CN105598943B - Movable robot guide rail - Google Patents
Movable robot guide rail Download PDFInfo
- Publication number
- CN105598943B CN105598943B CN201610186045.1A CN201610186045A CN105598943B CN 105598943 B CN105598943 B CN 105598943B CN 201610186045 A CN201610186045 A CN 201610186045A CN 105598943 B CN105598943 B CN 105598943B
- Authority
- CN
- China
- Prior art keywords
- rail
- guide rail
- wheel track
- mobile robot
- robot guide
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 230000002146 bilateral effect Effects 0.000 claims description 10
- 230000000153 supplemental effect Effects 0.000 claims description 10
- 239000000725 suspension Substances 0.000 abstract 2
- 238000009434 installation Methods 0.000 description 8
- 230000001464 adherent effect Effects 0.000 description 3
- 208000020442 loss of weight Diseases 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000000116 mitigating effect Effects 0.000 description 2
- 239000000956 alloy Substances 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Bearings For Parts Moving Linearly (AREA)
- Manipulator (AREA)
Abstract
The invention provides a movable robot guide rail. The movable robot guide rail comprises an upper auxiliary mounting rail and a lower suspension rail, wherein the upper auxiliary mounting rail comprises a hoisting plate and a nested rail located under the hoisting plate; the nested rail is provided with a nesting groove with an upward opening; the lower suspension rail comprises a driving wheel rail and a guide wheel rail located under the driving wheel rail; an inserting strip is arranged on the driving wheel rail; the nested rail is nested in the driving wheel rail; and the inserting strip and the nesting groove are in inserting match. The movable robot guide rail adopts a double-layered guide rail design, is convenient to machine, hoist and splice, and is convenient to mount.
Description
Technical field
The present invention relates to a kind of mobile robot guide rail.
Background technology
Chinese invention patent document CN201510159496.1《A kind of cable tunnel inspection robot walking mechanism》Middle public affairs
Open a kind of cable tunnel inspection robot walking mechanism, including guide rail and driving guiding mechanism, described guide rail has hollow
Chamber, the vehicle frame in hollow chamber that described driving guiding mechanism includes be arranged on guide rail, vehicle frame is provided with horizontal guide sheave group, water
Flat directive wheel group plays horizontally-guided effect in the hollow chamber of guide rail, and robot is suspended on below vehicle frame, and vehicle frame is provided with load-bearing
Wheel group, is provided with Load-bearing rail and is used for supporting BOGEY WHEEL group, be provided with drive wheel group, driving wheel below vehicle frame in the hollow chamber of guide rail
The lower surface in the lower section of guide rail and guide rail for the group rolls cooperation.Guide rail using aluminum alloy materials and is designed to arc-shaped edges inverted trapezoidal,
There is a pair of loss of weight installing hole, a pair of lightening hole, a pair of horizontal guide sheave cavity, a pair of front end directive wheel guide rail, a load-bearing
Directive wheel cavity, a pair of load-bearing directive wheel guide rail, a pair of base arm, bottom gap；Loss of weight mounting hole site above guide rail both sides, its shape
For the inverted trapezoidal with circular arc, the installation for guide rail and the weight mitigating guide rail；A pair of lightening hole is located under loss of weight installing hole
Side, it is shaped as the inverted trapezoidal with circular arc, for mitigating the weight of guide rail；In the middle part of guide rail, upper and lower ends arrange a pair of band arc chord angle
Rectangular horizontal directive wheel cavity, this cavity two side arms is provided with horizontally-guided lines, for and drive guiding mechanism on
Horizontal guide sheave produces and effectively rubs, and arranges a pair of front end directive wheel guide rail below upper horizontal guide sheave cavity；In upper and lower level
One load-bearing directive wheel cavity, three cavity UNICOMs are set between directive wheel cavity, hold for a pair in the setting of BOGEY WHEEL cavity bottom
It is redirected wheel guide rail, this is provided with lines to guide rail, two pairs of load-bearing directive wheel groups driving guiding mechanism front and back end can be along load-bearing
Directive wheel guide rail rolls；Base arm is located at guide rail bottom Di Xi both sides.
This kind of guide rail scheme is suitable for the free environments such as tunnel, but installs inconvenient, the splicing of track on ceiling indoors
Underaction, application scenarios quality of guide rail and volume for small scale robot are larger.The hoofing part mechanism setting of robot
In guide rail interior, in the guide rail have certain radian, radius of turn can not be too little.
Content of the invention
For solving the problems, such as prior art, the present invention provides a kind of mobile robot guide rail, is set using double-layer guide rail
Meter, is easy to processing, lifting and splices, install convenient.
The mobile robot guide rail that the present invention provides, including upper supplemental mounting rail and lower hanging rail；Described upper auxiliary is installed
Rail includes lifting plate and is located at the described nested rail lifting below plate, and described nesting rail is provided with the nesting of opening upwards
Groove；Described lower hanging rail includes active wheel track and the guiding wheel track below described active wheel track, on described active wheel track
It is provided with grafting bar, described nesting rail is nested in active wheel track, described grafting bar, nested groove grafting cooperation.The present invention adopts
Double-layer guide rail designs, and realizes hanging installation by lifting plate, then active wheel track is nested with nested rail, easy for installation.
For convenience of the nesting of active wheel track and nested rail, the outside of described nested rail is provided with nested bar, because setting is convex
The nested bar rising, active wheel track avoids bump contact with nested rail so that nested grafting is more laborsaving.
For convenience of the directive wheel clamping of robot running gear, described guiding wheel track is made up of each pair ramp left and right, often
There is to ramp upper and lower guiding wheel face, robot running gear has two pairs of directive wheel groups, respectively clamping two to ramp upper,
Lower guiding wheel face.Described guiding wheel track has lightening hole so that guide rail is lighter.
For ease of the adherent installation of the present invention, the both sides of described lifting plate are provided with bilateral mounting bar, and described bilateral is installed
Bar becomes U-shaped with lifting plate shape, realizes adherent installation by bilateral mounting bar.
Walk in bend for ease of robot running gear, the drive mechanism of robot running gear is arranged on outside guide rail,
The driving wheel of drive mechanism has external tooth, and the side of the active wheel track of the present invention is provided with tooth bar, by driving wheel external tooth and tooth
Power transmission is realized in the engagement of bar, and is conducive to walking mechanism to turn.
For convenience of the installation of tooth bar, described tooth bar is arranged on driving wheel trackside face, described driving wheel trackside face by press strip
It is provided with press strip slot, described press strip is inserted in press strip slot.
Described nesting rail has a hollow hole, and described nesting groove is arranged on the upper end of hollow hole, due to having hollow hole so that
Guide rail further lightness.
The shape of nested rail is generally square, and active wheel track is U-shaped, both nestings convenient.
For ease of controlling active wheel track and driving the distance of wheel track, described active wheel track, driving wheel track are by connector even
Connect.
The present invention adopts double-layer guide rail to design, and upper strata is upper supplemental mounting rail, and lower floor is lower hanging rail, upper supplemental mounting rail
Adopt nested encryptions, processing, splicing, install convenient with lower hanging rail.Lower hanging rail includes active wheel track and guiding wheel track, actively
The nesting grafting of grafting bar on wheel track groove nested with upper supplemental mounting rail, easy for installation, arrange with teeth outside active wheel track
Body, the main drive wheel cooperation with robot running gear is realized driving；Guiding wheel track has under two upper guiding wheel faces and two
Guiding wheel face, facilitates the directive wheel group of robot running gear to clamp.Guide rail interior of the present invention need not accommodate robot ambulation machine
Structure, is easy to guide rail miniaturization and lighting design, elegant in appearance, is used in and serves trades application simultaneously as robot ambulation
The drive mechanism of mechanism and guiding mechanism may be located on outside guide rail so that guiding flexibility greatly enhances.
Brief description
Fig. 1 is sectional perspective structural representation of the present invention；
Fig. 2 is split schematic diagram in local of the present invention；
Fig. 3 is schematic cross-section of the present invention.
In figure：110- lifts plate；111- bilateral mounting bar；112- hollow hole；113- nesting groove；114- nesting bar；120-
Tooth bar；121- press strip；122- screw；123-U shape face；124- grafting bar；125- press strip slot；Wheel face is guided on 130-；131-
Lower guiding wheel face；132- lightening hole；102- active wheel track；103- guides wheel track；104- connector；105- nesting rail.
Specific embodiment
Elaborate the present invention with reference to Fig. 1-3.
As shown in Figure 1, 2, 3, whole guide rail is made up of upper supplemental mounting rail and lower hanging rail, and upper supplemental mounting rail is used for whole
Individual track construction is installed, and realizes the splicing of lower hanging rail, and lower hanging rail is used for carry robot running gear so that walking
The driving of mechanism and guider can be stablized neatly along guide rail traveling.
Upper supplemental mounting rail includes lifting plate 110, bilateral mounting bar 111, nested rail 105.Bilateral mounting bar 111 is distributed in
Lifting plate 110 both sides, the U-shaped distribution of three, bilateral mounting bar is used for adherent installation, and lifting plate is used for hanging lifting；Lifting plate
It is for 110 times nested rail 105, a pair of hollow hole 112 of setting in nested rail 105,112 liang of upper lateral parts of hollow hole arrange a pair nested groove
113, the side wall of hollow hole arranges nested bar 113 with the outside of diapire.Upper supplemental mounting rail typically adopts aluminium alloy extrusions one
Shaping.
Lower hanging rail includes active wheel track 102, guiding wheel track 103, and the two is vertically connected with by connector 104；Driving wheel
The U-shaped face 123 of rail is provided with and the corresponding grafting bar 124 of nested groove 113 on nested rail 105, for nested rail along in front and back
The parallel socket in direction, set termination process need not any aid and fixed component, due to have on nested rail projection nested bar
113 so that nested rail contact minimizing so that than relatively labor-saving when being socketed with the face of active wheel track；It is provided with the left of active wheel track 102
Tooth bar 120, tooth bar is used for and the gear teeth cooperation on the main drive wheel of robot running gear；Tooth bar 120 is arranged on press strip 121
On, active wheel track 102 is provided with press strip slot 125, press strip is embedded in press strip slot 125 and realizes installing；For making to install
More firm, also fastened with screw 122, screw 122 not only can be used for fixing press strip, after nested rail is nested with active wheel track,
Both are also fastened by screw 122.Guiding wheel track is made up of to ramp left and right two, each pair ramp have upper rail face 130 and under lead
Rail level 131, upper and lower rails face intersects at an angle thus forming lightening hole 132.
When the present invention installs, first pass through lifting plate, bilateral mounting bar will be ceiling mounted for upper supplemental mounting rail, then profit
With active wheel track by lower hanging rail and nested rail nested encryptions, then tooth bar is arranged on active wheel track, fastening screw simultaneously,
So that nested rail is fastenedly connected with active wheel track.
Claims (10)
1. a kind of mobile robot guide rail it is characterised in that：Including upper supplemental mounting rail and lower hanging rail；Described upper auxiliary is installed
Rail includes lifting plate and is located at the described nested rail lifting below plate, and described nesting rail is provided with the nesting of opening upwards
Groove；Described lower hanging rail includes active wheel track and the guiding wheel track below described active wheel track, on described active wheel track
It is provided with grafting bar, described nesting rail is nested in active wheel track, described grafting bar, nested groove grafting cooperation.
2. mobile robot guide rail as claimed in claim 1 it is characterised in that：The outside of described nesting rail is provided with nesting
Bar.
3. mobile robot guide rail as claimed in claim 1 it is characterised in that：Each pair is oblique by left and right for described guiding wheel track
Rail forms, and each pair ramp has upper and lower guiding wheel face.
4. mobile robot guide rail as claimed in claim 1 it is characterised in that：The both sides of described lifting plate are provided with bilateral peace
Dress bar, described bilateral mounting bar becomes U-shaped with lifting plate shape.
5. the mobile robot guide rail as described in claim 1-4 any claim it is characterised in that：Described active wheel track
Side is provided with tooth bar.
6. mobile robot guide rail as claimed in claim 5 it is characterised in that：Described tooth bar is arranged on driving wheel by press strip
Trackside face, described driving wheel trackside face is provided with press strip slot, and described press strip is inserted in press strip slot.
7. the mobile robot guide rail as described in claim 1-4 any claim it is characterised in that：Described nesting rail has
Hollow hole, described nesting groove is arranged on the upper end of hollow hole.
8. the mobile robot guide rail as described in claim 1-4 any claim it is characterised in that：Described active wheel track is in
U-shaped.
9. the mobile robot guide rail as described in claim 1-4 any claim it is characterised in that：Described active wheel track,
Wheel track is driven to connect by connector.
10. the mobile robot guide rail as described in claim 1-4 any claim it is characterised in that：Described guiding wheel track
There is lightening hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610186045.1A CN105598943B (en) | 2016-03-29 | 2016-03-29 | Movable robot guide rail |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610186045.1A CN105598943B (en) | 2016-03-29 | 2016-03-29 | Movable robot guide rail |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105598943A CN105598943A (en) | 2016-05-25 |
| CN105598943B true CN105598943B (en) | 2017-02-15 |
Family
ID=55979548
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610186045.1A Active CN105598943B (en) | 2016-03-29 | 2016-03-29 | Movable robot guide rail |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105598943B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109079747A (en) * | 2018-09-21 | 2018-12-25 | 广东科凯达智能机器人有限公司 | The crusing robot and its system of compound hoofing part |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6695120B1 (en) * | 2000-06-22 | 2004-02-24 | Amkor Technology, Inc. | Assembly for transporting material |
| CN204260223U (en) * | 2014-11-21 | 2015-04-15 | 江西远洋保险设备实业集团有限公司 | Trackless compact shelving |
| CN104742111A (en) * | 2015-04-02 | 2015-07-01 | 江苏亿嘉和信息科技有限公司 | Traveling mechanism of cable tunnel inspection robot |
| CN104959999A (en) * | 2015-07-09 | 2015-10-07 | 江苏亿嘉和信息科技有限公司 | Robot T-type track steering mechanism and method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6899511B2 (en) * | 2000-10-19 | 2005-05-31 | Rapid Development Services, Inc, Mo. Corp | Modular robotic device and manufacturing system |
-
2016
- 2016-03-29 CN CN201610186045.1A patent/CN105598943B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6695120B1 (en) * | 2000-06-22 | 2004-02-24 | Amkor Technology, Inc. | Assembly for transporting material |
| CN204260223U (en) * | 2014-11-21 | 2015-04-15 | 江西远洋保险设备实业集团有限公司 | Trackless compact shelving |
| CN104742111A (en) * | 2015-04-02 | 2015-07-01 | 江苏亿嘉和信息科技有限公司 | Traveling mechanism of cable tunnel inspection robot |
| CN104959999A (en) * | 2015-07-09 | 2015-10-07 | 江苏亿嘉和信息科技有限公司 | Robot T-type track steering mechanism and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105598943A (en) | 2016-05-25 |
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| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240201 Address after: 215000 No.1 Fenghuo Road, Gusu District, Suzhou City, Jiangsu Province Patentee after: Suzhou Suneng Comprehensive Service Co.,Ltd. Country or region after: China Address before: 210012 1st to 8th floors, 5th Building, 57 Andmen Street, Yuhuatai District, Nanjing City, Jiangsu Province Patentee before: YIJIAHE TECHNOLOGY Co.,Ltd. Country or region before: China |
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| TR01 | Transfer of patent right |