阅读说明：本技术 一种挂轨机器人的行走和定位装置 (Walking and positioning device of rail-hanging robot ) 是由 郑贵聪 金有刚 于 2021-10-20 设计创作，主要内容包括：本发明提供了一种挂轨机器人的行走和定位装置,包括：底座、驱动部和从动部,驱动部和从动部间隔设置在底座上,并分别与机器人本体固定连接；驱动部包括驱动电机、两个驱动轮、两个第一驱动限位轮、两个第二驱动限位轮和两个第三驱动限位轮,从动部包括从动架体和安装在从动架体上的两个从动轮、两个第一从动限位轮、两个第二从动限位轮和两个第三从动限位轮；第二驱动限位轮和第二从动限位轮通过滑块设置在对应的架体上,滑块中设置有压簧,压簧的一端与滑块相抵接,另一端与对应的架体相抵接。本发明的装置限位区域大,使得机器人本体行走稳定,更能确保过弯轨平稳不晃动。(The invention provides a walking and positioning device of a rail-hanging robot, comprising: the driving part and the driven part are arranged on the base at intervals and are respectively fixedly connected with the robot body; the driving part comprises a driving motor, two driving wheels, two first driving limiting wheels, two second driving limiting wheels and two third driving limiting wheels, and the driven part comprises a driven frame body, two driven wheels, two first driven limiting wheels, two second driven limiting wheels and two third driven limiting wheels; the second driving limiting wheel and the second driven limiting wheel are arranged on the corresponding frame body through sliding blocks, a pressure spring is arranged in each sliding block, one end of each pressure spring is abutted to the corresponding sliding block, and the other end of each pressure spring is abutted to the corresponding frame body. The device has a large limiting area, so that the robot body can walk stably and can ensure that the robot body passes through a bent rail stably without shaking.)

1. The utility model provides a walking and positioner of rail hanging robot which characterized in that includes: the robot comprises a base, a driving part and a driven part, wherein the driving part and the driven part are arranged on the base at intervals and are respectively and fixedly connected with a robot body;

the driving part comprises a driving frame body, and a driving motor, two driving wheels, two first driving limiting wheels, two second driving limiting wheels and two third driving limiting wheels which are arranged on the driving frame body, wherein a channel for the robot body to walk through is formed in the driving frame body; the two first driving limiting wheels are oppositely arranged on the left side and the right side of the front side of the driving frame body, the two second driving limiting wheels are oppositely arranged on the left side and the right side of the middle of the driving frame body, and the first driving limiting wheels and the second driving limiting wheels are respectively used for rolling along the left side and the right side of the track under the driving action of the driving motor; the two third driving limiting wheels are oppositely arranged on two sides of the bottom of the rear side of the driving frame body and roll along the bottom of the track under the driving action of the driving motor;

the driven part comprises a driven frame body, and two driven wheels, two first driven limiting wheels, two second driven limiting wheels and two third driven limiting wheels which are arranged on the driven frame body, wherein a channel for the track to pass through is formed in the driven frame body, and the two driven wheels are oppositely arranged on two sides above the driven frame body and are used for rolling along the upper part of the track under the driving of the driving part; the two first driven limiting wheels are oppositely arranged at the left side and the right side of the front side of the driven frame body, the two second driven limiting wheels are oppositely arranged at the left side and the right side of the middle of the driven frame body, and the first driven limiting wheels and the second driven limiting wheels are respectively used for rolling along the left side and the right side of the track under the driving of the driving part; the two third driven limiting wheels are oppositely arranged on two sides of the bottom of the front side and the rear side of the driven frame body and are used for rolling along the bottom of the track under the driving of the driving part;

the second driving limiting wheel and the second driven limiting wheel are arranged on the corresponding frame body through sliding blocks, a pressure spring is arranged in each sliding block, one end of each pressure spring is abutted to the corresponding sliding block, and the other end of each pressure spring is abutted to the corresponding frame body.

2. The apparatus of claim 1, wherein the driving part and the driven part are connected with the robot body by connecting a fixed shaft, a thrust bearing, and a tapered roller bearing, respectively.

3. The device of claim 1, wherein a through hole is formed in the middle of the connecting fixing shaft.

4. The device of claim 1, wherein the driving wheel is connected to the driving motor through a transmission mechanism, the transmission mechanism comprises a first pulley, a second pulley and two third pulleys, the first pulley is connected to the driving shaft of the driving motor and connected to the second pulley through a first timing belt, the second pulley is connected to the two third pulleys through a pulley shaft, and the two third pulleys are connected to the two driving wheels through second timing belts, respectively.

5. The device of claim 4, wherein the radius of the second pulley is greater than the radius of the first pulley.

6. The device of claim 1, wherein a bar code sticker is disposed on a left side of the track, and a trolley line is disposed on a right side of the track;

further comprising: a bar code scanner disposed on the robot body, and a current collector disposed on the driven portion.

7. The device of claim 6, wherein the rail is made of a national standard aluminum profile; and the sliding contact line is fixedly connected with the T-shaped groove of the track through a T-shaped nut.

Technical Field

The present application relates to the field of rail-mounted robots; in particular to a rail robot walking and positioning device.

Background

At present, equipment such as data computer lab and electric power relevant substations, electricity distribution room, switch room is intensive, and it is heavy to patrol and examine the task, in order to reduce the human cost, improves work efficiency, realizes more comprehensive, more high-efficient, more intelligent management, needs to patrol and examine the robot and carry out equipment and patrol and examine. At present, the walking and positioning mode of the rail-hanging robot is as follows: the walking part is arranged in the inner cavity of the specially-customized aluminum profile track, and the motor encoder is used for counting for positioning, so that the accumulated error is large, and the method is not suitable for repeated accurate positioning or long-distance accurate positioning. Meanwhile, the track has a large section and large occupied space, and needs a turn with a larger radius. The walking part is hung outside the track, and part of the scheme adopts the driving of a chain and a chain wheel, and the chain wheel is matched with a motor for positioning; in the chain mode, due to the number of teeth of the chain wheel, the diameter of the chain wheel and the like, the single-pulse control precision of the motor is poor (the smaller the walking distance of the robot is, the better the precision is due to one control pulse of the motor), and thus the overall control precision is influenced. In some schemes, a walking part reads a Hall signal combination to realize station position positioning in a mode of Hall magnetic steel sheets or radio frequency cards at fixed intervals, and the two magnetic steel sheets are counted by a motor encoder to obtain the moving distance positioning. The problems still existing in the prior art are as follows: the accurate positioning of a certain position still has the defects, and the assembly difficulty is high and the space is large.

Disclosure of Invention

To the above technical problem, the technical scheme adopted by the application is as follows:

the embodiment of the application provides a walking and positioner of hanging rail robot, includes: the robot comprises a base, a driving part and a driven part, wherein the driving part and the driven part are arranged on the base at intervals and are respectively and fixedly connected with a robot body; the driving part comprises a driving frame body, and a driving motor, two driving wheels, two first driving limiting wheels, two second driving limiting wheels and two third driving limiting wheels which are arranged on the driving frame body, wherein a channel for the robot body to walk through is formed in the driving frame body; the two first driving limiting wheels are oppositely arranged on the left side and the right side of the front side of the driving frame body, the two second driving limiting wheels are oppositely arranged on the left side and the right side of the middle of the driving frame body, and the first driving limiting wheels and the second driving limiting wheels are respectively used for rolling along the left side and the right side of the track under the driving action of the driving motor; the two third driving limiting wheels are oppositely arranged on two sides of the bottom of the rear side of the driving frame body and roll along the bottom of the track under the driving action of the driving motor; the driven part comprises a driven frame body, and two driven wheels, two first driven limiting wheels, two second driven limiting wheels and two third driven limiting wheels which are arranged on the driven frame body, wherein a channel for the track to pass through is formed in the driven frame body, and the two driven wheels are oppositely arranged on two sides above the driven frame body and are used for rolling along the upper part of the track under the driving of the driving part; the two first driven limiting wheels are oppositely arranged at the left side and the right side of the front side of the driven frame body, the two second driven limiting wheels are oppositely arranged at the left side and the right side of the middle of the driven frame body, and the first driven limiting wheels and the second driven limiting wheels are respectively used for rolling along the left side and the right side of the track under the driving of the driving part; the two third driven limiting wheels are oppositely arranged on two sides of the bottom of the front side and the rear side of the driven frame body and are used for rolling along the bottom of the track under the driving of the driving part; the second driving limiting wheel and the second driven limiting wheel are arranged on the corresponding frame body through sliding blocks, a pressure spring is arranged in each sliding block, one end of each pressure spring is abutted to the corresponding sliding block, and the other end of each pressure spring is abutted to the corresponding frame body. The embodiment of the application has at least the following technical effects: because the driving part and the driven part are arranged at intervals and rotate independently, the curved track passing through a small turning radius such as 90 degrees can be better realized. In addition, all be provided with the wheel about the upper and lower of drive division and driven division to set up the spacing wheel through the pressure spring promptly elastic fixation in the centre, consequently, spacing region is big, makes the robot walking stable, more can ensure to cross the steady not rocking of curved rail.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments or related technologies of the present application, the drawings needed to be used in the description of the embodiments or related technologies are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a walking and positioning device of a rail-mounted robot according to an embodiment of the present disclosure;

fig. 2 is a perspective view of a driving part according to an embodiment of the present application;

FIG. 3 is a cross-sectional view of a drive portion of an embodiment of the present application;

FIG. 4 is a perspective view of a driven portion of an embodiment of the present application;

FIG. 5 is a cross-sectional view of a driven portion of an embodiment of the present application;

fig. 6 and 7 are schematic structural diagrams of trolley wires provided in an embodiment of the present application;

fig. 8 and 9 are schematic diagrams of connection of trolley lines and rails according to an embodiment of the present application.

(description of reference numerals)

1-a base; 2-a drive section; 3-a driven part; 4-connecting a fixed shaft; 5-a thrust bearing; 6-tapered roller shaft;

7-orbit; 8-a slide block; 9-a pressure spring; 10-bar code sticker; 11-trolley line; 12-a bar code scanner;

13-a current collector; 401-a via; 201-driving frame body; 202-a drive motor; 203-driving wheels;

204-a first driving limiting wheel; 205-a second driving limiting wheel; 206-a third driving limiting wheel;

207-a first pulley; 208-a second pulley; 209-a third pulley; 210-a first synchronization belt;

211-pulley shaft; 212-a second synchronous belt; 301-driven frame body; 302-a driven wheel;

303-a first driven spacing wheel; 304-a second driven spacing wheel; 305-a third driven spacing wheel;

1101-an intermediate fixing part; 1102-a power take-off part; 1103-screws; 1104-T type nut;

1105-screw fixing holes; 1106-limit protrusion; 1107-take the electric wire groove; 1108-a conductive copper sheet;

1109-protrusions.

Detailed Description

In order to make the technical problems, technical solutions and advantages to be solved by the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

Fig. 1 is a schematic structural diagram of a walking and positioning device of a rail-mounted robot according to an embodiment of the present disclosure; fig. 2 is a perspective view of a driving part according to an embodiment of the present application; FIG. 3 is a cross-sectional view of a drive portion of an embodiment of the present application; FIG. 4 is a perspective view of a driven portion of an embodiment of the present application; FIG. 5 is a cross-sectional view of a driven portion of an embodiment of the present application; fig. 6 and 7 are schematic structural diagrams of trolley wires provided in an embodiment of the present application; fig. 8 and 9 are schematic diagrams of connection of trolley lines and rails according to an embodiment of the present application.

As shown in fig. 1 to 5, an embodiment of the present invention provides a walking and positioning device for a rail-mounted robot, including: a base 1, a driving part 2 and a driven part 3.

In the embodiment of the present invention, the base 1 is used to fix a robot body (not shown) and provide a connection position of the robot body with the driving part 2 and the driven part 3. Specifically, the driving part 2 and the driven part 3 are arranged above the base 1 at intervals and are fixedly connected with the robot body through a connecting mechanism respectively. In the embodiment of the invention, the robot body can be an existing rail hanging robot. In an exemplary embodiment, as shown in fig. 3 and 5, the connection structure may include a connection fixing shaft 4, a thrust bearing 5 and a tapered roller bearing 6, one end of the connection fixing shaft 4 is connected to the driving part 2 or the driven part 3, the other end is connected to the robot body, the thrust bearing 5 and the tapered roller bearing 6 are disposed outside the connection fixing shaft 4, and the robot body may be vertically positioned and stressed by cooperation of the connection fixing shaft 4, the thrust bearing 5 and the tapered roller bearing 6. Further, a through hole 401 is formed in the middle of the coupling fixing shaft 4 for wiring.

Further, as shown in fig. 2 and 3, the driving part 2 may include a driving frame body 201, and a driving motor 202, two driving wheels 203, two first driving limiting wheels 204, two second driving limiting wheels 205, and two third driving limiting wheels 206, which are mounted on the driving frame body 201.

A channel for the track 7 of the robot body to pass through is formed on the driving frame body 201, the driving motor 202 may be disposed at a side portion of the driving frame body 201, for example, a front side in the direction shown in the figure, and a cable of the driving motor may be inserted through the through hole 401. The two driving wheels 203 are oppositely arranged on two sides above the driving frame body 201, are respectively connected with the driving motor 202, and are used for rolling along the upper part of the track under the driving action of the driving motor 202. Specifically, the driving wheel 203 may be connected to the driving motor 202 through a transmission mechanism, as shown in fig. 2 and 3, the transmission mechanism may include a first pulley 207, a second pulley 208, and two third pulleys 209, the first pulley 207 is connected to a driving shaft of the driving motor 202 and is connected to the second pulley 208 through a first synchronous belt 210, the second pulley 208 is connected to two third pulleys 209 disposed at two ends of the pulley shaft through a pulley shaft 211, and the two third pulleys 209 are respectively connected to the two driving wheels 203 through a second synchronous belt 212, so that when the driving motor is driven, a driving force may be sequentially transmitted to the two driving wheels 203 through the first pulley 207, the second pulley 208, and the two third pulleys 209, thereby driving the robot body to travel along the track. Wherein the radius of the second pulley is greater than the radius of the first pulley. Since the radius of the second pulley is larger than that of the first pulley, power transmission can be performed at a preset transmission ratio, which can be determined based on the space constraint condition of the robot body, when the driving motor is driven, and in one exemplary embodiment, the preset transmission ratio can be 2: 1.

Two first drive spacing wheels 204 are arranged relatively on the left side and the right side of the front side of the drive frame body 201, two second drive spacing wheels 205 are arranged relatively on the left side and the right side of the middle of the drive frame body 201, and the first drive spacing wheels 204 and the second drive spacing wheels 205 are respectively used for rolling along the left side and the right side of the track 7 under the driving action of the driving motor 202. The height of the first driving limiting wheel 204 is consistent with that of the second driving limiting wheel 205, the first driving limiting wheel and the second driving limiting wheel are used for providing a guiding effect for the robot body, and the first driving limiting wheel and the second driving limiting wheel can be respectively arranged on the driving frame body in a rotating mode through the rotating shaft. Under the driving action of the driving motor, the robot body is guided to walk along the track. Wherein, the spacing wheel of second drive 205 is the spacing wheel of self-calibration of elastic fixation for the automatic calibration position, when the robot body was walked along straight rail, can ensure that the drive division was walked along track parallel, constantly carried out calibration placed in the middle when crossing curved rail, prevented to block, better realization robot body did not have to rock the steady through. Specifically, as shown in fig. 3, the second driving limiting wheel may be fixed on the driving frame body 201 through a self-correcting structure, the self-correcting structure may include a slider 8 and a pressure spring 9 disposed in the slider, one end of the pressure spring 9 abuts against the slider 8, and the other end abuts against the driving frame body 201, so that the second driving limiting wheel is always in contact with the rail and is pressed, and automatic centering calibration is achieved.

The two third driving limiting wheels 206 are oppositely arranged at two sides of the bottom of the rear side of the driving frame body 201, and roll along the bottom of the track 7 under the driving action of the driving motor 202. The third driving limiting wheel 206 can be rotatably arranged on the driving frame body through a rotating shaft. In the embodiment of the invention, the third driving limiting wheel is in contact with the bottom of the track, so that the robot can be prevented from jumping when the robot is fast walking or manually pushed.

Further, in the embodiment of the present invention, the driven part and the driving part have similar structures except that there is no driving motor, and in particular, as shown in fig. 4 and 5, the driven part 3 may include a driven frame body 301 and two driven wheels 302, two first driven limit wheels 303, two second driven limit wheels 304, and two third driven limit wheels 305 mounted on the driven frame body 301. And a channel for the track to pass through is formed on the driven frame body.

The two driven wheels 302 are oppositely arranged at two sides above the driven frame body 301, and are used for rolling along the upper part of the track under the driving of the driving part, namely moving along with the movement of the driving part. The driven wheel 302 is rotatably provided on the driven frame body 301 by a rotation shaft.

Two first driven spacing wheels 303 set up relatively the left and right sides of the front side of driven support body 301, two driven spacing wheels 304 of second set up relatively the left and right sides in the middle of the driven support body, first driven spacing wheel and the driven spacing wheel of second are used for respectively following under the drive of drive division orbital left and right sides rolls. The height of the first driven limiting wheel 303 is consistent with that of the second driven limiting wheel 304, so that the robot body can be guided and can be respectively arranged on the driven frame body through rotation of the rotating shaft. Under the driving action of the driving motor, the robot body is guided to travel along the track along with the movement of the driving part. Wherein, the driven spacing wheel 304 of second is the spacing wheel of self-alignment of elastic fixation for the self-calibration position, when the robot body was walked along straight rail, can ensure that the drive division was walked along track parallel, constantly carries out calibration placed in the middle when crossing curved rail, prevents to block, better realizes that the robot body does not have to rock steady passing through. Specifically, as shown in fig. 5, the second driving limiting wheel may be fixed on the driven frame body 301 through a self-correcting structure, the self-correcting structure may include a sliding block 8 and a pressure spring 9 disposed in the sliding block, one end of the pressure spring 9 abuts against the sliding block 8, and the other end of the pressure spring abuts against the driven frame body, so that the second driven limiting wheel is always in contact with the track to be pressed, and automatic centering calibration is achieved.

Two third driven limiting wheels 305 are oppositely arranged at two sides of the bottom of the front side and the rear side of the driven frame body and are used for rolling along the bottom of the track under the driving of the driving part. The third driven limiting wheel 305 can be rotatably arranged on the driven frame body through a rotating shaft. In the embodiment of the invention, the third driven limiting wheel is in contact with the bottom of the track, so that the robot can be prevented from jumping when the robot is fast walking or manually pushed.

In the embodiment of the invention, the space formed by the two driving wheels, the two first driving limiting wheels, the two second driving limiting wheels and the two third driving limiting wheels and the space formed by the two driven wheels, the two first driven limiting wheels, the two second driven limiting wheels and the two third driven limiting wheels can surround the track, namely the robot body can be limited in the vertical and horizontal directions, and the limiting wheels fixed through the pressure springs are arranged in the middle, so that the limiting area is large, the robot body can walk stably, and the stability and no shaking of the bent rail can be ensured. Furthermore, the drive part and the driven part are rotated by independent rotation axes, enabling better curving through small turning radii, e.g. 90 °.

Further, as shown in fig. 1, a bar code sticker 10 is disposed on the left side of the rail 7, and a trolley line 11 is disposed on the right side of the rail 7. The device of the embodiment of the invention also comprises: the robot comprises a bar code scanner 12 arranged on a robot body and a collector 13 arranged on the driven part 3, wherein a cable of the collector 13 can be accessed through a through hole 401, and electricity can be taken on a sliding contact line 11 through an electric brush so as to provide power for the robot.

In the embodiment of the present invention, the barcode sticker 10 may be made of a waterproof scratch-resistant flexible material. Bar code sticker and bar code scanner set up in robot same one side, and scanner scanning location repeatability can be within 1 mm. In an exemplary embodiment, the robot body can adopt a motor Hall signal to carry out position control, so that a bar code scanner is added for positioning on the basis, and the repeated precision in the routing inspection process can be ensured.

Further, in the embodiment of the present invention, the rail 7 may be made of a national standard aluminum profile, so that the rail may be directly purchased in a construction site without customization and bulk stockpiling, and may not be transported over a long distance, thereby saving the manufacturing cost of the rail. The side of the rail 7 is formed with a T-shaped groove.

Further, in the embodiment of the present invention, the trolley wire 11 may be fixedly connected to the T-shaped groove of the rail by a T-shaped nut. In an exemplary embodiment, as shown in fig. 6 to 9, the trolley wire 11 provided by the embodiment of the present invention may include an insulating housing, and the insulating housing includes an intermediate fixing portion 1101 and power taking portions 1102 arranged in parallel at both sides. The intermediate fixing portion 1101 is fixedly connected with the T-shaped groove through a fastening structure, as shown in fig. 9, the fastening structure includes a screw 1103 and a T-shaped nut 1104, a screw fixing hole 1105 through which the screw 1104 passes is formed on the intermediate fixing portion 1101, and as shown in fig. 6, the screw fixing holes 1105 are arranged at intervals along the length direction of the insulating housing according to a preset interval. Preferably, the screw may be a small-sized countersunk screw, and correspondingly, the screw fixing hole 1105 is a countersunk hole. Therefore, after the sliding contact line is fixed, the countersunk head screw can be embedded into the insulating shell, cannot protrude outside and cannot interfere with other components.

In this application embodiment, T type nut is the dedicated T type nut of aluminium alloy, is set up to the structure that can fill in T type inslot and can fix in T type inslot, and T type nut need select the T type nut that relative track aluminium alloy is little a model promptly, and the track that for example adopts in this application embodiment is the national standard 4080 aluminium alloy, then T type nut adopts 3030T type nut, and T type nut just can follow the outside in T type groove and fill in the track like this. When the trolley line is installed on the track, the countersunk head screw penetrates through the fixing hole and then is pre-fixed with the T-shaped nut, as shown in fig. 6. And then the T-shaped nut which is pre-fixed on the sliding contact line is plugged into the track groove, the sliding contact line is pressed to be tightly attached to the track, and then the screw is fixed.

In the embodiment of the invention, the fixed connection between the trolley line and the track is realized by fixedly connecting the T-shaped nut and the T-shaped groove of the track, so that the trolley line and the track can be directly conveniently and quickly assembled on the track, the assembly process does not need to carry out site processing such as drilling on the trolley line and the track, no dust or scrap iron is generated, and the clean environment is ensured.

Further, as shown in fig. 7 and 8, two limiting protrusions 1106 protruding outwards are formed on the intermediate fixing portion 1101, and are used for being inserted into the T-shaped groove and being clamped in the T-shaped groove. When the sliding contact line is assembled, the two limiting protrusions are clamped into the T-shaped groove of the track and used for vertically positioning the sliding contact line, and the sliding contact line can be conveniently installed.

Further, the two power taking parts are symmetrically arranged, and the power taking parts are used for taking power by the current collector 13 of the rail hanging robot, as shown in fig. 7. Each power taking part 1102 comprises a power taking wire groove 1107 and a conductive copper sheet 1108, and the conductive copper sheet 1108 is embedded in the power taking wire groove in advance. Two copper sheets arranged in parallel form two poles of the circuit. The power taking part is provided with two protrusions 1109 protruding outwards, the power taking wire groove 1107 is formed between the two protrusions 1109, and the width of the conductive copper sheet 1108 is larger than that of the power taking wire groove 1107.

In the embodiment of the invention, because the two ends of the copper sheet are embedded into the insulating shells during the production and processing of the sliding contact line, the stable fixation can be ensured, and the copper sheet can be freely arranged along the track in a straight line and a good turning way. In addition, each copper sheet both ends all have the jut, form and get the electric wire casing, and the carbon brush of robot current collector can slide smoothly in getting the electric wire casing and get the electricity, can continuously supply power, also can be used for the higher PLC carrier communication of security simultaneously.

Further, in the embodiment of the present application, the insulating housing is made of a flexible material. Meanwhile, the electrodes are thin copper sheets, so that the sliding contact lines can be wound, and transportation is facilitated.

Although some specific embodiments of the present application have been described in detail by way of illustration, it should be understood by those skilled in the art that the above illustration is only for purposes of illustration and is not intended to limit the scope of the present application. It will also be appreciated by those skilled in the art that various modifications may be made to the embodiments without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.