CN107214685A - Suspension type robot track running gear - Google Patents
Suspension type robot track running gear Download PDFInfo
- Publication number
- CN107214685A CN107214685A CN201710588988.1A CN201710588988A CN107214685A CN 107214685 A CN107214685 A CN 107214685A CN 201710588988 A CN201710588988 A CN 201710588988A CN 107214685 A CN107214685 A CN 107214685A
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- China
- Prior art keywords
- wheel
- interior
- parallel
- outer guide
- wheel carrier
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
Abstract
The invention discloses a kind of suspension type robot track running gear, including outstanding support, outer guide, interior guide rail, suspension bracket in parallel, travel driving unit and traverse displacement unit.Wherein, hanging support is used to outer guide and interior guide rail is fixedly mounted, and can be movably walking using the four-degree-of-freedom of 4UPR structures suspension bracket in parallel under the driving of travel driving unit along outer guide with interior guide rail, traverse displacement unit can be moved along the crossbeam of suspension bracket in parallel.The present invention except can with drive installation robot thereon along outer guide and interior guide rail walking in addition to, can also be according to the different operating needs of robot, realize transverse shifting, vertical lifting and in horizontal plane rotation totally four frees degree of two vertical axises line attitude regulation, and it is simple in construction, it is easy to operate, the defect of existing track travel device can be overcome, make up the deficiency of robot working space, expand the working space of robot mounted thereto, the operating efficiency of robot is improved, production cost is reduced.
Description
Technical field
The invention belongs to suspension type rail equipment technical field, more particularly to a kind of suspension type robot track walking dress
Put.
Background technology
Track travel device is used for delivering material, and applies in railway and mineral industry, workshop automatic assembly line more
On also have some use track travel device.At present, existing track travel device is mostly single-track running structure, i.e., track travel is filled
Put and be placed only on a track, and only moved on a track, it is just necessary when track travel device is in running order
Want two people to protect track travel device together with hand slowly to move, otherwise track travel device is just easy to send out due to weightless
Life is tumbled；When track travel device is under the working condition not moved, it also can not smoothly be parked in orbit, it is necessary to be needed
People is hold, otherwise as weightless and tumble.The moving operation of track travel device of the prior art is very numb
It is tired, and can not consolidate and park in orbit, it is not convenient to use.
As industrial robot is in the progressively application of the production fields such as casting, suspended-type movable robot will be answered
With, but lack practical, reliable suspension type robot track running gear.Numerous domestic technical staff is in rail mounted running gear
Aspect has carried out some and has explored and study.Wherein, it is representational such as：The Chinese patent of Application No. 201320227930.1 is disclosed
A kind of feeding robot suspension type rail running gear, including left supported plate, road wheel, right supported plate, the left supported plate and right supported plate
Inner side is symmetrical rollably to set two road wheels respectively, is orbited using DC speed-reducing driving friction pulley, main
Will be by frictional force drives walking, braking inconvenience；The Chinese patent of Application No. 201010614482.1 discloses a kind of double track
Road running gear, easily tumbles when solving single-track running arrangement works, can not stablize the problem of parking in orbit, it two
Between individual travel mechanism distance between the two can be adjusted with expansion link connection；The Chinese patent of Application No. 200680035755.9 is public
One kind is opened for hanging rail, especially overhead chain conveyor or the device of crane running guide rail, by walking mechanism or branch
Traction piece on bearing structure is fixed on guide rail by maintaining body by pin；The China of Application No. 201310224866.6 is specially
Profit discloses a kind of truss traveling guide rail for hoisting robot there is provided a kind of solution for allowing robot to walk in the air,
The working range of robot is extended, production efficiency is improved；Application No. 200720093902.X Chinese patent is disclosed
A kind of Intelligent double-track suspension self-propelled conveyor, solves single track conveying unstable, no using double track conveying and four-point suspension mode
It is adapted to the problem of large-scale expanded letter workpiece is conveyed.Running on wheels being used above-mentioned track travel device, by frictional force drives, and only more
With the function that is movably walking, do not possess attitude regulation function.
The present invention is directed to the deficiency of existing track travel device technique, proposes a kind of suspension type robot track walking dress
Put, by the way of four-point suspension, unilateral double-strand wheel drive, not only can reliably be walked over long distances along track, also with sky
Between two other direction translation and two rotate the motion of totally four frees degree and attitude regulation function, can expand and be arranged on
The working space of robot in the present invention, saves manufacture and production cost.
The content of the invention
The purpose of the present invention is in view of the shortcomings of the prior art, there is provided a kind of suspension type robot track running gear, to remove
Can be walked with robot of the drive installation on track running gear along outer guide and interior guide rail outer, can also according to installed in
The different operating of robot on track travel device needs, realize transverse shifting, vertical lifting and in horizontal plane two hang down
The attitude regulation for rotating totally four frees degree of straight axis, and it is simple in construction, it is easy to operate, lacking for existing running gear can be overcome
Fall into, make up the deficiency of robot working space, expand robot manipulating task space mounted thereto, improve the operation effect of robot
Rate, reduces production cost.
The technical problems to be solved by the invention are realized using following technical scheme.
A kind of suspension type robot track running gear, including outstanding support, outer guide, interior guide rail, suspension bracket in parallel, walking drive
Dynamic device and traverse displacement unit.Wherein, described outstanding support includes fixed mount and mounting bracket, and described fixed mount is located at mounting bracket
Top and, fixed mount top for the present invention to be fixedly mounted on to workshop connected with mounting bracket, mounting bracket is for being fixedly mounted
Outer guide and interior guide rail；Described outer guide is arranged in the both sides of mounting bracket in outstanding support with interior guide rail parallel, and outer guide with
The upper end of interior guide rail and medial surface are fixedly connected with by screw with mounting bracket；The upper end of described suspension bracket in parallel is arranged on outer guide
With on interior guide rail, described suspension bracket in parallel is used for the posture for adjusting the robot being arranged in the present invention, and expands robot
Working space, the structure of described suspension bracket in parallel is tied using 4UPR (U represents universal joint, and P represents prismatic pair, and R represents revolute pair)
The four-freedom parallel mechanism of structure；Described travel driving unit is used to drive suspension bracket in parallel along outer guide and interior guide rail row
Walk, travel driving unit is located at the upper end of suspension bracket in parallel close to the side of outer guide, and described traverse displacement unit is hung installed in parallel connection
The bottom of frame, transverse shifting is realized for robot of the drive installation in the present invention.
The section of described outer guide is in I-shaped symmetrical structure, and is provided with section in isosceles in the crown center of outer guide
Trapezoidal projection；Be equipped with tapped blind hole in the top lower right sides of described outer guide and middle part upper right side, for
Mounting bracket is connected；Worn and torn to extend the service life of outer guide and reduce, in the head rail face of outer guide and lower right side
Slant rail is equipped with wearing layer on face；The structure of described interior guide rail and outer guide, cross sectional shape are identical.It is described outer to lead
Wearing layer on rail head rail face is manufactured using laser cladding method.
Described suspension bracket in parallel includes outer wheel carrier, interior wheel carrier, side chain and crossbeam.Wherein, described outer wheel carrier, interior wheel carrier
Quantity is two, is connected between two interior wheel carriers by connecting plate, and pass through screw between described connecting plate and interior wheel carrier
It is connected, outer wheel carrier, interior wheel carrier can be moved respectively along outer guide, interior guide rail, and rectangle sprocket wheel is provided with described outer wheel carrier
Operation hole；Described side chain has four, and the upper end positioned at two side chains in outside is mutually solid with the bottoms of two outer wheel carriers respectively
Even, bottom of the upper end respectively with two interior wheel carriers positioned at two side chains of inner side is fixedly connected with, the lower ends of four side chains with horizontal stroke
Beam is fixedly connected with；Support wheel orbital plane is provided with the top both sides of crossbeam.Described suspension bracket in parallel is the four-degree-of-freedom of 4UPR structures
Parallel institution, is separately mounted to the silent flatform that outer guide, the outer wheel carrier on interior guide rail and interior wheel carrier are parallel institution, and crossbeam is
For the moving platform of parallel institution.
Hoofing part of the suspension bracket in parallel along outer guide and interior guide rail is by the way of Chain conveyer driving, and described walking is driven
Dynamic device includes drive motor, sprocket wheel and chain.Described drive motor is mounted by means of bolts at the top of suspension bracket in parallel
On the lateral surface of outer wheel carrier, for providing driving power for travel driving unit；Described sprocket wheel is arranged on the defeated of drive motor
On shaft, and it is connected with the output shaft of drive motor by flat key；Described chain is fixedly mounted on outer guide by screw
Lateral surface on, described sprocket wheel is meshed with chain.
Described drive motor uses hydraulic servo motor or air powered servo or servo deceleration motor.
Sprocket wheel in described travel driving unit uses the chain in double or three row chain wheels, described travel driving unit
Strip adoption is double or three row chain bars.
Described traverse displacement unit includes traversing case, support wheel, tensioning wheel, traversing motor, gear and rack.Wherein, in institute
The bottom for the traversing case stated is provided with four pilot holes, and for installing tensioning wheel, the bottom of described traversing case can mounting robot；
Described support wheel has two groups, and is symmetrically mounted on the top of traversing case, for supporting traversing case and on traversing case
Tensioning wheel, traversing motor, gear and robot, the axis keeping parallelism of two groups of support wheels, the cylindrical wheel of described support wheel
Face keeps contacting with the support wheel orbital plane on the top of crossbeam；Described tensioning wheel has two, and is symmetrically mounted on traversing case
Bottom, for realizing the tensioning to crossbeam bottom；Described traversing motor is arranged on the bottom of traversing case, and position by bolt
Between two groups of support wheels, the transverse shifting for being traverse displacement unit on crossbeam provides power；Described gear is arranged on traversing electricity
On the output shaft of machine, and it is connected with the output shaft of traversing motor by flat key；Described rack is fixedly mounted on by screw
On the top surface of suspension bracket base cross members in parallel, described wheel and rack keeps engagement.Described traversing motor uses servo deceleration
Motor, its decelerator configured is turbine and worm decelerator, and the transverse shifting that can be traverse displacement unit on crossbeam provides parking
Self-locking and braking, the pinion and rack itself constituted with making up wheel and rack does not have the defect of auto-lock function.
Described side chain includes universal joint, telescoping cylinder and hinge.Wherein, the upper end of described telescoping cylinder and universal joint are mutually solid
Even, the described lower end of telescoping cylinder and the upper end of hinge is fixedly connected with, and the lower end of described hinge is connected with crossbeam by screw；
Rack in Transverse moving devices is arranged on the top of crossbeam；Described telescoping cylinder is using servo hydraulic cylinder or servo cylinder or electronic pushes away
Bar.The diameter parallel of described hinge is parallel to each other in an axis of the cross axle of universal joint, the axis of four hinges, four
The axis of the cross axle of universal joint is held in same plane.
Described tensioning wheel includes tensioning wheel carrier, tensioning wheel body, the axis of guide, compression spring, spacing back-up ring.Wherein, it is described
Tensioning wheel carrier take the shape of the letter U structure, described tensioning wheel body is arranged on the top of tensioning wheel carrier；The described axis of guide has two, and
The parallel bottom for being fixed on tensioning wheel carrier, the lower end of the axis of guide is arranged in the pilot hole in traversing bottom portion, and can be along guiding
Hole slides, and the described axis of guide keeps gap to coordinate with pilot hole；Described compression spring is sleeved on the axis of guide, and positioned at horizontal stroke
Move between case and spacing back-up ring, for providing tensile force for tensioning wheel body；Described spacing back-up ring is fixed on by lock-screw
The lower end of the axis of guide, for preventing the axis of guide from departing from the pilot hole of traversing case.
I-shaped support directive wheel is equipped with the top of described outer wheel carrier and interior wheel carrier, on the right side of described outer wheel carrier
The lower left side of downside and interior wheel carrier is equipped with conical support directive wheel；I-shaped support directive wheel on outer wheel carrier with
Guide pass at the top of outer guide keeps laminating, the guide rail of the I-shaped support directive wheel on interior wheel carrier and interior rail crown
Face keeps laminating, and the conical support directive wheel on outer wheel carrier keeps contacting with the slant rail face of outer guide lower right side,
Conical support directive wheel on interior wheel carrier keeps contacting with the slant rail face of interior guide rail lower left side.Outer wheel carrier and lubrication groove
The I-shaped support directive wheel and conical support directive wheel installed on frame for outer wheel carrier, interior wheel carrier respectively along outer guide,
The walking of interior guide rail plays support and guide effect.
Before work, the robot needed according to use demand in the bottom installment work of traverse displacement unit is first had to, and according to
The work requirements for the robot installed determine the direction of motion, regulation posture and design parameter of the present invention.When needing driving machine
Device people along outer guide and interior guide rail vertically moved when, start the drive motor in travel driving unit, and then drive chain
Take turns forward or reverse；When needing driving robot to carry out transverse shifting along crossbeam, traversing motor only need to be started, and then
Drive gear forward or reverse；Need driving robot same along during vertical lifting, only needing synchronous driving telescoping cylinder to carry out
Step is elongated or shortened；When needing to make the robot generation installed in traversing bottom portion to be rotated around transverse horizontal axis, only need
The one group of telescoping cylinder in front is set reversely to be elongated or shortened with respect to one group of rear telescoping cylinder；When needs make to be arranged on traversing bottom portion
Robot produce around vertical equity axle rotates when, one group of left side telescoping cylinder need to be made reversely to be extended with respect to one group of the right telescoping cylinder
Or shorten.
The suspension bracket in parallel of the present invention has two translations, two rotations totally four freedoms of motion, and traverse displacement unit can be produced
Transverse shifting, suspension bracket in parallel also along outer guide, interior guide rail can move over long distances.Therefore, from the perspective of theory of mechanisms,
The present invention is rotation totally five freedoms of motion of the two vertical axises line with the translation of three, space and in horizontal plane, wherein horizontal
Redundancy movement is still belonged to movement, the present invention constitutes a five degree of freedom hybrid mechanism.
The beneficial effects of the invention are as follows compared with prior art, the present invention is except can be with drive installation in machine thereon
Device people is carried out outside being movably walking over long distances along outer guide and interior guide rail, can also be real according to the different operating needs of robot
Existing transverse shifting, vertical lifting and in horizontal plane rotation totally four frees degree of two vertical axises line attitude regulation, and knot
Structure is simple, easy to operate, can overcome the defect of existing running gear, make up the deficiency of robot working space, expansion is arranged on
The working space of robot thereon, improves the operating efficiency of robot, reduces production cost.In addition, I-shaped in the present invention
The special construction design and compound action of supporting guide wheel and conical support directive wheel so that I-shaped support directive wheel and circle
The contact area increase of taper support directive wheel and outer guide, interior guide rail, not only increases the present invention in outer guide and interior guide rail
The stability of upper suspension, also helps the quantity for reducing the support wheel installed on outer wheel carrier and interior wheel carrier and directive wheel, makes knot
Structure is compacter, also reduces the manufacturing cost and maintenance cost of equipment.
Brief description of the drawings
Fig. 1 is general structure schematic diagram of the invention；
Fig. 2 for Fig. 1 A to orthographic projection view；
Fig. 3 is the structural representation of the suspension bracket in parallel of the present invention；
Fig. 4 is the structural representation of the traverse displacement unit of the present invention；
Fig. 5 is the structural representation of the travel driving unit of the present invention；
Fig. 6 is support wheel and assembly relation schematic diagram of the tensioning wheel in traversing case in the traverse displacement unit of the present invention；
Fig. 7 is the structural representation of the tensioning wheel of the present invention；
Fig. 8 is the cross section structure schematic diagram of outer guide.
Embodiment
In order that technological means, creation characteristic, reached purpose and effect that the present invention is realized are easy to understand, below
In conjunction with specific embodiments and diagram, the present invention is expanded on further.
As depicted in figs. 1 and 2, a kind of suspension type robot track running gear, including outstanding support 1, outer guide 2, interior lead
Rail 3, suspension bracket 4 in parallel, travel driving unit 5 and traverse displacement unit 6.Wherein, described outstanding support 1 includes fixed mount 11 and mounting bracket
12, described fixed mount 11 is located at the top of mounting bracket 12 and is fixedly connected with mounting bracket 12 by way of welding, fixed mount 11
Top for the present invention to be fixedly mounted on to workshop, mounting bracket 12 is used to outer guide 2 and interior guide rail 3 is fixedly mounted；Described
Outer guide 2 and interior guide rail 3 are arranged in parallel in the both sides of mounting bracket 12 in outstanding support 1, and the upper end of outer guide 2 and interior guide rail 3 and
Medial surface is fixedly connected with by screw with mounting bracket 12；The upper end of described suspension bracket in parallel 4 is arranged on outer guide 2 and interior guide rail 3
On, described suspension bracket in parallel 4 is used for the posture for adjusting the robot being arranged in the present invention, and it is empty to expand the work of robot
Between, the structure of described suspension bracket in parallel 4 uses the four of 4UPR (U represents universal joint, and P represents prismatic pair, and R represents revolute pair) structure
Freedom degree parallel connection mechanism；Described travel driving unit 5 is used to drive suspension bracket 4 in parallel to walk along outer guide 2 and interior guide rail 3,
Travel driving unit 5 is located at the upper end of suspension bracket 4 in parallel close to the side of outer guide 2, and described traverse displacement unit 6 is hung installed in parallel connection
The bottom of frame 4, transverse shifting is realized for robot of the drive installation in the present invention.
As shown in Figure 1, Figure 2, shown in Fig. 5 and Fig. 8, the section of described outer guide 2 is in I-shaped symmetrical structure, and in outer guide
Crown center provided with section be in isosceles trapezoid projection 21；In the top lower right sides and middle part upper right of described outer guide 2
Tapped blind hole 22 is equipped with side, for being connected with mounting bracket 12；Ground to extend the service life of outer guide 2 and reduce
Damage, wearing layer is equipped with the head rail face 23 of outer guide 2 and lower right side slant rail face 24；Described interior guide rail 3 with it is outer
The structure of guide rail 2, cross sectional shape are identical.Wearing layer on the described head rail face of outer guide 2 uses laser melting coating side
Method is manufactured.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4,4 framves are hung in described parallel connection includes outer wheel carrier 41, interior wheel carrier 42, the and of side chain 43
Crossbeam 44.Wherein, described outer wheel carrier 41, the quantity of interior wheel carrier 42 are two, and connecting plate 403 is passed through between two interior wheel carriers 42
It is connected, and is connected between described connecting plate 403 and interior wheel carrier 42 by screw, outer wheel carrier 41, interior wheel carrier 42 can be distinguished
Moved along outer guide 2, interior guide rail 3, rectangle sprocket wheel operation hole 411 is provided with described outer wheel carrier 41；Described side chain 43
Four are had, bottom of the upper end respectively with two outer wheel carriers 41 positioned at two side chains 43 in outside is fixedly connected with, positioned at inner side
Bottom of the upper end of two side chains 43 respectively with two interior wheel carriers 42 is fixedly connected with, and the lower end of four side chains 43 is mutually solid with crossbeam 44
Even；Support wheel orbital plane 441 is provided with the top both sides of crossbeam 44.Described suspension bracket in parallel 4 is the four-degree-of-freedom of 4UPR structures
Parallel institution, is separately mounted to the silent flatform that outer guide 2, the outer wheel carrier 41 on interior guide rail 3 and interior wheel carrier 42 are parallel institution,
Crossbeam 44 is the moving platform of parallel institution.Suspension bracket 4 in parallel can be produced to be moved and around X, the rotation of Y-axis along X, Z-direction.
As shown in Figure 1, Figure 2 with shown in Fig. 5, hoofing part of the suspension bracket 4 in parallel along outer guide 2 and interior guide rail 3 uses Chain conveyer
The mode of driving, described travel driving unit 5 includes drive motor 51, sprocket wheel 52 and chain 53.Described drive motor 51
On the lateral surface for being mounted by means of bolts on outer wheel carrier 41, for providing driving power for travel driving unit 5；Described chain
Wheel 52 is arranged on the output shaft of drive motor 51, and is connected with the output shaft of drive motor 51 by flat key；Described chain
Bar 53 is fixedly mounted on by screw on the lateral surface of outer guide 2, and described sprocket wheel 52 is meshed with chain 53.Described driving
Motor 51 uses hydraulic servo motor or air powered servo or servo deceleration motor.Chain in described travel driving unit 5
Wheel 52 uses the chain 53 in duplex chain wheel, described travel driving unit 5 to use double strand chain.
As shown in Figure 1, Figure 2, shown in Fig. 4 and Fig. 6, described traverse displacement unit 6 include traversing case 61, support wheel 62, tensioning wheel 63,
Traversing motor 64, gear 65 and rack 66.Wherein, in the bottom of described traversing case 61 provided with four pilot holes, for installing
Tensioning wheel 63, the bottom of described traversing case 61 can mounting robot；Described support wheel 62 has two groups, and is symmetrically mounted on horizontal stroke
The top of case 61 is moved, for supporting traversing case 61 and tensioning wheel 63, traversing motor 64, the and of gear 65 on traversing case 61
On robot, the axis keeping parallelism of two groups of support wheels 62, the described cylindrical wheel face of support wheel 62 and the top of crossbeam 44
Support wheel orbital plane 441 keep contact；Described tensioning wheel 63 has two, and is symmetrically mounted on the bottom of traversing case 61, uses
In tensioning of the realization to the bottom of crossbeam 44；Described traversing motor 64 is arranged on the bottom of traversing case 61 by bolt, and is located at
Between two groups of support wheels 62, power is provided for transverse shifting of the traverse displacement unit 6 on crossbeam 44；Described gear 65 is arranged on horizontal stroke
On the output shaft for moving motor 64, and it is connected with the output shaft of traversing motor 64 by flat key；Described rack 66 passes through screw
On the top surface for being fixedly mounted on the base cross members 44 of suspension bracket 4 in parallel, described gear 65 keeps engaging with rack 66.Described is traversing
Motor 64 use servo deceleration motor, its configure decelerator be turbine and worm decelerator, can for traverse displacement unit 6 in crossbeam 44
On transverse shifting parking self-locking and braking is provided, the pinion and rack itself constituted with making up gear 65 with rack 66 do not have
There is the defect of auto-lock function.
As shown in Figure 1, Figure 2 and Figure 3, described side chain 43 includes universal joint 431, telescoping cylinder 432 and hinge 433.Wherein,
The upper end of described telescoping cylinder 432 is fixedly connected with universal joint 431 by screw, lower end and the hinge 433 of described telescoping cylinder 432
Upper end be fixedly connected with by screw, the lower end of described hinge 433 is connected with crossbeam 44 by screw；In Transverse moving devices 6
Rack 66 is arranged on the top of crossbeam 44；Described telescoping cylinder 432 uses servo hydraulic cylinder.The axis of described hinge 433 is put down
Row is parallel to each other in an axis of the cross axle of universal joint 431, the axis of four hinges 433, the cross of four universal joints 431
The axis of axle is held in same plane.
As shown in Figure 6 and Figure 7, described tensioning wheel 63 includes tensioning wheel carrier 631, tensioning wheel body 632, the axis of guide 633, pressure
Contracting spring 634, spacing back-up ring 635.Wherein, described tensioning wheel carrier 631 is taken the shape of the letter U structure, and described tensioning wheel body 632 is arranged on
The top of tensioning wheel carrier 631；The described axis of guide 633 has two, and the parallel bottom for being fixed on tensioning wheel carrier 631, the axis of guide
633 lower end is arranged in the pilot hole of the traversing bottom of case 61, and can be slid along pilot hole, and the described axis of guide 633 is with leading
Gap is kept to coordinate to hole；Described compression spring 634 is sleeved on the axis of guide 633, and positioned at traversing case 61 and spacing back-up ring
Between 635, for providing tensile force for tensioning wheel body 632；Described spacing back-up ring 635 is fixed on by lock-screw 636 leads
To the lower end of axle 633, for preventing the axis of guide 633 from departing from the pilot hole of traversing case 61.
As shown in Fig. 2, Fig. 5 and Fig. 8, it is equipped with I-shaped support at the top of described outer wheel carrier 41 and interior wheel carrier 42 and leads
To wheel 401, the lower left side in the lower right side of described outer wheel carrier 41 and interior wheel carrier 42 is equipped with conical support directive wheel 402；
I-shaped support directive wheel 401 on outer wheel carrier 41 keeps fitting with the guide pass 23 at the top of outer guide 2, installed in interior
I-shaped support directive wheel 401 on wheel carrier 42 keeps fitting with the guide pass at the interior top of guide rail 3, on outer wheel carrier 41
Conical support directive wheel 402 keeps contacting with the slant rail face 24 of the lower right side of outer guide 2, the circular cone on interior wheel carrier 42
Shape supporting guide wheel 401 keeps contacting with the slant rail face of the interior lower left side of guide rail 42.Installed on outer wheel carrier 41 and interior wheel carrier 42
I-shaped support directive wheel 401 and conical support directive wheel 402 for outer wheel carrier 41, interior wheel carrier 42 respectively along outer guide 2,
The walking of interior guide rail 3 plays support and guide effect.
Before work, the robot needed according to use demand in the bottom installment work of traverse displacement unit 6 is first had to, and according to
The work requirements for the robot installed determine the direction of motion, regulation posture and design parameter of the present invention.When needing driving machine
When device people carries out Y-direction along outer guide 2 and interior guide rail 3 and moved, start the drive motor 51 in travel driving unit 5, and then
The forward or reverse of drive sprocket 52；When needing driving robot along the progress X of crossbeam 44 to when moving, it need to only start traversing
Motor 64, and then the forward or reverse of drive gear 65；Need driving robot along Z-direction lift when, only need synchronous driving
Telescoping cylinder 432, which is synchronized, to be elongated or shortened；Turn when needing to make the robot installed in the traversing bottom of case 61 to produce around X-axis
When dynamic, one group of front telescoping cylinder 432 need to only reversely elongated or shortened with respect to one group of rear telescoping cylinder 432；When needs make
Installed in the traversing bottom of case 61 robot produce around Y-axis rotates when, only need to make one group of left side telescoping cylinder 432 relatively one group of the right
Telescoping cylinder 432 is reversely elongated or shortened.
In the description of the invention, it is to be understood that term " longitudinal direction ", " transverse direction ", " on ", " under ", "left", "right",
The orientation or position relationship of the instruction such as " vertical ", " level ", " top ", " bottom " " interior ", " outer " be based on orientation shown in the drawings or
Position relationship, is for only for ease of the description present invention and simplifies description, rather than indicate or imply that the device or element of meaning must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, the original for simply illustrating the present invention described in above-described embodiment and specification
Reason, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (9)
1. a kind of suspension type robot track running gear, including outstanding support, outer guide, interior guide rail, suspension bracket in parallel, hoofing part
Device and traverse displacement unit, it is characterised in that：Described outstanding support includes fixed mount and mounting bracket, and described fixed mount, which is located at, to be installed
The top of frame and with mounting bracket be connected；Described outer guide is arranged in the both sides of mounting bracket in outstanding support with interior guide rail parallel, and
Outer guide is fixedly connected with the upper end of interior guide rail and medial surface by screw with mounting bracket；Install the upper end of described suspension bracket in parallel
On outer guide and interior guide rail, using 4UPR, (U represents universal joint to the structure of described suspension bracket in parallel, and P represents prismatic pair, and R is represented
Revolute pair) structure four-freedom parallel mechanism；Described travel driving unit is located at the upper end of suspension bracket in parallel close to outer guide
Side, described traverse displacement unit is arranged on the bottom of suspension bracket in parallel；
The section of described outer guide is in I-shaped symmetrical structure, and is provided with section in isosceles trapezoid in the crown center of outer guide
Projection, tapped blind hole is equipped with the top lower right sides of described outer guide and middle part upper right side, in outer guide
Head rail face and lower right side slant rail face are provided with wearing layer；Described interior guide rail and the structure of outer guide, cross sectional shape are complete
It is exactly the same；
Described travel driving unit includes drive motor, sprocket wheel and chain, and described drive motor is bolted installation
On the lateral surface at the top of suspension bracket in parallel；Described sprocket wheel is arranged on the output shaft of drive motor, and defeated with drive motor
Shaft is connected by flat key；Described chain is fixedly mounted on the lateral surface of outer guide；Described sprocket wheel is mutually nibbled with chain
Close；
Described traverse displacement unit includes traversing case, support wheel, tensioning wheel, traversing motor, gear and rack, and described support wheel has
Two groups, and it is symmetrically mounted on the top of traversing case；Described tensioning wheel has two, and is symmetrically mounted on the bottom of traversing case；Institute
The traversing motor stated is arranged on the bottom of traversing case by bolt, and between two groups of support wheels；Described gear is arranged on
On the output shaft of traversing motor, and it is connected with the output shaft of traversing motor by flat key；Described rack is fixed by screw
Installed in the bottom of suspension bracket in parallel, described wheel and rack keeps engagement.
2. a kind of suspension type robot track running gear according to claim 1, it is characterised in that：Described parallel connection is hung
Frame includes outer wheel carrier, interior wheel carrier, side chain and crossbeam, and described outer wheel carrier, the quantity of interior wheel carrier are two, in described outer wheel carrier
Be provided with rectangle sprocket wheel operation hole, be connected by connecting plate between two interior wheel carriers, and described connecting plate and interior wheel carrier it
Between be connected by screw；Described side chain has four, positioned at outside two side chains upper end respectively with two outer wheel carriers
Bottom be fixedly connected with, bottom of the upper end respectively with two interior wheel carriers positioned at two side chains of inner side is fixedly connected with, four side chains
Lower end is fixedly connected with crossbeam；Support wheel orbital plane is provided with the top both sides of crossbeam；Described side chain includes universal joint, stretched
Cylinder and hinge, the upper end of described telescoping cylinder are fixedly connected with universal joint, and the described lower end of telescoping cylinder and the upper end of hinge is mutually consolidated
Even, the lower end of described hinge is connected with crossbeam by screw；Rack in Transverse moving devices is arranged on the top of crossbeam.
3. a kind of suspension type robot track running gear according to claim 2, it is characterised in that：In described foreign steamer
I-shaped support directive wheel is equipped with the top of frame and interior wheel carrier, in the lower right side of described outer wheel carrier and the lower left side of interior wheel carrier
It is equipped with conical support directive wheel；I-shaped support directive wheel on outer wheel carrier is protected with the guide pass at the top of outer guide
Laminating is held, the I-shaped support directive wheel on interior wheel carrier keeps fitting with the guide pass of interior rail crown, installs outside
Conical support directive wheel on wheel carrier keeps contacting with the slant rail face of outer guide lower right side, the circular cone on interior wheel carrier
Shape supporting guide wheel keeps contacting with the slant rail face of interior guide rail lower left side.
4. a kind of suspension type robot track running gear according to claim 1, it is characterised in that：Described outer guide
Wearing layer on head rail face is manufactured using laser cladding method.
5. a kind of suspension type robot track running gear according to claim 1, it is characterised in that：Described driving horse
Up to using hydraulic servo motor or air powered servo or servo deceleration motor.
6. a kind of suspension type robot track running gear according to claim 1, it is characterised in that：Described walking is driven
Sprocket wheel in dynamic device uses the chain strip adoption in double or three row chain wheels, described travel driving unit double or three row chains
Bar.
7. a kind of suspension type robot track running gear according to claim 1, it is characterised in that：Described traversing electricity
Machine uses the decelerator configured in servo deceleration motor, described traversing motor to be turbine and worm decelerator.
8. a kind of suspension type robot track running gear according to claim 2, it is characterised in that：Described hinge
Diameter parallel is parallel to each other in an axis of the cross axle of universal joint, the axis of four hinges, the cross axle of four universal joints
Axis be held in same plane.
9. a kind of suspension type robot track running gear according to claim 2, it is characterised in that：Described telescoping cylinder
Using servo hydraulic cylinder or servo cylinder or electric pushrod.
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| CN201710588988.1A CN107214685B (en) | 2017-07-19 | 2017-07-19 | Suspension type robot rail running gear |
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| CN201710588988.1A CN107214685B (en) | 2017-07-19 | 2017-07-19 | Suspension type robot rail running gear |
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| CN107214685A true CN107214685A (en) | 2017-09-29 |
| CN107214685B CN107214685B (en) | 2023-03-14 |
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| CN201710588988.1A Active CN107214685B (en) | 2017-07-19 | 2017-07-19 | Suspension type robot rail running gear |
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| CN108179665A (en) * | 2018-02-24 | 2018-06-19 | 北京林业大学 | One kind encircles drive-type woods gyrocar track |
| CN108381564A (en) * | 2017-12-20 | 2018-08-10 | 南京理工大学 | A kind of modular crusing robot of multiple degrees of freedom |
| CN108544469A (en) * | 2018-04-27 | 2018-09-18 | 王承辉 | The three dimensions walking mechanism of agricultural manipulator |
| CN108544151A (en) * | 2018-03-26 | 2018-09-18 | 北京石油化工学院 | Built-up welding robot and ring type separator pile-up welding system |
| CN108608404A (en) * | 2018-04-18 | 2018-10-02 | 南京理工大学 | Light-duty suspension type rail robot chassis |
| CN108608399A (en) * | 2018-04-24 | 2018-10-02 | 南京理工大学 | A kind of crusing robot of Master-Slave Distributive Control |
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| CN110436135A (en) * | 2019-09-20 | 2019-11-12 | 哈尔滨科能熔敷科技有限公司 | A kind of arc-shaped rail running gear |
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| CN108381564A (en) * | 2017-12-20 | 2018-08-10 | 南京理工大学 | A kind of modular crusing robot of multiple degrees of freedom |
| CN108179665A (en) * | 2018-02-24 | 2018-06-19 | 北京林业大学 | One kind encircles drive-type woods gyrocar track |
| CN108544151A (en) * | 2018-03-26 | 2018-09-18 | 北京石油化工学院 | Built-up welding robot and ring type separator pile-up welding system |
| CN108608404A (en) * | 2018-04-18 | 2018-10-02 | 南京理工大学 | Light-duty suspension type rail robot chassis |
| CN108608399A (en) * | 2018-04-24 | 2018-10-02 | 南京理工大学 | A kind of crusing robot of Master-Slave Distributive Control |
| CN108544469A (en) * | 2018-04-27 | 2018-09-18 | 王承辉 | The three dimensions walking mechanism of agricultural manipulator |
| CN109179271B (en) * | 2018-09-13 | 2024-02-02 | 平湖普英特高层设备有限公司 | Wide-angle inclined climbing type window cleaning machine |
| CN109179271A (en) * | 2018-09-13 | 2019-01-11 | 平湖普英特高层设备有限公司 | A kind of wide-angle tiltedly climbs formula window cleaning equipment |
| CN109222739A (en) * | 2018-09-13 | 2019-01-18 | 平湖普英特高层设备有限公司 | A kind of running gear for tiltedly climbing window cleaning equipment |
| CN110231347A (en) * | 2019-06-19 | 2019-09-13 | 湖南桥康智能科技有限公司 | A kind of bridge bottom surface detection device and method |
| CN110436135A (en) * | 2019-09-20 | 2019-11-12 | 哈尔滨科能熔敷科技有限公司 | A kind of arc-shaped rail running gear |
| CN110919625A (en) * | 2019-11-19 | 2020-03-27 | 国网智能科技股份有限公司 | Three-dimensional orbital transfer device and method for rail-mounted robot |
| CN112099555A (en) * | 2020-08-26 | 2020-12-18 | 胡锦犇 | Wisdom green house and monitored control system based on 5G |
| CN114194047A (en) * | 2021-11-15 | 2022-03-18 | 岚图汽车科技有限公司 | Movable charging system |
| CN114194047B (en) * | 2021-11-15 | 2023-08-04 | 岚图汽车科技有限公司 | Movable charging system |
| CN114393562A (en) * | 2021-12-22 | 2022-04-26 | 山西三合盛智慧科技股份有限公司 | Intelligent conveying belt is with hanging rail formula robot of patrolling and examining |
| CN114393562B (en) * | 2021-12-22 | 2024-02-02 | 山西三合盛智慧科技股份有限公司 | Intelligent conveying belt is with hanging rail formula robot of patrolling and examining |
| CN114407033A (en) * | 2022-01-07 | 2022-04-29 | 湖南工程学院 | A hang rail and patrol and examine supplementary climbing mechanism of robot for outdoor heavy grade operation |
| CN114967395A (en) * | 2022-05-31 | 2022-08-30 | 珠海美景联合科技有限公司 | Selenium drum integration automatic assembly equipment of subsidiary NG detection function |
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