CN111702740A - Turning device of track robot - Google Patents
Turning device of track robot Download PDFInfo
- Publication number
- CN111702740A CN111702740A CN202010425910.XA CN202010425910A CN111702740A CN 111702740 A CN111702740 A CN 111702740A CN 202010425910 A CN202010425910 A CN 202010425910A CN 111702740 A CN111702740 A CN 111702740A
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- pulley
- lower pulley
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- track
- support
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- 239000003814 drug Substances 0.000 claims abstract description 29
- 230000001050 lubricating effect Effects 0.000 claims description 9
- 239000000314 lubricant Substances 0.000 claims 2
- 229940079593 drug Drugs 0.000 claims 1
- 239000000126 substance Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The turning device for the track robot of the invention comprises: the ground track device comprises a ground base, a ground track and a ground rack are arranged on the surface of the ground base, the top track device comprises a top base, and a top track is arranged on the surface of the top base; the medicine grabbing robot comprises an upper pulley device, a medicine grabbing robot support, a driving device and a lower pulley device, the upper pulley device comprises an upper pulley, the upper pulley support, an upper pulley base, an upper pulley is fixed to the top of the upper pulley support, the lower portion of the upper pulley support is arranged in the upper pulley base, the upper pulley base is fixedly installed at the top of the medicine grabbing robot support, the driving device comprises a motor and a gear, the gear is installed on an output shaft of the motor and meshed with a ground rack, the motor is fixed to the lower pulley device or the medicine grabbing robot support, the lower pulley device comprises a lower pulley, a lower pulley support and a lower pulley base, the lower pulley is fixed to the bottom of the lower pulley support, the upper portion of the lower pulley support is arranged in the lower pulley base, and the lower pulley base is fixedly installed at the bottom of the medicine grabbing robot.
Description
Technical Field
The invention relates to the technical field of rail robots, in particular to a turning device of a rail robot.
Background
At present, a robot for turning a track generally adopts a slide block to be matched with a slide rail, and the turning can be realized only by a large arc radius at a corner of a rectangular track due to the matching clearance between the slide block and the slide rail and the requirement on quality. The occupied area of the whole track is large, and the space is wasted.
Disclosure of Invention
Aiming at the problems and the defects in the prior art, the invention provides a novel turning device for a track robot, which needs a circular arc track with small radius, small occupied space and smooth turning.
The invention solves the technical problems through the following technical scheme:
the invention provides a turning device of a track robot, which is characterized by comprising a ground track device, a medicine grabbing robot and a top track device, wherein the ground track device comprises an arc-shaped ground base, a ground track and a ground rack are arranged on the surface of the ground base, the top track device comprises an arc-shaped top base matched with the ground base in shape, and a top track is arranged on the surface of the top base.
The medicine grabbing robot comprises an upper pulley device, a medicine grabbing robot support, a driving device and a lower pulley device, wherein the upper pulley device comprises an upper pulley, an upper pulley support and an upper pulley base which are matched with a top rail in a sliding manner, the top of the upper pulley support is fixed with the upper pulley, the lower part of the upper pulley support is arranged in the upper pulley base, so that the upper pulley rotates relative to the upper pulley base through the upper pulley support, the upper pulley base is fixedly arranged at the top of the medicine grabbing robot support, the driving device comprises a motor and a gear, the gear is arranged on an output shaft of the motor and is meshed with a ground rack, the motor is fixed on the lower pulley device or the medicine grabbing robot support, the lower pulley device comprises a lower pulley, a lower pulley support and a lower pulley base which are matched with the ground rail in a sliding manner, the lower pulley and the upper part of the lower pulley support are arranged in the lower pulley base, so that the lower pulley rotates relative to the lower pulley base through the lower pulley support, and the lower pulley base is fixedly arranged at the bottom of the medicine grabbing robot support.
Preferably, the lower pulley device comprises two arranged front and back pulleys so as to ensure that the medicine grabbing robot runs stably on the ground track.
Preferably, the lower pulley device comprises a first lower pulley device and a second lower pulley device, the first lower pulley device comprises two lower pulleys, a lower pulley base, a supporting lubricating piece, a lower pulley support and a bearing connecting piece, the two lower pulleys are fixed at the bottom of the lower pulley support, the upper part of the lower pulley support is arranged in the lower pulley base, the bearing connecting piece is arranged in the lower pulley base and above the top of the lower pulley support, and the supporting lubricating piece is arranged at the bottom of the lower pulley support and the bottom of the lower pulley base;
the second lower pulley device comprises a lower pulley, a lower pulley base, a supporting lubricating piece, a lower pulley support and a bearing connecting piece.
Preferably, the supporting and lubricating part adopts a thrust bearing, so that the mutual rotation between the lower pulley support and the lower pulley base can be effectively ensured.
Preferably, the driving device is connected with the lower pulley bracket of the first lower pulley device.
Preferably, the upper pulley device comprises two arranged in front and back to ensure that the medicine grabbing robot runs stably on the top track.
Preferably, an elastic support member is arranged in the upper pulley base and below the bottom of the upper pulley support, and the upper pulley support elastically moves in the up-down direction relative to the upper pulley base.
Preferably, the ground track comprises a first straight-line track, a circular arc track and a second straight-line track which are connected in sequence, and the ground rack comprises a first straight-line rack, a circular arc rack and a second straight-line rack;
the top track comprises a first straight-line guide rail, an arc guide rail and a second straight-line guide rail which are sequentially connected.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows:
the turning device of the track robot needs the arc track with small radius, small occupied space and smooth turning.
Drawings
Fig. 1 is a schematic structural view of a turning device of a track robot according to a preferred embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a lower pulley device according to a preferred embodiment of the invention.
Fig. 3 is a schematic structural diagram of an upper pulley device according to a preferred embodiment of the invention.
Fig. 4 is a schematic structural diagram of a first lower pulley device according to a preferred embodiment of the invention.
Fig. 5 is a schematic structural diagram of a driving device according to a preferred embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1 to 5, the present embodiment provides a turning device of a track robot, which includes a ground track device 1, a medicine-taking robot 2, and a top track device 3.
The ground track device 1 comprises an arc-shaped ground base 101, a ground track and a ground rack are arranged on the surface of the ground base 101, the ground track comprises a first straight-line track 103, an arc-shaped track 104 and a second straight-line track which are sequentially connected, and the ground rack comprises a first straight-line rack 102, an arc-shaped rack 105 and a second straight-line rack.
The top track device 3 comprises an arc-shaped top base 301 matched with the ground base 101 in shape, a top track is arranged on the surface of the top base 301 and comprises a first straight-line guide rail 302, an arc-shaped guide rail 303 and a second straight-line guide rail which are sequentially connected.
The medicine grasping robot 2 comprises an upper pulley device 201, a medicine grasping robot support 202, a driving device 203 and a lower pulley device 204.
The upper pulley device 201 comprises an upper pulley 20101, an upper pulley bracket 20103, an upper pulley base 20102 and an elastic supporting member 20104, wherein the upper pulley 20101 is matched with the top rail in a sliding mode, the upper pulley 20101 is fixed at the top of the upper pulley bracket 20103, and the lower portion of the upper pulley bracket 20103 is placed in the upper pulley base 20102, so that the upper pulley 20101 can rotate relative to the upper pulley base 20102 through the upper pulley bracket 20103, and the purpose is to facilitate the medicine grabbing robot 2 to turn at the arc-segment guide rail 303. An elastic supporting part 20104 is arranged in the upper pulley base 20102 and below the bottom of the upper pulley support 20103, and the upper pulley support 20103 elastically moves in the up-down direction relative to the upper pulley base 20102, so that the influence of the height difference of the upper rail and the lower rail can be effectively avoided. The upper pulley base 20102 is fixedly installed on the top of the medicine grabbing robot support 202. Specifically, the upper pulley device 201 comprises two devices arranged in front and back to ensure that the medicine grasping robot 2 runs stably on the top track.
The lower pulley device 204 comprises a lower pulley 20401, a lower pulley support 20404 and a lower pulley base 20402 which are matched with the ground rail in a sliding manner, the lower pulley 20401 is fixed at the bottom of the lower pulley support 20404, and the upper part of the lower pulley support is arranged in the lower pulley base 20402, so that the lower pulley 20401 rotates relative to the lower pulley base 20402 through the lower pulley support 20404, and the lower pulley base 20402 is fixedly installed at the bottom of the medicine grasping robot support 202.
Specifically, the lower pulley device 204 includes two arranged in front and at the back to ensure that the medicine grasping robot 2 runs stably on the ground track. The lower pulley device 204 comprises a first lower pulley device and a second lower pulley device, the first lower pulley device comprises two lower pulleys 20401, a lower pulley base 20402, a supporting lubricating piece 20403, a lower pulley support 20404 and a bearing connecting piece 20405, the two lower pulleys 20401 are fixed at the bottom of the lower pulley support 20404, the upper part of the lower pulley support 20404 is arranged in the lower pulley base 20402, the bearing connecting piece 20405 is arranged in the lower pulley base 20402 and above the top of the lower pulley support 20404, and the supporting lubricating piece 20403 is arranged at the bottom of the lower pulley support 20404 and the lower pulley base 20402; the second lower pulley device comprises a lower pulley 20401, a lower pulley base 20402, a supporting lubricating piece 20403, a lower pulley support 20404 and a bearing connecting piece 20405, and the connection relationship is the same as that of the first lower pulley device.
The supporting lubricating part 20403 adopts a thrust bearing, so that mutual rotation between the lower pulley support 20404 and the lower pulley base 20402 can be effectively ensured.
The driving device 203 includes a motor 20301 and a gear 20302, the gear 20302 is mounted on an output shaft of the motor 20301 and is engaged with the ground rack, and the motor 20301 is fixed on the lower pulley device 204.
The preferred drive means 203 is connected to the lower sheave bracket of the first lower sheave means. The advantage is that the gear 20302 and the two lower pulleys 20401 of the first lower pulley device 204 can form a stable triangle, so that the driving force transmitted from the motor 20301 to the gear 20302 is ensured to be always along the tangential direction of the circular arc section rack 105 and the straight line section rack 102, and the motor 20301 is favorable for driving the gear 20302 to rotate around the circular arc section rack 105 of the ground track 1.
One embodiment of the invention: the motor 20301 drives the gear 20302 to rotate, thereby driving the medicine grasping robot 2 to move around the ground track device 1 and the top track device 3, when the first lower pulley device moves to the circular arc section track 104, the lower pulley bracket 20404 of the first lower pulley device rotates relatively to the lower pulley base 20402, lateral gaps exist between the lower pulley 20401 and the second straight-line section track of the ground track 1 and the circular arc section track 104, thereby ensuring that the two lower pulleys 20401 of the first lower pulley device can rotate smoothly on the circular arc section track 104. As the first lower pulley device continues to move forward, the lower pulley support 20404 of the second lower pulley device 204 rotates relative to the lower pulley base 20402. Until the second lower pulley means leaves the circular arc segment track 104 and enters the first straight segment track 103. Thereby the turning of the medicine grabbing robot is realized. The upper pulley device 201 is similar in structure and will not be described in detail.
The lower pulley support and the lower pulley base can rotate mutually, and when the distance between the front lower pulley device and the rear lower pulley device is reduced, the radius of the circular arc section track can be effectively reduced, so that the occupied area is reduced.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (8)
1. A track robot turning device is characterized by comprising a ground track device, a medicine grabbing robot and a top track device, wherein the ground track device comprises an arc-shaped ground base, a ground track and a ground rack are arranged on the surface of the ground base, the top track device comprises an arc-shaped top base matched with the ground base in shape, and a top track is arranged on the surface of the top base;
the medicine grabbing robot comprises an upper pulley device, a medicine grabbing robot support, a driving device and a lower pulley device, wherein the upper pulley device comprises an upper pulley, an upper pulley support and an upper pulley base which are matched with a top rail in a sliding manner, the top of the upper pulley support is fixed with the upper pulley, the lower part of the upper pulley support is arranged in the upper pulley base, so that the upper pulley rotates relative to the upper pulley base through the upper pulley support, the upper pulley base is fixedly arranged at the top of the medicine grabbing robot support, the driving device comprises a motor and a gear, the gear is arranged on an output shaft of the motor and is meshed with a ground rack, the motor is fixed on the lower pulley device or the medicine grabbing robot support, the lower pulley device comprises a lower pulley, a lower pulley support and a lower pulley base which are matched with the ground rail in a sliding manner, the lower pulley and the upper part of the lower pulley support are arranged in the lower pulley base, so that the lower pulley rotates relative to the lower pulley base through the lower pulley support, and the lower pulley base is fixedly arranged at the bottom of the medicine grabbing robot support.
2. The turning device of the track robot as claimed in claim 1, wherein the lower pulley means comprises two arranged in front and rear to ensure smooth operation of the robot for grasping the chemicals on the ground track.
3. The turning device of a track robot according to claim 2, wherein the lower pulley means comprises a first lower pulley means and a second lower pulley means, the first lower pulley means comprises two lower pulleys, a lower pulley base, a support lubricant, a lower pulley support and a bearing connector, the lower pulley support has two lower pulleys fixed at the bottom and two lower pulleys fixed at the upper part inside the lower pulley base, the lower pulley base is provided with a bearing connector above the top of the lower pulley support, and the lower pulley support and the lower pulley base are provided with a support lubricant at the bottom;
the second lower pulley device comprises a lower pulley, a lower pulley base, a supporting lubricating piece, a lower pulley support and a bearing connecting piece.
4. The turning device for a railway robot as claimed in claim 3, wherein the supporting lubricator is a thrust bearing effective to ensure mutual rotation between the lower sheave bracket and the lower sheave base.
5. The turning device of a railway robot according to claim 3, wherein the driving means is connected to the lower sheave bracket of the first lower sheave means.
6. The turning device of the track robot as claimed in claim 1, wherein the upper pulley means comprises two arranged in front and rear to ensure smooth operation of the robot for grasping the drug on the top track.
7. The turning device for a track robot according to claim 6, wherein an elastic support member is provided in the upper sheave base under the bottom of the upper sheave bracket, and the upper sheave bracket is elastically moved in the up-down direction with respect to the upper sheave base.
8. The orbital robot turning device of claim 1 wherein the ground track comprises a first linear track, a circular arc track, and a second linear track connected in series, the ground rack comprising a first linear rack, a circular arc rack, and a second linear rack;
the top track comprises a first straight-line guide rail, an arc guide rail and a second straight-line guide rail which are sequentially connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010425910.XA CN111702740A (en) | 2020-05-19 | 2020-05-19 | Turning device of track robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010425910.XA CN111702740A (en) | 2020-05-19 | 2020-05-19 | Turning device of track robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111702740A true CN111702740A (en) | 2020-09-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010425910.XA Pending CN111702740A (en) | 2020-05-19 | 2020-05-19 | Turning device of track robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111702740A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000484A (en) * | 2016-10-31 | 2018-05-08 | 深圳市朗驰欣创科技股份有限公司 | Rail mounted robot running gear |
| CN207480577U (en) * | 2017-11-22 | 2018-06-12 | 杭州市新能源汽车服务有限公司 | A kind of track machine people turning device |
| CN109531537A (en) * | 2018-12-29 | 2019-03-29 | 湖北凯瑞知行智能装备有限公司 | Disk coal crusing robot track running mechanism |
| CN209163677U (en) * | 2018-08-24 | 2019-07-26 | 上海宏黎机电科技有限公司 | Active arc, which breaks away, is overlapped hangar door |
| CN110422347A (en) * | 2019-07-25 | 2019-11-08 | 南通超科机器人有限公司 | Dispensation apparatus of boiling medicine is concentrated using the prepared slices of Chinese crude drugs of center slip-ring device communication |
-
2020
- 2020-05-19 CN CN202010425910.XA patent/CN111702740A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000484A (en) * | 2016-10-31 | 2018-05-08 | 深圳市朗驰欣创科技股份有限公司 | Rail mounted robot running gear |
| CN207480577U (en) * | 2017-11-22 | 2018-06-12 | 杭州市新能源汽车服务有限公司 | A kind of track machine people turning device |
| CN209163677U (en) * | 2018-08-24 | 2019-07-26 | 上海宏黎机电科技有限公司 | Active arc, which breaks away, is overlapped hangar door |
| CN109531537A (en) * | 2018-12-29 | 2019-03-29 | 湖北凯瑞知行智能装备有限公司 | Disk coal crusing robot track running mechanism |
| CN110422347A (en) * | 2019-07-25 | 2019-11-08 | 南通超科机器人有限公司 | Dispensation apparatus of boiling medicine is concentrated using the prepared slices of Chinese crude drugs of center slip-ring device communication |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200925 |
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| RJ01 | Rejection of invention patent application after publication |