CN209887579U

CN209887579U - Power driving mechanism and system of track robot and track robot

Info

Publication number: CN209887579U
Application number: CN201920363570.5U
Authority: CN
Inventors: 阳立华; 刘智勇; 李哲; 樊绍胜; 黄明星
Original assignee: Shenzhen Yutuo Intelligence Co Ltd
Current assignee: Shenzhen Yutuo Intelligence Co Ltd
Priority date: 2019-03-21
Filing date: 2019-03-21
Publication date: 2020-01-03
Anticipated expiration: 2029-03-21

Abstract

The utility model discloses a track robot power actuating mechanism, system and track robot, power actuating mechanism includes rail walking drive arrangement and main frame, be equipped with leading wheel subassembly and a pair of sliding tray on the main frame, rail walking drive arrangement's both sides are equipped with the spliced pole of transversely stretching out the arrangement, spliced pole sliding arrangement is in the sliding tray, form the rail mounting position between leading wheel subassembly and rail walking drive arrangement's the rail walking part, the one end of sliding tray is equipped with the pressure regulating device who is used for adjusting rail mounting position frictional force size, spliced pole roof pressure or supporting are on pressure regulating device. The utility model discloses can realize that frictional force adjusts according to the pressure of slope regulation regulator, can improve and climb the abrupt slope driving force and reduce straight orbital drive energy consumption, can adjust the distortion degree of two regulator with the pressure reduction turn walking of difference, reduce the bend and go wearing and tearing, improve drive wheel life, greatly improve power drive mechanism's adaptive capacity to environment.

Description

Power driving mechanism and system of track robot and track robot

Technical Field

The utility model relates to a robot field, concretely relates to track robot power drive mechanism, system and track robot.

Background

The track robot (track type inspection robot) can be used in places such as power distribution rooms, comprehensive pipe galleries, coal conveying trestles of power plants, boiler rooms, factories and large supermarkets. Along with the advocation of national intelligent manufacturing, various intelligent inspection robots emerge endlessly, wherein the application field of the track robot is wider and wider due to stable and reliable running line, wide monitoring range and simple and convenient operation and control. The power driving mechanism of the rail robot is the most important mechanism of the rail robot, and the design of the power driving mechanism is also important. However, the power driving mechanism of the existing track robot adopts friction wheel driving, and has the defects of poor climbing capability, unchanged energy consumption of climbing and linear track walking driving, inconvenient adjustment of the friction force of the driving wheel, unstable operation and the like.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the technical problem who solves: to the above-mentioned problem of prior art, a track robot power drive mechanism, system and track robot are provided, the utility model discloses can realize the frictional force of difference between control and the track according to the different slope regulation pressure regulating device's of track pressure, frictional force is adjusted conveniently, operate steadily, thereby can improve the driving force of climbing the abrupt slope and reduce the drive energy consumption on the straight track, can adjust the distortion degree of track walking part when two pressure regulating device realize reducing the turn walking with different pressure, the wearing and tearing volume when having avoided the bend walking, the life of track walking part is greatly improved, the environment adaptability of robot is patrolled and examined to the track has greatly been improved.

In order to solve the technical problem, the utility model discloses a technical scheme be:

the utility model provides a track robot power actuating mechanism, includes orbital motion drive arrangement and main frame, be equipped with leading wheel subassembly and a pair of sliding tray on the main frame, orbital motion drive arrangement's both sides are equipped with the spliced pole of transversely stretching out the arrangement, spliced pole sliding arrangement is in the sliding tray, form the track installation position between leading wheel subassembly and orbital motion drive arrangement's the track walking part, the one end of sliding tray is equipped with the pressure regulating device who is used for adjusting track installation position frictional force size, spliced pole roof pressure or supporting are on pressure regulating device.

The pressure regulating device comprises a spring mounting seat with an inner hole, wherein a top pressure spring and a slidable spring regulating plate are arranged in the inner hole of the spring mounting seat, one end of the top pressure spring extends out of the inner hole and presses against a connecting column, the other end of the top pressure spring presses against the spring regulating plate, and a stroke regulating assembly is installed on the spring regulating plate.

The stroke adjusting assembly is an electric stroke adjusting assembly or a manual stroke adjusting assembly, the electric stroke adjusting assembly comprises a voltage regulating motor, a regulating screw rod and a control unit, the voltage regulating motor is directly or indirectly mounted on a spring mounting seat or a main frame through a motor mounting bracket, an output shaft of the voltage regulating motor is connected with the regulating screw rod, the regulating screw rod is connected with a spring adjusting plate, the control unit comprises a detection sensor and a controller which are arranged on a top pressure spring, the detection sensor is a pressure sensor or a stroke sensor, an output end of the detection sensor is connected with the controller, and an output end of the controller is connected with the voltage regulating motor through a driving circuit; the manual stroke adjusting assembly comprises a fixed threaded sleeve, an adjusting bolt in threaded fit is sleeved on the fixed threaded sleeve, and the adjusting bolt is connected with a spring adjusting plate.

The rail walking part of the rail walking driving device comprises at least one friction driving wheel and at least one synchronous walking wheel, and the synchronous walking wheel is a gear or a chain wheel.

The rail walking driving device comprises a supporting bottom plate, the connecting column is arranged on the supporting bottom plate, a driving motor is arranged on the supporting bottom plate, an output shaft of the driving motor is connected with the rail walking part through a driving part, and the driving part is a driving belt, a driving chain or a gear.

The supporting base plate is provided with a connecting rod installation seat with a bearing, a floating connecting rod is arranged in the bearing of the connecting rod installation seat, two ends of the floating connecting rod are respectively clamped in sliding grooves on two sides of an inner cavity of the main frame, and the sliding direction of the connecting column in the sliding grooves and the sliding direction of the floating connecting rod in the sliding grooves are perpendicular to each other.

The supporting base plate is characterized in that a connecting beam is arranged on one side of the supporting base plate, a balance adjusting wheel is mounted on the connecting beam and fixed on the connecting beam through an adjusting bolt, and the balance adjusting wheel and the guide wheel assembly are symmetrically arranged relative to the rail mounting position.

The supporting base plate is provided with a motor base which is arranged in a sliding mode, the driving motor is installed and fixed on the motor base, a transmission adjusting plate is arranged on one side of the motor base on the supporting base plate, and the transmission adjusting plate is connected with the motor base through an adjusting bolt.

The power driving mechanism of the rail robot is arranged on the rail and moves relatively on the rail through a rail walking part.

The invention provides a track robot, which comprises a robot body and a power driving system, wherein the power driving system is the power driving system of the track robot.

Compared with the prior art, the utility model has the advantages of as follows:

1. the utility model discloses can realize the frictional force of difference between control and the track according to the different slope regulation pressure regulating device's in track pressure, frictional force is adjusted conveniently, operates steadily to can improve the driving force of climbing the abrupt slope and reduce the drive energy consumption on the straight track.

2. The utility model discloses can adjust the distortion degree of two pressure regulators with the pressure of difference when realizing reducing the turn walking rail running part, the wearing and tearing volume when having avoided the bend walking has improved rail running part's life greatly, has greatly improved power drive mechanism's adaptive capacity to environment.

Drawings

Fig. 1 is a schematic perspective view of a first embodiment of the present invention.

Fig. 2 is a schematic perspective view of a main frame according to an embodiment of the present invention.

Fig. 3 is a schematic perspective view of a pressure regulating device according to an embodiment of the present invention.

Fig. 4 is a schematic view of a three-dimensional exploded structure of a pressure regulating device according to an embodiment of the present invention.

Fig. 5 is a schematic perspective view of a driving device according to a first embodiment of the present invention.

Fig. 6 is a schematic perspective exploded view of a driving device according to a first embodiment of the present invention.

Fig. 7 is a schematic view of a partial three-dimensional structure of a middle rail according to an embodiment of the present invention.

Fig. 8 is a schematic view of a three-dimensional exploded structure of a pressure regulating device according to a second embodiment of the present invention.

Illustration of the drawings: 1. a rail travel drive device; 10. a support floor; 11. connecting columns; 111. a mounting seat; 12. a rail-engaging member; 121. a friction drive wheel; 122. synchronous travelling wheels; 123. a driven pulley; 124. a drive shaft; 125. a bearing seat; 13. a drive motor; 131. a motor base; 132. a transmission adjusting plate; 133. a driving pulley; 14. a connecting rod mounting seat; 141. a floating connecting rod; 142. a chute; 15. a connecting beam; 151. a balance adjustment wheel; 2. a main frame; 21. a guide wheel assembly; 211. a guide wheel base; 212. a rocker arm; 213. a hanging wheel; 214. a guide wheel; 22. a sliding groove; 23. a pressure regulating device; 231. a spring mount; 232. pressing the spring; 233. a spring adjusting plate; 234. a voltage regulating motor; 235. adjusting the screw rod; 236. a motor mounting bracket; 237. fixing the threaded sleeve; 238. a slide hole; 239. a cover plate; 3. a track; 31. hanging a support plate; 32. a friction surface; 33. a rack.

Detailed Description

The first embodiment is as follows:

as shown in fig. 1 and fig. 2, the power driving mechanism of the rail-mounted robot in this embodiment includes a rail-mounted driving device 1 and a main frame 2, a guide wheel assembly 21 and a pair of sliding grooves 22 are disposed on the main frame 2, connecting posts 11 transversely extending and disposed are disposed on two sides of the rail-mounted driving device 1, the connecting posts 11 are slidably disposed in the sliding grooves 22, a rail mounting position is formed between the guide wheel assembly 21 and the rail-mounted part 12 of the rail-mounted driving device 1, a pressure regulating device 23 for regulating the friction force of the rail mounting position is disposed at one end of the sliding grooves 22, and the connecting posts 11 are pressed against the pressure regulating device 23. Because both sides of the rail walking driving device 1 are pressed on the pressure regulating device 23, on one hand, the pressure regulating device can be regulated according to different slopes of the rail to realize different friction forces, the friction force is convenient to regulate and stable to operate, and therefore, the driving capability of climbing steep slopes can be improved, and the driving energy consumption on straight rails can be reduced; on the other hand, the two pressure adjusting devices 23 can be adjusted to reduce the distortion degree of the rail walking part during turning walking by using different pressures, so that the abrasion loss during curve walking is avoided, the service life of the rail walking part is greatly prolonged, and the environment adaptability of the power driving mechanism is greatly improved.

It should be noted that in this embodiment, the main frame 2 is suspended and mounted on the rail by using a mounting structure, and the connecting column 11 is pressed against the pressure adjusting device 23 in this state, and in addition, an inverted structure may be used as needed, so that the main frame 2 is supported on the rail, and at this time, the connecting column 11 may be pressed against or supported on the pressure adjusting device 23 as needed.

As shown in fig. 1 and 2, the number of the guide wheel assemblies 21 is two, each guide wheel assembly 21 includes a guide wheel base 211, the guide wheel base 211 is provided with a rocker arm 212 connected through a rotating shaft, the rocker arm 212 is provided with a hanging wheel 213, two sides of the hanging wheel 213 are respectively provided with a guide wheel 214, the axes of the hanging wheel 213 and the guide wheel 214 are perpendicular to each other, the hanging wheel 213 is used for hanging on the hanging plate 31 of the track 3, and the guide wheel 214 is used for rubbing with the side wall of the track 3 to realize guiding.

As shown in fig. 3 and 4, the pressure adjusting device 23 includes a spring mounting seat 231 having an inner hole, a pressing spring 232 and a slidable spring adjusting plate 233 are disposed in the inner hole of the spring mounting seat 231, one end of the pressing spring 232 extends out of the inner hole and presses against the connecting column 11, the other end of the pressing spring presses against the spring adjusting plate 233, and a stroke adjusting assembly is mounted on the spring adjusting plate 233. In a working state, the stroke adjusting assembly can adjust the stroke position of the spring adjusting plate 233 in the inner hole, so that the jacking spring 232 bears different pressures, and the pressure is transmitted to the connecting column 11, so that the relative position (pressure) between the track traveling driving device 1 and the main frame 2 can be changed, and as the longitudinal position of the main frame 2 relative to the track 3 is fixed, the relative position (pressure) between the track traveling component 12 and the track 3 is changed, so that the friction force between the track traveling component 12 and the track 3 is changed, the friction force needs to be increased for a steep track section to improve the climbing driving capability, and the friction force can be reduced for a flat track section to save energy consumption; the two pressure adjusting devices 23 can also be adjusted to have different pressures, so that the friction force between the left rail walking part 12 and the right rail walking part 12 and the friction force between the two sides of the rail 3 are different, the distortion degree of the rail walking parts during turning walking can be reduced, the abrasion loss during curve walking is avoided, the service life of the rail walking parts is greatly prolonged, and the environment adaptability of the power driving mechanism is greatly improved.

In this embodiment, the stroke adjustment assembly is an electric stroke adjustment assembly.

As shown in fig. 3 and 4, the electric stroke adjusting assembly includes a voltage regulating motor 234, a regulating screw rod 235 and a control unit, the voltage regulating motor 234 is indirectly mounted on the spring mounting seat 231 (or the main frame 2) through a motor mounting bracket 236 (or the voltage regulating motor 234 can be directly mounted on the spring mounting seat 231 or the main frame 2 as required), an output shaft of the voltage regulating motor 234 is connected with the regulating screw rod 235, the regulating screw rod 235 is connected with the spring adjusting plate 233, the control unit includes a detection sensor and a controller which are arranged on the top pressure spring 232, the detection sensor is a pressure sensor or a stroke sensor, an output end of the detection sensor is connected with the controller, and an output end of the controller is connected with the voltage regulating motor 234 through a driving circuit. By detecting the sensor, the controller, the driving circuit and the voltage regulating motor 234, the jacking acting force of the jacking spring 232 can be automatically and intelligently regulated based on the pressure or stroke of the jacking spring 232, so that the spring pressure can be automatically and intelligently regulated according to the actual angle of the ramp track, the functional modes of climbing a slope section track under high pressure and running a flat section track under low pressure are realized, the slope section track and the straight section track are walking under different pressures, and the energy consumption of equipment is greatly saved when the slope section track and the straight section track are walking; and when the dual-drive mode passes through the curve, the automatic adjustment of the respective different optimal pressure requirements of the two sides can be realized according to the actual running condition, the distortion degree of the two sides during the turning and walking is reduced, the abrasion loss during the curve walking is avoided, the service life of the track walking part 12 is greatly prolonged, and the environment adaptability of the track robot is greatly improved.

The voltage regulating motor 234 may be a servo motor or a stepping motor, as required. When the horizontal rail runs, the pressure regulating motor 234 rotates reversely to enable the jacking spring 232 to provide smaller pressure, and the energy-saving effect is achieved under the condition that proper driving force is provided for equipment; when climbing a slope, the pressure regulating motor 234 is controlled to rotate positively to compress the jacking spring 232, so that enough friction force is provided for the equipment to climb the slope in a large angle. When the climbing angle exceeds 60 degrees, a gear rack or a chain wheel chain can be additionally arranged to improve the safety. The voltage regulating motors 234 are respectively arranged on two sides of the whole main frame 2, so that the spring expansion amount of the jacking spring 232 can be automatically and intelligently adjusted up and down according to the straight section or slope section angle of the actual walking track, and the spring compression amount of the jacking spring 232 can be automatically and intelligently adjusted according to different walking pressures required by the inner side driving wheel and the outer side driving wheel during the walking of a curve, thereby greatly saving the energy consumption required in the running process of equipment and prolonging the service life of the driving wheel of the driving mechanism in a dual-driving-wheel mode.

The mode of the controller automatically and intelligently adjusting the pressing force of the pressing spring 232 can be flexibly selected according to the needs, for example, any one of the following modes can be adopted:

s1) detecting the current motion type of the power driving mechanism of the rail robot through a sensor (e.g. gyroscope, three-axis acceleration sensor, etc.), and if the current motion type is in a linear motion (motion on the linear track 3), jumping to execute step S2); otherwise, judging that the current motion is curvilinear motion (in the process of turning), and jumping to execute the step S3);

s2) detecting the current inclination angle of the power driving mechanism of the rail robot through a sensor (such as a gyroscope, a three-axis acceleration sensor, an inclination angle sensor and the like), obtaining reference pressure/stroke according to a preset inclination angle-pressure/stroke calibration data relation, and then detecting whether the data output by the sensor is equal to the reference pressure/stroke; if the pressure is not equal to the reference pressure/stroke, increasing or decreasing the jacking or supporting force of the two pressure adjusting devices 23 according to a specified step length; jumping to perform step S1);

s3) determining the reference pressure/stroke of the inner pressure-regulating device 23 and the reference pressure/stroke of the outer pressure-regulating device 23 which move in a curve; for the inner pressure regulating device 23, detecting whether the data output by the sensor is equal to the reference pressure/stroke, if not, increasing or decreasing the jacking or supporting force of the inner pressure regulating device 23 according to a specified step length; for the outer pressure regulating device 23, detecting whether the data output by the sensor is equal to the reference pressure/stroke, and if not, increasing or decreasing the jacking or supporting force of the outer pressure regulating device 23 according to a specified step length; jump execution step 1).

Through the mode, the pressure regulating device can be regulated according to the shape (straight line and curve) and the inclination angle of the track 3 to realize different friction forces, the friction force is convenient to regulate and stable in operation, and therefore the driving capability of climbing steep slopes can be improved, and the driving energy consumption on straight tracks can be reduced. In addition, the track 3 can be structurally divided according to the structure of the track 3, so that the reference pressure/stroke of the pressure regulating devices 23 on the two sides in different stroke position intervals can be determined, whether the data output by the sensor is equal to the reference pressure/stroke of the current position interval or not is detected in the movement process, and if the data is not equal to the reference pressure/stroke, the jacking or supporting force of the pressure regulating devices 23 on the outer side is increased or decreased according to the specified step length.

As shown in fig. 3 and 4, in the present embodiment, both the motor mounting bracket 236 and the spring mounting seat 231 are provided with the sliding holes 238 arranged corresponding to the sliding grooves 22, and the sliding holes 238 are externally provided with the cover plate 239 for improving safety and preventing foreign matters from entering the sliding holes 238 to cause sliding jamming of the connecting posts 11. Moreover, the motor mounting bracket 236 and the spring mounting seat 231 are both mounted and fixed on the side wall of the main frame 2 by the connecting members sequentially penetrating through both sides of the sliding hole 238, and the integration level of the pressure adjusting device 23 can be improved by the above structure.

As shown in fig. 5 and 6, the track-moving part 12 of the track-moving driving device 1 of the present embodiment includes two friction driving wheels 121 and one synchronous moving wheel 122, and the synchronous moving wheel 122 of the present embodiment is a gear, and may also adopt a sprocket as required. The rail traveling part 12 adopts the synchronous traveling wheels 122, can adapt to rail traveling with any gradient, runs stably, realizes that the same power driving mechanism can travel on a straight line and a rail with any gradient, and has strong universality. In this embodiment, the two friction driving wheels 121 are symmetrically arranged relative to the synchronous walking wheel 122, so that the acting force generated by the synchronous walking wheel 122 on the two friction driving wheels 121 is more balanced, and the flat temperature of the operation is favorably improved. In this embodiment, the number of the two friction driving wheels 121 is two, and the friction force is twice that of the single friction driving wheel 121, so that the climbing capability is stronger. In addition, one or more friction driving wheels 121 may be used as required, and more synchronous traveling wheels 122 may be used, the principle of which is similar to that of the present embodiment and will not be described herein again.

It should be noted that the synchronous travelling wheels 122 can be used as a spare, and are only installed under the condition of a large slope, and only two friction driving wheels 121 are installed under the general condition. The above-described structure of the track-running member 12 can be implemented by selecting the friction drive wheels 121 and the synchronous running wheels 122 as necessary to implement the following track-running mode: 1. the single friction driving wheel 121 is suitable for walking on a small-gradient and straight-line track; 2. two friction driving wheels 121, which are suitable for the straight line segment and the large-gradient track to walk; 3. the two friction driving wheels 121 are combined with the synchronous travelling wheels 122, and are suitable for the track travelling at any gradient. A component comprises a plurality of optional operation modes, and has particularly strong applicability.

As shown in fig. 5 and 6, the rail-mounted driving device 1 includes a supporting base plate 10, a connecting column 11 is disposed on the supporting base plate 10, a driving motor 13 is disposed on the supporting base plate 10, an output shaft of the driving motor 13 is connected to a rail-mounted member 12 through a transmission member, and the transmission member is a driving belt (a driving chain or a gear may be used as needed). A driving pulley 133 is provided on an output shaft of the driving motor 13, a driven pulley 123 is connected to a driving shaft 124 of the orbiting member 12, and the driving pulley 133 and the driven pulley 123 are driven by a transmission belt. In this embodiment, the two supporting base plates 10 are provided with bearing seats 125, two ends of the driving shaft 124 are respectively fixed on the bearing seats 125 through bearings, and the two friction driving wheels 121 and the synchronous traveling wheel 122 are respectively sleeved on the driving shaft 124. When the output shaft of the driving motor 13 rotates, the driving pulley 133 is driven to rotate, the driving pulley 133 drives the driven pulley 123 to rotate through the transmission belt, and the driven pulley 123 drives the two friction driving wheels 121 and the synchronous traveling wheel 122 to rotate through the driving shaft 124, so as to provide power for actions.

As shown in fig. 5 and 6, mounting seats 111 are provided on both sides of the supporting base plate 10, and the connecting posts 11 are respectively mounted and fixed in the mounting seats 111; in addition, the connecting column 11 can be directly fixed to the support base 10 if necessary.

As shown in fig. 2, 5 and 6, the support base plate 10 is provided with a connecting rod mounting seat 14 with a bearing, a floating connecting rod 141 is provided in the bearing of the connecting rod mounting seat 14, two ends of the floating connecting rod 141 are respectively clamped in sliding slots 142 at two sides of the inner cavity of the main frame 2, and the sliding direction of the connecting column 11 in the sliding slot 142 and the sliding direction of the floating connecting rod 141 in the sliding slot 22 are perpendicular to each other. In this embodiment, the sliding groove 142 is a U-shaped groove and the opening faces the side far away from the connecting column 11, so when relative motion occurs between the track-walking driving device 1 and the main frame 2, one end is that the connecting column 11 slides along the vertical direction in the sliding groove 22, the other end is that the floating connecting rod 141 slides along the horizontal direction in the sliding groove 142, relatively directly lean on the floating connecting rod 141 to one end of the supporting bottom plate 10 to adopt a connecting shaft swing joint mode, the motion range of the track-walking driving device 1 is smaller, so that the contact between the tracks 3 of the track-walking part 12 is more stable, and the motion process is more stable.

As shown in fig. 5 and 6, a connection beam 15 is provided at one side of the support base plate 10, a balance adjustment wheel 151 is installed on the connection beam 15, the balance adjustment wheel 151 is installed and fixed on the connection beam 15 by an adjustment bolt, and both the balance adjustment wheel 151 and the guide wheel assembly 21 are symmetrically arranged with respect to the rail installation position.

As shown in fig. 5 and 6, a motor base 131 is slidably disposed on the supporting base plate 10, the driving motor 13 is fixedly mounted on the motor base 131, a transmission adjusting plate 132 is disposed on one side of the supporting base plate 10, which is the motor base 131, and the transmission adjusting plate 132 is connected to the motor base 131 through an adjusting bolt.

The present embodiment further provides a power driving system for a track-type robot, which includes a track 3 and a power driving mechanism, where the power driving mechanism is the aforementioned power driving mechanism for a track-type robot in the present embodiment, and the power driving mechanism for a track-type robot is installed on the track 3 and moves relatively on the track 3 through a track traveling component 12.

As shown in fig. 1, 2 and 7, the rail 3 is a mold-opened integral aluminum profile, the two sides of the rail 3 are provided with the hanging plates 31, the hanging wheels 213 are respectively supported on the hanging plates 31, and the guide wheels 214 are contacted with the side walls of the rail 3 inside the hanging plates 31; the friction surfaces 32 are arranged on two sides of the bottom surface of the hanging and carrying plate 31 and are used for being matched with the two friction driving wheels 121 to realize friction transmission. The rack 33 is arranged between the two friction surfaces 32 and is used for meshing synchronous transmission with the synchronous travelling wheel 122.

The present embodiment further provides a track-type robot, including a robot body and a power driving system, where the power driving system is the power driving system of the track-type robot in the present embodiment.

Example two:

in this embodiment, the stroke adjustment assembly is a manual stroke adjustment assembly. The manual stroke adjustment assembly is simpler and less costly than the electric stroke adjustment assembly of the first embodiment, and is rather suitable for a single track structure, such as the track 3 with a fixed gradient or the track 3 with a specific circular arc structure. As shown in fig. 8, the manual stroke adjusting assembly includes a fixed threaded sleeve 237, an adjusting bolt in threaded fit is sleeved on the fixed threaded sleeve 237, the adjusting bolt is connected with the spring adjusting plate 233, the position/stroke of the spring adjusting plate 233 can be changed by rotating the adjusting bolt, and further the pressure can be adjusted as required, so as to meet the climbing capability of a ramp or the energy saving of a straight track; in the same way, the spring compression amount can be automatically and intelligently adjusted by respectively needing different walking pressures on the inner side and the outer side in a double-driving mode when passing through a curve, so that the service life of the track walking part 12 in the double-driving mode is greatly prolonged.

It is above only the utility model discloses a preferred embodiment, the utility model discloses a scope of protection does not only confine above-mentioned embodiment, the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. The utility model provides a track robot power-driven mechanism which characterized in that: including orbital motion drive arrangement (1) and main frame (2), be equipped with leading wheel subassembly (21) and a pair of sliding tray (22) on main frame (2), the both sides of orbital motion drive arrangement (1) are equipped with horizontal spliced pole (11) of stretching out and arranging, spliced pole (11) sliding arrangement is in sliding tray (22), form the rail mounting position between rail running part (12) of leading wheel subassembly (21) and orbital motion drive arrangement (1), the one end of sliding tray (22) is equipped with pressure regulating device (23) that are used for adjusting rail mounting position frictional force size, spliced pole (11) roof pressure or bearing are on pressure regulating device (23).

2. The power driving mechanism for a track robot according to claim 1, wherein: pressure regulating device (23) is including spring mount pad (231) that has the hole, be equipped with roof pressure spring (232) and slidable spring adjustment board (233) in the hole of spring mount pad (231), roof pressure spring (232) one end is stretched out hole and roof pressure and is gone up in spliced pole (11), another end roof pressure is on spring adjustment board (233), install stroke adjusting part on spring adjustment board (233).

3. The power driving mechanism for a track robot according to claim 2, wherein: the stroke adjusting assembly is an electric stroke adjusting assembly or a manual stroke adjusting assembly, the electric stroke adjusting assembly comprises a voltage regulating motor (234), a regulating screw rod (235) and a control unit, the voltage regulating motor (234) is directly or indirectly mounted on a spring mounting seat (231) or a main frame (2) through a motor mounting bracket (236), an output shaft of the voltage regulating motor (234) is connected with the regulating screw rod (235), the regulating screw rod (235) is connected with a spring adjusting plate (233), the control unit comprises a detection sensor and a controller which are arranged on a top pressure spring (232), the detection sensor is a pressure sensor or a stroke sensor, the output end of the detection sensor is connected with the controller, and the output end of the controller is connected with the voltage regulating motor (234) through a driving circuit; the manual stroke adjusting assembly comprises a fixed threaded sleeve (237), an adjusting bolt in threaded fit is sleeved on the fixed threaded sleeve (237), and the adjusting bolt is connected with a spring adjusting plate (233).

4. The power driving mechanism for a track robot according to claim 1, wherein: the rail walking part (12) of the rail walking driving device (1) comprises at least one friction driving wheel (121) and at least one synchronous walking wheel (122), and the synchronous walking wheel (122) is a gear or a chain wheel.

5. The power driving mechanism for a track robot according to claim 1, wherein: the rail walking driving device (1) comprises a supporting base plate (10), a connecting column (11) is arranged on the supporting base plate (10), a driving motor (13) is arranged on the supporting base plate (10), an output shaft of the driving motor (13) is connected with a rail walking part (12) through a transmission piece, and the transmission piece is a driving belt, a driving chain or a gear.

6. The power driving mechanism for a track robot according to claim 5, characterized in that: the supporting base plate (10) is provided with a connecting rod installation seat (14) with a bearing, a floating connecting rod (141) is arranged in the bearing of the connecting rod installation seat (14), two ends of the floating connecting rod (141) are respectively clamped in sliding grooves (142) on two sides of an inner cavity of the main frame (2), and the sliding direction of the connecting column (11) in the sliding grooves (142) and the sliding direction of the floating connecting rod (141) in the sliding groove (22) are perpendicular to each other.

7. The power driving mechanism for a track robot according to claim 5, characterized in that: one side of supporting baseplate (10) is equipped with tie-beam (15), install balance adjustment wheel (151) on tie-beam (15), just balance adjustment wheel (151) are fixed on tie-beam (15) through adjusting bolt installation, the relative track installation position symmetrical arrangement of two of balance adjustment wheel (151) and leading wheel subassembly (21).

8. The power driving mechanism for a track robot according to claim 5, characterized in that: be equipped with motor cabinet (131) that sliding arrangement was equipped with on supporting baseplate (10), driving motor (13) installation is fixed on motor cabinet (131), be equipped with transmission regulating plate (132) for one side of motor cabinet (131) on supporting baseplate (10), link to each other through adjusting bolt between transmission regulating plate (132) and motor cabinet (131).

9. A power driving system for a rail robot, comprising a rail (3) and a power driving mechanism, characterized in that the power driving mechanism is the power driving mechanism for a rail robot according to any one of claims 1 to 8, the power driving mechanism for a rail robot is installed on the rail (3) and makes a relative motion on the rail (3) through a rail traveling part (12).

10. The utility model provides a track robot, includes robot body and power driving system, its characterized in that: the power driven system is the power driven system of the rail robot of claim 9.