CN108213797B - Foldable rapid clamping guide rail type mobile robot - Google Patents
Foldable rapid clamping guide rail type mobile robot Download PDFInfo
- Publication number
- CN108213797B CN108213797B CN201711273183.4A CN201711273183A CN108213797B CN 108213797 B CN108213797 B CN 108213797B CN 201711273183 A CN201711273183 A CN 201711273183A CN 108213797 B CN108213797 B CN 108213797B
- Authority
- CN
- China
- Prior art keywords
- rail
- track
- wheel
- main board
- rolling wheel
- 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.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
Landscapes
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a foldable rapid clamping guide rail type mobile robot, relates to the technical field of robots, and solves the technical problem that rapid clamping cannot be realized between a robot main body and a walking rail in the prior art. The mobile robot comprises a driving device, a trolley body and a track, wherein the trolley body comprises an installation mainboard and a track clamping device, the track clamping device comprises a fixing part, a sliding part and a locking part, the fixing part is fixed at the lower side of the installation mainboard, the sliding part can be slidably arranged on the installation mainboard, when the locking part drives the sliding part to slide towards the direction close to the fixing part, the fixing part and the sliding part can be clamped with the track by the left side and the right side of the track in cooperation, and the quick clamping of the trolley body and the track is realized.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a foldable rapid clamping guide rail type mobile robot.
Background
A mobile robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of the robot is to assist or replace the work of human work, such as production industry, construction industry or dangerous work, and the development of the mobile robot is rapid at present and is applied to a plurality of industries.
In the occasions of welding, cutting, detection and the like, the mobile robot is connected with a workpiece through a rail, and the mobile robot walks on the rail to complete work.
The applicant has found that the prior art has at least the following technical problems:
at present, the connection mode between a mobile robot body and a walking track thereof is various, in order to ensure reliability, the clamping mode is very complicated, rapid clamping cannot be realized, convenience is not provided, and the working efficiency of the mobile robot is influenced; moreover, one clamping mode is usually only suitable for one track, the adaptability is poor, and the problems of difficult clamping and poor flexibility can occur when the clamping mode is installed on other tracks; in addition, when the mobile robot walks on an irregular surface or an uneven surface, the connection between the mobile robot and a workpiece is unreliable and is not fastened, so that the working effect is influenced, and the safety is poor; in addition, the length of the walking track is fixed, the connecting strength between the walking track and the workpiece is not easy to control, the pretightening force is not adjustable, the situation of excessive force is easy to occur, and the reliability is affected.
Disclosure of Invention
The invention aims to provide a foldable rapid clamping guide rail type mobile robot, and aims to solve the technical problem that rapid clamping cannot be realized between a robot main body and a walking rail in the prior art. The technical effects that can be produced by the preferred technical scheme in the technical schemes provided by the invention are described in detail in the following.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides a foldable rapid clamping guide rail type mobile robot, which comprises a driving device, a trolley main body and a rail, wherein the trolley main body is in transmission connection with the driving device, the rail is fixed on a workpiece, the trolley main body is clamped on the rail and can walk along the rail, and the trolley main body comprises:
a mounting main board capable of carrying the carriage main body and the driving device;
the rail clamping device is arranged on the installation main board and used for clamping the rail; the track clamping device comprises a fixing part, a sliding part and a locking part, wherein the fixing part is fixed on the lower side of the installation mainboard, the sliding part is slidably arranged on the installation mainboard, the locking part can drive the sliding part to slide towards the direction close to or away from the fixing part, and when the locking part drives the sliding part to slide towards the direction close to the fixing part, the fixing part and the sliding part can be clamped on the track through the left side and the right side of the track, so that the rapid clamping of the trolley main body is realized.
Optionally, the fixing portion includes a first rolling wheel and a first U-shaped frame, the first rolling wheel is pivoted to an inner side of the first U-shaped frame, and the first U-shaped frame is fixedly connected to a lower side of the mounting main board; the sliding part comprises a second rolling wheel, a second U-shaped frame, a sliding cover plate and a connecting rod, the opening of the first U-shaped frame is opposite to the opening of the second U-shaped frame, the second rolling wheel is pivoted to the inner side of the second U-shaped frame, the second U-shaped frame is positioned at the lower side of the installation main plate, the sliding cover plate is positioned at the upper side of the installation main plate, the second U-shaped frame is fixedly connected with the sliding cover plate through the connecting rod, a sliding groove is formed in the installation main plate, and the connecting rod is arranged in the sliding groove in a sliding manner; the first rolling wheel and the second rolling wheel are matched to clamp the track.
Optionally, the first rolling wheel and the second rolling wheel have the same structure and shape and are both split structures, the first rolling wheel comprises an upper half wheel and a lower half wheel, the second rolling wheel comprises an upper half wheel and a lower half wheel, the upper half wheel and the lower half wheel are mirror images, and a spacer sleeve is arranged between the upper half wheel and the lower half wheel.
Optionally, the upper half wheel is tapered from a position far away from the spacer sleeve to a position close to the spacer sleeve, and the lower half wheel is tapered from a position far away from the spacer sleeve to a position close to the spacer sleeve, so that a V-shaped groove is formed at the connection position of the first rolling wheel and the track and the connection position of the second rolling wheel and the track.
Optionally, the locking portion includes an L-shaped bracket and a threaded knob, the L-shaped bracket is fixedly connected to the lower side of the mounting plate, the lower end of the mounting plate is far away from the track, the L-shaped bracket is provided with a threaded hole, and the threaded end of the threaded knob passes through the threaded hole and is fixedly connected to the second U-shaped frame.
Optionally, the driving device includes a motor base, a motor shaft gear and a transmission intermediate wheel, the motor base is fixed on the installation main board, the motor is installed on the motor base, an output shaft of the motor is fixedly connected with the motor shaft gear, and the motor shaft gear is engaged with the transmission intermediate wheel; the guide rack is arranged on the track, and the transmission idle wheel is meshed with the guide rack.
Optionally, the installation main board includes a main board body and wing plates hinged to two sides of the main board body, an angle limiting plate is arranged between each wing plate and the main board body, one side of the angle limiting plate is fixed on the main board body, an arc groove is formed in one side of the angle limiting plate, which is far away from the main board body, and the wing plates are fixed on the angle limiting plate through bolts arranged in the arc groove.
Optionally, the spring support mechanism further comprises a plurality of spring support mechanisms arranged on the inner side of the rail, each spring support mechanism comprises a base, an inner core, a spring and a stud, a through hole is axially formed in the inner core, the spring is arranged in the through hole, one end, far away from the rail, of the through hole is provided with a section of internal thread, when the stud is screwed into the inner core, one end, close to the rail, of the stud abuts against the spring, a mounting hole is formed in the base, and the inner core is slidably arranged in the mounting hole.
Optionally, one end of the mounting hole, which is far away from the rail, is provided with a limiting convex portion, the outer side of the inner core is provided with a limiting protrusion, and when the inner core slides along the mounting hole, the limiting protrusion slides to the limiting convex portion, the inner core is limited.
Optionally, the device further comprises a steel wire rope locking mechanism, wherein the steel wire rope locking mechanism comprises a crank, a speed reducer, a connecting shaft and a ratchet mechanism, the crank is connected with an input shaft of the speed reducer, and an output shaft of the speed reducer is connected with the ratchet mechanism through the connecting shaft; the track is composed of two sections, namely a first section and a second section, wherein the fixed end of the first section is rotatably connected with the fixed end of the second section, and the free end of the first section is connected with the free end of the second section through a buckle; the ratchet mechanism comprises a ratchet shaft and a steel wire rope, the ratchet shaft is located on the first section, one end of the steel wire rope is fixed on the ratchet shaft, and the other end of the steel wire rope is fixed on the second section.
According to the foldable rapid clamping guide rail type mobile robot, when the locking part drives the sliding part to slide towards the direction close to the fixing part, the fixing part and the sliding part can cooperatively clamp the rail from the left side and the right side of the rail, so that rapid clamping of the trolley main body and the rail is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic perspective view of a foldable rapid-clamping guide-rail-type mobile robot according to the present invention;
FIG. 2 is a partially enlarged schematic view of a foldable rapid-clamping guide-rail-type mobile robot according to the present invention;
FIG. 3 is a schematic view of the connection of the mounting main board to the angle limiting board;
FIG. 4 is a schematic view of the connection of the rail clamp device to the rail;
FIG. 5 is a schematic view of the installed position of the spacer;
FIG. 6 is a schematic view of a structure for mounting a motherboard;
FIG. 7 is a schematic structural view of a spring support mechanism;
fig. 8 is a schematic structural view of a wire rope locking mechanism.
In the figure 1, a trolley main body; 11. installing a main board; 111. a sliding cover plate; 112. an L-shaped bracket; 113. a threaded knob; 114. an angle limiting plate; 115. a main board body; 116. a wing plate; 12. a rolling wheel; 13. a motor base; 14. a motor; 15. a motor shaft gear; 16. a transmission intermediate wheel; 17. a guide rack; 18. a rolling wheel axle; 19. a U-shaped frame; 2. a track; 3. a spring support mechanism; 31. a base; 32. an inner core; 33. a spring; 34. a stud; 4. a wire rope locking mechanism; 41. a crank; 42. a speed reducer; 43. a connecting shaft; 44. a ratchet mechanism; 441. a ratchet shaft.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
As shown in fig. 1 and 2, the invention provides a foldable rapid-clamping guide-rail type mobile robot, which comprises a driving device, a trolley main body 1 and a rail 2, wherein the trolley main body 1 is in transmission connection with the driving device, the rail 2 is fixed on a workpiece, the trolley main body 1 is clamped on the rail 2, the trolley main body 1 can walk along the rail 2, and the trolley main body 1 comprises:
a mounting main board 11 capable of carrying the carriage body 1 and the driving device;
a rail 2 clamping device which is arranged on the installation main board 11 and is used for clamping the rail 2; the rail 2 clamping device comprises a fixing part, a sliding part and a locking part, the fixing part is fixed on the lower side of the installation main board 11, the sliding part is slidably arranged on the installation main board 11, the locking part can drive the sliding part to slide towards the direction close to or away from the fixing part, and when the locking part drives the sliding part to slide towards the direction close to the fixing part, the fixing part and the sliding part can clamp the rail 2 from the left side and the right side of the rail 2, so that the rapid clamping of the trolley body 1 is realized.
When the locking part drives the sliding part to slide towards the direction close to the fixing part, the fixing part and the sliding part can be clamped with the track 2 by the left side and the right side of the track 2 in a cooperation mode, the trolley body 1 and the track 2 can be quickly clamped, the assembly and disassembly are convenient, and the working efficiency of the mobile robot is improved.
As an alternative embodiment, as shown in fig. 4, the fixing portion includes a first rolling wheel and a first U-shaped frame, the first rolling wheel is pivoted to the inner side of the first U-shaped frame, and the first U-shaped frame is fixedly connected to the lower side of the mounting main board 11; the sliding part comprises a second rolling wheel, a second U-shaped frame, a sliding cover plate 111 and a connecting rod, the opening of the first U-shaped frame is opposite to the opening direction of the second U-shaped frame, the second rolling wheel is pivoted on the inner side of the second U-shaped frame, the second U-shaped frame is positioned on the lower side of the installation mainboard 11, the sliding cover plate 111 is positioned on the upper side of the installation mainboard 11, the second U-shaped frame is fixedly connected with the sliding cover plate 111 through the connecting rod, a sliding groove is formed in the installation mainboard 11, and the connecting rod can be arranged in the sliding groove in a sliding manner; the first rolling wheel and the second rolling wheel are matched to clamp the track 2.
The first rolling wheel 12, which is fixed in the U-shaped frame at the lower side of the installation main board 11, is matched with the second rolling wheel 12, which is the rolling wheel 12 in the U-shaped frame arranged on the installation main board 11 in a sliding way, so that the rotation is flexible and the connection is reliable.
As an alternative embodiment, as shown in fig. 5, the first rolling wheel and the second rolling wheel have the same structure and shape, and are both split structures, the first rolling wheel is composed of an upper half wheel and a lower half wheel, the second rolling wheel is composed of an upper half wheel and a lower half wheel, the upper half wheel and the lower half wheel are mirror images, and a spacer sleeve is arranged between the upper half wheel and the lower half wheel.
Set up the spacer sleeve between first half wheel and the second half wheel, the dolly body is walked the in-process on track 2, has the buffering space, and split type rolling wheel 12 prevents that the rotational speed of the rolling wheel 12 of inner circle and the rotational speed of the rolling wheel 12 of outer lane from different and the card from appearing, walks more smoothly.
As an alternative embodiment, the upper half wheel tapers from a position far away from the spacer sleeve to a position close to the spacer sleeve, and the lower half wheel tapers from a position far away from the spacer sleeve to a position close to the spacer sleeve, so that V-shaped grooves are formed at the connection of the first rolling wheel and the track 2 and at the connection of the second rolling wheel and the track 2.
The edge of the track 2 is provided with a chamfer, the rolling wheel 12 forms a V-shaped groove, the shape of the V-shaped groove is matched with that of the track 2, and the V-shaped groove is more tightly and reliably connected with the track 2.
As an alternative embodiment, the locking portion includes an L-shaped bracket 112 and a threaded knob 113, the L-shaped bracket 112 is fixedly connected to one end of the lower side of the mounting plate, which is far away from the rail 2, a threaded hole is opened on the L-shaped bracket 112, and a threaded end of the threaded knob 113 passes through the threaded hole and is fixedly connected to the second U-shaped frame.
During installation, the first rolling wheel of the trolley main body 1 is abutted against one side of the track 2, the second U-shaped frame is pushed to move towards the track 2 by screwing the threaded knob 113 until the second rolling wheel is abutted against the other side of the track 2, and rapid clamping of the trolley main body 1 and the track 2 is completed; the locking part has simple structure, stable thread transmission and high reliability.
As an alternative embodiment, the driving device comprises a motor 14 seat 13, a motor 14 shaft gear and a transmission intermediate wheel 16, the motor 14 seat 13 is fixed on the installation main board 11, the motor 14 is installed on the motor 14 seat 13, an output shaft of the motor 14 is fixedly connected with the motor 14 shaft gear, and the motor 14 shaft gear is meshed with the transmission intermediate wheel 16; the track 2 is provided with a guide rack 17, and the transmission idle wheel 16 is meshed with the guide rack 17.
The gear meshing mode is directly carried out with the track 2 for transmission, so that the trolley main body 1 can move more quickly and conveniently, the control process is more direct, and the error is relatively small.
As an alternative embodiment, as shown in fig. 3 and 6, the installation main board 11 includes a main board body 115 and wing plates 116 hinged to two sides of the main board body 115, an angle limiting plate 114 is disposed between each wing plate 116 and the main board body, one side of the angle limiting plate 114 is fixed on the main board body 115, one side of the angle limiting plate 114, which is far away from the main board body 115, is provided with an arc groove, and the wing plates 116 are fixed on the angle limiting plate 114 through bolts disposed in the arc groove.
The angle between the two wing plates 116 and the main plate body 115 is adjusted to adapt to the tracks 2 with different curvature radiuses, so that the application range is wide; and the clamping is convenient and the flexibility is good.
As an optional implementation manner, the foldable rapid-clamping guide-rail-type mobile robot further includes a plurality of spring 33 supporting mechanisms 3 disposed inside the rail 2, the spring 33 supporting mechanisms 3 are configured as shown in fig. 7, each spring 33 supporting mechanism 3 includes a base 31, an inner core 32, a spring 33, and a stud 34, a through hole is axially formed in the inner core 32, the spring 33 is disposed in the through hole, one end of the through hole, which is far away from the rail 2, is provided with a section of internal thread, one end of the stud 34, which is close to the rail 2, abuts against the spring 33 when the stud 34 is screwed into the inner core 32, a mounting hole is formed in the base 31, and the inner core 32.
The spring 33 is fastened on the surface of the irregular workpiece in a self-adaptive mode, connection is reliable, and fastening is good.
As an alternative embodiment, one end of the mounting hole far away from the rail 2 is provided with a limiting convex part, the outer side of the inner core 32 is provided with a limiting protrusion, and when the inner core 32 slides along the mounting hole, the limiting protrusion slides to the limiting convex part to limit the inner core 32.
As an optional implementation manner, the foldable quick-clamping guide-rail type mobile robot further comprises a steel wire rope locking mechanism 4, the structure of the steel wire rope locking mechanism 4 is as shown in fig. 8, the steel wire rope locking mechanism 4 comprises a crank 41, a speed reducer 42, a connecting shaft 43 and a ratchet mechanism 44, the crank 41 is connected with an input shaft of the speed reducer 42, and an output shaft of the speed reducer 42 is connected with the ratchet mechanism 44 through the connecting shaft 43; the track 2 is composed of two sections, namely a first section and a second section, wherein the fixed end of the first section is rotationally connected with the fixed end of the second section, and the free end of the first section is connected with the free end of the second section through a buckle; the ratchet mechanism 44 includes a ratchet shaft 441 and a wire rope, the ratchet shaft 441 is located on the first section, one end of the wire rope is fixed to the ratchet shaft 441, and the other end of the wire rope is fixed to the second section.
The two sections of tracks 2 are connected by steel wire ropes, the connecting strength is well controlled, the pretightening force is adjustable, and the reliability is high.
The invention provides a folding type rapid clamping guide rail type mobile welding robot which mainly comprises a trolley main body 1, a rail 2, a spring 33 supporting mechanism 3 and a steel wire rope locking mechanism 4, wherein: the main installation board 11 is used for bearing the main structure of the welding trolley, the main installation board 11 is composed of three boards connected together by a revolute pair, the middle is a main board body 115, two side boards are wing boards 116, the main board body 115 is pivoted with the wing boards 116, the angle between the main board body 115 and the wing boards 116 is adjusted and limited by angle limiting boards 114 on two sides of the installation line, and the main installation board can be suitable for tracks 2 with different specifications and diameters.
The rail 2 clamping device on the installation mainboard 11 can fix the trolley main body 1 on the welding rail 2 and rely on the rolling wheels 12 to complete the walking motion around the rail 2, wherein: the motor 14 with the reducer 42 fixed on the base 13 of the walking motor 14 is connected with the gear key of the motor 14 through the shaft of the motor 14, the shaft gear of the motor 14 is meshed with the transmission idle wheel 16 on the installation main board 11, the transmission idle wheel 16 is meshed with the guide rack 17 welded at the center of the track 2, so that driving force is formed to drive the rolling wheels 12 at two sides of the installation main board 11, and the four rolling wheels 12 are all driven. The rolling wheel 12 of the rail 2 clamping device is fixed on the inner side of the U-shaped frame 19 through a rolling wheel 12 shaft, the rolling wheel 12 is composed of an upper part and a lower part, the upper part and the lower part are fixed on a rolling wheel shaft 18 through bearings, the middle of the upper half wheel and the middle of the lower half wheel are separated through a spacing sleeve, and a V-shaped groove is formed in the middle of the rolling wheel 12 and used for being matched with the rail 2. The rolling wheels 12 on the two sides of the track 2 are provided with a U-shaped frame 19 fixed on the lower side of the installation main board 11 through bolts on the left side, a slider part of the sliding cover plate 111 is fixed together with the U-shaped frame 19 through bolts on the right side, and the protruding slider part of the sliding cover plate 111 is embedded in a sliding groove at one end of the wing plate 116, so that the rolling wheels 12 on the right side can translate at a certain distance from left to right. The L-shaped bracket 112 is fixed at the end position of one side of the sliding groove of the right installation main board 11 by bolts, the thread knob 113 is arranged at the middle position of the L-shaped bracket 112, the thread end of the thread knob 113 is fixed on a bearing embedded in the middle of the back of the U-shaped frame 19, and thus the rolling wheel 12 on the right side can be controlled to perform axial relative translation of the track 2 by adjusting the thread knob 113.
The spring 33 supporting mechanism 3 arranged on the inner side of the rail 2 can enable the rail 2 to be stably attached to a workpiece pipeline, and the spring 33 supporting mechanism 3 comprises a base 31, a stud 34, an inner core 32 and a spring 33. The mechanism can load the track 2 on the pipeline with irregular surface, and the spring 33 can realize the self-adaptive fixation of the track 2.
The track 2 is further locked by the steel wire rope locking mechanism 4, so that the track 2 is completely locked on the surface of the workpiece. The wire rope locking mechanism 4 is composed of a crank 41, a speed reducer 42, a connecting shaft 43 and a ratchet mechanism 44, wherein the crank 41 is a centrifugal disc handle, and the speed reducer 42 is composed of two gear ratios of 2: 1 is formed by meshing the gears; the ratchet mechanism 44 is mainly composed of a base, a wire rope, and a ratchet shaft 441. The crank 41 is keyed on the large gear of the reducer 42, the small gear at the other end of the reducer 42 is keyed on the connecting shaft 43, and the connecting shaft 43 is keyed on the ratchet mechanism 44. One end of the steel wire rope is fixed on the ratchet shaft 441, the other end of the steel wire rope is wound on a groove at the bottom of a buckle at the joint part of the track 2, the crank 41 is rotated, the ratchet shaft 441 is driven to rotate through the speed reducer 42, and then the steel wire rope is tightened, so that the track 2 is completely fixed on a workpiece pipeline which cannot be completely covered. The mechanism can effectively prevent the track 2 from exerting excessive force during loading, can adjust the pretightening force of the guide rail, and can adapt to the pipe diameters of workpieces with different diameters.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. The utility model provides a folding quick clamping guide tracked mobile robot, its characterized in that, includes drive arrangement, dolly main part and track, the dolly main part with drive arrangement transmission is connected, the track is fixed in on the work piece, dolly main part dress card in on the track, just the dolly main part can be followed rail walking, the dolly main part includes:
a mounting main board capable of carrying the carriage main body and the driving device;
the rail clamping device is arranged on the installation main board and used for clamping the rail; the rail clamping device comprises a fixing part, a sliding part and a locking part, the fixing part is fixed on the lower side of the installation main board, the sliding part is slidably arranged on the installation main board, the locking part can drive the sliding part to slide towards the direction close to or away from the fixing part, and when the locking part drives the sliding part to slide towards the direction close to the fixing part, the fixing part and the sliding part can clamp the rail by the left side and the right side of the rail, so that the rapid clamping of the trolley main body is realized;
the fixing part comprises a first rolling wheel and a first U-shaped frame, the first rolling wheel is pivoted on the inner side of the first U-shaped frame, and the first U-shaped frame is fixedly connected to the lower side of the installation main board; the sliding part comprises a second rolling wheel, a second U-shaped frame, a sliding cover plate and a connecting rod, the opening of the first U-shaped frame is opposite to the opening of the second U-shaped frame, the second rolling wheel is pivoted to the inner side of the second U-shaped frame, the second U-shaped frame is positioned at the lower side of the installation main plate, the sliding cover plate is positioned at the upper side of the installation main plate, the second U-shaped frame is fixedly connected with the sliding cover plate through the connecting rod, a sliding groove is formed in the installation main plate, and the connecting rod is arranged in the sliding groove in a sliding manner; the first rolling wheel and the second rolling wheel are matched to clamp the track;
the first rolling wheel and the second rolling wheel are identical in structure and shape and are both of split structures, the first rolling wheel consists of an upper half wheel and a lower half wheel, the second rolling wheel consists of an upper half wheel and a lower half wheel, the upper half wheel and the lower half wheel are of mirror image structures, and a spacer sleeve is arranged between the upper half wheel and the lower half wheel;
the upper half wheel is gradually reduced from a position far away from the spacing sleeve to a position close to the spacing sleeve, and the lower half wheel is gradually reduced from a position far away from the spacing sleeve to a position close to the spacing sleeve, so that V-shaped grooves are formed at the connection position of the first rolling wheel and the track and the connection position of the second rolling wheel and the track;
the installation main board comprises a main board body and wing plates hinged to two sides of the main board body, an angle limiting plate is arranged between each wing plate and the main board body, one side of each angle limiting plate is fixed on the main board body, an arc groove is formed in one side, far away from the main board body, of each angle limiting plate, and the wing plates are fixed on the angle limiting plates through bolts arranged in the arc grooves.
2. The foldable quick-clamping guide-rail type mobile robot as claimed in claim 1, wherein the locking part comprises an L-shaped bracket and a threaded knob, the L-shaped bracket is fixedly connected to one end of the lower side of the mounting plate, which is far away from the rail, the L-shaped bracket is provided with a threaded hole, and the threaded end of the threaded knob penetrates through the threaded hole and is fixedly connected to the second U-shaped frame.
3. The foldable quick-clamping guide-rail type mobile robot as claimed in claim 2, wherein the driving device comprises a motor base, a motor shaft gear and a transmission intermediate wheel, the motor base is fixed on the mounting main board, the motor is mounted on the motor base, an output shaft of the motor is fixedly connected with the motor shaft gear, and the motor shaft gear is meshed with the transmission intermediate wheel; the guide rack is arranged on the track, and the transmission idle wheel is meshed with the guide rack.
4. The foldable quick-clamping guide-rail-type mobile robot according to claim 1, further comprising a plurality of spring support mechanisms arranged inside the rail, wherein each spring support mechanism comprises a base, an inner core, a spring and a stud, a through hole is axially formed in each inner core, the spring is arranged in each through hole, one end, far away from the rail, of each through hole is provided with a section of internal thread, one end, close to the rail, of each stud abuts against the corresponding spring when the stud is screwed into the inner core, a mounting hole is formed in the base, and the inner core is slidably arranged in the mounting hole.
5. The foldable quick-clamping guide-rail type mobile robot as claimed in claim 4, wherein a limiting protrusion is disposed at one end of the mounting hole, which is far away from the rail, and a limiting protrusion is disposed at an outer side of the inner core, so that when the inner core slides along the mounting hole, the limiting protrusion slides to the limiting protrusion, and the inner core is limited.
6. The foldable quick-clamping guide-rail type mobile robot as claimed in claim 1, further comprising a steel wire rope locking mechanism, wherein the steel wire rope locking mechanism comprises a crank, a speed reducer, a connecting shaft and a ratchet mechanism, the crank is connected with an input shaft of the speed reducer, and an output shaft of the speed reducer is connected with the ratchet mechanism through the connecting shaft; the track is composed of two sections, namely a first section and a second section, wherein the fixed end of the first section is rotatably connected with the fixed end of the second section, and the free end of the first section is connected with the free end of the second section through a buckle; the ratchet mechanism comprises a ratchet shaft and a steel wire rope, the ratchet shaft is located on the first section, one end of the steel wire rope is fixed on the ratchet shaft, and the other end of the steel wire rope is fixed on the second section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711273183.4A CN108213797B (en) | 2017-12-06 | 2017-12-06 | Foldable rapid clamping guide rail type mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711273183.4A CN108213797B (en) | 2017-12-06 | 2017-12-06 | Foldable rapid clamping guide rail type mobile robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108213797A CN108213797A (en) | 2018-06-29 |
| CN108213797B true CN108213797B (en) | 2019-12-20 |
Family
ID=62653317
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711273183.4A Active CN108213797B (en) | 2017-12-06 | 2017-12-06 | Foldable rapid clamping guide rail type mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108213797B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109676580B (en) * | 2019-01-30 | 2024-03-01 | 合肥中盛水务发展有限公司 | Rail type inspection robot |
| CN109702400A (en) * | 2019-02-22 | 2019-05-03 | 洛阳德平科技股份有限公司 | A kind of pipeline side drive formula all-position automatic welding technology running gear for trolley |
| CN110039395A (en) * | 2019-04-17 | 2019-07-23 | 吴雪杏 | A kind of new-energy automobile exhaust pipe soldering equipment |
| 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 |
| CN111544118A (en) * | 2020-05-18 | 2020-08-18 | 苏州立威新谱生物科技有限公司 | Overlapping coaxial surgical robot |
| CN112059375B (en) * | 2020-09-04 | 2022-04-05 | 中船重工鹏力（南京）智能装备系统有限公司 | Self-adaptive double-sided water-cooling electrogas welding equipment and method for reducing welding slag |
| CN112975702A (en) * | 2021-03-03 | 2021-06-18 | 广船国际有限公司 | Polishing device |
| CN114905516A (en) * | 2022-05-30 | 2022-08-16 | 北京石油化工学院 | Robot initial position finding system and method for large-scale component |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000210791A (en) * | 1999-01-26 | 2000-08-02 | Kubota Corp | Safety fence |
| CN202114423U (en) * | 2011-05-31 | 2012-01-18 | 宋广科 | Movable semiautomatic welding and cutting machine |
| CN202151756U (en) * | 2011-06-10 | 2012-02-29 | 中国石油天然气集团公司 | Conduit support T-shaped connector automatic welding running device |
| KR101448771B1 (en) * | 2013-03-26 | 2014-10-08 | 현대자동차 주식회사 | One side direction spot welding apparatus |
| CN104139265B (en) * | 2014-08-06 | 2015-10-28 | 哈尔滨工程大学 | Elastic track formula pipeline outer wall automatic welding mechanism |
| CN106141480A (en) * | 2015-03-27 | 2016-11-23 | 天津市卓阳无损检测有限公司 | A kind of pipeline girth weld walking detection device |
| CN106312399B (en) * | 2016-10-17 | 2018-04-13 | 沈阳大学 | The welding guide rail clamping device that a kind of automatic welding picks up |
-
2017
- 2017-12-06 CN CN201711273183.4A patent/CN108213797B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108213797A (en) | 2018-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108213797B (en) | Foldable rapid clamping guide rail type mobile robot | |
| US6098260A (en) | Rivet fastening system for radial fuselage joints | |
| CN202877962U (en) | Rear axle speed-reducer shell machining fixture | |
| CN207656456U (en) | A kind of rotary work piece peripheral surface polishing machine | |
| CN206464743U (en) | A kind of flexible guide rail welding robot | |
| CN203664998U (en) | Device enabling workpieces to be welded conveniently | |
| CN109434270B (en) | Static double-shaft-shoulder friction stir welding stirring head with auxiliary rope pulling device and method for welding butt weld | |
| CN117961518B (en) | Fixing mechanism | |
| CN110294055A (en) | Inclination adjusting device and a kind of carrying robot | |
| CN110039471A (en) | A kind of integrated assembly device of planet speed change mechanism | |
| US7988158B2 (en) | Driving device for adjusting an orientation of a vehicle wheel | |
| CN108555491B (en) | Pipeline internal welding locking support and modular pipeline internal welding system | |
| CN215432149U (en) | Portable pipeline circular seam welding machine | |
| CN105690116B (en) | Crankshaft Machining lathe follow-up material-supporting rack device | |
| CN213998642U (en) | A add clamping apparatus for aluminum alloy control arm | |
| CN211564911U (en) | Hatch track automatic weld machine | |
| CN105033738B (en) | A kind of multi-purpose robot with arc orbit | |
| KR102140439B1 (en) | welding equipment for circular plat and round bar | |
| CN206689490U (en) | A kind of portable reaming drilling machine | |
| CN110814510B (en) | Friction stir welding equipment and welding method thereof | |
| CN211331777U (en) | Friction stir welding equipment | |
| CN209870591U (en) | Intelligent mobile robot of complicated 3D metal curved surface of self-adaptation | |
| CN114012331A (en) | Positioning mechanism and welding robot | |
| CN113441898A (en) | Template anchor clamps, template tool and welding equipment | |
| CN112743427A (en) | Universal sanding all-in-one machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |