阅读说明：本技术 一种便携式轻型单轨辅助运输机器人 (Portable light monorail auxiliary transportation robot ) 是由 丛佩超 张欣 李�东 梁椿豪 于 2020-06-11 设计创作，主要内容包括：本发明公开了一种便携式轻型单轨辅助运输机器人,包括制动装置、行走装置,本发明中行走机构采用卡扣锁定夹紧连杆的方式,简化了单轨吊的安装拆卸步骤；制动装置利用摩擦块与工字钢内侧的上下两面接触产生的摩擦力进行制动,满足了单轨吊便于安装拆卸的要求。本发明的设计改善了一般单轨吊结构较重,安装极为不便的缺点,且单轨吊整体结构的重量较轻,易于携带,在降低了工作人员安装劳动强度的同时,也保证了安全生产。(The invention discloses a portable light monorail auxiliary transportation robot, which comprises a braking device and a traveling device, wherein a traveling mechanism adopts a mode of clamping a clamping connecting rod by a buckle, so that the mounting and dismounting steps of a monorail crane are simplified; the braking device utilizes the friction force generated by the contact of the friction blocks and the upper surface and the lower surface of the inner side of the I-shaped steel to brake, and meets the requirement of the monorail crane on convenient installation and disassembly. The design of the invention overcomes the defects of heavier structure and inconvenient installation of a common monorail crane, and the integral monorail crane has lighter weight and is easy to carry, thereby reducing the labor intensity of installation of workers and ensuring the safe production.)

1. A portable light monorail auxiliary transportation robot is characterized by comprising a braking device and a walking device, wherein,

the traveling device comprises a box body and a traveling mechanism, wherein a hydraulic motor is arranged in the box body, an output shaft of the hydraulic motor is connected with a driving gear, and the driving gear is meshed with the I-shaped steel rack; the side surface of the box body is provided with a mounting groove, the walking mechanism comprises a limiting shaft, a spring, a limiting shaft connecting piece, a box body connecting piece and a walking wheel carrier, the limiting shaft is mounted in the mounting groove, one end of the spring is connected with the limiting shaft connecting piece, the other end of the spring is connected with the limiting shaft in a matching mode, namely, the inner diameter of the spring is matched with the limiting shaft, the outer diameter of the spring is matched with the inner diameter of the mounting groove, a buckle is arranged in the mounting groove, and the limiting shaft is limited; the box body connecting piece is connected with the box body, the box body connecting piece is connected with the walking wheel carrier through a second connecting rod and a third connecting rod, the second connecting rod and the third connecting rod are arranged in parallel, and the second connecting rod and the third connecting rod are respectively movably connected with the box body connecting piece and the walking wheel carrier; the limiting shaft connecting piece is movably connected with a first connecting rod, and the other end of the first connecting rod is movably connected with a second connecting rod; the walking wheel frame is provided with a small walking wheel and a large walking wheel;

the braking device comprises a braking component and an installation component, the braking component comprises an installation plate, a nut pair and a triangular fixing frame, a stepping motor is connected below the installation plate, an output shaft of the stepping motor is a threaded output shaft, and the threaded output shaft penetrates through the installation plate to be in threaded connection with the nut pair; two ends of the nut pair are respectively and movably connected with a fourth connecting rod, and the other ends of the two fourth connecting rods are respectively and movably connected with a fifth connecting rod and a sixth connecting rod; the triangular fixing frame is connected with the mounting plate through a first fixing shaft and a second fixing shaft, a fifth connecting rod and a sixth connecting rod are movably connected with the first fixing shaft, the fifth connecting rod and the sixth connecting rod are arranged in a crossed mode, friction blocks are respectively arranged at two ends of the fifth connecting rod and the sixth connecting rod, walking wheels are respectively arranged at the lower end of the triangular fixing frame, and the walking wheels are in rolling connection with the monorail hanging rail;

the mounting component comprises a component supporting rod, a rotating sleeve, a connecting rod seven, a connecting rod eight and a connecting rod nine, the upper end of the component supporting rod is connected with the rotating sleeve, and the lower end of the component supporting rod is connected with the box body through a connecting piece of a braking device; the upper end of the rotating sleeve is connected with a connecting rod seven, and the connecting rod seven is movably connected with the mounting plate; the mounting plate is provided with a mounting shaft, the eight connecting rod and the nine connecting rod are arranged in parallel, and two ends of the eight connecting rod and two ends of the nine connecting rod are movably connected with the mounting shaft respectively; the component support rod is provided with a through hole, the rotary sleeve is symmetrically provided with holes, and the through hole and the holes can be matched with each other to install a clamping pin.

2. The portable light monorail auxiliary transportation robot of claim 1, wherein an auxiliary wheel carrier is further connected to the limiting shaft connecting member, and auxiliary wheels are mounted on the auxiliary wheel carrier.

3. The portable light monorail auxiliary transport robot of claim 1, wherein the component support rods are externally threaded at their lower ends and are connected to the brake attachment member by nuts, the brake attachment member being connected to the housing.

4. The portable light monorail auxiliary transport robot of claim 1, further comprising a spare box, the spare box being connected to the box.

Technical Field

The invention relates to the technical field of industrial robots, in particular to a portable light monorail auxiliary transportation robot.

Background

The current coal mine transportation equipment research technology in China is not mature, many monorail cranes are heavy and not easy to carry, the time and labor are wasted in the installation and disassembly work, and great challenges are brought to the body bearing capacity of workers. The installation of traditional single track hangs needs many people's cooperation to accomplish generally, and work load is big moreover, just because the transportation work degree of difficulty that makes the single track hang like this becomes high, and efficiency slows down, very big influence the safe work in the pit. The light monorail crane is utilized, the difficulty in mounting and dismounting the monorail crane can be greatly reduced, the labor intensity of workers is reduced, time and labor are saved, and great help is provided for underground transportation.

Disclosure of Invention

For this reason, it is necessary to provide a portable light monorail auxiliary transport robot.

The invention adopts the specific technical scheme that:

a portable light monorail auxiliary transportation robot comprises a braking device and a walking device, wherein,

the traveling device comprises a box body and a traveling mechanism, wherein a hydraulic motor is arranged in the box body, an output shaft of the hydraulic motor is connected with a driving gear, and the driving gear is meshed with the I-shaped steel rack; the side surface of the box body is provided with a mounting groove, the walking mechanism comprises a limiting shaft, a spring, a limiting shaft connecting piece, a box body connecting piece and a walking wheel carrier, the limiting shaft is mounted in the mounting groove, one end of the spring is connected with the limiting shaft connecting piece, the other end of the spring is connected with the limiting shaft in a matching mode, namely, the inner diameter of the spring is matched with the limiting shaft, the outer diameter of the spring is matched with the inner diameter of the mounting groove, a buckle is arranged in the mounting groove, and the limiting shaft is limited; the box body connecting piece is connected with the box body, the box body connecting piece is connected with the walking wheel carrier through a second connecting rod and a third connecting rod, the second connecting rod and the third connecting rod are arranged in parallel, and the second connecting rod and the third connecting rod are respectively movably connected with the box body connecting piece and the walking wheel carrier; the limiting shaft connecting piece is movably connected with a first connecting rod, and the other end of the first connecting rod is movably connected with a second connecting rod; the walking wheel frame is provided with a small walking wheel and a large walking wheel;

the braking device comprises a braking component and an installation component, the braking component comprises an installation plate, a nut pair and a triangular fixing frame, a stepping motor is connected below the installation plate, an output shaft of the stepping motor is a threaded output shaft, and the threaded output shaft penetrates through the installation plate to be in threaded connection with the nut pair; two ends of the nut pair are respectively and movably connected with a fourth connecting rod, and the other ends of the two fourth connecting rods are respectively and movably connected with a fifth connecting rod and a sixth connecting rod; the triangular fixing frame is connected with the mounting plate through a first fixing shaft and a second fixing shaft, a fifth connecting rod and a sixth connecting rod are movably connected with the first fixing shaft, the fifth connecting rod and the sixth connecting rod are arranged in a crossed mode, friction blocks are mounted at two ends of the fifth connecting rod and the sixth connecting rod respectively, walking wheels are mounted at the lower end of the triangular fixing frame respectively, and the walking wheels are in rolling connection with a monorail crane rail and can walk along the rail;

the mounting component comprises a component supporting rod, a rotating sleeve, a connecting rod seven, a connecting rod eight and a connecting rod nine, the upper end of the component supporting rod is connected with the rotating sleeve, and the lower end of the component supporting rod is connected with the box body through a connecting piece of a braking device; the upper end of the rotating sleeve is connected with a connecting rod seven, and the connecting rod seven is movably connected with the mounting plate; the mounting plate is provided with a mounting shaft, the eight connecting rod and the nine connecting rod are arranged in parallel, and two ends of the eight connecting rod and two ends of the nine connecting rod are movably connected with the mounting shaft respectively; the component support rod is provided with a through hole, the rotary sleeve is symmetrically provided with holes, and the through hole and the holes can be matched with each other to install a clamping pin.

Preferably, the limiting shaft connecting piece is further connected with an auxiliary wheel frame, and the auxiliary wheel frame is provided with an auxiliary wheel.

Preferably, the lower end of the component support rod is provided with external threads which are connected with a connecting piece of the braking device through a nut, and the connecting piece of the braking device is connected with the box body.

Preferably, the auxiliary transport robot further includes a spare box connected to the box body.

The invention has the beneficial effects that: according to the invention, the walking mechanism adopts a mode of clamping the clamping connecting rod by locking the buckle, so that the mounting and dismounting steps of the monorail crane are simplified; the braking device utilizes the friction force generated by the contact of the friction blocks and the upper surface and the lower surface of the inner side of the I-shaped steel to brake, and meets the requirement of the monorail crane on convenient installation and disassembly. The design of the invention overcomes the defects of heavier structure and inconvenient installation of a common monorail crane, and the integral monorail crane has lighter weight and is easy to carry, thereby reducing the labor intensity of installation of workers and ensuring the safe production.

Drawings

FIG. 1 is a schematic structural view of a portable light monorail auxiliary transportation robot;

FIG. 2 is a schematic structural view of the walking device;

FIG. 3 is a schematic view of the installation of a small road wheel and a large road wheel;

FIG. 4 is a schematic structural view of the braking device;

FIG. 5 is a schematic view of the structure of the braking part;

FIG. 6 is a top view of FIG. 4;

FIG. 7 is a schematic view of a walking device;

fig. 8 is an installation schematic diagram of the portable light monorail auxiliary transportation robot.

Detailed Description

The present invention will be described in detail below with reference to embodiments shown in the drawings. The present invention is not limited to the embodiment, and structural, methodological, or functional changes made by one of ordinary skill in the art according to the embodiment are included in the scope of the present invention. Herein, the directional or positional relationships indicated by the terms "left", "right", "upper", "lower", "front", "rear", and the like are merely for convenience of describing the present invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

Referring to fig. 1, the embodiment 1 provides a portable light monorail auxiliary transportation robot, which includes a braking device 2 and a walking device 1, wherein,

the traveling device 1 comprises a box body 11 and a traveling mechanism 12, wherein a hydraulic motor 111 is arranged in the box body 11, an output shaft of the hydraulic motor 111 is connected with a driving gear 112, and the driving gear 112 is meshed with an I-shaped steel rack; as shown in fig. 2, a mounting groove 114 is formed in the side surface of the box body 11, the traveling mechanism 12 includes a limiting shaft 121, a spring 122, a limiting shaft connecting member 123, a box body connecting member 124 and a traveling wheel carrier 125, the limiting shaft 121 is mounted in the mounting groove 114, one end of the spring 122 is connected to the limiting shaft connecting member 123, the other end of the spring 122 is connected to the limiting shaft 121 in a matching manner, that is, the inner diameter of the spring 122 is matched to the limiting shaft 121, and the outer diameter of the spring 122 is matched to the inner diameter of the mounting groove; the mounting groove 144 is internally provided with a buckle 113 for limiting the limiting shaft 121; the box body connecting piece 124 is connected with the box body 11, the box body connecting piece 124 is connected with the walking wheel carrier 125 through a second connecting rod 126 and a third connecting rod 127, the second connecting rod 126 and the third connecting rod 127 are arranged in parallel, and the second connecting rod 126 and the third connecting rod 127 are respectively movably connected with the box body connecting piece 124 and the walking wheel carrier 125; the limiting shaft connecting piece 123 is movably connected with a first connecting rod 128, and the other end of the first connecting rod 128 is movably connected with a second connecting rod 126; the limit shaft connecting piece 123 is also connected with an auxiliary wheel frame, and the auxiliary wheel frame is provided with an auxiliary wheel 129; the walking wheel carrier 125 is provided with a small walking wheel 1251 and a large walking wheel 1252, and the installation mode is as shown in fig. 3, so that the walking device can walk on the monorail crane track;

as shown in fig. 4, the braking device 2 includes a braking component 21 and a mounting component, as shown in fig. 5, the braking component 21 includes a mounting plate 211, a nut pair 212 and a triangular fixing frame 213, a stepping motor 214 is connected below the mounting plate 211, an output shaft of the stepping motor 214 is a threaded output shaft 2141, and the threaded output shaft 2141 penetrates through the mounting plate 211 and is in threaded connection with the nut pair 212; two ends of the nut pair 212 are respectively and movably connected with a connecting rod four 215, and the other ends of the two connecting rods four 215 are respectively and movably connected with a connecting rod five 216 and a connecting rod six 217; the triangular fixing frame is connected with the mounting plate 211 through a first fixing shaft 2110 and a second fixing shaft 2111, a fifth connecting rod 216 and a sixth connecting rod 217 are movably connected with the first fixing shaft 2110, the fifth connecting rod 216 and the sixth connecting rod 217 are arranged in a crossed mode, friction blocks 218 are mounted at two ends of the fifth connecting rod 216 and the sixth connecting rod 217 respectively, a traveling wheel 219 is mounted at the lower end of the triangular fixing frame 213 respectively, and the traveling wheel 219 is in rolling connection with the monorail hanging rail;

as shown in fig. 4 to 6, the mounting member includes a member support rod 221, a rotary sleeve 222, a connecting rod seven 223, a connecting rod eight 224, and a connecting rod nine 225, the upper end of the member support rod 221 is connected to the rotary sleeve 222, the lower end of the member support rod 221 is connected to the box 11 through a connecting member 3 of the brake device, the lower end of the member support rod 221 is provided with an external thread, which is connected to the connecting member 3 of the brake device through a nut, and the connecting member 3 of the brake device is connected to the box 11. The upper end of the rotating sleeve 222 is connected with a connecting rod seven 223, and the connecting rod seven 223 is movably connected with the mounting plate 211; the mounting plate 211 is provided with a mounting shaft 2111, the eight connecting rod 224 and the nine connecting rod 225 are arranged in parallel, and two ends of the eight connecting rod and two ends of the nine connecting rod are movably connected with the mounting shaft 2111 respectively; the component support rod 221 is provided with a through hole, the rotary sleeve 222 is symmetrically provided with holes, and the through hole and the holes can be matched with each other to install the clamping pin 226.

The auxiliary transportation robot further comprises a spare box 13, and the spare box 13 is connected with the box body 11. The reserve tank is used for storing a storage battery for driving the stepping motor on the braking component.

The structural principle of the travelling mechanism is as follows: through giving a decurrent power of spacing axle, pull down connecting rod one, receive the pulling effect of connecting rod one at the connecting rod two of bilateral symmetry under, connecting rod two can be pressed from both sides tightly towards the inside, and the walking wheel frame drives the walking wheel and moves toward the I-steel web direction under the effort of parallel connecting rod two, and at this moment, the buckle below the spacing axle moves a certain distance down, and the buckle can pop out the card on the box with the help of the elasticity of spring is in the same place, and running gear's whole motion has just also been fixed.

Structural principle of the braking part: the screw rod is driven to rotate by the stepping motor, the screw rod pair matched with the screw rod moves up and down under the action of axial force, when the screw rod pair is subjected to downward axial force, the second connecting rod is pulled to move downwards, the fourth connecting rod and the fifth connecting rod are pulled by the third connecting rod to open upwards and downwards, and the friction block on the connecting rod can apply force to the upper running track and the lower running track of the I-steel, so that friction braking is realized. In a similar way, as long as the screw pair is provided with upward axial force, the fourth connecting rod and the fifth connecting rod can realize clamping action under the pushing of the third connecting rod, the friction block on the connecting rod is also far away from the running track, and the braking effect is stopped.

And (3) installation of the robot: firstly, the robot is lifted towards the I-shaped steel direction, the auxiliary wheel generates a downward force to the limiting shaft after contacting the I-shaped beam (the auxiliary wheel is designed to enable the locomotive to be in rolling friction with the I-shaped beam in the advancing process and prevent the locomotive from shaking back and forth in the moving process), then the connecting rod I and the connecting rod II are driven to make inward clamping movement, after the limiting shaft moves downwards to a certain distance, the buckle is ejected out by the aid of the spring elasticity and clamped on the box body, the movement of the traveling mechanism is fixed, the traveling wheel is also just clamped on the I-shaped steel 4 (the monorail crane rail is an I-shaped steel structure), and as shown in figure 7, the robot can travel along the monorail belt rail at the moment.

The robot comprises the following steps: the nut fastener on the braking part supporting rod is unscrewed, the clamping pin on the braking part is pulled out, the rotating sleeve is rotated, the braking device is in an open state, as shown in figure 8, at the moment, the robot is slightly lifted up, the buckle on the limiting shaft of the walking mechanism is pressed down, the limiting shaft can be upwards popped out under the elastic force action of the spring after being unconstrained, the walking wheel frame can be outwards opened under the pushing of the first connecting rod and the second connecting rod, and therefore the robot can be taken down from the I-shaped steel.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrases "comprising … …" or "comprising … …" does not exclude the presence of additional elements in a process, method, article, or terminal that comprises the element. Further, herein, "greater than," "less than," "more than," and the like are understood to exclude the present numbers; the terms "above", "below", "within" and the like are to be understood as including the number.

Although the embodiments have been described, once the basic inventive concept is obtained, other variations and modifications of these embodiments can be made by those skilled in the art, so that the above embodiments are only examples of the present invention, and not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes using the contents of the present specification and drawings, or any other related technical fields, which are directly or indirectly applied thereto, are included in the scope of the present invention.