable plate 31 to move along the rail mechanism 10, and the driving mechanism 40 drives the rolling assembly 32 to roll to bring the movable plate 31 disposed on the rolling assembly 32 to move along the rail mechanism 10. Further, the plurality of rolling assemblies 32 can disperse the downward pressure of the movable mechanism 30 on the rail mechanism 10, so as to avoid stress concentration, and the plurality of rolling assemblies 32 can improve the rolling stability of the movable plate 31, so that even if the robot 100 with a relatively large weight is arranged on the movable plate 31, the robot 100 can be driven to stably move.

Referring to fig. 5 and 6, in the present embodiment, the rolling assembly 32 includes a roller 322, an intermediate shaft 323, a rolling bearing and a bearing mounting plate 321, two ends of the intermediate shaft 323 are respectively connected with the rolling bearing and the roller 322, and one end of the intermediate shaft 323 penetrates through the rolling bearing or the roller 322, the rolling bearing is disposed on a lower surface of the bearing mounting plate 321, the bearing mounting plate 321 is disposed below the movable plate 31, the roller 322 is disposed on the steel rail 13 to dispose the rolling assembly 32 on the steel rail 13 below the movable plate 31, the roller 322 directly contacts the steel rail 13, and the roller 322 generates rolling friction with the steel rail 13 when rolling to drive the movable plate 31 to.

In an alternative embodiment, the movable mechanism 30 includes at least two rolling assemblies 32, the roller 322 of at least one rolling assembly 32 is a rubber wheel, the roller 322 of the other rolling assembly 32 is a steel wheel, the steel wheel is used for bearing the whole weight of the equipment, the rubber wheel is mainly used for increasing the friction force between the movable mechanism 30 and the steel rail 13 to avoid slipping, and the movable mechanism 30 is enabled to move/stop rapidly when the driving motor 41 is started/braked. Referring to fig. 2, in the present embodiment, the movable mechanism 30 includes 4 rolling assemblies 32, wherein the roller 322 of one rolling mechanism is a rubber wheel, and the rollers 322 of the other rolling assemblies 32 are steel wheels.

Referring to fig. 6 and 7, in this embodiment, the driving mechanism 40 includes a driving motor 41, a first transmission gear 44, a second transmission gear 45 and a transmission chain 43, a rotating shaft of the driving motor 41 is in transmission connection with the first transmission gear 44, the second transmission gear 45 is connected to one end of the intermediate shaft 323, which penetrates through the rolling bearing, the transmission chain 43 is simultaneously in meshing connection with the first transmission gear 44 and the second transmission gear 45 to drive the second transmission gear 45 to rotate through the rotation of the first transmission gear 44, in this embodiment, the driving motor 41 is used as a driving source, and the intermediate shaft 323 of the rolling assembly 32 is driven to rotate through the meshing transmission of the first transmission gear 44, the transmission chain 43 and the second transmission gear 45, so that the roller 322 is finally driven to move back and forth. In the present embodiment, a speed reducer is integrated in the drive motor 41. Further, a motor mounting plate 42 is provided on the movable plate 31, and the driving motor 41 is provided on the motor mounting plate 42.

As shown in fig. 7, it should be understood that the second transmission gear 45 installed on the rolling assembly 32 may be connected to the first transmission gear 44 through the transmission chain 43 and directly driven by the first transmission gear 44; in addition, the second transmission gears 45 arranged on different rolling assemblies 32 can be connected through another chain to form a synchronous wheel set, at the moment, the first transmission gear 44 only needs to drive one second transmission gear 45 of the synchronous wheel set through the transmission chain 43, and all the second transmission gears 45 in the synchronous wheel set can be indirectly driven to synchronously rotate; in addition, in the case that a plurality of rolling assemblies 32 are provided, a plurality of synchronous wheel sets can be combined as required, and the first transmission gear 44 drives different synchronous wheel sets to rotate through a corresponding number of transmission chains 43.

Further, it should be understood that the present invention is not limited to the transmission by 3 sets of chains in the present embodiment, and the present invention may be set according to the number and position of the actual second transmission gears 45 in practical use to ensure the optimal transmission effect.

Referring to fig. 4 and 5, in this embodiment, the brake mechanism 20 includes a brake driving member 21, a brake connecting rod 22, a brake screw 25, a connecting member 26, a mounting seat 24, and a holding claw 27, where the mounting seat 24 is provided with an internal threaded hole that is through from top to bottom, the screw is connected to the internal threaded hole of the mounting seat 24 in a threaded manner, a driving end of the brake driving member 21 is connected to a first end of the brake connecting rod 22, a second end of the brake connecting rod 22 is fixedly connected to a top end of the screw, a bottom end of the screw is connected to the holding claw 27, the holding claw 27 faces the steel rail 13 of the track mechanism 10, the driving end of the brake driving member 21 stretches out and draws back to drive the brake connecting rod 22 to rotate, and the driving screw moves up. Specifically, the brake mechanism 20 is used for firmly grasping the steel rail 13 through the holding claw 27 when the vehicle needs to be parked, so as to resist the inertia of the robot 100 in the high-speed carrying moving process, so as to avoid causing dangers such as vehicle slipping, and the like.

In this embodiment, the brake driving member 21 is a driving cylinder, and an expansion shaft of the driving cylinder is connected with the brake connecting rod 22; the interior screw hole of mount pad 24 and the trapezoidal thread that the screw rod was provided with corresponding specification to make terminal embracing claw 27 of screw rod hold track mechanism 10 tightly, realize the stable brake of robot walking ground rail, this scheme utilizes the screw rod at the auto-lock characteristic when its lead angle is less than the friction angle, brake mechanism 20 has high reliability and security, brake reaction force acts on the screw thread of screw rod during the brake, compact structure is stable not only, and equipment low in manufacturing cost is favorable to improving product competitiveness in addition.

Referring to fig. 5, in the present embodiment, the brake mechanism 20 further includes a pin connection member 26, one end of the pin connection member 26 is connected to the bottom end of the screw, and the other end is connected to the holding claw 27. In this embodiment, the pin connection 26 may be a pin.

Referring to fig. 4 and 5, in the present embodiment, the brake mechanism 20 further includes a thrust ball bearing 23; the thrust ball bearing 23 is fixedly arranged on the upper surface of the mounting seat 24, the second end of the brake connecting rod 22 is connected with the inner ring of the thrust ball bearing 23, and the thrust ball bearing 23 is used for limiting the degree of freedom of the brake connecting rod 22 in the axial direction. The brake connecting rod 22 is limited by the thrust ball bearings 23 and the mounting seat 24 at two ends thereof to have an up-and-down degree of freedom, and the screw rod is connected with the holding claw 27 through the pin shaft connecting piece 26 to limit the degree of freedom in a transverse rotating direction, if the brake connecting rod 22 rotates, the screw rod can only move up and down along the shaft, so that the connection between the holding claw 27 and the steel rail 13 is tightened or loosened, the brake mechanism 20 utilizes the self-locking characteristic when a thread lead angle is smaller than a friction angle, and has extremely high reliability and safety, and a large driving cylinder is not needed due to the fact that stress is applied to the thread, and the brake mechanism is compact in structure and high in cost performance.

In an alternative embodiment, at least two braking mechanisms 20 are included, and the two braking mechanisms 20 are respectively disposed on two sides of the movable plate 31 opposite to the two rails 13, so that the two clasping claws 27 correspondingly clasp or separate from the two different rails 13. Referring to fig. 1 and 3, in the present embodiment, 4 braking mechanisms 20 are disposed on the movable plate 31, and two braking mechanisms 20 disposed at the front and the rear of each rail 13 cooperate with each other to perform braking, so as to ensure stable and reliable braking. It should be understood that the present embodiment is not limited to the number of the brake mechanisms 20, and the number and the arrangement positions of the brake mechanisms 20 can be determined according to actual needs.

Referring to fig. 1 and 5, in an alternative embodiment, the robot walking ground rail of the present invention further comprises an elastic compensation mechanism 60, wherein the elastic compensation mechanism 60 comprises a pressing plate 61, a first guide shaft 64, an adjusting screw 62, an elastic member 63, a second guide shaft 65 and a limit bracket 66; the top end of the first guide shaft 64 is connected with the pressing plate 61, the bottom end passes through the movable plate 31 and is connected with the bearing mounting plate 321, the elastic member 63 is arranged on the periphery of the first guide shaft 64, and two ends of the elastic member respectively abut against the lower surface of the pressing plate 61 and the upper surface of the bearing mounting plate 321; the adjusting screw 62 passes through the pressing plate 61 downwards to be in threaded adjustable connection with the movable plate 31; the bearing mounting plate 321 is provided with a guide hole which is through up and down, the first end of the second guide shaft 65 is connected to the lower surface of the movable plate 31, the second end of the second guide shaft 65 penetrates through the guide hole to be connected with a limiting support 66, and the transverse size of the limiting support 66 is larger than the diameter of the guide hole. Specifically, the elastic member 63 is a heavy-duty spring, an elastic strip, or an elastic column.

Specifically, the elastic compensation mechanism 60 is mainly installed on the rolling assembly 32 with the rubber wheel, and because the rubber wheel has great elasticity due to the characteristics of the rubber wheel, the rubber wheel is easy to have poor contact with the surface of the steel rail 13, in the scheme, the pressure plate 61 descends to compress the elastic part 63 by adjusting the adjusting screw, so that the contact force between the rubber wheel and the steel rail 13 is increased, and the purpose of increasing the contact area is achieved; in addition, the long steel rail 13 is usually formed by splicing a plurality of sections, so that not only flatness errors can occur in manufacturing and installation, but also the elastic compensation mechanism 60 can well offset the flatness errors, so that the elastic compensation mechanism 60 can also be installed on the rolling assembly 32 with steel wheels according to actual conditions, and in the embodiment, the elastic compensation mechanism 60 is not installed on the rolling assembly 32 with steel wheels because the number of the steel wheels is small (only 3 pairs), and the steel rail 13 is not long, so that the problem of poor contact does not occur in actual use.

Referring to fig. 1 and 3, in an alternative embodiment, the robot walking ground rail of the present invention further includes a drag chain mechanism 50, the drag chain mechanism 50 includes a drag chain groove, a drag chain 51 mounting plate and a drag chain 51, an opening of the drag chain groove faces upwards and is disposed on the guide rail fixing plate 11, the drag chain 51 is disposed in the drag chain groove, one end of the drag chain 51 mounting plate is connected to the drag chain 51, and the other end is connected to the movable plate 31, so that the drag chain 51 can be bent and wear-resistant, which facilitates cable routing of the driving motor 41 and the robot 100.

In particular, for example, in a cement production environment, because a large amount of dust exists in the air, the dust can fall and pile on the equipment, and when wet weather is met, the cement can be caked to influence the normal operation of the equipment, and the robot walking ground rail of the scheme can normally operate for a long time under the relatively severe environmental conditions.

According to the robot walking ground rail provided by the invention, the robot 100 is arranged on the movable plate 31, and the rolling assembly 32 is driven to roll on the track mechanism 10 through the driving mechanism 40, so that the movable plate 31 can freely move along the track mechanism 10, can adapt to different terrain conditions, and meanwhile, the robot 100 is ensured to be stable when moving at a high speed; in addition, set up brake driving piece 21 simultaneously and drive the screw rod and move from top to bottom to make terminal embracing claw 27 of screw rod embrace rail mechanism 10 tightly, realize the stable brake of robot walking ground rail, this scheme utilizes the screw rod when its lead angle is less than the auto-lock characteristic of friction angle, brake mechanism 20 has high reliability and security, brake reaction force acts on the screw thread of screw rod during the brake, compact structure is stable not only, and equipment low in manufacturing cost is favorable to improving product competitiveness.

The technical contents of the present invention are further illustrated by the examples only for the convenience of the reader, but the embodiments of the present invention are not limited thereto, and any technical extension or re-creation based on the present invention is protected by the present invention. The protection scope of the invention is subject to the claims.

Claims

1. A robot walking ground rail is characterized in that, comprising a track mechanism, a movable mechanism, a drive mechanism and a braking mechanism; the track mechanism is arranged on the ground; the movable mechanism comprises a movable plate and several rolling assemblies, and the rolling The assembly is arranged below the movable plate and on the track mechanism, and the rolling assembly rolls relative to the track mechanism to make the movable plate move relative to the track mechanism; the driving end of the driving mechanism The rolling assembly is connected to drive the movable plate to move along the track mechanism; the brake mechanism includes a brake driving part, a brake connecting rod, a brake screw, a connecting part, a mounting seat and a holding claw, and the mounting seat is arranged up and down Through the internal screw hole, the screw is threadedly connected to the internal screw hole of the mounting seat, the driving end of the brake driver is connected to the first end of the brake connecting rod, and the second end of the brake connecting rod It is fixedly connected with the top end of the screw rod, the bottom end of the screw rod is connected to the holding claw, the holding claw is facing the track mechanism, and the driving end of the brake driving member is telescopic and drives the brake connecting rod to rotate, driving The screw rod moves up and down in the axial direction relative to the mounting seat, so that the holding claw is held tightly or away from the track mechanism.

2 . The robot walking ground rail according to claim 1 , wherein the rail mechanism comprises a guide rail fixing plate, a steel rail and a pressing block, the guide rail fixing plate is fixed on the ground, and the two steel rails are oppositely arranged on the guide rail for fixing. 3 . On the plate, the pressing block presses and fastens the rail to the guide rail fixing plate to form a rail mechanism, and the holding claws are arranged facing the rail.

3. The robot walking ground rail according to claim 2, wherein the braking mechanism further comprises a thrust ball bearing; the thrust ball bearing is fixed on the upper surface of the mounting seat, and the The second end is connected to the inner ring of the thrust ball bearing, and the thrust ball bearing is used to limit the degree of freedom of the brake connecting rod in the axial direction.

4 . The ground rail for robot walking according to claim 3 , wherein the braking mechanism further comprises a pin shaft connecting piece, one end of the pin shaft connecting piece is connected to the bottom end of the screw rod, and the other end is connected to the holding rod. 5 . claw.

5 . The ground rail for robot walking according to claim 4 , wherein at least two brake mechanisms are included, and the two brake mechanisms are respectively disposed on both sides of the movable plate facing the two steel rails, so as to prevent the movement of the movable plate. 6 . The two holding claws are correspondingly held close to or away from the two different rails.

6. The robot walking ground rail according to claim 2, wherein the rolling assembly comprises a roller, an intermediate shaft, a rolling bearing and a bearing mounting plate, and the two ends of the intermediate shaft are respectively connected with the rolling bearing and the roller, And one end of the intermediate shaft passes through the rolling bearing or the roller, the rolling bearing is arranged on the lower surface of the bearing mounting plate, the bearing mounting plate is arranged under the movable plate, and the roller is arranged on the steel rail to The rolling assembly is arranged on the rail below the movable plate.

7 . The ground rail for robot walking according to claim 6 , wherein the movable mechanism comprises at least two rolling assemblies, and the rollers of at least one of the rolling assemblies are rubber wheels. 8 .

8 . The ground rail for robot walking according to claim 6 , wherein the driving mechanism comprises a driving motor, a first transmission gear, a second transmission gear and a transmission chain, and a rotating shaft of the driving motor is drivingly connected to the first transmission gear. 9 . a transmission gear, the second transmission gear is connected to the end of the intermediate shaft passing through the rolling bearing, the transmission chain meshes and connects the first transmission gear and the second transmission gear at the same time, so as to rotate through the first transmission gear The second transmission gear is driven to rotate.

9 . The robot walking ground rail according to claim 6 , further comprising an elastic compensation mechanism, the elastic compensation mechanism comprising a pressure plate, a first guide shaft, an adjustment screw, an elastic member, a second guide shaft and a limiter. 10 . The top end of the first guide shaft is connected to the pressing plate, the bottom end passes through the movable plate and is connected to the bearing mounting plate, the elastic member is arranged on the periphery of the first guide shaft, and the two ends are respectively stop against the lower surface of the pressing plate and the upper surface of the bearing mounting plate; the adjusting screw penetrates downwardly out of the pressing plate and is threadedly adjustable for connection with the movable plate; the bearing mounting plate is provided with a guide hole that penetrates up and down , the first end of the second guide shaft is connected to the lower surface of the movable plate, the second end of the second guide shaft passes through the guide hole and is connected to a limit bracket, and the lateral dimension of the limit bracket is larger than The diameter of the guide hole.

10 . The ground rail for robot walking according to claim 2 , further comprising a drag chain mechanism, the drag chain mechanism comprising a drag chain groove, a drag chain mounting plate and a drag chain, and the opening of the drag chain groove faces toward the drag chain. 11 . The upper part is arranged on the guide rail fixing plate, the towline is arranged in the towline groove, one end of the towline installation plate is connected with the towline, and the other end is connected with the movable plate.