CN106043333A - Automatic speed changing travelling mechanism for rail moving robot - Google Patents
Automatic speed changing travelling mechanism for rail moving robot Download PDFInfo
- Publication number
- CN106043333A CN106043333A CN201610439469.4A CN201610439469A CN106043333A CN 106043333 A CN106043333 A CN 106043333A CN 201610439469 A CN201610439469 A CN 201610439469A CN 106043333 A CN106043333 A CN 106043333A
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- China
- Prior art keywords
- speed
- low
- track
- tooth bar
- speed gear
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic speed changing travelling mechanism for a rail moving robot. The automatic speed changing travelling mechanism comprises a slide rail; the slide rail comprises a plurality of straight-section rails and a plurality of climbing-section rails; the climbing-section rails are fixedly provided with a rack with the set height; the slide rail is provided with a travelling gear train assembly in a matched mode; the travelling gear train assembly comprises a low-speed gear and a high-speed pulley which are connected with each other; the low-speed gear is in engaged transmission with the rack on the climbing-section rails; and the high-speed pulley is in matched transmission with the straight-section rails on the straight-section rails. Under the condition that a gearbox and an external auxiliary mechanism are not additionally arranged, the robot is automatically changed to be in a high speed gear on straight sections and in a low speed gear on climbing sections, and torque is increased. The climbing performance of the rail moving robot is improved, and the speed of the rail moving robot on the straight sections is increased. The contradicted problem that the rail moving robot is low in power utilization rate and speed on the straight sections and too small in driving force on the climbing sections is solved.
Description
Technical field
The present invention relates to a kind of track and move robot fluid drive walking mechanism.
Background technology
Track machine people is fixed on the track of given shape by multiple wheels, and wheel is driven by motor, band mobile robot
Walking before and after track, robot is played the effect of support guide by track.The driving force size of track machine people is by the torsion of motor
Square, reductor speed reducing ratio, driving wheel size determine.Owing to track machine people is poor in flat segments and climbing section driving force size requirements
Great disparity, causes that track machine people is low at flat segments power utilization and speed slow, and the least at climbing section driving force
Contradiction.
Summary of the invention
It is an object of the invention to as overcoming above-mentioned the deficiencies in the prior art, it is provided that a kind of track moves robot fluid drive
Walking mechanism, in the case of the most additionally increasing change speed gear box and external auxiliary mechanism, becomes top gear in flat segments automatically, climbing
Section automatically becomes bottom gear, increases moment of torsion, improves the grade climbing performance of track machine people simultaneously, add the operation with flat segments
Speed.
For achieving the above object, the present invention uses following technical proposals:
A kind of track moves robot fluid drive walking mechanism, and including sliding rail, described sliding rail includes some
Flat segments track and some climbing section tracks, described climbing section track is installed with the tooth bar with setting height, described slip
Being equipped with walking wheel assembly on track, described walking wheel assembly includes interconnective low-speed gear and high speed-skating wheel,
Described low-speed gear is meshed with tooth bar transmission on climbing section track, described high speed-skating wheel on flat segments track with flat segments
Track coordinates transmission.
Described low-speed gear and high speed-skating wheel are installed and are moved in robot in track.
Preferably, described low-speed gear and high speed-skating wheel concentric co-axial are set to integral structure；On flat segments track
Walked with track mating band mobile robot by high speed-skating wheel, by low-speed gear and track mating band movement machine on climbing section track
People walks, and is set to integrative-structure, it is simple to install and use, and saves space, does not cause the complexity of mechanism.
The diameter of described high speed-skating wheel is more than the diameter of low-speed gear；High speed-skating wheel coordinates with flat segments track, and the arm of force is relatively
Long, slow down smaller, speed；Low-speed gear coordinates with climbing section track, and the arm of force is shorter, and speed reducing ratio is relatively big, and speed is relatively slow,
Increase moment of torsion, improve grade climbing performance.
The height of described tooth bar is more than the semidiameter of high speed-skating wheel with low-speed gear；Make walking mechanism on climbing section track
During walking, high speed-skating wheel is unsettled, low-speed gear drive walking.
The diameter of described high speed-skating wheel and low-speed gear than equal to the gear ratio set, gear ratio be height degree of hastening it
The ratio of speed of the speed of the flat segments of ratio, i.e. demand and climbing section, gear ratio is straight equal to high speed diameter of pulley/low-speed gear
Footpath；Gear ratio according to demand adjusts low-speed gear and the diameter ratio of high speed-skating wheel, makes walking mechanism can reach the climbing of demand
Ability.
Preferably, the two ends of described tooth bar are all connected with descending tooth bar, and described descending tooth bar is to become to set with climbing section track
The tooth bar of angle；Owing to when by flat segments track travel to climbing section track, the position of low-speed gear raises, it is simple to low speed
Gear is walked on tooth bar by descending tooth bar, and when also allowing for by climbing section track travel to flat segments track, low-speed gear is borrowed
By descending tooth bar down position；When it also avoid the initial engagement of tooth bar and low-speed gear, tooth bar is occurred by low-speed gear simultaneously
Clash into.
The operation principle of the present invention is:
High speed-skating wheel and low-speed gear are set in walking mechanism, climbing section track arrange tooth bar, the highest ski-running
Wheel diameter is relatively big, and low-speed gear diameter is less.On flat segments track, low-speed gear is unsettled, by high speed-skating wheel and flat segments rail
Road contacts, and the arm of force is longer, slows down smaller, speed.Climbing section track is at the set-mounted height in corresponding low-speed gear position
Tooth bar, this tooth bar height is slightly larger than high speed-skating wheel and low-speed gear semidiameter.Track moves machine People's Bank of China and goes to climbing section rail
During road, low-speed gear contacts engagement with tooth bar, and the highest speed-skating wheel is unsettled, and power is transmitted by low-speed gear, and the arm of force is shorter, slows down
Bigger, speed is slower.This speed-change process is automatically obtained in track moving machine device people's walking process, it is not necessary to external agency is auxiliary
Help.According to actual needs at the diverse location installation tooth bar of track during use, track machine people can realize being expert at passing by
Fluid drive in journey, reach can high-speed mobile, again can high pulling torque walking purpose.
The invention has the beneficial effects as follows:
Track machine people is in flat segments and climbing section driving force size requirements difference great disparity, and the present invention is the most additionally increasing change
In the case of speed case and external auxiliary mechanism, automatically becoming top gear in flat segments, climbing section automatically becomes bottom gear, increases and turn round
Square.Improve the grade climbing performance of track machine people, and the speed of flat segments.Solve track machine people at flat segments power utilization
Rate is low and speed slow, and in the least contradiction of climbing section driving force.
Accompanying drawing explanation
Fig. 1 is the end-view of fluid drive walking mechanism of the present invention；
Fig. 2 is the fluid drive walking mechanism of the present invention side view at climbing section track；
In figure, 1. track, 2. tooth bar, 3. low-speed gear, the highest speed-skating wheel.
Detailed description of the invention
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
As Figure 1-Figure 2, a kind of track moves robot fluid drive walking mechanism, including sliding rail 1, described cunning
Dynamic track 1 includes some flat segments tracks and some climbing section tracks, and climbing section track is installed with the tooth with setting height
Bar 2, sliding rail is equipped with walking wheel assembly, and walking wheel assembly includes low-speed gear 3 He that concentric co-axial is arranged
High speed-skating wheel 4, is walked with track 1 mating band mobile robot by high speed-skating wheel 4 on flat segments track, on climbing section track by
Low-speed gear 3 is walked with track 1 mating band mobile robot.The present invention fluid drive walking mechanism walking speed-change process completely by
Rack position determines, is automatically performed speed switching, it is not necessary to additionally control motor.
Low-speed gear 3 and high speed-skating wheel 4 are installed and are moved in robot in track.Low-speed gear 3 climbing section track 1 on
Tooth bar 2 is meshed transmission, and high speed-skating wheel 4 coordinates transmission with flat segments track 1 on flat segments track 1.
High speed-skating wheel 4 is relatively large in diameter, and low-speed gear 3 diameter is less, and high speed-skating wheel coordinates with flat segments track, and the arm of force is relatively
Long, slow down smaller, speed；Low-speed gear coordinates with climbing section track, and the arm of force is shorter, and speed reducing ratio is relatively big, and speed is relatively slow,
Increase moment of torsion, improve grade climbing performance.Two wheel diameters set than by predetermined gear ratio, and gear ratio according to demand adjusts low speed tooth
Wheel and the diameter ratio of high speed-skating wheel, make walking mechanism can reach the climbing capacity of demand.
The height of tooth bar 2 is more than the semidiameter of high speed-skating wheel 4 with low-speed gear 3；Make walking mechanism on climbing section track
During walking, high speed-skating wheel is unsettled, low-speed gear drive walking.
As in figure 2 it is shown, the two ends of tooth bar 2 are all connected with descending tooth bar, descending tooth bar is for becoming set angle with climbing section track 1
Tooth bar；Owing to when by flat segments track travel to climbing section track, the position of low-speed gear raises, it is simple to low-speed gear
Walk on tooth bar by descending tooth bar, also allow for by climbing section track travel to low-speed gear time on flat segments track by under
Slope tooth bar down position；When it also avoid the initial engagement of tooth bar and low-speed gear, tooth bar is clashed into by low-speed gear simultaneously.
The work process of the present invention is:
In flat segments, low-speed gear is unsettled, and by high speed-skating wheel and rail contact, the arm of force is longer, slows down smaller, speed
Comparatively fast.Climbing section track installs the tooth bar of certain altitude in corresponding low-speed gear position, and this tooth bar height is slightly larger than high speed-skating wheel
With low-speed gear semidiameter.Track moves machine People's Bank of China when going to climbing section, and low-speed gear contacts engagement with tooth bar, now high speed
Pulley is unsettled, and power is transmitted by low-speed gear, and the arm of force is shorter, and speed reducing ratio is relatively big, and speed is slower.This speed-change process moves at track
It is automatically obtained during robot ambulation, it is not necessary to external agency assists.According to actual needs in the difference of track during use
Position install tooth bar, track machine people can realize fluid drive in the process of walking, reach can high-speed mobile, again can be big
The purpose of moment of torsion walking.
Although the detailed description of the invention of the present invention is described by the above-mentioned accompanying drawing that combines, but not the present invention is protected model
The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme, and those skilled in the art are not
Need to pay various amendments or deformation that creative work can make still within protection scope of the present invention.
Claims (7)
1. track moves a robot fluid drive walking mechanism, it is characterized in that, including sliding rail, and described sliding rail bag
Include some flat segments tracks and some climbing section tracks, described climbing section track is installed with the tooth bar with setting height, institute
Stating and be equipped with walking wheel assembly on sliding rail, described walking wheel assembly includes interconnective low-speed gear and high speed
Pulley, described low-speed gear is meshed with tooth bar transmission on climbing section track, described high speed-skating wheel on flat segments track with
Flat segments track coordinates transmission.
2. fluid drive walking mechanism as claimed in claim 1, is characterized in that, described low-speed gear and high speed-skating wheel install in
Track moves in robot.
3. fluid drive walking mechanism as claimed in claim 1, is characterized in that, described low-speed gear and high speed-skating wheel are same with one heart
Axle is set to integral structure.
4. the fluid drive walking mechanism as described in claim 1 or 3, is characterized in that, the diameter of described high speed-skating wheel is more than low
The diameter of speed gear.
5. fluid drive walking mechanism as claimed in claim 4, is characterized in that, the height of described tooth bar more than high speed-skating wheel with
The semidiameter of low-speed gear.
6. fluid drive walking mechanism as claimed in claim 4, is characterized in that, described high speed-skating wheel and the diameter of low-speed gear
Than equal to the gear ratio set.
7. the fluid drive walking mechanism as described in claim 1 or 5, is characterized in that, the two ends of described tooth bar are all connected with descending
Tooth bar, described descending tooth bar is the tooth bar becoming set angle with climbing section track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610439469.4A CN106043333A (en) | 2016-06-17 | 2016-06-17 | Automatic speed changing travelling mechanism for rail moving robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610439469.4A CN106043333A (en) | 2016-06-17 | 2016-06-17 | Automatic speed changing travelling mechanism for rail moving robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106043333A true CN106043333A (en) | 2016-10-26 |
Family
ID=57169308
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610439469.4A Pending CN106043333A (en) | 2016-06-17 | 2016-06-17 | Automatic speed changing travelling mechanism for rail moving robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106043333A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108501961A (en) * | 2018-05-14 | 2018-09-07 | 中建空列（北京）科技有限公司 | Hanging type aerial train climbing system |
| CN113044503A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Rail traveling mechanism |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2609977A1 (en) * | 1976-03-10 | 1977-09-15 | Siemens Ag | Rack drive for document conveyor - has rack of soft material to allow teeth to conform to drive gear |
| CN87214005U (en) * | 1987-10-08 | 1988-04-06 | 葛长赞 | Device attached on railway vehicle for passing through grade and corresponding rail |
| WO1993001961A1 (en) * | 1991-07-16 | 1993-02-04 | Fata Automation S.P.A. | An overhead monorail conveyor system with motor-driven carriages |
| CN104760597A (en) * | 2015-03-13 | 2015-07-08 | 江苏菲达宝开电气有限公司 | Flexible invisible rack track system and method for track logistics vehicle |
| CN204623450U (en) * | 2015-03-13 | 2015-09-09 | 江苏菲达宝开电气有限公司 | For the flexible and hidden rack-track system of Rail logistics car |
| CN205706677U (en) * | 2016-06-17 | 2016-11-23 | 郑远平 | A kind of track moves robot fluid drive walking mechanism |
-
2016
- 2016-06-17 CN CN201610439469.4A patent/CN106043333A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2609977A1 (en) * | 1976-03-10 | 1977-09-15 | Siemens Ag | Rack drive for document conveyor - has rack of soft material to allow teeth to conform to drive gear |
| CN87214005U (en) * | 1987-10-08 | 1988-04-06 | 葛长赞 | Device attached on railway vehicle for passing through grade and corresponding rail |
| WO1993001961A1 (en) * | 1991-07-16 | 1993-02-04 | Fata Automation S.P.A. | An overhead monorail conveyor system with motor-driven carriages |
| CN104760597A (en) * | 2015-03-13 | 2015-07-08 | 江苏菲达宝开电气有限公司 | Flexible invisible rack track system and method for track logistics vehicle |
| CN204623450U (en) * | 2015-03-13 | 2015-09-09 | 江苏菲达宝开电气有限公司 | For the flexible and hidden rack-track system of Rail logistics car |
| CN205706677U (en) * | 2016-06-17 | 2016-11-23 | 郑远平 | A kind of track moves robot fluid drive walking mechanism |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108501961A (en) * | 2018-05-14 | 2018-09-07 | 中建空列（北京）科技有限公司 | Hanging type aerial train climbing system |
| CN108501961B (en) * | 2018-05-14 | 2024-06-25 | 中建空列（北京）科技有限公司 | Suspension type air train climbing system |
| CN113044503A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Rail traveling mechanism |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161026 |