CN109571413A - Suspension type robot - Google Patents
Suspension type robot Download PDFInfo
- Publication number
- CN109571413A CN109571413A CN201811391130.7A CN201811391130A CN109571413A CN 109571413 A CN109571413 A CN 109571413A CN 201811391130 A CN201811391130 A CN 201811391130A CN 109571413 A CN109571413 A CN 109571413A
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- China
- Prior art keywords
- fixed
- guide rail
- motor
- suspension type
- bracket
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of suspension type robots, comprising: preceding rolling assembly；Rolling assembly afterwards；Front steering component；Rear steering component；Guide rail direction positioning component, can acquire the direction position signal of guide rail and two front wheels of control and two rear rollers turn to；Station acquisition component is fixed on the front end panel of preceding rolling assembly and the rear bearing sheet of rear rolling assembly, and station acquisition component can acquire the location information on guide rail；Discharge assemblies are suspended below front end panel and rear bearing sheet, and cargo can be discharged in scheduled position according to instruction by discharge assemblies；Controller, the electric component being electrically connected in each component control suspension type robot and advance along left rail and right guide rail, retreat, turn or unload according to the instruction received；Power supply module is powered to controller；The present invention has the beneficial effect structurally reasonable, cost performance is high, travel speed is fast, sorting efficiency is high.
Description
Technical field
The present invention relates to a kind of suspension type robots.
Background technique
Cargo industry is sorted in robot, carrying out sorting on hanging guide rail using suspension type robot ambulation is to compare
New technical field, Chinese patent disclose a kind of suspension type robot system and sorting system and its discriminating direction method, Shen
It please number be CN201810417520.0, building, space utilization rate be high, robot ambulation speed without being transformed for the patent of invention
Fastly, unloading is convenient, if further performance is wanted for example to improve travel speed, to guide rail direction positioning component, station acquisition component,
More stringent requirements are proposed for balance system etc..
Summary of the invention
The present invention provides a kind of suspension type robot according to the above demand.
The technical scheme is that
A kind of suspension type robot, comprising:
Preceding rolling assembly；
Rolling assembly afterwards；
Front steering component；
Rear steering component；
Guide rail direction positioning component, can acquire the direction position signal of guide rail and two front wheels of control and two rear rollers turn
To；
Station acquisition component is fixed on the front end panel of preceding rolling assembly and the rear bearing sheet of rear rolling assembly, and position is adopted
Collection component can acquire the location information on guide rail；
Discharge assemblies are suspended below front end panel and rear bearing sheet, and cargo can be discharged in pre- by discharge assemblies according to instruction
Fixed position；
Controller, the electric component being electrically connected in each component control suspension type robot and lead along a left side according to the instruction received
Rail and right guide rail advance, retreat, turning or unloading；
Power supply module is powered to controller；
The preceding rolling assembly includes:
Front end panel；
Preceding rotating bracket is rotatably fixed through fore bearing with front end panel；
Front reduction gear machine, shell are fixed with preceding rotating bracket；
Front wheel, travels on left rail and right guide rail by two, and the output shaft of two front wheels and front reduction gear machine is fixed, alternatively,
One in two front wheels and the output shaft of front reduction gear machine is fixed, another rotationally covers the output shaft in front reduction gear machine
Outside；It should be noted that the output shaft of two idler wheels and speed reducer is fixed, its disadvantages are that, when negotiation of bends, Nei Dao with
Outer course stroke is different, has one can generate non-rolling friction between idler wheel and guide rail；In two idler wheels another rotationally
Cover outside the output shaft of speed reducer, there are the advantages of be,, can be with although Nei Dao is different from outer course stroke when negotiation of bends
Adjustment speed, differential rolls, to reduce the non-rolling friction of idler wheel and guide rail；
Preceding rolling motor, shell fixes with front reduction gear casing body, the input shaft of shaft and front reduction gear machine is fixed, preceding rolling motor
Rotation can drive two front wheel rotations；
The rear rolling assembly includes:
The rear bearing sheet；
Rotating bracket afterwards is rotatably fixed through rear bearing with rear bearing sheet；
Speed reducer afterwards, shell are fixed with rear rotating bracket；
Rear roller, travels on left rail and right guide rail by two, and the output shaft of two rear rollers and rear speed reducer is fixed, alternatively,
One in two rear rollers and the output shaft of rear speed reducer is fixed, another rotationally covers the output shaft in rear speed reducer
Outside；
After roll motor, shell is fixed with rear reducer shell, shaft and the input shaft of rear speed reducer are fixed, and rolls motor afterwards
Rotation can drive rear roller to rotate；
The front steering component includes:
Front steering plate, one end and preceding rotating bracket are fixed, the other end is hanging and is fixed with preceding arc-shaped rack；
Front steering motor, shell is fixed with front end panel, its rotation axis is engaged through front gear with preceding arc-shaped rack, front steering
Motor rotation can drive front wheel to turn to；
The rear steering component includes:
Rear steering plate, one end and rear rotating bracket are fixed, the other end is hanging and is fixed with rear arc-shaped rack；
Rear steering motor, shell fixes with rear bearing sheet, through backgear, the arc-shaped rack with after engages its rotation axis, rear steering
Motor rotation can drive rear roller to turn to；
Front steering motor rolls motor, front steering motor and rear steering motor electrical connection controller afterwards.
In the prior art, steering motor is usually realized by retarder, since retarder volume is at high cost greatly, it is also necessary to
Increase limiting device, the utilization rate of retarder is very low, and using effect is bad, the present invention
Have using deflecting plate structure and turns to flexible, light-weight advantage.
The guide rail direction positioning component includes:
Preceding First Line girth sheets and preceding second coil plate are fixed on preceding rotating bracket, preceding rolling motor or the front reduction gear machine
Front and back that is upper and being located at two front-wheels；
First Line girth sheets and rear second coil plate afterwards are fixed on the rear rotating bracket, rear rolling motor or rear speed reducer
Front and back that is upper and being located at two rear-wheels；
Every piece of coil plate is mounted at least four coils, wherein the first reference coil can be directed at left rail, the second reference coil
It can be directed at right guide rail, the first adjustment coiler part is directed at left rail, part is directed at the gap between left rail and right guide rail, and second
Adjustment coiler part is directed at the gap between right guide rail, part alignment left rail and right guide rail, and the first adjustment coil and second is adjusted
Whole coil is more than one, and the inductance of coil is related to the position apart from left rail and right guide rail, left rail and right guide rail
For metal guide rail；
The first reference coil, the second reference coil, the first adjustment coil and second adjustment coil in every piece of coil plate connect respectively
The controller is connect, controller can change to control the front steering motor and/or rear steering electricity according to the inductance of coil
Machine rotation.
The controller includes four oscillating circuits, and each oscillating circuit includes integrated circuit, capacitor and the coil, is somebody's turn to do
Analog circuit can be converted into being transported to control unit after digital circuit by oscillating circuit, described in control unit is controlled through driving circuit
Front steering motor and/or steering motor movement.
Guide rail direction positioning of the present invention, includes the following steps:
Select left rail or right guide rail as with reference to guide rail in S1 suspension type robot body driving process；
For S2 when left rail is used as with reference to guide rail in choosing, controller acquires the inductance of the first reference coil in one of coil plate
Amount is used as reference value, while acquiring the inductance of the first adjustment coil；
S3 determines the first adjustment coil phase according to the corresponding relationship of the first reference coil inductance and the first adjustment winding inductance quantity
For the position of left rail slot edge；
S4 same method determines position of the first adjustment coil in other three pieces of coil plates relative to left rail slot edge
It sets；
S5 passes through forward according to position of the first adjustment coil relative to left rail slot edge, controller in four pieces of coil plates
Front-drive direction is adjusted to motor, rear wheel direction is adjusted by rear steering motor, to realize suspension type robot sheet
Body straight trip turns left or turns right；
For S6 when guide rail right in choosing is used as with reference to guide rail, for step S2 into step S5, the first reference coil replaces with the second benchmark
Coil, the first adjustment coil replace with second adjustment coil, and left rail replaces with right guide rail.
Due to being influenced by installation accuracy, material factor, need to be demarcated in advance, the first reference coil inductance,
The first adjustment coil corresponding inductance in different distance relative to left rail slot edge, can acquire and be stored in advance
In controller storage, in hanging robot driving process, as long as collecting the first reference coil inductance and the first adjustment line
Circle inductance just can determine that the first adjustment coil at a distance from left rail slot edge；Second reference coil inductance, second are adjusted
Whole coil corresponding inductance in different distance relative to right guide rail slot edge, can acquire in advance and be stored in controller
In memory, in suspension type robot driving process, as long as collecting the second reference coil inductance and second adjustment coil electricity
Sensibility reciprocal just can determine that second adjustment coil at a distance from right guide rail slot edge.
The present invention in the process of moving, according to guide rail direction positioning component provide guide rail direction position signal, controller
The direction that itself traveling is constantly adjusted in conjunction with the instruction of server, can ensure that rubbing other than wheel does not occur for suspension type robot
It wipes,
The station acquisition component includes:
Cis is fixed through station acquisition bracket and the front end panel or rear bearing sheet, and cis is close
Horizontal position installation, the cis electrical connection controller；
Reflective mirror, the horizontal plane relative to left rail and right guide rail are obliquely installed and are fixed on bracket, and reflective mirror can will be left
The information of guide rail or the position labeling of right guide rail bottom surface is reflected into cis；
Headlamp is fixed on bracket, and the light for illuminating light irradiation can directive position labeling after mirror reflection.
The bracket is plate, and described image reader is fixed with bracket through cis bracket, offered on plate
Loophole, the reflective mirror are fixed on cis bracket and acquire the information of the position labeling, institute by loophole
The light for stating headlamp passes through loophole and is irradiated on reflective mirror, and described image reader bracket is provided with tilting rack, described
Reflective mirror is fixed on tilting rack.
Suspension type robot can determine the position where suspension type robot according to the position labeling on guide rail, and with clothes
Device of being engaged in is wirelessly connected, and sends and receivees information, controller can according to need send instructions to suspension type robot complete to advance,
It retreats, turning, charging, and in movements such as specified address unloadings.
It should be noted that must have a certain distance between cis and position labeling could obtain preferably
Imaging effect needs to increase suspension if distance between cis and position labeling is too long in actual use
The size of formula robot, increases cost, and the present invention can then be substantially reduced size of the invention by reflective mirror.
It should also be noted that, camera imaging area edge refers to suspension type robot row to the distance between position labeling
During sailing, necessarily has position labeling and step into camera followed by fully enter camera, finally gradually exit camera shooting
Therefore head by the distance between calculating camera imaging area edge to position labeling, can improve the positioning of suspension type robot
Precision.
In addition, cis can substantially reduce the camera lens of dust covering cis close to horizontal position installation, i.e.,
Make have dust absorption on a mirror, the influence of the acquisition quality of position labeling can be reduced.
Further include: connector, one end is fixed with front end panel, the other end and rear bearing sheet are fixed, and front end panel is with after
Support plate can be reversed by connector after not in the same plane so that two front-wheels and two rear-wheels be close to left rails and
Right guide rail traveling.
The connector are as follows:
Narrow plate, one end and the front end panel of the narrow plate are fixed, the other end and rear bearing sheet are fixed；
Either reverse U shape structure, top surface one end of reverse U shape structure and front end panel are fixed, the other end and rear bearing sheet are solid
It is fixed；
It is either made of axis and axle sleeve socket, the two is relatively rotatable to each other, one in axis and axle sleeve and the front support
Plate is fixed, another is fixed with rear bearing sheet.
It should be noted that suspension type robot is travelled on the guide rail of suspension including advancing, retreating or turn, if wanted
Improve travel speed, it is necessary to make the four rolling of suspension type robot reliably with guide rail contact, to increase frictional force, but due to
It is when guide rail and suspension type robot are installed it is difficult to ensure that completely up to standard, by the way that connector is arranged, efficiently solve the problems, such as this.
The power supply module includes:
Charging battery cartridge is fixed with the front end panel and/or rear bearing sheet；
Lower charging electrode, it is a pair of, it is fixed through insulation board and front end panel and/or rear bearing sheet, lower charging electrode electrical connection is filled
Battery；
Further include:
Charger is fixed on charging support frame, and support frame is fixed with ground and/or building；
Upper charging electrode, a pair of, one end is hinged through the first fixed column and support frame, the other end is hanging, charging electrode in a pair
Two output ends respectively through two cord connection chargers；
Second fixed column fixes on the support frame, is used to support the free end of charging electrode；
When suspension type robot drives to the lower section of upper charging electrode, lower charging electrode can jack up the outstanding of charging electrode upwards
Dead end, charger can charge to rechargeable battery.
The free end of the upper charging electrode offers elongated slot, and second fixed column is inserted into the elongated slot and is fixed, upper charging
Electrode can rotate an angle in the range of elongated slot, and upper charging electrode is provided with circular arc bottom edge, the circular arc bottom edge can with it is described
The contact of lower charging electrode, upper charging electrode is provided with multi-disc.
When charging electrode is separately fixed at the two sides of support frame in a pair, the lower charging electrode of a pair can be symmetrically mounted on outstanding
The left-right position of hanging robot, it is more convenient；It can also be that charging electrode is fixed on the front-rear position of support frame the same side；
Regardless of any structure, charging can be completed as long as electrode energy is conductive simultaneously.
It should be noted that using when charging electrode structure, increase is had to the processing request of upper charging electrode on monolithic,
, when Rig up error can reduce charging electrical-contact area relatively high to installation requirement simultaneously increases contact resistance, and charges in multi-disc
Electrode structure can be substantially reduced processing request and installation requirement, significantly improve electrical-contact area, reduce contact resistance.
Suspension type robot travels on the guide rail of lifting, it usually needs it charges to suspension type robot fixed point, this
Inventive technique scheme can be suitble to high current is short to fill.
Discharge assemblies include:
Hanger bracket, two, wherein a hanger bracket is fixed with gear reduction box, unloading electric machine casing is fixed with gear reduction box,
The input shaft of the gear reduction box is fixed with unloading machine shaft, the output shaft of gear reduction box and a support solid point of suspension bucket
Fixed, another supporting point and another hanger bracket of suspension bucket are fixed, and unloading motor rotation can drive suspension bucket rotation unloading；
The top of two hanger brackets respectively with the front end panel and support plate fixed hinge, the input terminal of shaft buffer with
The top fixation of hanger bracket, the rack of the output end and suspension type robot of shaft buffer are fixed, and shaft buffer can be reduced
The amplitude of fluctuation of hanger bracket.
Present invention is mainly used for cargo transport and sorting, relevant system configuration such as server, left rail and right guide rail etc.
It may refer to Chinese patent and disclose a kind of suspension type robot system and sorting system and its discriminating direction method, application No. is
CN201810417520.0。
The present invention has the beneficial effect structurally reasonable, cost performance is high, travel speed is fast, sorting efficiency is high.
Detailed description of the invention
Fig. 1 is rolling assembly of the present invention, steering assembly and guide rail direction positioning component structural schematic diagram
Fig. 2 is the structural schematic diagram of guide rail direction positioning component of the present invention.
Fig. 3 is the structural schematic diagram of station acquisition component of the present invention.
Fig. 4 is the relevant structural schematic diagram of connector of the present invention.
Fig. 5 is the relevant structural schematic diagram of power supply module of the present invention.
Fig. 6 is discharge assemblies structural schematic diagram of the present invention.
Specific embodiment
Now in conjunction with attached drawing, the present invention is further illustrated:
As shown, a kind of suspension type robot, comprising:
Preceding rolling assembly；
Rolling assembly afterwards；
Front steering component；
Rear steering component；
Guide rail direction positioning component can acquire the direction position signal of guide rail and control two front wheels 2 and two rear rollers
It turns to；
Station acquisition component is fixed on the front end panel 1 of preceding rolling assembly and the rear bearing sheet of rear rolling assembly, and position is adopted
Collection component can acquire the location information on guide rail；
Discharge assemblies are suspended below front end panel 1 and rear bearing sheet, and cargo can be discharged in pre- by discharge assemblies according to instruction
Fixed position；
Controller, the electric component being electrically connected in each component control suspension type robot and lead along a left side according to the instruction received
Rail 101 and right guide rail advance, retreat, turning or unloading；
Power supply module is powered to controller；
Preceding rolling assembly includes:
Front end panel 1；
Preceding rotating bracket 3, it is rotatably fixed through fore bearing and front end panel 1；
Front reduction gear machine 8, shell and preceding rotating bracket 3 are fixed；
Front wheel 2, travels on left rail 101 and right guide rail by two, and the output shaft of two front wheels 2 and front reduction gear machine 8 is solid
It is fixed, alternatively, one in two front wheels 2 and the output shaft of front reduction gear machine 8 is fixed, another is rotationally covered in front reduction gear machine
Outside 8 output shaft；
Preceding rolling motor 7, shell fixes with 8 shell of front reduction gear machine, the input shaft of shaft and front reduction gear machine 8 is fixed, preceding rolling
The rotation of motor 7 can drive two front wheels 2 to rotate；
Rolling assembly includes: afterwards
Rear bearing sheet；
Rotating bracket afterwards is rotatably fixed through rear bearing with rear bearing sheet；
Speed reducer afterwards, shell are fixed with rear rotating bracket；
Rear roller, travels on left rail 101 and right guide rail by two, and the output shaft of two rear rollers and rear speed reducer is fixed, or
Person, one in two rear rollers and the output shaft of rear speed reducer is fixed, another rotationally covers the output in rear speed reducer
Outside axis；
After roll motor, shell is fixed with rear reducer shell, shaft and the input shaft of rear speed reducer are fixed, and rolls motor afterwards
Rotation can drive rear roller to rotate；
Front steering component includes:
Front steering plate 4, one end and preceding rotating bracket 3 are fixed, the other end is hanging and are fixed with preceding arc-shaped rack 6；
Front steering motor 5, shell is fixed with front end panel 1, its rotation axis is engaged through front gear 51 with preceding arc-shaped rack 6,
The rotation of front steering motor 5 can drive front wheel 2 to turn to；
Rear steering component includes:
Rear steering plate 4, one end and rear rotating bracket 3 are fixed, the other end is hanging and is fixed with rear arc-shaped rack 6；
Rear steering motor 5, shell is fixed with rear bearing sheet 1, through backgear 51, the arc-shaped rack 6 with after engages its rotation axis,
The rotation of rear steering motor 5 can drive rear roller 2 to turn to；
Front steering motor 5 rolls motor, front steering motor 5 and rear steering motor electrical connection controller afterwards.
Guide rail direction positioning component includes:
Preceding First Line girth sheets 91 and preceding second coil plate 92, rotating bracket 3, preceding rolling motor 7 or front reduction gear machine 8 before being fixed on
Front and back that is upper and being located at two front-wheels 2；
First Line girth sheets 93 and rear second coil plate 94 afterwards are fixed on rear rotating bracket, rear rolling motor or rear speed reducer
And it is located at the front and back of two rear-wheels；
Every piece of coil plate is mounted at least four coils, wherein the first reference coil 901 can be directed at left rail 101, the second base
Directrix circle 902 can be directed at right guide rail, and 903 part of the first adjustment coil is directed at left rail 101, part alignment left rail 101 and the right side
Gap between guide rail, 902 part of second adjustment coil are directed at the seam between right guide rail, part alignment left rail and right guide rail
Gap, the first adjustment coil 903 and second adjustment coil 904 are more than one, the inductance of coil with apart from left rail 101 and
The position of right guide rail is related, and left rail 101 and right guide rail are metal guide rail；
The first reference coil 901, the second reference coil 902, the first adjustment coil 903 and second adjustment line in every piece of coil plate
Circle 904 is separately connected controller, and controller can change according to the inductance of coil to control front steering motor 5 and/or rear steering
Motor rotation.
Controller includes four oscillating circuits, and each oscillating circuit includes integrated circuit, capacitor and coil, the oscillating circuit
It is transported to control unit after analog circuit can be converted into digital circuit, control unit controls front steering motor 5 through driving circuit
And/or steering motor movement.
Station acquisition component includes:
Cis 21 is fixed through station acquisition bracket 25 and front end panel 1 or rear bearing sheet, and cis 21 is close
Horizontal position installation, the cis 21 are electrically connected controller；
Reflective mirror 23, the horizontal plane relative to left rail 101 and right guide rail are obliquely installed and are fixed on bracket 25, reflective mirror
The information of left rail 101 or the position labeling 102 of right guide rail bottom surface can be reflected into cis 21 by 23；
Headlamp 20 is fixed on bracket 25, and the light that headlamp 20 irradiates can directive position mark after the reflection of reflective mirror 23
Patch 12.
Bracket 25 is plate, and cis 21 is fixed through cis bracket 221 and bracket 25, is offered on plate
Loophole 24, reflective mirror 23 are fixed on the information on cis bracket 221 and passing through 24 acquisition position labeling 12 of loophole,
The light of headlamp 20 passes through loophole 24 and is irradiated on reflective mirror 23, and cis bracket 221 is provided with tilting rack 222,
Reflective mirror 23 is fixed on tilting rack 222.
Further include: connector 95, one end is fixed with front end panel 1, the other end and rear bearing sheet are fixed, front end panel 1
After capable of being reversed by connector 9 with rear bearing sheet not in the same plane, so that two front-wheels 2 and two rear-wheels are close to a left side
Guide rail 101 and right guide rail traveling.
Connector 95 are as follows:
Narrow plate, one end and the front end panel 1 of the narrow plate are fixed, the other end and rear bearing sheet are fixed；
Either reverse U shape structure, top surface one end of reverse U shape structure and front end panel 1 are fixed, the other end and rear bearing sheet are solid
It is fixed；
It is either made of axis and axle sleeve socket, the two is relatively rotatable to each other, and one in axis and axle sleeve and front end panel 1 are solid
Determine, another is fixed with rear bearing sheet.
Power supply module includes:
Charging battery cartridge is fixed with front end panel 1 and/or rear bearing sheet；
Lower charging electrode 38, it is a pair of, it is fixed through insulation board 39 and front end panel 1 and/or rear bearing sheet, lower 38 electricity of charging electrode
Connect rechargeable battery；
Further include:
Charger 31 is fixed on charging support frame 32, and support frame 32 is fixed with ground and/or building；
Upper charging electrode 33, a pair of, one end is hinged through the first fixed column 35 and support frame 32, the other end is hanging, it is a pair of on fill
Two output ends of the electrode 33 respectively through two cord connection chargers 31；
Second fixed column 36, is fixed on support frame 32, is used to support the free end of charging electrode 33；
When suspension type robot drives to the lower section of upper charging electrode 33, lower charging electrode 38 can jack up charging electrode upwards
33 free end, charger 31 can charge to rechargeable battery.
The free end of upper charging electrode 33 offers elongated slot 34, and the second fixed column 36 is inserted into the elongated slot 34 and is fixed, upper charging
Electrode 33 can rotate an angle in the range of elongated slot 34, and upper charging electrode 33 is provided with circular arc bottom edge 37, the circular arc bottom edge
37 can contact with lower charging electrode 38, and upper charging electrode 33 is provided with multi-disc.
Discharge assemblies include:
Hanger bracket 74, two, wherein a hanger bracket 74 is fixed with gear reduction box 76, unload 77 shell of motor and The gear deceleration
Case 76 is fixed, and the input shaft of the gear reduction box 76 is fixed with 77 shaft of motor of unloading, the output shaft of gear reduction box 76 with hang
One supporting point of bucket 75 is fixed, another supporting point and another hanger bracket of suspension bucket 75 are fixed, and unloading motor 77 rotates energy
Drive the rotation unloading of suspension bucket 75；
The top of two hanger brackets 74 respectively with front end panel 1 and support plate fixed hinge, the input terminal of shaft buffer 72 with
The rack 73 of the top fixation of hanger bracket 74, the output end of shaft buffer 72 and suspension type robot is fixed, shaft buffer
72 can be reduced the amplitude of fluctuation of hanger bracket 74.
Claims (10)
1. a kind of suspension type robot, comprising:
Preceding rolling assembly；
Rolling assembly afterwards；
Front steering component；
Rear steering component；
Guide rail direction positioning component rolls after capable of acquiring the direction position signal of guide rail and two front wheels (2) of control and two
Rotate to；
Station acquisition component is fixed on the front end panel (1) of preceding rolling assembly and the rear bearing sheet of rear rolling assembly, position
Acquisition component can acquire the location information on guide rail；
Discharge assemblies are suspended below front end panel (1) and rear bearing sheet, and cargo can be discharged in by discharge assemblies according to instruction
Scheduled position；
Controller, the electric component being electrically connected in each component control suspension type robot and lead along a left side according to the instruction received
Rail (101) and right guide rail advance, retreat, turning or unloading；
Power supply module is powered to controller；
It is characterized in that:
The preceding rolling assembly includes:
The front end panel (1)；
Preceding rotating bracket (3) is rotatably fixed through fore bearing and front end panel (1)；
Front reduction gear machine (8), shell and preceding rotating bracket (3) are fixed；
The front wheel (2), travels two front wheels (2) and front reduction gear on the left rail (101) and right guide rail by two
The output shaft of machine (8) is fixed, alternatively, the output shaft of one in two front wheels (2) and front reduction gear machine (8) is fixed, another
It rotationally covers outside the output shaft of front reduction gear machine (8)；
Preceding rolling motor (7), shell fixes with front reduction gear machine (8) shell, the input shaft of shaft and front reduction gear machine (8) is fixed,
Preceding rolling motor (7) rotation can drive two front wheel (2) rotations；
The rear rolling assembly includes:
The rear bearing sheet；
Rotating bracket afterwards is rotatably fixed through rear bearing with rear bearing sheet；
Speed reducer afterwards, shell are fixed with rear rotating bracket；
The rear roller, travels the output shaft of two rear rollers and rear speed reducer on left rail (101) and right guide rail by two
It is fixed, alternatively, one in two rear rollers and the output shaft of rear speed reducer is fixed, another is rotationally covered in rear speed reducer
Output shaft outside；
After roll motor, shell is fixed with rear reducer shell, shaft and the input shaft of rear speed reducer are fixed, and rolls motor afterwards
Rotation can drive rear roller to rotate；
The front steering component includes:
Front steering plate (4), one end and preceding rotating bracket (3) are fixed, the other end is hanging and is fixed with preceding arc-shaped rack (6)；
Front steering motor (5), shell is fixed with front end panel (1), its rotation axis is through front gear (51) and preceding arc-shaped rack
(6) it engages, front steering motor (5) rotation can drive front wheel (2) to turn to；
The rear steering component includes:
Rear steering plate (4), one end and rear rotating bracket (3) are fixed, the other end is hanging and is fixed with rear arc-shaped rack (6)；
Rear steering motor (5), shell and rear bearing sheet (1) fixation, its rotation axis arc-shaped rack with after through backgear (51)
(6) it engages, rear steering motor (5) rotation can drive rear roller (2) to turn to；
Preceding rolling motor (7) rolls motor, front steering motor (5) and rear steering motor (5) electrical connection controller afterwards.
2. a kind of suspension type robot as described in claim 1, characterized in that the guide rail direction positioning component includes:
Preceding First Line girth sheets (91) and preceding second coil plate (92) are fixed on the preceding rotating bracket (3), preceding rolling motor
(7) or on front reduction gear machine (8) and it is located at the front and backs of two front-wheels (2)；
First Line girth sheets (93) and rear second coil plate (94) afterwards, be fixed on the rear rotating bracket, it is rear roll motor or
Front and back on speed reducer and positioned at two rear-wheels afterwards；
Every piece of coil plate is mounted at least four coils, wherein and the first reference coil (901) can be aligned left rail (101), the
Two reference coils (902) can be directed at right guide rail, and the first adjustment coil (903) part alignment left rail (101), a part alignment left side are led
Gap between rail (101) and right guide rail, second adjustment coil (902) are partially directed at right guide rail, part alignment left rail and the right side
Gap between guide rail, the first adjustment coil (903) and second adjustment coil (904) are more than one, the inductance of coil
Related to the position apart from left rail (101) and right guide rail, left rail (101) and right guide rail are metal guide rail；
The first reference coil (901), the second reference coil (902), the first adjustment coil (903) and second in every piece of coil plate
Adjustment coil (904) is separately connected the controller, and controller can change according to the inductance of coil to control the forward
It is rotated to motor (5) and/or rear steering motor.
3. a kind of suspension type robot as claimed in claim 2, characterized in that the controller includes four oscillating circuits,
Each oscillating circuit includes integrated circuit, capacitor and the coil, which can be converted into digital circuit for analog circuit
After be transported to control unit, control unit is dynamic through driving circuit control the front steering motor (5) and/or rear steering motor
Make.
4. a kind of suspension type robot as claimed in claim 1,2 or 3, characterized in that the station acquisition component includes:
Cis (21) is fixed, image through station acquisition bracket (25) and the front end panel (1) or rear bearing sheet
Reader (21) is installed close to horizontal position, the cis (21) the electrical connection controller；
Reflective mirror (23), the horizontal plane relative to left rail (101) and right guide rail are obliquely installed and are fixed on bracket (25),
The information of left rail (101) or the position labeling (102) of right guide rail bottom surface can be reflected into cis by reflective mirror (23)
(21)；
Headlamp (20) is fixed on bracket (25), and the light of headlamp (20) irradiation can be penetrated after reflective mirror (23) reflection
To position labeling (12).
5. a kind of suspension type robot as claimed in claim 4, characterized in that the bracket (25) is plate, described image
Reader (21) is fixed through cis bracket (221) and bracket (25), and cis bracket (221) is provided with tilting rack
(222), it is offered on plate loophole (24), the reflective mirror (23) is fixed on tilting rack (222) and passes through loophole
(24) information of the position labeling (12) is acquired, the light of the headlamp (20) passes through loophole (24) and is irradiated to reflective mirror
(23) on.
6. a kind of suspension type robot as described in claim 1, characterized in that further include: connector (95), one end and institute
The front end panel (1) stated is fixed, the other end is fixed with the rear bearing sheet, and front end panel (1) and rear bearing sheet can pass through company
After fitting (9) torsion not in the same plane, so that two front-wheels (2) and two rear-wheels are close to the left side and are led
Rail (101) and right guide rail traveling.
7. a kind of suspension type robot as claimed in claim 6, characterized in that the connector (95) are as follows:
Narrow plate, one end of the narrow plate is fixed with the front end panel (1), the other end is fixed with the rear bearing sheet；
Either reverse U shape structure, top surface one end of reverse U shape structure and front end panel (1) fixation, the other end and rear bearing sheet
It is fixed；
It is either made of axis and axle sleeve socket, the two is relatively rotatable to each other, one in axis and axle sleeve and the front support
Plate (1) is fixed, another is fixed with rear bearing sheet.
8. a kind of suspension type robot as claimed in claim 1,2 or 3, characterized in that the power supply module includes:
Charging battery cartridge is fixed with the front end panel (1) and/or rear bearing sheet；
Lower charging electrode (38), it is a pair of, it is fixed through insulation board (39) and front end panel (1) and/or rear bearing sheet, lower charging electricity
Pole (38) is electrically connected rechargeable battery；
Further include:
Charger (31) is fixed in charging support frame (32), and support frame (32) is fixed with ground and/or building；
Upper charging electrode (33), it is a pair of, one end through the first fixed column (35) and support frame (32) hingedly, the other end it is hanging, one
Two output ends to upper charging electrode (33) respectively through two cord connections charger (31)；
Second fixed column (36) is fixed on support frame (32), is used to support the free end of charging electrode (33)；
When suspension type robot drives to the lower section of upper charging electrode (33), lower charging electrode (38) can jack up charging upwards
The free end of electrode (33), charger (31) can charge to rechargeable battery.
9. a kind of suspension type robot as claimed in claim 8, characterized in that the free end of the upper charging electrode (33) is opened
Equipped with elongated slot (34), second fixed column (36) is inserted into the elongated slot (34) and is fixed, and upper charging electrode (33) can be in elongated slot (34)
In the range of rotate an angle, upper charging electrode (33) is provided with circular arc bottom edge (37), the circular arc bottom edge (37) can with it is described
Lower charging electrode (38) contact, upper charging electrode (33) is provided with multi-disc.
10. a kind of suspension type robot as claimed in claim 1,2 or 3, characterized in that discharge assemblies include:
Hanger bracket (74), two, wherein a hanger bracket (74) is fixed with gear reduction box (76), unloading motor (77) shell with
Gear reduction box (76) is fixed, and input shaft and unloading motor (77) shaft of the gear reduction box (76) are fixed, gear reduction box
(76) supporting point of output shaft and suspension bucket (75) is fixed, another supporting point and another hanger bracket of suspension bucket (75) are solid
Fixed, unloading motor (77) rotation can drive suspension bucket (75) rotation unloading, unloading motor (77) the electrical connection controller；Two
The top of hanger bracket (74) respectively with the front end panel (1) and support plate fixed hinge, the input of shaft buffer (72)
End and the rack (73) of the top fixation of hanger bracket (74), the output end of shaft buffer (72) and suspension type robot are fixed,
Shaft buffer (72) can be reduced the amplitude of fluctuation of hanger bracket (74).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811391130.7A CN109571413B (en) | 2018-11-21 | 2018-11-21 | Suspension type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811391130.7A CN109571413B (en) | 2018-11-21 | 2018-11-21 | Suspension type robot |
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| Publication Number | Publication Date |
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| CN109571413A true CN109571413A (en) | 2019-04-05 |
| CN109571413B CN109571413B (en) | 2020-11-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811391130.7A Active CN109571413B (en) | 2018-11-21 | 2018-11-21 | Suspension type robot |
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| CN114102629A (en) * | 2021-12-06 | 2022-03-01 | 长沙理工大学 | Motor car bottom inspection robot |
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| Publication number | Publication date |
|---|---|
| CN109571413B (en) | 2020-11-24 |
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