CN111376228A - Rotation mechanism and overhead rail robot - Google Patents
Rotation mechanism and overhead rail robot Download PDFInfo
- Publication number
- CN111376228A CN111376228A CN201811621659.3A CN201811621659A CN111376228A CN 111376228 A CN111376228 A CN 111376228A CN 201811621659 A CN201811621659 A CN 201811621659A CN 111376228 A CN111376228 A CN 111376228A
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- China
- Prior art keywords
- assembly
- robot
- driving
- slewing
- attitude adjusting
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a turning mechanism, comprising: the driving module comprises a driving assembly and a driven assembly, the hanger rail robot body is hung on the I-shaped guide rail, and the driving assembly is connected with a driving motor; the suspension slewing device comprises a first suspension support frame and a second suspension support frame, the first suspension support frame is fixedly connected with a slewing bearing, the slewing bearing is fixedly connected with an adapter, and the adapter is fixedly connected with the overhead rail robot body; the attitude adjusting assembly comprises an attitude adjusting motor connected to one side of the driving assembly, an adjusting motor fixing piece used for fixing the attitude adjusting motor and a sector gear, one end of the sector gear is meshed with the slewing bearing, and the other end of the sector gear is connected with the attitude adjusting motor; the controller is connected with the attitude adjusting assembly and the driving module, and the controller controls the driving module to self-adapt to the bending of the track to independently rotate by controlling the attitude adjusting assembly. A hanger rail robot is also provided. The slewing mechanism and the robot curve have strong self-adaptive capacity.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a slewing mechanism and a rail-mounted robot.
Background
Along with the development of the robot technology, various intelligent inspection monitoring robots are more and more widely applied, wherein the rail type inspection robot is more and more favored due to the fact that the operation line is stable and reliable, the floor space is not occupied, the control is simple and convenient, and the design of the walking mechanism serving as an important mechanism of the inspection robot is particularly important. At present, the existing pipe gallery inspection robot is roughly divided into two forms: overhead hanger rail type and ground wheel type. The aerial hanger rail type inspection device is suitable for inspection of pipe galleries, directionally moves in a narrow space for inspection, and is easy to control and arrange the space; the ground wheel type is relatively limited, is easily influenced by complex ground environment and is severely limited in use. The driving part of the prior applied rail-mounted robot, wheels are basically rigidly connected, the relative positions of four wheels are fixed, the robot deflects a track which is self-adaptive to turn by virtue of left and right gaps when the robot turns, the turning is realized, the limitation of the turning is very large, the turning radius is limited by the distance between the front wheel and the rear wheel and the size of the left and right limiting gaps, the larger the distance between the front wheel and the rear wheel is, the larger the turning radius which can pass is, the left and right limiting gaps are generally smaller than 5mm, the wheel derailment risk can occur if the gaps are too large, even if the wheels do not derail, the situation that the attachment area of the wheels is too small and the power parameters is. In particular, the common rail robot cannot be adequate in the terrain with small turning radius.
Disclosure of Invention
The invention mainly solves the technical problem of providing a swing mechanism and a suspended rail robot which can flexibly adapt to the curve of a suspended rail and can pass through the curve with smaller turning radius by a robot with the same volume.
A swing mechanism for a rail mounted robot, comprising:
the method comprises the following steps: the device comprises a driving module, a suspension slewing device, an attitude adjusting assembly and a controller; the driving module is arranged at the top of the overhead rail robot body, the suspension slewing device is arranged between the driving module and the overhead rail robot body, and the controller is connected with the attitude adjusting assembly and the driving module;
the driving module comprises a driving assembly and a driven assembly, the driving assembly and the driven assembly suspend the hanger rail robot body on the I-shaped guide rail, and the driving assembly is connected with a driving motor;
the suspension slewing device comprises a first suspension support frame and a second suspension support frame, the first suspension support frame is fixedly connected with a slewing bearing, the slewing bearing is fixedly connected with an adapter, and the adapter is fixedly connected with the overhead rail robot body;
the attitude adjusting assembly comprises an attitude adjusting motor connected to one side of the driving assembly, an adjusting motor fixing piece used for fixing the attitude adjusting motor and a sector gear, one end of the sector gear is meshed with the slewing bearing, and the other end of the sector gear is connected with the attitude adjusting motor;
when the robot travels to a curve, the controller controls the driving module to perform independent rotation by controlling the attitude adjustment assembly so as to adapt to the curve of the track.
In one embodiment, the driving assembly and the driven assembly comprise pulley blocks, and the pulley blocks are clamped in the I-shaped guide rail groove and run along the I-shaped guide rail groove.
In one embodiment, limiting rollers are arranged on two sides of the pulley block of the driving assembly and the driven assembly.
In one embodiment, two groups of limiting rollers are arranged on two sides of each pulley block, and the two groups of limiting rollers are symmetrically arranged.
In one embodiment, the rollers of the pulley block are polyurethane wheels.
In one embodiment, the slew bearing is an external-tooth-shaped slew bearing, and the sector gear is engaged with the external-tooth-shaped slew bearing.
In one embodiment, the attitude adjustment motor is a steering motor.
A rail-mounted robot comprises the slewing mechanism.
In one embodiment, the rail-mounted robot comprises a robot body located at the bottom of the swing mechanism, the robot body comprises a bearing bottom plate, a bearing box shell and a component accommodated in a cavity formed by the bearing box shell and the bearing bottom plate, and the swing mechanism is fixed on the bearing bottom plate.
In one embodiment, the adjusting motor fixing part is a zigzag fixing plate, one end of the fixing plate is fixed on the bearing bottom plate, and the other end of the fixing plate is used for supporting the posture adjusting motor.
In the slewing mechanism and the overhead rail robot, when the robot moves to a curve, the driving assembly and the driven assembly can self-adapt to the curve of the track to independently rotate, so that the robot can smoothly pass through the curve, when the robot detects that the robot does not smoothly move at the curve, the slewing mechanism does not completely adapt to the trend of the track, the resistance can be larger, the posture adjusting motor can be started at the moment, the slewing mechanism is driven to run through gear transmission, the direction of the whole slewing mechanism is adjusted to be consistent with the direction of the track, and the running posture is adjusted, so that the robot runs more smoothly and stably. On the premise of the same size, the robot with the rotary structure can pass through a curve with a smaller angle than a robot without the rotary structure, and the adaptability to a guide rail with a complex track is greatly improved. In the rail-mounted robot, a driving part is connected with a robot body through an external tooth type slewing bearing, and a driven part is also connected with the robot body through the slewing bearing. Thus, the driving wheel and the driven wheel can independently rotate relative to the robot body. And a steering motor and a gear for adjusting steering are added in the driving wheel part, so that the advancing posture of the driving wheel can be finely adjusted.
Drawings
FIG. 1 is an overall schematic view of a rail hanging structure of an inspection robot;
FIG. 2 is a top view of the robot drive assembly and driven assembly;
fig. 3 is a sectional view of a robot swing structure.
Reference numerals:
1. the device comprises a driving motor, 2, a pulley block, 3, a limiting roller, 4, a first suspension support frame, 5, a second suspension support frame, 6, a rotary bearing, 7, an adapter, 8, an I-shaped guide rail, 9, an attitude adjusting motor, 10, a sector gear, 11 and an adjusting motor fixing piece.
Detailed Description
Referring to fig. 1 to 3, the present invention provides a swing mechanism for a rail-mounted robot, which is used as a connecting member for connecting the rail-mounted robot to a guide rail and can be operated independently to control an operation posture of the rail-mounted robot. Specifically, the swing mechanism includes: the device comprises a driving module, a suspension slewing device, an attitude adjusting assembly and a controller; the driving module is arranged at the top of the overhead rail robot body, the suspension slewing device is arranged between the driving module and the overhead rail robot body, and the controller is connected with the attitude adjusting assembly and the driving module.
Specifically, in an embodiment, the swing mechanism includes a driving module, the driving module includes a driving component, a driven component and a driving motor 1 disposed on one side of the driving component, and the driving motor 1 drives the driving component to operate, so as to drive the driven component to operate. The driving assembly and the driven assembly respectively comprise pulley blocks 2, and the pulley blocks 2 are clamped in the grooves of the I-shaped guide rails and move along the grooves of the I-shaped guide rails. In particular, the pulley block 2 may be a polyurethane wheel. One pulley block is composed of 2 pulleys.
In one embodiment, the two sides of the pulley block 2 of the driving assembly and the driven assembly are provided with limiting rollers 3. Specifically, two sides of each pulley block 2 are provided with two groups of limiting idler wheels 3, and the two groups of limiting idler wheels 3 are symmetrically arranged. Namely, two sides of one pulley block 2 can be provided with 4 limiting idler wheels 3. The limiting idler wheel 3 can limit the left and right offset of the robot and can limit the independent rotation angle of the driving assembly and the driven assembly. The larger the angle that can independently turn around is, the smaller the bend angle that can pass through is, under the prerequisite of the same size, have this kind of revolution mechanic can pass through the bend that the angle is littleer than the robot that does not have revolution mechanic, has promoted the adaptability to complicated orbit guide rail greatly.
In one embodiment, the suspension slewing device comprises a first suspension support frame 4 and a second suspension support frame 5, the first suspension support frame 4 is fixedly connected with a slewing bearing 6, the slewing bearing 6 is fixedly connected with an adapter 7, and the adapter 7 is fixedly connected with the rail robot body. The suspension slewing gear suspends the slewing mechanism on the I-shaped guide rail 8.
The attitude adjusting assembly comprises an attitude adjusting motor 9 connected to one side of the driving assembly, a sector gear 10 used for fixing the attitude adjusting motor 9 and an adjusting motor fixing part 11, one end of the sector gear 10 is meshed with the slewing bearing 6, and the other end of the sector gear is connected with the attitude adjusting motor 9. Specifically, the slewing bearing 6 is an external-tooth-shaped slewing bearing, and the sector gear 10 meshes with the external-tooth-shaped slewing bearing 6. The attitude adjusting motor 9 is a steering motor. A steering motor and a gear which can adjust steering are added to the driving assembly part, and the moving posture of a pulley block of the driving assembly can be finely adjusted.
The controller is connected with the attitude adjusting assembly and the driving module, and when the robot travels to a curve, the controller controls the driving module to self-adapt to the curve of the track to independently rotate by controlling the attitude adjusting assembly.
A rail-mounted robot comprises the slewing mechanism.
In one embodiment, the rail-mounted robot comprises a robot body located at the bottom of a swing mechanism, the robot body comprises a bearing bottom plate, a bearing box shell and a component accommodated in a cavity formed by the bearing box shell and the bearing bottom plate, and the swing mechanism is fixed on the bearing bottom plate.
In one embodiment, the adjusting motor fixing member is a zigzag fixing plate, one end of the fixing plate is fixed on the bearing bottom plate, and the other end of the fixing plate is used for supporting the posture adjusting motor.
The specific structure of the swing mechanism is as described above, and is not described herein again.
In the slewing mechanism, when the robot travels to a curve, the driving assembly and the driven assembly can self-adapt to the curve of the track to independently slew, so that the robot can smoothly pass through the curve, and when the robot detects that the robot runs unsmoothly, the posture adjusting motor can be started to adjust the running posture, so that the robot runs smoothly and stably. The limiting idler wheel can limit the left and right offset of the robot and can limit the independent rotation angle of the driving assembly and the driven assembly. The larger the angle that can independently turn around is, the smaller the bend angle that can pass through is, under the prerequisite of the same size, have this kind of revolution mechanic can pass through the bend that the angle is littleer than the robot that does not have revolution mechanic, has promoted the adaptability to complicated orbit guide rail greatly. In the rail-mounted robot, a driving part is connected with a robot body through an external tooth type slewing bearing, and a driven part is also connected with the robot body through the slewing bearing. Thus, the driving wheel and the driven wheel can independently rotate relative to the robot body. And a steering motor and a gear for adjusting steering are added in the driving wheel part, so that the advancing posture of the driving wheel can be finely adjusted. When the robot travels to a curve, the robot body smoothly and stably runs through the slewing mechanism.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A swing mechanism for a rail mounted robot, comprising: the device comprises a driving module, a suspension slewing device, an attitude adjusting assembly and a controller; the driving module is arranged at the top of the overhead rail robot body, the suspension slewing device is arranged between the driving module and the overhead rail robot body, and the controller is connected with the attitude adjusting assembly and the driving module;
the driving module comprises a driving assembly and a driven assembly, the driving assembly and the driven assembly suspend the hanger rail robot body on the I-shaped guide rail, and the driving assembly is connected with a driving motor;
the suspension slewing device comprises a first suspension support frame and a second suspension support frame, the first suspension support frame is fixedly connected with a slewing bearing, the slewing bearing is fixedly connected with an adapter, and the adapter is fixedly connected with the overhead rail robot body;
the attitude adjusting assembly comprises an attitude adjusting motor connected to one side of the driving assembly, an adjusting motor fixing piece used for fixing the attitude adjusting motor and a sector gear, one end of the sector gear is meshed with the slewing bearing, and the other end of the sector gear is connected with the attitude adjusting motor;
when the robot travels to a curve, the controller controls the driving module to perform independent rotation by controlling the attitude adjustment assembly so as to adapt to the curve of the track.
2. The swing mechanism as in claim 1, wherein the drive assembly and the driven assembly comprise a pulley block that snaps into and rides along an i-rail groove.
3. The rotary mechanism as claimed in claim 2, wherein the pulley blocks of the driving assembly and the driven assembly are provided with limiting rollers on both sides.
4. The turning mechanism as claimed in claim 3, wherein two sets of the limiting rollers are disposed on two sides of each pulley block, and the two sets of the limiting rollers are symmetrically disposed.
5. The slewing mechanism as claimed in claim 2, wherein the rollers of the pulley block are polyurethane wheels.
6. The swing mechanism as claimed in claim 1, wherein the swing bearing is an external-tooth swing bearing, and the sector gear is engaged with the external-tooth swing bearing.
7. The swing mechanism as claimed in claim 1, wherein the attitude adjustment motor is a steering motor.
8. A rail-mounted robot comprising a swing mechanism as claimed in any one of claims 1 to 7.
9. The overhead rail robot as claimed in claim 8, wherein the overhead rail robot comprises a robot body at the bottom of the swing mechanism, the robot body comprises a carrying floor and a carrying box housing, and a component received in a cavity formed by the carrying box housing and the carrying floor, and the swing mechanism is fixed on the carrying floor.
10. The overhead rail robot of claim 9, wherein the adjustment motor fixing member is a zigzag fixing plate, one end of the fixing plate is fixed on the load-bearing base plate, and the other end of the fixing plate is used for supporting the posture adjustment motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811621659.3A CN111376228A (en) | 2018-12-28 | 2018-12-28 | Rotation mechanism and overhead rail robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811621659.3A CN111376228A (en) | 2018-12-28 | 2018-12-28 | Rotation mechanism and overhead rail robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111376228A true CN111376228A (en) | 2020-07-07 |
Family
ID=71214532
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811621659.3A Withdrawn CN111376228A (en) | 2018-12-28 | 2018-12-28 | Rotation mechanism and overhead rail robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111376228A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003040573A (en) * | 2001-07-27 | 2003-02-13 | Tsubakimoto Chain Co | Overhead traveling workpiece transfer vehicle |
| CN205438531U (en) * | 2016-01-05 | 2016-08-10 | 山东康威通信技术股份有限公司 | Light -duty track robot |
| CN205734888U (en) * | 2016-05-20 | 2016-11-30 | 深圳市朗驰欣创科技股份有限公司 | Rail polling robot running gear |
| CN106672114A (en) * | 2017-02-28 | 2017-05-17 | 武汉慧能机器人科技有限公司 | Omni-directional driving wheel device and AGV (automatic guided vehicle) |
| CN207480577U (en) * | 2017-11-22 | 2018-06-12 | 杭州市新能源汽车服务有限公司 | A kind of track machine people turning device |
| CN108381564A (en) * | 2017-12-20 | 2018-08-10 | 南京理工大学 | A kind of modular crusing robot of multiple degrees of freedom |
-
2018
- 2018-12-28 CN CN201811621659.3A patent/CN111376228A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003040573A (en) * | 2001-07-27 | 2003-02-13 | Tsubakimoto Chain Co | Overhead traveling workpiece transfer vehicle |
| CN205438531U (en) * | 2016-01-05 | 2016-08-10 | 山东康威通信技术股份有限公司 | Light -duty track robot |
| CN205734888U (en) * | 2016-05-20 | 2016-11-30 | 深圳市朗驰欣创科技股份有限公司 | Rail polling robot running gear |
| CN106672114A (en) * | 2017-02-28 | 2017-05-17 | 武汉慧能机器人科技有限公司 | Omni-directional driving wheel device and AGV (automatic guided vehicle) |
| CN207480577U (en) * | 2017-11-22 | 2018-06-12 | 杭州市新能源汽车服务有限公司 | A kind of track machine people turning device |
| CN108381564A (en) * | 2017-12-20 | 2018-08-10 | 南京理工大学 | A kind of modular crusing robot of multiple degrees of freedom |
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Application publication date: 20200707 |