CN107214685B - Suspension type robot rail running gear - Google Patents
Suspension type robot rail running gear Download PDFInfo
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- CN107214685B CN107214685B CN201710588988.1A CN201710588988A CN107214685B CN 107214685 B CN107214685 B CN 107214685B CN 201710588988 A CN201710588988 A CN 201710588988A CN 107214685 B CN107214685 B CN 107214685B
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- guide rail
- wheel
- transverse moving
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- chain
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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
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Abstract
The invention discloses a suspension type robot track traveling device which comprises a suspension bracket, an outer guide rail, an inner guide rail, a parallel hanger, a traveling driving device and a transverse moving device. The four-freedom-degree parallel hanger with a 4UPR structure can move and walk along the outer guide rail and the inner guide rail under the driving of the walking driving device, and the transverse moving device can move along a cross beam of the parallel hanger. The invention can drive the robot arranged on the device to walk along the outer guide rail and the inner guide rail, can realize the posture adjustment of four degrees of freedom including transverse movement, vertical lifting and rotation around two vertical axes in a horizontal plane according to different working requirements of the robot, has simple structure and convenient operation, can overcome the defects of the prior track walking device, makes up the defects of the working space of the robot, enlarges the working space of the robot arranged on the device, improves the working efficiency of the robot and reduces the production cost.
Description
Technical Field
The invention belongs to the technical field of suspension type track equipment, and particularly relates to a suspension type robot track walking device.
Background
The rail running gear is mostly used for carrying materials, and is mostly used in the railway and mining industries, and some rail running gears are also used on automatic workshop production lines. At present, most of the existing track traveling devices are of a single-track traveling structure, namely, the track traveling devices are only placed on one track and only move on the same track, when the track traveling devices are in a working state, two persons are required to protect the track traveling devices to move slowly together, otherwise, the track traveling devices are easy to tip over due to weightlessness; when the rail walking device is in an unmoved working state, the rail walking device cannot be stably parked on the rail, and the rail walking device needs to be held by a person, otherwise, the rail walking device can be overturned due to weightlessness. The rail walking device in the prior art is very troublesome in moving operation, cannot be stably parked on a rail, and is inconvenient to use.
With the gradual application of industrial robots in the production fields of casting and the like, the suspended movable robot is applied, but a practical and reliable suspended robot rail walking device is lacked. Many technicians in this country have conducted some research and research on the track type running gear. Among them, representative are: chinese patent with application number 201320227930.1 discloses a suspension type track walking device for a feeding robot, which comprises a left support plate, walking wheels and a right support plate, wherein the inner sides of the left support plate and the right support plate are symmetrically and rollably provided with two walking wheels respectively, a direct-current speed reduction motor is adopted to drive friction wheels to run on a track, the friction wheels are mainly driven to run by friction force, and the braking is inconvenient; the Chinese patent with the application number of 201010614482.1 discloses a double-track walking device, which solves the problems that a single-track walking structure is easy to tip over and cannot stably park on a track when working, and the distance between two moving mechanisms can be adjusted by connecting the two moving mechanisms through a telescopic rod; chinese patent application No. 200680035755.9 discloses a device for suspending a guide rail, in particular a traveling guide rail of a suspension conveyor or a crane, in which a traction element on a traveling mechanism or a support structure is fixed on the guide rail by a pin through a holding mechanism; the Chinese patent with the application number of 201310224866.6 discloses a truss walking guide rail for a hoisting robot, provides a solution for enabling the robot to walk in the air, expands the working range of the robot and improves the production efficiency; chinese patent with application number 200720093902.X discloses an intelligent double-track suspension self-moving conveyor, which utilizes double-track conveying and a four-point suspension mode to solve the problems that single-track conveying is unstable and is not suitable for conveying large-scale wide workpieces. The track traveling device mostly adopts wheel type traveling, is driven by friction force, only has a moving traveling function and does not have a posture adjusting function.
The invention provides a suspension type robot rail walking device aiming at the defects of the prior rail walking device technology, which adopts a four-point suspension and single-side double-chain wheel driving mode, not only can reliably walk along a rail in a long distance, but also has the motion and posture adjusting functions of four degrees of freedom including translation in the other two directions and rotation, can enlarge the working space of a robot arranged on the suspension type robot rail walking device, and saves the manufacturing and production cost.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a suspension type robot rail walking device which can drive a robot arranged on the rail walking device to walk along an outer guide rail and an inner guide rail and can realize the posture adjustment of four degrees of freedom including transverse movement, vertical lifting and rotation around two vertical axes in a horizontal plane according to different working requirements of the robot arranged on the rail walking device.
The technical problem to be solved by the invention is realized by adopting the following technical scheme.
A suspended robot track walking device comprises a suspension bracket, an outer guide rail, an inner guide rail, a parallel hanger, a walking driving device and a transverse moving device. The suspension bracket comprises a fixed bracket and a mounting bracket, wherein the fixed bracket is positioned above the mounting bracket and fixedly connected with the mounting bracket, the fixed bracket is used for fixedly mounting the suspension bracket on the top of a workshop, and the mounting bracket is used for fixedly mounting an outer guide rail and an inner guide rail; the outer guide rail and the inner guide rail are arranged on two sides of the mounting frame in the suspension bracket in parallel, and the upper ends and the inner side surfaces of the outer guide rail and the inner guide rail are fixedly connected with the mounting frame through screws; the upper end of the parallel hanger is arranged on the outer guide rail and the inner guide rail, the parallel hanger is used for adjusting the posture of the robot arranged on the parallel hanger and expanding the working space of the robot, and the parallel hanger adopts a four-freedom-degree parallel mechanism with a 4UPR (U represents a universal joint, P represents a moving pair, and R represents a rotating pair) structure; the walking driving device is used for driving the parallel hangers to walk along the outer guide rail and the inner guide rail, the walking driving device is positioned at one side, close to the outer guide rail, of the upper ends of the parallel hangers, and the transverse moving device is installed at the bottom of the parallel hangers and used for driving the robot installed on the horizontal moving device to move transversely.
The section of the outer guide rail is in an I-shaped symmetrical structure, and a bulge with an isosceles trapezoid-shaped section is arranged in the middle of the top of the outer guide rail; threaded blind holes are formed in the right lower side surface of the top of the outer guide rail and the right upper side surface of the middle of the outer guide rail and are used for being connected with the mounting frame; in order to prolong the service life of the outer guide rail and reduce the abrasion, wear-resistant layers are respectively arranged on the top guide rail surface and the right lower side inclined guide rail surface of the outer guide rail; the inner guide rail and the outer guide rail are completely identical in structure and section shape. The wear-resistant layer on the guide rail surface at the top of the outer guide rail is manufactured by adopting a laser cladding method.
The parallel hanging bracket comprises an outer wheel frame, an inner wheel frame, a branched chain and a cross beam. The number of the outer wheel frames and the number of the inner wheel frames are two, the two inner wheel frames are connected through a connecting plate, the connecting plate is connected with the inner wheel frames through screws, the outer wheel frames and the inner wheel frames can respectively move along the outer guide rail and the inner guide rail, and rectangular chain wheel operation holes are formed in the outer wheel frames; the upper ends of the two branched chains positioned on the outer side are fixedly connected with the bottoms of the two outer wheel frames respectively, the upper ends of the two branched chains positioned on the inner side are fixedly connected with the bottoms of the two inner wheel frames respectively, and the lower ends of the four branched chains are fixedly connected with the cross beam; and supporting wheel track surfaces are arranged on two sides of the top of the cross beam. The parallel hanging bracket is a four-degree-of-freedom parallel mechanism with a 4UPR structure, an outer wheel carrier and an inner wheel carrier which are respectively arranged on an outer guide rail and an inner guide rail are static platforms of the parallel mechanism, and a cross beam is a movable platform of the parallel mechanism.
The parallel hanger is driven by chain transmission along the outer guide rail and the inner guide rail, and the walking driving device comprises a driving motor, a chain wheel and a chain. The driving motor is fixedly arranged on the outer side surface of the outer wheel frame at the top of the parallel hanging bracket through bolts and is used for providing driving power for the walking driving device; the chain wheel is arranged on the output shaft of the driving motor and is connected with the output shaft of the driving motor through a flat key; the chain is fixedly arranged on the outer side surface of the outer guide rail through screws, and the chain wheel is meshed with the chain.
The driving motor adopts a hydraulic servo motor or a pneumatic servo motor or a servo speed reducing motor.
The chain wheel in the walking driving device adopts a double-row or three-row chain wheel, and the chain in the walking driving device adopts a double-row or three-row chain.
The transverse moving device comprises a transverse moving box, a supporting wheel, a tensioning wheel, a transverse moving motor, a gear and a rack. The bottom of the traversing box is provided with four guide holes for mounting a tension wheel, and the bottom of the traversing box can be provided with a robot; the device comprises a transverse moving box, a transverse moving motor, a gear and a robot, wherein two groups of supporting wheels are symmetrically arranged at the top of the transverse moving box and used for supporting the transverse moving box, and a tensioning wheel, a transverse moving motor, a gear and a robot are arranged on the transverse moving box; the two tension wheels are symmetrically arranged at the bottom of the cross sliding box and used for tensioning the bottom of the cross beam; the transverse moving motor is arranged at the bottom of the transverse moving box through bolts and is positioned between the two groups of supporting wheels to provide power for the transverse movement of the transverse moving device on the cross beam; the gear is arranged on an output shaft of the transverse moving motor and is connected with the output shaft of the transverse moving motor through a flat key; the rack is fixedly arranged on the top surface of the bottom cross beam of the parallel hanging bracket through a screw, and the gear is meshed with the rack. The transverse moving motor adopts a servo speed reducing motor, a speed reducer arranged on the transverse moving motor is a worm and gear speed reducer, parking self-locking braking can be provided for transverse movement of the transverse moving device on the cross beam, and the defect that a gear rack mechanism formed by a gear and a rack does not have a self-locking function is overcome.
The branched chain comprises a universal joint, a telescopic cylinder and a hinge. The upper end of the telescopic cylinder is fixedly connected with the universal joint, the lower end of the telescopic cylinder is fixedly connected with the upper end of the hinge, and the lower end of the hinge is connected with the cross beam through a screw; a rack in the cross moving device is arranged at the top of the cross beam; the telescopic cylinder adopts a servo hydraulic cylinder or a servo air cylinder or an electric push rod. The axes of the hinges are parallel to one axis of the universal joint cross, the axes of the four hinges are parallel to each other, and the axes of the universal joint cross are all kept in the same plane.
The tensioning wheel comprises a tensioning wheel frame, a tensioning wheel body, a guide shaft, a compression spring and a limiting check ring. The tensioning wheel frame is of a U-shaped structure, and the tensioning wheel body is arranged at the top of the tensioning wheel frame; the two guide shafts are fixed at the bottom of the tensioning wheel frame in parallel, the lower ends of the guide shafts are arranged in guide holes in the bottom of the transverse moving box and can slide along the guide holes, and the guide shafts are in clearance fit with the guide holes; the compression spring is sleeved on the guide shaft, is positioned between the traversing box and the limiting check ring and is used for providing tension force for the tensioning wheel body; the limiting check ring is fixed at the lower tail end of the guide shaft through a locking screw and used for preventing the guide shaft from being separated from a guide hole of the transverse moving box.
I-shaped supporting guide wheels are arranged at the tops of the outer wheel frame and the inner wheel frame, and conical supporting guide wheels are arranged on the lower right side of the outer wheel frame and the lower left side of the inner wheel frame; the I-shaped supporting guide wheel arranged on the outer wheel frame is kept attached to the guide surface at the top of the outer guide rail, the I-shaped supporting guide wheel arranged on the inner wheel frame is kept attached to the guide surface at the top of the inner guide rail, the conical supporting guide wheel arranged on the outer wheel frame is kept in contact with the inclined guide surface at the right lower side of the outer guide rail, and the conical supporting guide wheel arranged on the inner wheel frame is kept in contact with the inclined guide surface at the left lower side of the inner guide rail. The I-shaped supporting guide wheels and the conical supporting guide wheels which are arranged on the outer wheel frame and the inner wheel frame respectively play a supporting and guiding role in the walking of the outer wheel frame and the inner wheel frame along the outer guide rail and the inner guide rail.
Before working, a robot required by working is installed at the bottom of the traversing device according to the use requirement, and the moving direction, the adjusting posture and specific parameters of the invention are determined according to the working requirement of the installed robot. When the robot needs to be driven to move longitudinally along the outer guide rail and the inner guide rail, a driving motor in the walking driving device is started, and then a chain wheel is driven to rotate forwards or backwards; when the robot needs to be driven to move transversely along the cross beam, only the transverse moving motor needs to be started, and then the gear is driven to rotate forwards or reversely; when the robot needs to be driven to lift along the vertical direction, only the telescopic cylinder needs to be driven synchronously to extend or shorten synchronously; when the robot arranged at the bottom of the traversing box needs to rotate around a transverse horizontal shaft, only one group of telescopic cylinders in front need to be extended or shortened in a reverse direction relative to one group of telescopic cylinders in the rear need; when the robot arranged at the bottom of the traversing box needs to rotate around a longitudinal horizontal shaft, only one group of telescopic cylinders on the left side needs to be extended or shortened reversely relative to one group of telescopic cylinders on the right side.
The parallel hanging bracket has four motion freedom degrees of two translation degrees and two rotation degrees, the transverse moving device can move transversely, and the parallel hanging bracket can also move for a long distance along the outer guide rail and the inner guide rail. Therefore, from the mechanical point of view, the invention has five freedom degrees of motion including three spatial translations and rotation around two vertical axes in a horizontal plane, wherein the transverse movement also belongs to redundant movement, and the invention forms a five-freedom-degree series-parallel mechanism.
Compared with the prior art, the invention has the advantages that the invention can drive the robot arranged on the device to move and walk along the outer guide rail and the inner guide rail for a long distance, can realize the posture adjustment of four degrees of freedom including transverse movement, vertical lifting and rotation around two vertical axes in a horizontal plane according to different working requirements of the robot, has simple structure and convenient operation, can overcome the defects of the prior walking device, makes up the defects of the working space of the robot, enlarges the working space of the robot arranged on the device, improves the working efficiency of the robot and reduces the production cost. In addition, the special structural design and the combination effect of the I-shaped supporting guide wheel and the conical supporting guide wheel increase the contact area of the I-shaped supporting guide wheel and the conical supporting guide wheel with the outer guide rail and the inner guide rail, thereby not only increasing the suspension stability of the invention on the outer guide rail and the inner guide rail, but also being beneficial to reducing the number of the supporting wheels and the guide wheels arranged on the outer wheel frame and the inner wheel frame, leading the structure to be more compact, and also reducing the manufacturing cost and the maintenance cost of the equipment.
Drawings
FIG. 1 is a schematic diagram of the general structure of the present invention;
FIG. 2 is a forward projection view of FIG. 1;
FIG. 3 is a schematic view of a parallel hanger of the present invention;
FIG. 4 is a schematic view of the construction of the traversing apparatus of the present invention;
FIG. 5 is a schematic view of the walking driving device of the present invention;
FIG. 6 is a schematic view of the mounting relationship of the support wheels and the tension wheels in the traverse box of the traverse device of the present invention;
FIG. 7 is a schematic view of the tensioner of the present invention;
fig. 8 is a cross-sectional structure diagram of the outer rail.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained by combining the specific embodiments and the drawings.
As shown in fig. 1 and 2, a suspension type robot rail traveling device comprises a suspension bracket 1, an outer guide rail 2, an inner guide rail 3, a parallel hanger 4, a traveling driving device 5 and a transverse moving device 6. The suspension bracket 1 comprises a fixed frame 11 and an installation frame 12, wherein the fixed frame 11 is positioned above the installation frame 12 and fixedly connected with the installation frame 12 in a welding mode, the fixed frame 11 is used for fixedly installing the suspension bracket on the top of a workshop, and the installation frame 12 is used for fixedly installing the outer guide rail 2 and the inner guide rail 3; the outer guide rail 2 and the inner guide rail 3 are arranged on two sides of an installation frame 12 in the suspension bracket 1 in parallel, and the upper ends and the inner side faces of the outer guide rail 2 and the inner guide rail 3 are fixedly connected with the installation frame 12 through screws; the upper end of the parallel hanger 4 is arranged on the outer guide rail 2 and the inner guide rail 3, the parallel hanger 4 is used for adjusting the posture of the robot arranged on the invention and expanding the working space of the robot, and the structure of the parallel hanger 4 adopts a four-degree-of-freedom parallel mechanism with a 4UPR (U represents a universal joint, P represents a moving pair, and R represents a rotating pair) structure; the walking driving device 5 is used for driving the parallel hangers 4 to walk along the outer guide rail 2 and the inner guide rail 3, the walking driving device 5 is positioned at one side of the upper end of the parallel hangers 4 close to the outer guide rail 2, and the transverse moving device 6 is arranged at the bottom of the parallel hangers 4 and used for driving the robot arranged on the robot to transversely move.
As shown in fig. 1, 2, 5 and 8, the cross section of the outer guide rail 2 is in an i-shaped symmetrical structure, and a protrusion 21 with an isosceles trapezoid cross section is arranged in the middle of the top of the outer guide rail; threaded blind holes 22 are formed in the top right lower side surface and the middle right upper side surface of the outer guide rail 2 and are used for being connected with the mounting frame 12; in order to prolong the service life of the outer guide rail 2 and reduce the abrasion, wear-resistant layers are respectively arranged on the top guide surface 23 and the right lower side inclined guide surface 24 of the outer guide rail 2; the inner guide rail 3 and the outer guide rail 2 have the same structure and section shape. The wear-resistant layer on the guide rail surface at the top of the outer guide rail 2 is manufactured by a laser cladding method.
As shown in fig. 1, 2, 3 and 4, the parallel crane 4 frame includes an outer wheel frame 41, an inner wheel frame 42, a branched chain 43 and a cross beam 44. The number of the outer wheel frames 41 and the number of the inner wheel frames 42 are two, the two inner wheel frames 42 are connected through a connecting plate 403, the connecting plate 403 is connected with the inner wheel frames 42 through screws, the outer wheel frames 41 and the inner wheel frames 42 can respectively move along the outer guide rail 2 and the inner guide rail 3, and rectangular sprocket operation holes 411 are formed in the outer wheel frames 41; the number of the branched chains 43 is four, the upper ends of the two branched chains 43 positioned at the outer side are fixedly connected with the bottoms of the two outer wheel frames 41 respectively, the upper ends of the two branched chains 43 positioned at the inner side are fixedly connected with the bottoms of the two inner wheel frames 42 respectively, and the lower ends of the four branched chains 43 are fixedly connected with the cross beam 44; on both sides of the top of the cross beam 44 are support wheel track surfaces 441. The parallel hanger 4 is a four-degree-of-freedom parallel mechanism with a 4UPR structure, an outer wheel carrier 41 and an inner wheel carrier 42 which are respectively arranged on the outer guide rail 2 and the inner guide rail 3 are static platforms of the parallel mechanism, and a cross beam 44 is a movable platform of the parallel mechanism. The parallel hangers 4 can move along the X and Z directions and rotate around the X and Y axes.
As shown in fig. 1, 2 and 5, the parallel hangers 4 are driven by chain transmission along the outer guide rail 2 and the inner guide rail 3, and the travel driving device 5 includes a driving motor 51, a sprocket 52 and a chain 53. The driving motor 51 is fixedly arranged on the outer side surface of the outer wheel frame 41 through bolts and is used for providing driving power for the walking driving device 5; the chain wheel 52 is arranged on the output shaft of the driving motor 51 and is connected with the output shaft of the driving motor 51 through a flat key; the chain 53 is fixedly arranged on the outer side surface of the outer guide rail 2 through screws, and the chain wheel 52 is meshed with the chain 53. The driving motor 51 is a hydraulic servo motor, a pneumatic servo motor or a servo deceleration motor. The chain wheel 52 in the walking driving device 5 adopts a double-row chain wheel, and the chain 53 in the walking driving device 5 adopts a double-row chain.
As shown in fig. 1, 2, 4 and 6, the traverse device 6 includes a traverse box 61, a support wheel 62, a tension wheel 63, a traverse motor 64, a gear 65 and a rack 66. Four guide holes are formed in the bottom of the traverse box 61 and used for mounting a tension wheel 63, and a robot can be mounted at the bottom of the traverse box 61; two groups of supporting wheels 62 are symmetrically arranged at the top of the traverse box 61 and used for supporting the traverse box 61, and a tensioning wheel 63, a traverse motor 64, a gear 65 and a robot which are arranged on the traverse box 61, wherein the axes of the two groups of supporting wheels 62 are kept parallel, and the cylindrical wheel surface of the supporting wheels 62 is kept in contact with a supporting wheel track surface 441 on the top of the cross beam 44; the two tensioning wheels 63 are symmetrically arranged at the bottom of the transverse moving box 61 and used for tensioning the bottom of the transverse beam 44; the traversing motor 64 is arranged at the bottom of the traversing box 61 through bolts and is positioned between the two groups of supporting wheels 62 to provide power for the traversing device 6 to move transversely on the cross beam 44; the gear 65 is arranged on the output shaft of the traverse motor 64 and is connected with the output shaft of the traverse motor 64 through a flat key; the rack 66 is fixedly arranged on the top surface of the bottom cross beam 44 of the parallel hanging bracket 4 through screws, and the gear 65 is meshed with the rack 66. The traverse motion motor 64 adopts a servo gear motor, and a reducer arranged on the servo gear motor is a worm gear reducer, so that parking self-locking braking can be provided for the transverse motion of the traverse motion device 6 on the cross beam 44, and the defect that a gear rack mechanism formed by a gear 65 and a rack 66 does not have a self-locking function is overcome.
As shown in fig. 1, 2 and 3, the branched chain 43 includes a universal joint 431, a telescopic cylinder 432 and a hinge 433. The upper end of the telescopic cylinder 432 is fixedly connected with the universal joint 431 through a screw, the lower end of the telescopic cylinder 432 is fixedly connected with the upper end of the hinge 433 through a screw, and the lower end of the hinge 433 is connected with the cross beam 44 through a screw; the rack 66 in the cross-transfer device 6 is mounted on top of the cross beam 44; the telescopic cylinder 432 is a servo hydraulic cylinder. The axes of the hinges 433 are parallel to one axis of the cross of the universal joints 431, the axes of the four hinges 433 are parallel to each other, and the axes of the cross of the four universal joints 431 are all kept in the same plane.
As shown in fig. 6 and 7, the tension wheel 63 includes a tension wheel frame 631, a tension wheel body 632, a guide shaft 633, a compression spring 634, and a limit stop ring 635. The tensioning wheel frame 631 is of a U-shaped structure, and the tensioning wheel body 632 is mounted at the top of the tensioning wheel frame 631; two guide shafts 633 are fixed at the bottom of the tensioning wheel frame 631 in parallel, the lower ends of the guide shafts 633 are arranged in guide holes at the bottom of the traversing box 61 and can slide along the guide holes, and the guide shafts 633 are in clearance fit with the guide holes; the compression spring 634 is sleeved on the guide shaft 633, is positioned between the traverse box 61 and the limit check ring 635, and is used for providing tension for the tension wheel body 632; the limit stop ring 635 is fixed at the lower end of the guide shaft 633 by a locking screw 636, and is used for preventing the guide shaft 633 from being separated from the guide hole of the traverse box 61.
As shown in fig. 2, 5 and 8, i-shaped supporting guide wheels 401 are disposed at the top of the outer wheel frame 41 and the top of the inner wheel frame 42, and conical supporting guide wheels 402 are disposed at the lower right side of the outer wheel frame 41 and the lower left side of the inner wheel frame 42; the i-shaped supporting and guiding wheel 401 mounted on the outer wheel frame 41 is kept in contact with the guide surface 23 on the top of the outer guide rail 2, the i-shaped supporting and guiding wheel 401 mounted on the inner wheel frame 42 is kept in contact with the guide surface on the top of the inner guide rail 3, the conical supporting and guiding wheel 402 mounted on the outer wheel frame 41 is kept in contact with the inclined guide surface 24 on the lower right side of the outer guide rail 2, and the conical supporting and guiding wheel 401 mounted on the inner wheel frame 42 is kept in contact with the inclined guide surface on the lower left side of the inner guide rail 42. The i-shaped supporting guide wheels 401 and the conical supporting guide wheels 402 mounted on the outer wheel frame 41 and the inner wheel frame 42 support and guide the outer wheel frame 41 and the inner wheel frame 42 to respectively travel along the outer guide rail 2 and the inner guide rail 3.
Before working, firstly, a robot required by the working is installed at the bottom of the traversing device 6 according to the use requirement, and the movement direction, the adjusting posture and the specific parameters of the invention are determined according to the working requirement of the installed robot. When the robot needs to be driven to move along the Y direction of the outer guide rail 2 and the inner guide rail 3, the driving motor 51 in the walking driving device 5 is started, and then the chain wheel 52 is driven to rotate forwards or backwards; when the robot needs to be driven to move along the cross beam 44 in the X direction, only the traverse motor 64 needs to be started, and then the driving gear 65 rotates forwards or backwards; when the robot needs to be driven to lift along the Z direction, only the telescopic cylinder 432 needs to be driven synchronously to extend or shorten synchronously; when the robot installed at the bottom of the traverse box 61 needs to rotate around the X axis, only the front group of telescopic cylinders 432 needs to be extended or shortened in the opposite direction relative to the rear group of telescopic cylinders 432; when the robot installed at the bottom of the traverse box 61 needs to rotate around the Y axis, only the left group of telescopic cylinders 432 needs to be extended or shortened in the opposite direction to the right group of telescopic cylinders 432.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations and positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The foregoing shows and describes the general principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. The utility model provides a suspension type robot rail running gear, includes and hangs support, outer guide rail, interior guide rail, parallelly connected gallows, travel drive device and sideslip device, its characterized in that: the suspension bracket comprises a fixed bracket and a mounting bracket, wherein the fixed bracket is positioned above the mounting bracket and fixedly connected with the mounting bracket; the outer guide rail and the inner guide rail are arranged on two sides of the mounting frame in the suspension bracket in parallel, and the upper ends and the inner side surfaces of the outer guide rail and the inner guide rail are fixedly connected with the mounting frame through screws; the upper end of the parallel hanger is arranged on the outer guide rail and the inner guide rail, and the structure of the parallel hanger adopts a four-degree-of-freedom parallel mechanism with a 4UPR (U represents a universal joint, P represents a moving pair, and R represents a rotating pair) structure; the walking driving device is positioned at one side of the upper end of the parallel hanging bracket close to the outer guide rail, and the transverse moving device is arranged at the bottom of the parallel hanging bracket;
the cross section of the outer guide rail is of an I-shaped symmetrical structure, a bulge with an isosceles trapezoid cross section is arranged in the middle of the top of the outer guide rail, threaded blind holes are formed in the right lower side surface and the right upper side surface of the middle part of the top of the outer guide rail, and wear-resistant layers are arranged on the top guide rail surface and the right lower side inclined guide rail surface of the outer guide rail; the inner guide rail and the outer guide rail have the same structure and section shape;
the walking driving device comprises a driving motor, a chain wheel and a chain, wherein the driving motor is fixedly arranged on the outer side surface of the top of the parallel hanging bracket through a bolt; the chain wheel is arranged on the output shaft of the driving motor and is connected with the output shaft of the driving motor through a flat key; the chain is fixedly arranged on the outer side surface of the outer guide rail; the chain wheel is meshed with the chain;
the transverse moving device comprises a transverse moving box, two groups of supporting wheels, a tensioning wheel, a transverse moving motor, gears and racks, wherein the two groups of supporting wheels are symmetrically arranged at the top of the transverse moving box; the two tension wheels are symmetrically arranged at the bottom of the transverse moving box; the transverse moving motor is arranged at the bottom of the transverse moving box through bolts and is positioned between the two groups of supporting wheels; the gear is arranged on an output shaft of the transverse moving motor and is connected with the output shaft of the transverse moving motor through a flat key; the rack is fixedly arranged at the bottom of the parallel hanging bracket through a screw, and the gear and the rack are kept meshed;
the parallel hanging bracket comprises two outer wheel frames, two inner wheel frames, two branched chains and a cross beam, wherein the outer wheel frames and the inner wheel frames are provided with rectangular chain wheel operation holes, the two inner wheel frames are connected through a connecting plate, and the connecting plate is connected with the inner wheel frames through screws; the upper ends of the two branched chains positioned on the outer side are fixedly connected with the bottoms of the two outer wheel frames respectively, the upper ends of the two branched chains positioned on the inner side are fixedly connected with the bottoms of the two inner wheel frames respectively, and the lower ends of the four branched chains are fixedly connected with the cross beam; two sides of the top of the cross beam are provided with supporting wheel track surfaces; the branched chain comprises a universal joint, a telescopic cylinder and a hinge, wherein the upper end of the telescopic cylinder is fixedly connected with the universal joint, the lower end of the telescopic cylinder is fixedly connected with the upper end of the hinge, and the lower end of the hinge is connected with the cross beam through a screw; a rack in the traversing device is arranged at the top of the cross beam;
i-shaped supporting guide wheels are arranged at the tops of the outer wheel frame and the inner wheel frame, and conical supporting guide wheels are arranged on the lower right side of the outer wheel frame and the lower left side of the inner wheel frame; the I-shaped supporting guide wheel arranged on the outer wheel frame is kept attached to the guide surface at the top of the outer guide rail, the I-shaped supporting guide wheel arranged on the inner wheel frame is kept attached to the guide surface at the top of the inner guide rail, the conical supporting guide wheel arranged on the outer wheel frame is kept in contact with the inclined guide surface at the right lower side of the outer guide rail, and the conical supporting guide wheel arranged on the inner wheel frame is kept in contact with the inclined guide surface at the left lower side of the inner guide rail;
the wear-resistant layer on the guide rail surface at the top of the outer guide rail is manufactured by adopting a laser cladding method.
2. A suspended robotic rail walking device as claimed in claim 1, wherein: the driving motor adopts a hydraulic servo motor or a pneumatic servo motor or a servo speed reducing motor.
3. A suspended robotic rail walking device as claimed in claim 1, wherein: the chain wheel in the walking driving device adopts a double-row or three-row chain wheel, and the chain in the walking driving device adopts a double-row or three-row chain.
4. A suspended robotic rail walking device as claimed in claim 1, wherein: the transverse moving motor adopts a servo speed reducing motor, and a speed reducer arranged in the transverse moving motor is a worm and gear speed reducer.
5. A suspended robotic rail walking device as claimed in claim 2 wherein: the axes of the hinges are parallel to one axis of the universal joint cross, the axes of the four hinges are parallel to each other, and the axes of the universal joint cross are kept in the same plane.
6. A suspended robotic rail walking device according to claim 2, wherein: the telescopic cylinder adopts a servo hydraulic cylinder or a servo air cylinder or an electric push rod.
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| CN201710588988.1A CN107214685B (en) | 2017-07-19 | 2017-07-19 | Suspension type robot rail running gear |
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