阅读说明：本技术 一种可变轨式轨道 (A kind of variable rail track ) 是由 邓杰文 李剑英 廖鹏飞 翁湘源 高钊 陈新佳 陈金鹏 吴海游 于 2019-08-13 设计创作，主要内容包括：本发明公开了一种可变轨式轨道,属于输送装置领域,可变轨式轨道,包括驱动装置、连接架、控制单元、以及轨道。所述轨道包括转向轨道和固定轨道,所述固定轨道与所述驱动装置均设置于所述连接架上。所述控制单元与所述驱动装置连接,以控制所述驱动装置运行。所述驱动装置连接所述转向轨道,以驱动所述转向轨道沿着所述固定轨道所在的平面旋转直至与所述固定轨道相接。在轨道的连接处设置连接架,利用连接架上的转向轨道进行方向转换,使通用云台可以在轨道上进行大角度范围内转动,解决传统圆弧过度轨道容易受空间限制的问题,并且这种轨道还可以供多个通用云台同时运行,提高了轨道的灵活性以及利用率。(The invention discloses a kind of variable rail tracks, belong to conveying device field, can be changed rail track, including driving device, connection frame, control unit and track.The track includes turning to track and trapped orbit, and the trapped orbit and the driving device are all set on the connection frame.Described control unit is connect with the driving device, to control the driving device operation.The driving device connects the steering track, to drive the steering track along the Plane Rotation where the trapped orbit until connecting with the trapped orbit.In the junction of track, connection frame is set, direction conversion is carried out using the steering track on connection frame, general holder is set to carry out rotation in polarizers of big angle scope in orbit, solve the problems, such as that traditional excessive track of circular arc is easy space-constrained, and this track can also be run simultaneously for multiple general holders, improve the flexibility and utilization rate of track.)

1. a kind of variable rail track, it is characterised in that: including driving device, connection frame (2), control unit and track (5)；

The track (5) includes turning to track (52) and trapped orbit (51), the trapped orbit (51) and the driving device It is all set on the connection frame (2)；

Described control unit is connect with the driving device, to control the driving device operation；

The driving device connects the steering track (52), to drive the steering track (52) along the trapped orbit (51) Plane Rotation where with the trapped orbit (51) until connect.

2. a kind of type variable track according to claim 1, it is characterised in that:

The driving device includes driving motor (1), worm screw (11), transmission shaft (4), worm gear (3)；

The driving motor (1) is fixed on the bottom of the connection frame (2), the worm screw (11) and the driving motor (1) Power output end is fixedly connected, and the transmission shaft (4) is run through vertically at the center of the connection frame (2), and the transmission shaft (4) One end be fixedly connected with the steering track (52), the worm gear (3) is sheathed on the other end of the transmission shaft (4), described Worm gear (3) is engaged with the worm screw (11).

3. a kind of variable rail track according to claim 2, it is characterised in that:

The side-walls of trapped orbit (51) two sides are equipped with limited block (71), and the limited block (71) extends to the connection frame (2) side wall；

Support rod (72) are connected between the adjacent limited block (71).

4. a kind of variable rail track according to claim 1, it is characterised in that:

Described control unit includes single-chip microcontroller；

It is described to turn to the first sensing being provided on track (52) for detecting through the general holder for turning to track (52) Device (61)；The single-chip microcontroller and the first sensor are electrically connected.

5. a kind of variable rail track according to claim 1, it is characterised in that:

Described control unit includes single-chip microcontroller；

Be provided on the trapped orbit (51) and the steering track (52) is for incuding the trapped orbit (51) The no second sensor (62) connecting with steering track (52), the single-chip microcontroller and the second sensor are electrically connected.

6. a kind of variable rail track according to claim 1, it is characterised in that:

Be equipped with channel travel for general holder inside the track (5), the inner wall in the channel be provided with rack gear group (53) and Guide rail (54).

7. a kind of variable rail track according to claim 6, it is characterised in that:

The rack gear group (53) includes two rack gears disposed in parallel, and two rack gear back of tooth are oppositely arranged；

The rack gear group (53) is arranged in parallel with the guide rail (54) along the channel direction.

8. a kind of variable rail track according to claim 1, it is characterised in that:

Described described one end for turning to track (52) of trapped orbit (51) connection is set as concave arc shape；

The both ends for turning to track (52) are set as connecting described one end for turning to track (52) with the trapped orbit (51) The dome arcuation to match.

9. a kind of rail network, it is characterised in that: the rail network includes a kind of any variable rail rail of claim 1-8 Road.

10. a kind of rail network system, it is characterised in that: the rail network system include a kind of rail network as claimed in claim 9, And the robot of general holder is installed.

Technical field

The present invention relates to conveying device field more particularly to a kind of variable rail tracks.

Background technique

Existing track machine people is transported by the general holder installed in single track, can only be along single rail Road is conveyed, route sheet one.It is inflexible.Due to its route sheet one, do not have the function of track switching, every track is only capable of The operation of single general-purpose holder is provided, working efficiency is relatively low.In addition general holder track transfer to when, need through circular arc mistake Track is crossed to realize, such commutation process holder radius of gyration reaches, and runing time is longer, and is limited by space, flexibility Difference.

Summary of the invention

In order to overcome the drawbacks of the prior art, technical problem to be solved by the present invention lies in propose a kind of variable rail rail Road is able to carry out orbital transfer, changes the running route of general holder, improves the flexibility and versatility of general holder.

To achieve this purpose, the present invention adopts the following technical scheme:

The present invention provides a kind of variable rail tracks, including driving device, connection frame, control unit and track.Institute Stating track includes turning to track and trapped orbit, and the trapped orbit and the driving device are all set on the connection frame. Described control unit is connect with the control device, to control the driving device operation.The driving device connection is described to be turned To track, to drive the steering track along the Plane Rotation where the trapped orbit until with the trapped orbit phase It connects.

In a kind of optional mode, the driving device includes driving motor, worm screw, transmission shaft, worm gear.The driving Motor is fixed on the bottom of the connection frame, and the worm screw is fixedly connected with the power output end of the driving motor, the biography Moving axis runs through vertically at the center of the connection frame, and one end of the transmission shaft is fixedly connected with the steering track, described Worm gear set is set to the other end of the transmission shaft, and the worm gear is engaged with the worm screw.

In a kind of optional mode, the side-walls of the trapped orbit two sides are equipped with limited block, and the limited block extends To the side wall of the connection frame.Support rod is connected between the adjacent limited block.

In a kind of optional mode, described control unit includes single-chip microcontroller, is provided on the steering track for examining The first sensor of the general holder by rotation direction sensor is surveyed, the single-chip microcontroller and the first sensor are electrically connected.

In a kind of optional mode, described control unit includes single-chip microcontroller, the trapped orbit and the steering rail The second sensor whether connecting with the steering track for detecting the trapped orbit, the single-chip microcontroller are provided on road It is electrically connected with the second sensor.

In a kind of optional mode, the track interior is equipped with the channel travelled for general holder, and the inner wall in channel is set It is equipped with rack gear group and guide rail.

In a kind of optional mode, the rack gear group includes two rack gears disposed in parallel, and two rack tooths Back is oppositely arranged.The rack gear group is arranged in parallel with the guide rail along the direction in the channel.

In a kind of optional mode, the trapped orbit connects described one end for turning to track and is set as concave arc shape. The both ends for turning to track are set as connecting the dome arcuation that described one end for turning to track matches with the trapped orbit.

The present invention also provides a kind of rail networks.

The present invention also provides a kind of including rail network and installs the robot of general holder.

The invention has the benefit that

Connection frame is arranged in the junction of track, using on connection frame in a kind of variable rail track provided by the invention It turns to track and carries out direction conversion, general holder is allow to carry out rotation in polarizers of big angle scope in orbit, solve traditional circular arc Transition track is easy space-constrained problem, and this track can also be run simultaneously for multiple general holders, be improved The flexibility and utilization rate of track.

Detailed description of the invention

Fig. 1 is the bottom surface structure schematic diagram for the variable rail track that the specific embodiment of the invention provides；

Fig. 2 is the positive structure schematic for the variable rail track that the specific embodiment of the invention provides；

Fig. 3 is the partial enlarged view of I in attached drawing 1；

Fig. 4 is the partial enlarged view of II in attached drawing 2；

Fig. 5 is the structural schematic diagram for the rail network that the specific embodiment of the invention provides.

In figure:

1, driving motor, 11, worm screw, 2, connection frame, 3, worm gear, 4, transmission shaft, 5, track, 51, trapped orbit, 52, turn To track, 53, rack gear group, 54, guide rail, 511, long rails, 512, cross track, 61, first sensor, the 62, second sensing Device, 622,3rd sensor, the 623, the 4th sensor, the 621, the 5th sensor, 71, limited block, 72, support rod.

Specific embodiment

To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.

As shown in Figure 1 and Figure 2, the embodiment provides a kind of variable rail tracks, including driving device, connection Frame 2, control unit and track 5.Track 5 includes that steering track 52 and trapped orbit 51, trapped orbit 51 and driving device are equal It is set on connection frame 2.Driving device connection turns to track 52, turns to track 2 along the mirror where trapped orbit 51 to drive Face rotation with trapped orbit 51 until connect.

In an embodiment of the present invention, driving device includes driving motor 1, worm screw 11, transmission shaft 4, worm gear 3.It drives Dynamic motor 1 is fixed on the bottom of connection frame 2, and worm screw 11 is fixedly connected with the power output end of driving motor 1, and transmission shaft 4 is vertical At the center of connection frame 2, and one end of transmission shaft 4 is fixedly connected with track 52 is turned to, and worm gear 3 is sheathed on transmission shaft 4 The other end, worm gear 3 are engaged with worm screw 11.When needing to turn to the rotation of track 52, driving motor 1 starts, and driving motor 1 drives snail Bar 11 rotates.Since worm screw 11 is engaged with worm gear 3 in itself, worm screw 11 drives worm gear 3 to rotate.Worm gear 3 is driven by transmission shaft 4 Track 52 is turned to rotate.

What driving motor 1 was selected in above-described embodiment is servo motor, the speed and position degree of regulation of servo motor It is very high.When being turned to, servo motor can change the rotation direction of steering track 52 by rotating forward or inverting. In addition to this it can also be driven according to the actual situation using stepper motor.

Worm screw is used in above-described embodiment drives transmission shaft rotation to realize that turning to track 52 turns to.In addition to this, may be used also It is driven in a manner of 52 revolving light of track by directly driving to turn to by transmission shaft 4 using motor 1, difference according to the actual situation Track 52. can also be turned to drive using modes such as belt driving, gear drivings

In above-described embodiment in such a way that above-mentioned driving device is fixedly connected with steering track.In addition to this, may be used also Motor setting on turning to track, is electrically connected realization driving with track is turned to by driving device.

In an embodiment of the present invention, the side-walls of 51 two sides of trapped orbit are equipped with limited block 71, and limited block 71 prolongs Extend to the side wall of connection frame 2.Support rod 72 is connected between adjacent limited block 71.The side with trapped orbit 51 simultaneously of limited block 71 The side wall connection of the connection frame 2 of 51 lower section of wall and trapped orbit, reinforces connection between the two, prevents trapped orbit 51 even It connects and generates offset on frame 2.Support rod 72 resists adjacent limited block 71 simultaneously, is also prevented from limited block 71 and loosens.So that Entire track 5 is firmer.

In an embodiment of the present invention, bearing there are two being arranged on transmission shaft.It turns between track and connection frame It is arranged with a bearing in propeller section, a bearing is arranged in the propeller section between worm gear and connection frame.Bearing is specific For needle roller thrust bearing, needle roller thrust bearing can bear axial heavy load and shock loading, turn to track 52, connection frame 2 and Between 3 three of worm gear be arranged bearing can reduce between friction, keep it more durable, but also the rotation connection between three is more Add smooth.

In an embodiment of the present invention, control unit includes single-chip microcontroller, is turned to there are two the settings of 52 upper surface of track For detecting the first sensor 61 for passing through the general holder for turning to track 52, single-chip microcontroller and first sensor 61 are electrically connected. The sensor that can be incuded with first sensor 61 there are two being installed on general holder.Sensing on different general holders Device mounting means have it is multiple, such as two first sensors 61 are mounted side by side, two first sensors 61 are one in front and one in back installed.When it When passing through or resting on steering track 52, two first sensors 61 are to the inductor on general holder on steering track 52 The time sensed is also different, it is possible thereby to identify the different general holders of process.First sensor 61 in the present embodiment Magnetic control is configured to close to switch.It does not need to turn to the first sensor on track 52 on first sensor 61 and general holder 61 directly contact.When the relative position of the two enters magnetic control close to the sensitive surface of switch to operating distance, the close switch of magnetic control It will trigger, so that triggering information occur to single-chip microcontroller.Single-chip microcontroller receives the sensor information sent, with can be right Data are handled, and judge the type of passed through general holder.In addition to above-mentioned magnetic control is close to the embodiment of switch, this skill First sensor 61 in art scheme can also according to the actual situation according to above-mentioned magnetic control close to switch set-up mode by magnetic control Close to sensors such as switch transposition photoelectric sensors, identical recognition effect can be equally played.

In an embodiment of the present invention, control unit includes single-chip microcontroller, trapped orbit 51 and is turned on track 52 It is provided with for detecting the second sensor 62 for turning to track 52 and whether connecting with trapped orbit 51.It is fixed in the present embodiment Track 51 is divided into cross track 512 and long rails 511 according to its trend, as shown in Fig. 2, two cross track 512, two Long rails 511 and a steering track 52 constitute a track groups.Second sensor 62 is divided for 3rd sensor 622, Four sensors 623, the 5th sensor 621.As shown in figure 4, two the 4th sensors 623, which are individually fixed in, turns to the two of track 52 On side wall, and it is respectively positioned on the end of wherein one end.It is respectively mounted in the wherein one side wall of two cross tracks 512 of same track groups There is the 5th sensor 621, and two the 5th sensors 621 are located at the not ipsilateral of cross track 512.3rd sensor 622 be also that same mode is arranged on two long rails 511, and the setting of 3rd sensor 622 exists on long rails 511 Close to the side of the 5th sensor 621.When steering track 52 is connect with trapped orbit 51, one of them on track 52 is turned to 4th sensor 623 will be close with the second sensor 62 on trapped orbit 51, and then generates induction, and single-chip microcontroller will receive To the information, the connection status of the steering track 52 is learnt.Similarly, it is connect when steering track 52 is gone to long rails 511 When, two 3rd sensors 622 on long rails 511 will with to turn to another the 4th sensor 623 on track 52 close, 3rd sensor 622 will generate induction with another the 4th sensor 623.Single-chip microcontroller learns the track after receiving the signal Connection status.It is possible thereby to which administrative staff is facilitated to be managed collectively.The working method of second sensor 62 in the present embodiment It is similar to the working method of first sensor 61 in previous embodiment, therefore second sensor 62 can be specifically configured to magnetic control Close to any one of switch, photoelectric sensor, can play makes it play the detection function of this city always.

Other than monitoring, second sensor 62 can also play the role of contraposition.In the process for turning to the rotation of track 52 In, when steering track 52 soon turns to target trapped orbit 51, pass through the second sensor 62 and mesh turned on track 52 Second sensor 62 on mark trapped orbit 51 is incuded, then inductive signal is passed back on external controller, external Controller again controls driving motor, slows down driving speed, and carry out contraposition tune according to above-mentioned second sensor 62 Section.Steering track 52 is precisely aligned with target trapped orbit 51, guarantees that general holder can pass through.

In an embodiment of the present invention, as shown in figure 3, being equipped with the channel travelled for general holder inside track 5, lead to The inner roof wall and inner bottom wall in road are respectively fixed with rack gear group 53, and guide rail 54 is provided on the inner sidewall in channel.Rack gear group 53 Including two rack gears disposed in parallel, and two rack gear back of tooth are oppositely arranged.Rack gear group is parallel along the direction in channel with guide rail Setting.General holder is run in track 5, and the gear on general holder can be engaged with the rack gear group 53 in track 5, constitutes tooth Rackwork is taken turns, general holder with rack gear group 53 in the part in track 5 other than being engaged, and the two sides of general holder are also The recessed guide rail for being provided with recessed guide rail general holder two sides is engaged with the guide rail 54 of two sides in track 5 respectively, forms dovetail guide.It is logical It is on the one hand moved by gear and rack teeth mechanism when being run in track 5 with holder, on the other hand its motion path is by dovetail guide Limitation.Gear & rack structure is worked in coordination with dovetail guide structure, behaves general holder on the rail 5 more steady. Since dovetail guide structure has stronger bite force, even if track 5 is placed in the plane in certain slope even On vertical plane, general holder will not be caused to derail.It is driven simultaneously as using two groups of teeth wheel rack gear, between the two Power transmission it is even closer, both reduce the possibility that opposite sliding occurs.The operation that such mode had both enhanced holder is climbed The ability of liter, also increases the diversity that 5 system of track uses.

In an embodiment of the present invention, rack gear group 53 includes two rack gears disposed in parallel, and two rack gear back of tooth It is oppositely arranged.Rack gear group 53 is arranged in parallel with guide rail 54 along the direction in channel.Two teeth that each rack gear group 53 passes through setting Item is engaged, so that track and tooth when the gear of general holder is engaged on rack gear by upper and lower two groups each two rack gears It is connected more closely between item.

In a kind of optional mode, one end that the connection of trapped orbit 51 turns to track 52 is set as concave arc shape.It turns to The both ends of track 52 are disposed as connecting the compatible dome arcuation in one end for turning to track 52 with trapped orbit 51.When steering rail When road 52 turns to, the both ends for turning to 52 dome arcuation of track can successfully streak the concave arc shape connection of trapped orbit 51 End with it without rubbing.This optional mode enables to steering track 52 to connect with trapped orbit 51 smoothly.

Trapped orbit 51 travels when working normally for general holder, and turns to track 52 and carry out direction conversion for general holder When.In one embodiment of the invention altogether be provided with 4 trapped orbits 52, and this 4 trapped orbits 51 be around turn To centered on track 52, it is fixed on connection frame 2 in cross.When general holder is run on trapped orbit 51, user It can be according to the direction for needing to adjust its movement at any time of actual use.Turning to track 52 is along general holder institute at the beginning The two sections of trapped orbits 51 of the connection in the direction of movement in this direction.Current direction fortune is continued on if necessary to general holder It is dynamic, then it turns to track 52 and remains unchanged, when general holder is run at connection frame 2, so that it may from original trapped orbit 51 It is upper to be moved on another section of trapped orbit 51 in the same direction with original trapped orbit 51 by turning to track 52.It if necessary will be general Holder turn to or move along former direction direction, then turns to track 52 when general holder is run to from former trapped orbit 51 When, general holder can be controlled and be parked on steering track 52.It is clockwise with general holder according to the needs used to turn to track 52 Or 90 ° are rotated counterclockwise, it is connected on the track perpendicular with general holder original trapped orbit 51.Restart general holder at this time Realize the steering of general holder.When needing to carry out opposite direction commutation, driving device, which drives, turns to 180 ° of the rotation of track 52, It turns to track 52 and still connects back to original trapped orbit 51, but general holder has turned the direction of operation, it can be by The road Zhe Yuan opposite direction is opened back.General holder, which is followed by steering track 52, can realize wide-angle model at 2 center of connection frame Interior rotation is enclosed, there is very high flexibility, it can be to avoid the excessive track space-constrained problem of traditional round arc.

In addition other than the above-mentioned combination for being provided with 4 trapped orbits, can also be arranged according to the actual situation not Track with quantity is combined, and is driven steering track 52 to rotate corresponding angle by setting driving device, is consolidated with corresponding Determine orbital docking, the function of steering can be realized.

In least situation, a trapped orbit 51 can be only set and connect with track 52 is turned to, on trapped orbit 51 General holder slide onto and turned on track 52 from the end of trapped orbit 51, be parked in and turn on track 52, turn to track 52 and make General holder is turned direction by 180 ° of rotation, plays the role of a commutation.

The embodiments of the present invention also provide a kind of rail networks.As shown in figure 5, the connection frame of this variable rail track has Versatility can form rail system network using multiple trapped orbits 51 and connection frame 2.The rail network can be according to reality What is used needs to be arranged different track lengths, and connection frame 2 also can connect two to four sections of tracks.Since driving motor 1 is in band When turn is rotated to track 52, steering angle can be adjusted flexibly, therefore can according to need and construct different types of track, no It is limited only to mutually perpendicular track.And due to being provided with rack and pinion drive mechanism and dovetail guide knot in track 5 Structure enhances the diversity that track 5 uses.Based on the diversity that track uses, so that rail system can according to need inclination Setting, is even vertically arranged.

The embodiments of the present invention also provide a kind of by above-mentioned rail network and is mounted with institute, the robot group of general holder At rail network system.It can be run simultaneously after thering are multistage track groups to build up rail network, on track 5 and multiple be mounted with general holder Robot, some place that robot will move to rail network may have mulitpath.Turn to track 52 and general The motion mode of holder is controlled using single-chip microcontroller composed by STC89C52 and other processing chips.Single-chip microcontroller can count rail The state of general holder operation conditions and each connection frame 2 that road is run on the net passes through data analysis and route planning control System makes general holder fastest to up to target point, realizes the efficient transport of general holder.Increase the function of rail rail network system Can, and improve track machine task efficiency.

The present invention is described with reference to the preferred embodiments, and those skilled in the art know, of the invention not departing from In the case where spirit and scope, various changes or equivalence replacement can be carried out to these features and embodiment.The present invention is not by this The limitation of specific embodiment disclosed in place, other embodiments fallen into claims hereof belong to protection of the present invention Range.