CN108555881A - One kind can minor-circle turn hanger rail robot climbing apparatus - Google Patents
One kind can minor-circle turn hanger rail robot climbing apparatus Download PDFInfo
- Publication number
- CN108555881A CN108555881A CN201810698210.0A CN201810698210A CN108555881A CN 108555881 A CN108555881 A CN 108555881A CN 201810698210 A CN201810698210 A CN 201810698210A CN 108555881 A CN108555881 A CN 108555881A
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- vertical wall
- guide wheel
- vertical
- minor
- wheel
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- 230000009194 climbing Effects 0.000 title claims abstract description 45
- 238000013016 damping Methods 0.000 claims abstract description 34
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 230000000694 effects Effects 0.000 claims description 26
- 238000005452 bending Methods 0.000 description 5
- 230000005484 gravity Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention discloses one kind can minor-circle turn hanger rail robot climbing apparatus, including, scroll wheel, scroll wheel connect transmission shaft, and, guide wheel, for fixing position of the whole device on guide rail；Further include climbing damping spring, turn damping spring, external frame and guide wheel fixing bracket, to be kept fixed the vertically opposite position of holder and guide rail, turn damping spring connects guide wheel fixing bracket and external frame to be kept fixed the horizontal relative position of holder and guide rail for climbing damping spring connection guide wheel fixing bracket and external frame；Further include gear, gear is set to the transmission shaft of scroll wheel；Transmission shaft passes through external frame.The present invention can make mechanism held stationary while turning and straight line moving using spring turning holding structure.
Description
Technical field
The invention belongs to engineering machinery fields, and in particular to one kind can minor-circle turn hanger rail robot climbing apparatus.
Background technology
Currently, universal track running mechanism is all single motor driving scroll wheel, so that scroll wheel is realized along track and go
It walks.But this simple mechanism is suitable for straight line moving, if encounter space than narrow and acclive occasion, it may appear that
Skidding or stuck phenomenon, it is difficult to meet lower part operating mechanism, the requirements such as operation of crusing robot.
In existing open source literature, CN201110042584.5 discloses a kind of rail engineering truck steering frame, it discloses
" its other end is equipped with the metal coil spring group (17) of the single stage suspension device (3) and one is rubber pad (18), a system
Suspension arrangement (3) is mainly the metal coil spring group (17) of rubber pad (18) by one group of band one, one is Vertical Hydraulic Damper Used
(21) formed with pivoted arm positioning rubber joint ", steering can be realized in minor radius by claiming, but it realizes that process is multiple
It is miscellaneous, nor be exclusively used in climbing.
In conclusion the problem of climbing in the prior art for minor radius track, it is still necessary to effective solution scheme.
Invention content
In view of the above-mentioned problems, the invention discloses one kind can minor-circle turn hanger rail robot climbing apparatus, using spring
Turning holding structure can make mechanism held stationary while turning and straight line moving.
The present invention is realized by following scheme：
One kind can minor-circle turn hanger rail robot climbing apparatus, including,
Scroll wheel, scroll wheel connect transmission shaft, and
Guide wheel, for fixing position of the whole device on guide rail；
Further include climbing damping spring, turn damping spring, external frame and guide wheel fixing bracket, climbing damping spring connects
Guide wheel fixing bracket and external frame are connect to be kept fixed the vertically opposite position of holder and guide rail, the connection of turn damping spring is led
Fixing bracket and external frame are taken turns to be kept fixed the horizontal relative position of holder and guide rail；
Further include gear, gear is set to the transmission shaft of scroll wheel；
Transmission shaft passes through external frame.
Further, it includes the first drive to drive scroll wheel, the driving idler wheel in turn using motor direct-drive transmission shaft
Dynamic idler wheel and the second driving idler wheel.
Further, external frame is in concave shape, including vertical wall and bottom plate, and vertical wall includes the first vertical wall and second
Vertical wall, the first vertical wall, bottom plate and the second vertical wall are linked in sequence, and the first vertical wall and the second vertical wall specification are identical, and
With bottom plate central axes for symmetrical axial symmetry, the motor includes 2, and it is vertical that 2 motors respectively symmetrically are fixed on first
With the second vertical wall, the first scroll wheel and the second scroll wheel are driven respectively.
Further, spring mountings, spring mountings are equipped at the top of first vertical wall and the second vertical wall
To be equipped with length above the symmetrically arranged rectangular straight slot in the top of the first vertical wall and the second vertical wall, the spring mountings
With the fixed link consistent in length of rectangular straight slot, fixed link connects the vertical wall segments of rectangular straight slot both sides.
Further, it is equipped with guide wheel fixed frame on the inside of first vertical wall and the second vertical wall, in the present embodiment
In, the guide wheel fixed frame includes upper guide wheel fixed frame and the next guide wheel fixed frame.
Further, the upper guide wheel fixed frame is respectively equipped with 1 on the inside of the first vertical wall and the second vertical wall.
Further, the upper guide wheel fixed frame includes A shapes connector and U-shaped part, and A shape connectors are fixed on first and hang down
On the inside of straight wall and/or the second vertical wall, A shape connectors are hinged U-shaped part.
Further, the A shapes connector includes horizontal part and vertical component effect, and horizontal part is in A shapes, and vertical component effect hangs down with horizontal part
Direct-connected to connect, horizontal part is parallel with bottom plate, and vertical component effect end bend forms right angle corner fittings, and right angle corner fittings is connected by damping spring of climbing
Connect the fixed link with realize A shapes connector vertical direction movable state.
Further, the U-shaped part includes 2 support arms and interconnecting piece, and 2 support arms are connected by interconnecting piece to form U
Shape.Guide wheel is equipped among 2 support arms of the U-shaped part.
Further, the end of 2 support arms is all provided with fluted, and directive wheel is equipped in groove.
Further, the both ends of the interconnecting piece are equipped with turn damping spring, and turn damping spring connects the connection of U-shaped part
The vertical component effect in portion and A shape connectors.
Further, difference lies in the next guide wheel fixed frames with upper guide wheel fixed frame for the next guide wheel fixed frame
A shape connectors vertical component effect length be less than upper guide wheel fixed frame A shape connectors vertical component effect length, this difference in height exists
Upper guide wheel and the next guide wheel, other setting phases of the bottom guide wheel fixed frame and upper guide wheel fixed frame can be formed after assembling
Together.
Further, the combination of the present apparatus and the linear guide is that the axis of the scroll wheel is equipped with gear, guide rail of climbing
Rack is installed, without installing rack in the linear guide, the friction-driven of scroll wheel is leaned in straight line moving by such mechanism, and one
When denier encounters heavy grade climbing, rack and pinion engagement, speed reduces, and torque becomes larger, and realizes non-slip function of climbing.
The invention has the beneficial effects that：
1, when going up a slope, due to the effect meeting run-off the straight of gravity, the present apparatus is caused to rub with guide rail.Upper guide wheel
The tilt phenomenon of gravity can be overcome with the arrangement up and down of the next guide wheel, the posture of held stationary is not when the present apparatus being made to go up a slope
It can rub with guide rail.
2, present invention employs climbing damping spring, turn damping springs to make the position of guide wheel change relative to guide rail,
To meet friction characteristic when minor radius guide rail turns between track and guide wheel, chucking power of the guide wheel for guide rail is increased, is subtracted
Few skidding and/or stuck phenomenon；
3, the present invention is by realizing the difference in height alienation setting of A shape connectors the upper the next difference to guide wheel, simultaneously
Due to using horizontal direction and vertically to spring assist stress, reduce the mechanical fatigue degree of connector, increase an a device of dress
The stability used.
4, combination gear rack of the present invention is climbed, although this is conventional arrangement, meets with climbing and smaller part simultaneously
When diameter is turned, rack-and-pinion can play its stabilization in conjunction with guide wheel.
Description of the drawings
Fig. 1 is the graphics of the mechanism,
Fig. 2 is mechanism guide rail service chart,
Fig. 3 is operating status sectional view when bending track is crossed by mechanism.
In figure, 1. scroll wheels, 2. gears, 3. upper guide wheels, 4. directive wheels, 5. climbing damping springs, 6. motors, 7. is the next
Guide wheel, 8. the linear guides, 9. racks, 10. turn damping springs, 11. bending tracks, 12. fixed links, 13.U shape parts, 14.A shapes
Connector, 151. first vertical walls, 152. bottom plates, 153. second vertical walls.
Specific implementation mode
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific implementation mode, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.
Term is explained：
Symmetrically：Symmetrical in the present embodiment refer to relative to bottom plate central axes it is symmetrical.
As shown in Figure 1, one kind can minor-circle turn hanger rail robot climbing apparatus, including,
Scroll wheel 1 and guide wheel, further include that climbing damping spring 5, turn damping spring 10, external frame and guide wheel are fixed
Holder, climbing damping spring 5 connect guide wheel fixing bracket and external frame to be kept fixed the vertically opposite position of holder and guide rail
It sets, turn damping spring 10 connects guide wheel fixing bracket and external frame to be kept fixed the opposite position of level of holder and guide rail
It sets；
Further include gear 2, gear 2 is set to the transmission shaft of scroll wheel 1；
Transmission shaft passes through external frame.
Further include external frame, external frame is in concave shape, including vertical wall and bottom plate 152, and vertical wall includes first vertical
Straight wall 151 and the second vertical wall 153, the first vertical wall 151, bottom plate 152 and the second vertical wall 153 are linked in sequence, and first is vertical
Wall 151 is identical with 153 specification of the second vertical wall, and with 152 central axes of bottom plate for symmetrical axial symmetry, and the motor 6 is including 2,2
A motor 6 respectively symmetrically is fixed on first vertical and the second vertical wall 153, drives the first scroll wheel 1 and second respectively
Scroll wheel 1.
The top of first vertical wall, 151 and second vertical wall 153 is equipped with spring mountings, spring mountings be
The symmetrically arranged rectangular straight slot in top of first vertical wall 151 and the second vertical wall 153, the spring mountings top are equipped with length
The fixed link consistent in length 12 of degree and rectangular straight slot, fixed link 12 connect the vertical wall segments of rectangular straight slot both sides.
Preferably, the spring mountings are equipped with 2 at 151 top of the first vertical wall, and 2 are equipped at the top of the second vertical component effect
It is a, and positional symmetry.
The inside of first vertical wall, 151 and second vertical wall 153 is equipped with guide wheel fixed frame, in the present embodiment,
The guide wheel fixed frame includes 7 fixed frame of 3 fixed frame of upper guide wheel and the next guide wheel.
3 fixed frame of upper guide wheel is respectively equipped with 1 in the inside of the first vertical wall 151 and the second vertical wall 153.
3 fixed frame of upper guide wheel includes A shapes connector 14 and U-shaped part 13, and it is vertical that A shapes connector 14 is fixed on first
153 inside of wall 151 and/or the second vertical wall, A shapes connector 14 are hinged U-shaped part 13.
The A shapes connector 14 includes horizontal part and vertical component effect, and horizontal part is in A shapes, vertical component effect and horizontal part vertical connection,
Horizontal part is parallel with bottom plate 152, and vertical component effect end bend forms right angle corner fittings, and right angle corner fittings is connected by damping spring 5 of climbing
The fixed link 12 with realize A shapes connector 14 vertical direction movable state.
The U-shaped part 13 includes 2 support arms and interconnecting piece, and 2 support arms are connected by interconnecting piece to form U-shaped.The U
Guide wheel is equipped among 2 support arms of shape part 13.
The end of 2 support arms is all provided with fluted, and directive wheel 4 is equipped in groove.
Preferably, the groove is rectangular channel, is parallel to the setting of bottom plate 152, and the directive wheel 4 is parallel to bottom plate 152.
Preferably, the directive wheel 4 is passed through by axis pin, and the two side of groove is fixed at axis pin both ends.
Preferably, the tip of the A shapes part is equipped with A shape part hinge joints, and the middle part of the interconnecting piece of the U-shaped part 13 is equipped with U
13 hinge joint of shape part, A shape part hinge joints and 13 hinge joint of U-shaped part are hinged by axis pin.
The both ends of the interconnecting piece are equipped with turn damping spring 10, and turn damping spring 10 connects the interconnecting piece of U-shaped part 13
With the vertical component effect of A shapes connector 14.
Difference lies in the A shapes of 7 fixed frame of the next guide wheel connect bottom 7 fixed frame of guide wheel with 3 fixed frame of upper guide wheel
The vertical component effect length of fitting 14 is less than the vertical component effect length of the A shapes connector 14 of 3 fixed frame of upper guide wheel, and this difference in height is in group
Upper guide wheel 3 and the next guide wheel 7 can be formed after dress.
As shown in Fig. 2, the combination of the present apparatus and the linear guide 8 is, the axis of the scroll wheel 1 is equipped with gear 2, climbing
Guide rail is equipped with rack 9, and rack 2 is corresponding with the gear 9 engageable to realize, without installing rack 9 in the linear guide 8, this
Model machine structure leans on the friction-driven of scroll wheel 1 in straight line moving, when encountering heavy grade climbing, the engagement of 2 rack 9 of gear, and speed
Degree reduces, and torque becomes larger, and realizes non-slip function of climbing.
As shown in figure 3, the operation logic of the present apparatus is：Motor 6 rotates, and drives scroll wheel 1 and gear 2 to rotate, realizes dress
The forward travel set.When device goes up a slope, gear 2 will be engaged with the rack 8 on guide rail automatically, and movement velocity reduces, driving
Torque becomes larger.At this moment driving force can overcome the spring resistance of climbing damping spring 5, so that gear 2 is always maintained at and engaged with rack 8,
Realize slope climbing movement.
The position of guide wheel is staggered, and upper guide wheel 3 is engaged with 8 upside of guide rail；7 guide rail of the next guide wheel, 8 downside engagement, on
The collective effect of lower tumbler and directive wheel 4 enables driving mechanism to be secured firmly on guide rail 8, driving mechanism will not be made to shift
Or it tilts.
During the motion, the small directive wheel 4 of both sides is bonded with guide rail 7 always, is enable mechanism even running, is worked as process
When bending track 10, driving force can overcome the damping force of turn damping spring 9, and mechanism can be full of the shape for closing bending track automatically, realize
Turning motion.The mechanism minimum of design can pass through the bending track of R900.
From above example as can be seen that the invention has the beneficial effects that：
1, when going up a slope, due to the effect meeting run-off the straight of gravity, the present apparatus is caused to rub with guide rail.Upper guide wheel
The tilt phenomenon of gravity can be overcome with the arrangement up and down of the next guide wheel, the posture of held stationary is not when the present apparatus being made to go up a slope
It can rub with guide rail.
2, present invention employs climbing damping spring, turn damping springs to make the position of guide wheel change relative to guide rail,
To meet friction characteristic when minor radius guide rail turns between track and guide wheel, chucking power of the guide wheel for guide rail is increased, is subtracted
Few skidding and/or stuck phenomenon；
3, the present invention is using the design of upper the next guide wheel, and this next guide wheel is staggered design, upper bottom guide wheel
So that driving mechanism is secured firmly on guide rail with the collective effect of directive wheel, driving mechanism will not be made to shift or incline
Tiltedly.
4, the present invention is by realizing the difference in height alienation setting of A shape connectors the upper the next difference to guide wheel, simultaneously
Due to using horizontal direction and vertically to spring assist stress, reduce the mechanical fatigue degree of connector, increase an a device of dress
The stability used.
5, combination gear rack of the present invention is climbed, although this is conventional arrangement, meets with climbing and smaller part simultaneously
When diameter is turned, rack-and-pinion can play its stabilization in conjunction with guide wheel.
Claims (10)
1. one kind can minor-circle turn hanger rail robot climbing apparatus, including,
Scroll wheel, scroll wheel connect transmission shaft, and
Guide wheel, for fixing position of the whole device on guide rail；
It is characterized in that, further including climbing damping spring, turn damping spring, external frame and guide wheel fixing bracket, climbing resistance
Buddhist nun's spring connects guide wheel fixing bracket and external frame to be kept fixed the vertically opposite position of holder and guide rail, turn damping bullet
Spring connects guide wheel fixing bracket and external frame to be kept fixed the horizontal relative position of holder and guide rail；
Further include gear, gear is set to the transmission shaft of scroll wheel；
Transmission shaft passes through external frame.
2. one kind as described in claim 1 can minor-circle turn hanger rail robot climbing apparatus, which is characterized in that use motor
It directly drives transmission shaft and then drives scroll wheel, the driving idler wheel includes the first driving idler wheel and the second driving idler wheel.
3. one kind as described in claim 1 can minor-circle turn hanger rail robot climbing apparatus, which is characterized in that the outside
Frame is in concave shape, including vertical wall and bottom plate, and vertical wall includes the first vertical wall and the second vertical wall, the first vertical wall, bottom
Plate and the second vertical wall are linked in sequence, and the first vertical wall and the second vertical wall specification are identical, and using bottom plate central axes as symmetry axis
Symmetrically, the motor includes 2, and 2 motors respectively symmetrically are fixed on first vertical and the second vertical wall, drive respectively
First scroll wheel and the second scroll wheel.
4. one kind as claimed in claim 3 can minor-circle turn hanger rail robot climbing apparatus, which is characterized in that described first
Spring mountings are equipped at the top of vertical wall and the second vertical wall, spring mountings are in the first vertical wall and the second vertical wall
The symmetrically arranged rectangular straight slot in top, the fixation consistent in length of length and rectangular straight slot is equipped with above the spring mountings
Bar, fixed link connect the vertical wall segments of rectangular straight slot both sides；
The spring mountings are equipped with 2 at the top of the first vertical wall, and 2, and positional symmetry are equipped at the top of the second vertical component effect.
5. one kind as claimed in claim 4 can minor-circle turn hanger rail robot climbing apparatus, which is characterized in that described first
Guide wheel fixed frame is equipped on the inside of vertical wall and the second vertical wall, the guide wheel fixed frame includes upper guide wheel fixed frame under
Position guide wheel fixed frame.
6. one kind as claimed in claim 5 can minor-circle turn hanger rail robot climbing apparatus, which is characterized in that
The upper guide wheel fixed frame is respectively equipped with 1 on the inside of the first vertical wall and the second vertical wall；
The upper guide wheel fixed frame includes A shapes connector and U-shaped part, and A shape connectors are fixed on the first vertical wall and/or second
On the inside of vertical wall, A shape connectors are hinged U-shaped part；
The A shapes connector includes horizontal part and vertical component effect, and horizontal part is in A shapes, vertical component effect and horizontal part vertical connection, horizontal part
Parallel with bottom plate, vertical component effect end bend forms right angle corner fittings, and right angle corner fittings connects the fixed link by damping spring of climbing
With realize A shapes connector vertical direction movable state；
The U-shaped part includes 2 support arms and interconnecting piece, and 2 support arms are connected by interconnecting piece to form U-shaped；The U-shaped part
Guide wheel is equipped among 2 support arms；
The end of 2 support arms is all provided with fluted, and directive wheel is equipped in groove.
7. one kind as claimed in claim 5 can minor-circle turn hanger rail robot climbing apparatus, which is characterized in that the bottom
Guide wheel fixed frame is respectively equipped with 1 on the inside of the first vertical wall and the second vertical wall；
The bottom guide wheel fixed frame includes A shapes connector and U-shaped part, and A shape connectors are fixed on the first vertical wall and/or second
On the inside of vertical wall, A shape connectors are hinged U-shaped part；
The A shapes connector includes horizontal part and vertical component effect, and horizontal part is in A shapes, vertical component effect and horizontal part vertical connection, horizontal part
Parallel with bottom plate, vertical component effect end bend forms right angle corner fittings, and right angle corner fittings connects the fixed link by damping spring of climbing
With realize A shapes connector vertical direction movable state；The vertical component effect length of the next guide wheel fixed frame is less than upper guide wheel
The vertical component effect length of fixed frame；
The U-shaped part includes 2 support arms and interconnecting piece, and 2 support arms are connected by interconnecting piece to form U-shaped；The U-shaped part
Guide wheel is equipped among 2 support arms；
The end of 2 support arms is all provided with fluted, and directive wheel is equipped in groove.
8. one kind as claimed in claims 6 or 7 can minor-circle turn hanger rail robot climbing apparatus, which is characterized in that described
The both ends of interconnecting piece are equipped with turn damping spring, and the interconnecting piece that turn damping spring connects U-shaped part is vertical with A shape connectors
Portion.
9. one kind as claimed in claims 6 or 7 can minor-circle turn hanger rail robot climbing apparatus, which is characterized in that the A
The tip of shape part is equipped with A shape part hinge joints, and the middle part of the interconnecting piece of the U-shaped part is equipped with U-shaped part hinge joint, A shape part hinge joints
It is hinged by axis pin with U-shaped part hinge joint.
10. one kind as described in claim 1 can minor-circle turn hanger rail robot climbing apparatus, which is characterized in that climbing is led
Rail is equipped with rack, and rack is answered with the gear mesh.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810698210.0A CN108555881A (en) | 2018-06-29 | 2018-06-29 | One kind can minor-circle turn hanger rail robot climbing apparatus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810698210.0A CN108555881A (en) | 2018-06-29 | 2018-06-29 | One kind can minor-circle turn hanger rail robot climbing apparatus |
Publications (1)
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| CN108555881A true CN108555881A (en) | 2018-09-21 |
Family
ID=63555369
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| CN201810698210.0A Pending CN108555881A (en) | 2018-06-29 | 2018-06-29 | One kind can minor-circle turn hanger rail robot climbing apparatus |
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| CN109435972A (en) * | 2018-12-05 | 2019-03-08 | 云南电网有限责任公司红河供电局 | Monorail robot walking device |
| CN109676580A (en) * | 2019-01-30 | 2019-04-26 | 合肥中盛水务发展有限公司 | Rail mounted crusing robot |
| CN109760014A (en) * | 2019-03-21 | 2019-05-17 | 深圳昱拓智能有限公司 | A kind of rail mounted coal transporting trestle automatic crusing robot and system |
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