CN113691076B - Rail-mounted robot system for charging flammable and explosive areas and charging method thereof - Google Patents
Rail-mounted robot system for charging flammable and explosive areas and charging method thereof Download PDFInfo
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- CN113691076B CN113691076B CN202110871213.1A CN202110871213A CN113691076B CN 113691076 B CN113691076 B CN 113691076B CN 202110871213 A CN202110871213 A CN 202110871213A CN 113691076 B CN113691076 B CN 113691076B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/18—Structural association of electric generators with mechanical driving motors, e.g. with turbines
- H02K7/1807—Rotary generators
- H02K7/1846—Rotary generators structurally associated with wheels or associated parts
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/32—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from a charging set comprising a non-electric prime mover rotating at constant speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P80/00—Climate change mitigation technologies for sector-wide applications
- Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention provides a rail hanging robot system and a rail hanging robot method for charging flammable and explosive areas, and solves the problems that an existing mobile robot is charged in a wireless or contact mode, a wireless charging coil and a contact type charging contact pin are easy to damage, and the risk of leakage exists. The system comprises a rail hanging robot and an energy conversion mechanism, wherein the rail hanging robot can walk on a rail; the rail hanging robot comprises a sealing equipment bin, an actuating mechanism, a rechargeable battery arranged in the sealing equipment bin and two walking units respectively arranged on the side wall of the rail; each walking unit comprises a movable support platform, a walking wheel and a walking motor which is arranged below the walking wheel and drives the walking wheel to rotate; the walking motor is connected with the rechargeable battery; the movable support platform is used for pressing the travelling wheels on the side wall of the track; a first buckle part is arranged at the upper end of a rotating shaft of the travelling wheel; the actuating mechanism is used for driving the travelling wheels to be separated from the contact with the side wall of the track; the energy conversion mechanism is used for clamping a travelling wheel of the rail hanging robot and driving the travelling wheel to rotate.
Description
Technical Field
The invention relates to a robot charging technology, in particular to a rail-mounted robot system for charging flammable and explosive areas and a charging method thereof.
Background
With the rapid development of the robot industry, robots have been gradually popularized and applied to various industries. At present, mobile robot charges and adopts wireless charging or contact to charge more for wireless charging coil, the contact pin etc. that charge are in the state of exposing, and in some special areas, wireless charging coil, contact charging pin are impaired easily and have current leakage's risk, and then cause the incident.
Disclosure of Invention
The invention provides a rail hanging robot system for charging flammable and explosive areas and a charging method thereof, and aims to solve the technical problems that an existing mobile robot is charged in a wireless or contact mode, a wireless charging coil and a contact type charging contact pin are easy to damage, and current leakage risks exist, so that safety accidents are caused.
In order to realize the purpose, the technical scheme provided by the invention is as follows:
a hang rail robot system for inflammable and explosive area charges, includes hanging rail robot that can walk on the track, its special character lies in: the energy conversion mechanism is also included;
the rail hanging robot comprises a sealing equipment bin, an actuating mechanism, a rechargeable battery arranged in the sealing equipment bin and two walking units respectively arranged on the side wall of the rail;
each walking unit comprises a movable support platform, a walking wheel and a walking motor which is arranged below the walking wheel and drives the walking wheel to rotate; the walking motor is connected with the rechargeable battery; the movable support platform is used for pressing the traveling wheels on the side walls of the tracks;
a first buckling piece is arranged at the upper end of a rotating shaft of the travelling wheel;
the actuating mechanism is used for driving the travelling wheels to be separated from the contact with the side wall of the track;
the energy conversion mechanism is used for clamping a travelling wheel of the rail hanging robot and driving the travelling wheel to rotate.
Furthermore, the movable support table comprises a rotating shaft, a support plate, an adjusting guide shaft and an elastic piece, the rotating shaft is parallel to the output shaft of the walking motor and is arranged on the sealed equipment bin, the support plate is fixedly connected with the walking motor, one end of the support plate is movably connected to the rotating shaft, and the end part of the other end of the support plate is provided with a through hole; the inner end part of the adjusting guide shaft penetrates through the through hole and then is fixedly connected with the sealing equipment bin, and the elastic piece is sleeved on the adjusting guide shaft, is positioned between the supporting plate and the outer end part of the adjusting guide shaft and is used for pressing the travelling wheel on the side wall of the track;
the actuating mechanism comprises a linear driving lever arranged between the two walking motors and a steering engine driving the linear driving lever to rotate by 90 degrees, and the two ends of the linear driving lever push the two walking motors to overcome the pressure of the elastic piece so as to separate the walking wheels from the side wall of the track.
Furthermore, the energy conversion mechanism comprises a lower mounting plate fixed on the track, an upper mounting plate arranged above the lower mounting plate in parallel, a plurality of guide posts connecting the lower mounting plate and the upper mounting plate, a driving mechanism arranged on the lower mounting plate and used for driving the upper mounting plate to move along the guide posts, and two energy butt joint units arranged on the upper mounting plate and respectively used for being matched with the two travelling wheels;
each energy butt joint unit comprises an energy conversion motor arranged on the upper mounting plate and a second clamping piece which is positioned below the energy conversion motor and connected with an output shaft of the energy conversion motor, and the second clamping piece is used for being clamped with the first clamping piece, so that the walking wheels can synchronously rotate along with the output shaft of the energy conversion motor.
Furthermore, the energy docking unit is arranged on the upper mounting plate through a walking wheel pushing-away mechanism;
the walking wheel pushing-away mechanism comprises a driving motor, a screw and two nuts; the driving motor is arranged on the upper mounting plate; the screw is supported below the upper mounting plate and is connected with the output of the driving motor; the two nuts are arranged on the screw rod and can be driven by the screw rod to move in opposite directions or back to back along the axis of the screw rod;
energy conversion motors of the two energy butt joint units are fixedly connected with the two nuts respectively.
Furthermore, the first buckle part is a rotating shaft, the outer side wall of the first buckle part is provided with a plurality of convex blocks which are uniformly distributed along the circumference along the axial direction, the second buckle part is a rotating shaft sleeve, and the inner wall of the second buckle part is provided with a plurality of grooves which are matched with the convex blocks;
or the first buckling part is a rotating shaft, the radial section of the first buckling part is a polygon, the second buckling part is a rotating shaft sleeve, and the inner surface of the second buckling part is matched with the outer surface of the rotating shaft;
or the first buckle part is a first rotary buckle disc, the upper end surface of the first buckle part is provided with a plurality of first clamping teeth which are circumferentially arranged along the radial direction, the second buckle part is a second rotary buckle disc, and the lower end surface of the second buckle part is provided with a plurality of second clamping teeth which are matched with the first clamping teeth;
or the first buckling part is a conical rotating shaft, a first tooth-shaped structure is arranged on the outer conical surface of the first buckling part, the second buckling part is a conical rotating sleeve, and a second tooth-shaped structure matched with the first tooth-shaped structure is arranged on the inner conical surface of the second buckling part.
Further, the energy docking unit further comprises a driving shaft, a spring and a retainer ring;
the upper end of the driving shaft is coaxially and fixedly connected with an output shaft of the energy conversion motor, a first annular limiting boss is arranged at the upper outer end part of the driving shaft, and a second annular boss is arranged at the lower outer end part of the driving shaft;
the spring and the check ring are sleeved in the middle of the driving shaft, two ends of the spring are limited by the lower end face of the first annular limiting boss and the upper end face of the check ring respectively, and the lower end face of the check ring is limited by the upper end face of the second annular boss;
the upper part of the second buckle piece is sleeved on the lower part of the driving shaft in a spline connection mode and is fixedly connected with the check ring;
the upper mounting plate is provided with a linear bearing matched with the guide post;
the driving mechanism is an electric cylinder and comprises a cylinder body and a push rod, the cylinder body is arranged on the lower mounting plate, the lower part of the push rod is arranged in the cylinder body, and the upper end of the push rod is fixedly connected with the upper mounting plate;
or the driving mechanism is an electric cylinder and comprises a cylinder body and an electric push rod, the cylinder body is arranged on the lower mounting plate, the lower part of the electric push rod is arranged in the cylinder body, and the upper end of the electric push rod is fixedly connected with the upper mounting plate;
the upper part of the driving shaft is provided with a blind hole for installing an output shaft of the energy conversion motor;
the energy conversion mechanism further comprises a positioning mechanism which is arranged on the upper mounting plate and located above the track and used for positioning and blocking the rail hanging robot.
Meanwhile, the invention also provides another rail hanging robot system for charging flammable and explosive areas, which comprises a rail hanging robot capable of walking on a rail, and is characterized in that: the energy conversion mechanism is also included;
the rail hanging robot comprises a sealing equipment bin, a rechargeable battery arranged in the sealing equipment bin and two walking units respectively arranged on the side wall of the rail;
each walking unit comprises a movable supporting platform, walking wheels and a walking motor which is arranged below the walking wheels and drives the walking wheels to rotate; the walking motor is connected with the rechargeable battery; the movable support platform is used for pressing the traveling wheels on the side walls of the tracks;
a first buckle piece is arranged at the upper end of a rotating shaft of the travelling wheel;
the energy conversion mechanism is used for clamping a travelling wheel of the rail hanging robot, enabling the travelling wheel to be separated from the side wall of the rail and driving the travelling wheel to rotate.
Furthermore, the energy conversion mechanism comprises a lower mounting plate fixed on the track, an upper mounting plate arranged above the lower mounting plate in parallel, a plurality of guide posts connecting the lower mounting plate and the upper mounting plate, a driving mechanism arranged on the lower mounting plate and used for driving the upper mounting plate to move along the guide posts, and two energy butt joint units arranged on the upper mounting plate through a walking wheel pushing-away mechanism and respectively used for being matched with the two walking wheels;
the walking wheel pushing mechanism comprises a driving motor, a screw and 2 nuts; the driving motor is arranged on the upper mounting plate; the screw is supported below the upper mounting plate and is connected with the output of the driving motor; the 2 nuts are arranged on the screw rod and can be driven by the screw rod to move in opposite directions or back to back along the axis of the screw rod;
the two energy butt joint units are respectively arranged on the 2 nuts, each energy butt joint unit comprises an energy conversion motor arranged on the nut and a second clamping piece located below the energy conversion motor and connected with an output shaft of the energy conversion motor, and the second clamping piece is used for being clamped with the first clamping piece, so that the travelling wheels can synchronously rotate along with the output shaft of the energy conversion motor.
In addition, the invention also provides a charging method of the rail-mounted robot system for charging flammable and explosive areas, which is characterized by comprising the following steps:
1) The rail hanging robot runs to the position below the energy conversion mechanism on the rail, and stops after the rail hanging robot is in place;
2) The walking wheel of the rail-hanging robot is separated from the side wall of the rail, and the energy conversion mechanism is clamped with the walking wheel;
3) The energy conversion mechanism drives the travelling wheels to rotate, so that the travelling motor rotates to generate electricity, and electric energy is stored in a rechargeable battery of the rail-hanging robot, and the charging of the rail-hanging robot is completed.
Further, the step 2) is specifically as follows: a steering engine of the actuating mechanism drives the linear deflector rod to rotate by 90 degrees, and two ends of the linear deflector rod push the two traveling motors to overcome the pressure of the elastic piece, so that the traveling wheels of the rail-hanging robot are separated from the side wall of the track;
and a driving mechanism of the energy conversion mechanism drives the upper mounting plate to move downwards, so that a second buckle piece on the energy butt joint unit is clamped with a first buckle piece at the upper end of the travelling wheel rotating shaft.
Compared with the prior art, the invention has the advantages that:
1. the robot system is provided with the energy conversion mechanism on the rail, and when the rail-hanging robot works normally, the energy conversion mechanism is positioned above the rail, so that the normal work of the rail-hanging robot cannot be influenced; when the rail-mounted robot needs to be charged, the rail-mounted robot moves to the position below the energy conversion mechanism, the walking wheel is separated from the side wall of the rail by a certain distance through the actuating mechanism, then the second clamping piece of the energy conversion mechanism moves downwards to be clamped with the first clamping piece on the walking wheel, the walking wheel is driven to rotate through the energy conversion mechanism, the walking motor is further driven to rotate to generate electricity, the kinetic energy of the energy conversion mechanism is transmitted to the walking motor of the rail-mounted robot, and finally, the electric energy is stored in the rechargeable battery to finish the charging of the rail-mounted robot. Therefore, when the rail-mounted robot needs to be charged, the second buckling piece of the energy conversion mechanism is only needed to be mechanically connected with the first buckling piece on the traveling wheel, the rail-mounted robot generates electric energy through rotation (mechanical energy) of the traveling wheel during charging, explosion-proof charging of the rail-mounted robot is achieved, the risk that an existing wireless charging coil and a contact type charging contact pin are damaged and leak is avoided, and charging safety is improved.
2. According to the invention, the automatic charging of the rail-mounted robot is realized in an energy conversion mode, the power source of the energy conversion motor can be a motor, an oil cylinder, compressed air, hydraulic pressure, manpower and the like, the realization mode is simple, the safety is high, and the charging safety of a special area is improved.
3. The steering engine drives the linear shifting rod to rotate, the linear shifting rod pushes the walking motor to move outwards around the rotating shaft, and the walking motor is simple in moving mode; and when the linear deflector rod is reset, the walking motor can automatically return to the contact state of the walking wheel and the side wall of the track due to the restoring force of the elastic piece.
4. According to the invention, the second buckling piece and the first buckling piece can be coaxially connected through the matching (or tooth matching or polygonal surface type matching) of the groove and the bump, and the connection mode is simple and convenient.
5. A driving shaft, a spring and a retainer ring are arranged between an output shaft of the energy conversion motor and the second buckling piece, and when the groove (or the latch on the lower end face) on the second buckling piece is not aligned with the bump (the latch on the upper end face) on the first buckling piece, the driving shaft is in floating connection with the second buckling piece, and finally the second buckling piece and the first buckling piece are coaxially clamped.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of a robot system with charging of flammable and explosive areas according to the present invention;
FIG. 2 is a sectional view taken along line B-B of FIG. 1;
FIG. 3 is a cross-sectional view taken along line C-C of FIG. 1;
fig. 4 is a schematic structural view of a rail-mounted robot in the robot system with flammable and explosive area charging (a linear deflector rod rotates 90 degrees under the driving of a steering engine, and a traveling wheel is separated from a track);
FIG. 5 is an enlarged view of a portion of FIG. 2 at I;
FIG. 6 is a schematic perspective view of a second embodiment of the robot system with flammable and combustible region charging according to the present invention;
FIG. 7 is a schematic structural diagram of a second embodiment of the robot system with combustible and explosive area charging function according to the present invention;
FIG. 8 is a cross-sectional view taken along line C-C of FIG. 7;
FIG. 9 is a cross-sectional view taken along line D-D of FIG. 7;
FIG. 10 is a schematic structural diagram of a third embodiment of the robot system with combustible and explosive area charging function according to the present invention;
FIG. 11a is a schematic structural diagram of a rotating shaft in the fourth embodiment of the robot system with charging of flammable and explosive areas according to the present invention;
FIG. 11b is a schematic structural diagram of a rotating shaft sleeve in the fourth embodiment of the robot system with flammable and combustible region charging according to the present invention;
FIG. 12a is a schematic structural diagram of a first rotary buckle disc in a fifth embodiment of the robot system with flammable and combustible region charging according to the present invention;
FIG. 12b is a schematic structural diagram of a second rotary buckle disc in the fifth embodiment of the robot system with flammable and combustible region charging according to the present invention;
FIG. 13a is a schematic structural diagram of a conical rotating shaft in the sixth embodiment of the robot system with charging of flammable and explosive areas according to the present invention;
FIG. 13b is a schematic structural diagram of a conical rotary sleeve in the sixth embodiment of the robot system with charging of flammable and explosive areas according to the present invention;
wherein the reference numbers are as follows:
1-rail, 11-upper side of lower beam, 12-side wall;
2-rail-hanging robot, 21-sealing equipment bin, 22-actuating mechanism, 221-linear deflector rod, 222-steering engine, 23-supporting wheel set, 24-walking unit, 241-movable supporting table, 2411-rotating shaft, 2412-supporting plate, 24121-via hole, 2413-adjusting guide shaft, 2414-elastic member, 242-walking wheel, 2421-first buckle member, 2422-first latch, 243-walking motor, 25-rechargeable battery and 26-guiding wheel set;
31-lower mounting plate, 311-notch, 32-upper mounting plate, 33-guide column, 34-driving mechanism, 35-energy docking unit, 351-energy conversion motor, 352-second fastener, 3521-second latch, 353-driving shaft, 3531-first annular limit boss, 3532-second annular boss, 3533-blind hole, 354-spring, 355-retainer ring, 36-motor mounting plate, 361-nut mounting plate, 362-motor mounting plate, 363-slider mounting plate, 371-driving motor, 372-screw, 373-nut, 374-linear guide rail, 375-slider, 376-support bearing, 38-linear bearing, 39-stop mechanism, 391-actuating electric cylinder, 392-stop positioning plate and 393-stop guide shaft.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
Example one
As shown in fig. 1 to 4, a rail-mounted robot system for charging flammable and explosive areas comprises an energy conversion mechanism and a rail-mounted robot 2 capable of walking on a rail 1, wherein a walking rail of the rail-mounted robot 2 is an i-shaped rail.
The rail hanging robot 2 comprises a sealing equipment bin 21, an actuating mechanism 22, a supporting wheel set 23 in contact with the upper side surface 11 of the lower cross beam of the rail 1, a guiding wheel set 26 in contact with the side wall 12 of the rail 1 and two walking units 24 respectively arranged on the two side walls 12 of the rail 1; the sealed equipment compartment 21 is provided with a rechargeable battery 25 therein.
Each walking unit 24 comprises a movable support platform 241, a walking wheel 242 and a walking motor 243 which is arranged below the walking wheel 242 and drives the walking wheel 242 to rotate, the walking motor 243 is connected with a rechargeable battery 25, the rechargeable battery 25 provides electric energy for the walking motor 243 to enable the walking motor 243 to move, and the walking motor 243 drives the walking wheel 242 on the walking motor 243 to rotate to drive the whole rail-mounted robot 2 to walk on the rail 1; the movable support platform 241 comprises a rotating shaft 2411, a support plate 2412, an adjusting guide shaft 2413 and an elastic member 2414, the rotating shaft 2411 is parallel to the output shaft of the walking motor 243 and is arranged on the sealing equipment bin 21, the middle part of the support plate 2412 is fixedly connected with the walking motor 243, one end of the support plate 2412 is movably connected to the rotating shaft 2411, the support plate 2412 can rotate around the rotating shaft 2411, a via hole 24121 is formed in the end part of the other end of the support plate 2412, and the via hole 24121 is a long hole arranged in the horizontal direction in the embodiment; the inner end part of the adjusting guide shaft 2413 penetrates through the through hole 24121 and then is fixedly connected with the sealing equipment bin 21 through a vertical plate, the outer end part of the adjusting guide shaft 2413 is provided with a limiting structure, and two ends of the elastic part 2414 are abutted against the supporting plate 2412 and the outer end part of the adjusting guide shaft 2413 and are used for pressing the travelling wheel 242 on the side wall 12 of the track 1; the upper end of the rotating shaft of the traveling wheel 242 is provided with a first buckle 2421. In this embodiment, the elastic member 2414 may be a spring, and the spring is sleeved on the adjusting guide shaft 2413 and located between the supporting plate 2412 and the outer end of the adjusting guide shaft 2413.
The actuating mechanism 22 is used for driving the traveling wheels 242 to be out of contact with the side wall 12 of the track, and comprises an in-line shift lever 221 arranged between the two traveling motors 243 and a steering engine 222 for driving the in-line shift lever 221 to rotate by 90 degrees, the in-line shift lever 221 is driven by the steering engine 222 to rotate by 90 degrees, and two ends of the in-line shift lever 221 respectively push the two traveling motors 243 to move outwards (back to back), because the traveling motors 243 and the supporting plate 2412 are fixedly connected into a whole, one end of the supporting plate 2412 is movably connected with the rotating shaft 2411, therefore, in the process of driving the in-line shift lever 221 to rotate by the steering engine 222, the end of the in-line shift lever 221 pushes the traveling motors 243 to move outwards around the rotating shaft 2411, meanwhile, the elastic pieces 2414 are compressed, and the traveling motors 243 move outwards, so that the traveling wheels 242 on the traveling motors 243 are out of contact with the side wall 12 of the track 1.
The energy conversion mechanism is used for clamping the traveling wheels 242 of the rail hanging robot 2 and driving the traveling wheels 242 to rotate, and comprises a lower mounting plate 31 fixed on the track 1, an upper mounting plate 32 arranged above the lower mounting plate 31 in parallel, a plurality of guide posts 33 connecting the lower mounting plate 31 and the upper mounting plate 32, a driving mechanism 34 arranged on the lower mounting plate 31 and used for driving the upper mounting plate 32 to move along the guide posts 33, two energy butt-joint units 35 arranged on the upper mounting plate 32 and respectively positioned above the two traveling wheels 242, and a positioning mechanism arranged on the upper mounting plate 32 and positioned above the track; the upper mounting plate 32 is provided with a linear bearing 38 matched with the guide post 33, and the linear bearing 38 is matched with the guide post 33 for use and can do linear motion up and down; each energy docking unit 35 comprises an energy conversion motor 351 arranged on the upper mounting plate 32 and a second buckling piece 352 which is positioned below the upper mounting plate 32 and connected with an output shaft of the energy conversion motor 351, the upper part of the energy conversion motor 351 penetrates through the upper mounting plate 32, the lower part of the energy conversion motor 351 is provided with a motor mounting plate 36, the motor mounting plate 36 is arranged on the upper mounting plate 32, a through hole through which an output shaft of the energy conversion motor passes is formed in the motor mounting plate 36, when the travelling wheel 242 is separated from contact with the side wall 12 of the track 1, the driving mechanism 34 drives the upper mounting plate 32 to move downwards along the guide column 33, the energy docking units 35 on the upper mounting plate 32 synchronously move downwards, the second buckling pieces 352 of the energy docking units 35 pass through the notches 311 in the lower mounting plate 31 to be matched with the first buckling pieces 2421, under the driving of the energy conversion motor 351, synchronous rotation of the output shaft of the energy conversion motor and the travelling wheel 242 is realized, electric energy generated in the rotation process of the travelling wheel 242 is stored in the charging battery 25 after passing through the travelling motor 243 and the conversion circuit board, and charging of the rail-hanging robot 2 is realized.
In the present invention, the first locking part 2421 and the second locking part 352 need to be locked together, so that the traveling wheel 242 can synchronously rotate along with the output shaft of the energy conversion motor 351, the second locking part 352 is a rotating shaft sleeve in the present embodiment, the inner wall of the second locking part 352 is axially provided with a plurality of grooves which are uniformly distributed along the circumference, the first locking part 2421 is a rotating shaft, and the outer surface of the first locking part 2421 is provided with a plurality of protrusions which are matched with the plurality of grooves.
As shown in fig. 2 and 5, the energy docking unit 35 of the present embodiment further includes a driving shaft 353, a spring 354, and a retainer ring 355; a blind hole 3533 is formed in the center of the upper portion of the driving shaft 353, an output shaft of the energy conversion motor 351 is arranged in the blind hole 3533, coaxial and fixed connection of the driving shaft 353 and the output shaft of the energy conversion motor 351 is achieved, a first annular limiting boss 3531 is arranged at the upper outer end portion of the driving shaft 353, and a second annular boss 3532 is arranged at the lower outer end portion of the driving shaft 353; the spring 354 and the retainer ring 355 are sleeved in the middle of the driving shaft 353, two ends of the spring 354 are respectively limited by the lower end face of the first annular limiting boss 3531 and the upper end face of the retainer ring 355, and the lower end face of the retainer ring 355 is limited by the upper end face of the second annular boss 3532; the upper portion of the second latch 352 is disposed at the lower portion of the driving shaft 353 in a spline connection manner, and is fixedly connected to the retainer 355.
In the process that the driving mechanism 34 drives the upper mounting plate 32 (the energy docking unit 35) to move downwards, when the groove of the rotating shaft sleeve is aligned with the lug of the rotating shaft, the rotating shaft is arranged in the rotating shaft sleeve along with the downward movement of the upper mounting plate 32, so that the connection between the rotating shaft sleeve and the rotating shaft is realized, namely the coaxial connection between the output shaft of the energy conversion motor 351 and the travelling wheel 242; when the groove of the rotating shaft sleeve is not aligned with the projection of the rotating shaft, along with the downward movement of the upper mounting plate 32, the upper end surface of the rotating shaft abuts against the lower end surface of the rotating shaft sleeve, the output shaft of the energy conversion motor 351 moves downward relative to the rotating shaft sleeve, the spring 354 is compressed until the output shaft of the energy conversion motor 351 is contacted with the rotating shaft, under the micro-rotation of the energy conversion motor 351, the groove on the rotating shaft sleeve rotates, the projection of the rotating shaft is aligned with the groove of the rotating shaft sleeve, the rotating shaft sleeve moves downward, the rotating shaft is installed in the rotating shaft sleeve, the connection between the rotating shaft sleeve and the rotating shaft is realized, and the output shaft of the energy conversion motor 351 is coaxially connected with the traveling wheels 242.
The positioning mechanism comprises a front gear stop mechanism, a rear gear stop mechanism, an action electric cylinder and a first positioning pin hole which is arranged at the lower end of the action electric cylinder and used for being matched with a positioning pin on the upper end face of the rail-mounted robot 2, and the front gear stop mechanism and the rear gear stop mechanism move downwards and are used for blocking the rail-mounted robot 2 to realize that the rail-mounted robot 2 stops in place.
In this embodiment, the driving mechanism 34 is an air cylinder, which includes a cylinder body and a push rod, the cylinder body is disposed on the lower mounting plate 31, the lower portion of the push rod is disposed in the cylinder body, and the upper end of the push rod is fixedly connected to the upper mounting plate 32. In other embodiments, the driving mechanism 34 may also be an electric cylinder, which includes a cylinder body and an electric push rod, the cylinder body is disposed on the lower mounting plate 31, the lower portion of the electric push rod is disposed in the cylinder body, and the upper end of the electric push rod is fixedly connected to the upper mounting plate 32.
The working process of the rail-hanging robot system of the embodiment is as follows:
1) The rail-mounted robot 2 runs on the track 1, when the electric quantity of a rechargeable battery 25 of the rail-mounted robot 2 is lower than a set value, the rail-mounted robot 2 reaches a charging position (below the energy conversion mechanism), the front gear stopping mechanism (or the rear gear stopping mechanism) stops descending, the rail-mounted robot 2 stops, then the rear gear stopping mechanism (or the front gear stopping mechanism) stops descending, and the action electric cylinder drives the first positioning pin sleeve to descend and is matched with the positioning pin on the upper end face of the rail-mounted robot 2, so that the rail-mounted robot 2 is accurately positioned;
2) Starting the steering gear 222, rotating an output shaft of the steering gear 222 to drive the in-line shift lever 221 to rotate, pushing the walking motor 243 away for a certain distance, and separating the walking wheel 242 from the track side wall 12, as shown in fig. 4;
3) Starting the driving mechanism 34, wherein the driving mechanism 34 drives the upper mounting plate 32 to move downwards along the guide column 33 in the vertical direction, and the energy conversion mechanism on the upper mounting plate 32 synchronously moves downwards until the rotating shaft sleeve of the output shaft of the energy conversion motor 351 is clamped into the rotating shaft of the traveling wheel 242;
4) External power source drive energy conversion motor 351 rotates, it is rotatory to realize the rotatory axle sleeve on the output shaft of energy conversion motor 351, and then drive the synchronous rotation of walking wheel 242, it is rotatory that walking wheel 242 drives walking motor 243, transmit energy conversion motor 351's kinetic energy to the walking motor 243 of overhead rail robot 2, the rotatory electricity generation of walking motor 243 produces the electric current, the electric current of production passes through the circuit storage in the sealed equipment storehouse 21 to rechargeable battery 25, thereby realize the conversion of overhead rail robot end motor kinetic energy to the electric energy, accomplish overhead rail robot system and charge.
After charging, the driving mechanism 34 drives the upper mounting plate 32 to move upwards along the guide column 33, then the steering engine 222 drives the in-line shift lever 221 to rotate reversely and reset, due to the restoring force of the elastic piece 2414, the walking motor 243 resets, the walking wheel 242 on the walking motor 243 is in contact with the side wall 12 of the track 1, and the walking wheel 242 can walk on the track 1.
According to the invention, an external safety power source (external power source: a motor, an oil cylinder, compressed air, hydraulic pressure, manual work and the like) is converted into kinetic energy through rotation of the energy conversion motor 351, then the kinetic energy is mutually clamped with a rotating shaft on the traveling wheel 242 through a rotating shaft sleeve below the energy conversion motor 351, the kinetic energy is transmitted to the traveling motor 243, the traveling motor 243 rotates to generate electricity, so that the kinetic energy is converted into electric energy which is stored in the rechargeable battery 25, and the safe charging of the rail-mounted robot 2 in an explosive environment is realized.
Example two
As shown in fig. 6 to 9, the rail-mounted robot system for an explosion-proof area of the present embodiment includes a rail-mounted robot 2 that can travel on a track 1 and an energy conversion mechanism;
the rail hanging robot 2 comprises a sealing equipment bin 21, a supporting wheel set 23 in contact with the upper side surface 11 of the lower beam of the rail 1, a guiding wheel set 26 in contact with the side wall 12 of the rail 1 and two walking units 24 respectively arranged on the two side walls 12 of the rail 1; a rechargeable battery 25 is provided in the sealed device housing 21.
Each traveling unit 24 comprises a movable support platform 241, a traveling wheel 242 and a traveling motor 243 which is arranged below the traveling wheel 242 and drives the traveling wheel 242 to rotate, the traveling motor 243 is connected with a rechargeable battery 25, the rechargeable battery 25 provides electric energy for the traveling motor 243 to enable the traveling motor 243 to act, and the traveling motor 243 drives the traveling wheel 242 on the traveling motor 243 to rotate to drive the whole rail-mounted robot 2 to travel on the rail 1; the movable support platform 241 is used for pressing the walking wheels 242 on the side wall 12 of the track 1, and meanwhile, the walking wheels 242 can be separated from the side wall 12 of the track 1 under the action of external force. The movable support platform 241 is used for pressing the traveling wheel 242 against the side wall 12 of the track 1, the movable support platform 241 of this embodiment includes a rotating shaft 2411, a support plate 2412, an adjusting guide shaft 2413 and an elastic member 2414, the rotating shaft 2411 is parallel to an output shaft of the traveling motor 243 and is arranged on the sealed equipment bin 21, the middle part of the support plate 2412 is fixedly connected with the traveling motor 243, one end of the support plate 2412 is movably connected to the rotating shaft 2411, the support plate 2412 can rotate around the rotating shaft 2411, the other end of the support plate 2412 is provided with a via 24121, and the via 24121 of this embodiment is a long hole arranged along the horizontal direction; the inner end part of the adjusting guide shaft 2413 penetrates through the through hole 24121 and then is fixedly connected with the sealing equipment bin 21 through a vertical plate, the outer end part of the adjusting guide shaft 2413 is provided with a limiting structure, two ends of the elastic part 2414 are abutted against the outer end parts of the supporting plate 2412 and the adjusting guide shaft 2413 and are used for pressing the travelling wheel 242 on the side wall 12 of the I-shaped rail 1, the elastic part 2414 is a spring in the embodiment, and the spring is sleeved on the adjusting guide shaft 2413 and is positioned between the supporting plate 2412 and the outer end part of the adjusting guide shaft 2413; the upper end of the rotating shaft 2411 of the traveling wheel 242 is provided with a first buckle 2421.
The energy conversion mechanism is positioned above the track 1 and comprises a lower mounting plate 31, an upper mounting plate 32, a plurality of guide shafts 33, a driving mechanism 34, a walking wheel pushing mechanism and two energy docking units 35.
The upper mounting plate 32 is arranged above the lower mounting plate 31 in parallel; the lower ends of the guide shafts 33 are fixedly connected with the lower mounting plate 31, the upper ends of the guide shafts are connected with the upper mounting plate 32, the upper mounting plate 32 is provided with linear bearings 38 matched with the guide shafts 33, and the linear bearings 38 are matched with the guide shafts 33 for use and can move linearly up and down; the driving mechanism 34 is arranged on the lower mounting plate 31 and used for driving the upper mounting plate 32 to move along the guide shaft 33; the walking wheel pushing mechanism comprises a driving motor 371, a screw 372 arranged horizontally and two nuts 373; the driving motor 371 is provided on the upper mounting plate 32; two ends of the screw rod 372 are respectively supported on the lower bottom surface of the upper mounting plate 32 through support bearings 376, and one end of the screw rod 372 is connected with the output of the driving motor 371; the two nuts 373 are arranged on the screw 372, the two nuts 373 can be driven by the screw 372 to move in opposite directions or move back and forth along the axis of the screw 372, the screw 372 can be a positive and negative screw rod in the embodiment, that is, the screw 372 comprises a first shaft section and a second shaft section with opposite thread directions, the two nuts 373 are respectively arranged on the first shaft section and the second shaft section, and the driving motor 371 is a separation motor; in other embodiments, the screw 372 may be designed as a lead screw, and the two nuts 373 have opposite thread directions.
The two energy docking units 35 are respectively arranged on the two nuts 373, each energy docking unit 35 comprises an energy conversion motor 351 arranged on the nut 373 and a second fastener 352 which is positioned below the upper mounting plate 32 and connected with an output shaft of the energy conversion motor 351, an axis of the output shaft of the energy conversion motor 351 is parallel to an axis of the guide shaft 33, a notch 311 for the second fastener 352 to extend out is arranged on the lower mounting plate 31, and the second fastener 352 is used for being clamped with the first fastener 2421, so that the energy conversion motor 351 and the travelling wheel 242 of the rail hanging robot 2 can synchronously move and rotate. .
When the rail hanging robot 2 needs to be charged, the rail hanging robot 2 moves to the position below the energy butt-joint unit 35, the driving mechanism 34 drives the upper mounting plate 32 to move downwards, and then drives the two energy butt-joint units 35 to move downwards, so that the second fasteners 352 on the output shafts of the two energy conversion motors 351 respectively penetrate through the notches 311 on the lower mounting plate 31 to be clamped with the first fasteners 2421 on the two travelling wheels 242 of the rail hanging robot 2; the driving motor 371 drives the screw rod 372 to rotate, so that the two nuts 373 move along the axis of the screw rod 372 in a back-to-back manner, because the energy conversion motor 351 is fixedly connected with the nut 373, the second fastener 352 on the output shaft of the energy conversion motor 351 is clamped with the first fastener 2421 on each traveling wheel 242, the two energy butt-joint units 35 drive the two traveling wheels 242 to move in a back-to-back manner, the traveling motor 243 is pushed to move outwards around the rotating shaft 2411, meanwhile, the elastic piece 2414 is compressed, the traveling motor 243 moves outwards, so that the traveling wheels 242 on the traveling motor 243 are separated from the contact with the side wall 12 of the track 1, then under the driving of the energy conversion motor 351, the synchronous rotation of the output shaft of the energy conversion motor 351 and the traveling wheels 242 is realized, the electric energy generated in the rotating process of the traveling wheels 242 is stored in the charging battery 25 after passing through the traveling motor 243 and the conversion circuit board in the sealing equipment bin 21, and the charging of the rail-hanging robot 2 is realized.
In order to improve the stability that nut 373 drove energy conversion motor 351 and remove, this embodiment walking wheel pushes away mechanism still includes guide assembly, guide assembly includes that it sets up the linear guide 374 on lower mounting panel 31 side and set up on linear guide 374 and two sliders 375 with two nut 373 cooperations respectively to be on a parallel with screw rod 372, two energy conversion motors 351 set up respectively on two nuts 373 and corresponding slider 375 through U type motor mounting bracket 36, every U type motor mounting bracket 36 is including forming U type structure and the nut mounting panel 361 that connects gradually, motor mounting panel 362 and slider mounting panel 363, nut mounting panel 361 links firmly with nut 373, slider mounting panel 363 links firmly with slider 375, energy conversion motor 351 sets up on motor mounting panel 362, and be equipped with the through-hole that supplies energy conversion motor output shaft to pass on motor mounting panel 362.
In the present invention, the first locking part 2421 and the second locking part 352 need to be locked together, so that the traveling wheel 242 can synchronously move along with the output shaft of the energy conversion motor 351, in this embodiment, the second locking part 352 is a rotating shaft sleeve, the inner wall of the second locking part 352 is axially provided with a plurality of grooves which are uniformly distributed along the circumference, the first locking part 2421 is a rotating shaft, and the outer surface of the first locking part 2421 is provided with a plurality of protrusions which are matched with the plurality of grooves.
The energy docking unit 35 of the present embodiment further includes a drive shaft 353, a spring 354, and a retainer ring 355; a blind hole 3533 is formed in the center of the upper portion of the driving shaft 353, an output shaft of the energy conversion motor 351 is arranged in the blind hole 3533, coaxial and fixed connection of the driving shaft 353 and the output shaft of the energy conversion motor 351 is achieved, a first annular limiting boss 3531 is arranged at the upper outer end portion of the driving shaft 353, and a second annular boss 3532 is arranged at the lower outer end portion of the driving shaft 353; the spring 354 and the retainer ring 355 are sleeved in the middle of the driving shaft 353, two ends of the spring 354 are respectively limited by the lower end face of the first annular limiting boss 3531 and the upper end face of the retainer ring 355, and the lower end face of the retainer ring 355 is limited by the upper end face of the second annular boss 3532; the upper part of the second fastener 352 is fixedly sleeved on the lower part of the driving shaft 353 in a spline connection manner, and is fixedly connected with the retainer ring 355.
In the process that the driving mechanism 34 drives the upper mounting plate 32 (the energy docking unit 35) to move downwards, when the groove of the rotating shaft sleeve is aligned with the lug of the rotating shaft, the rotating shaft is arranged in the rotating shaft sleeve along with the downward movement of the upper mounting plate 32, so that the connection between the rotating shaft sleeve and the rotating shaft is realized, namely the coaxial connection between the output shaft of the energy conversion motor 351 and the travelling wheel 242; when the groove of the rotary shaft sleeve is not aligned with the convex block of the rotary shaft sleeve, along with the downward movement of the upper mounting plate 32, the upper end surface of the rotary shaft sleeve is abutted against the lower end surface of the rotary shaft sleeve, the output shaft of the energy conversion motor 351 moves downwards relative to the rotary shaft sleeve, the spring 354 is compressed until the output shaft of the energy conversion motor 351 is contacted with the rotary shaft, under the micro-rotation of the energy conversion motor 351, the groove on the rotary shaft sleeve is rotated, and further the convex block of the rotary shaft is aligned with the groove of the rotary shaft sleeve, the rotary shaft sleeve moves downwards, the rotary shaft is arranged in the rotary shaft sleeve, the connection between the rotary shaft sleeve and the rotary shaft is realized, namely, the output shaft of the energy conversion motor 351 is coaxially connected with the traveling wheel 242.
In order to realize the accurate positioning of the on-rail robot 2 at the robot charging device, the robot charging device further includes a stop mechanism 39 disposed on the upper mounting plate 32 and located above the track 1, the stop mechanism 39 includes an actuating cylinder 391 disposed on the upper mounting plate 32, a stop positioning plate 392 disposed at a lower end (driving end) of the actuating cylinder 391, and a stop guiding shaft 393 providing a guiding function for the stop positioning plate 392 to move, a first positioning pin hole for being matched with a positioning pin on an upper end face of the on-rail robot 2 is disposed on a lower end face of the stop positioning plate 392, the actuating cylinder 391 drives the stop positioning plate 392 to move downward, the first positioning pin hole on the stop positioning plate 392 is matched with the positioning pin on the upper end face of the on-rail robot 2 to stop the on-rail robot 2, and the on-rail robot 2 is stopped.
In this embodiment, the driving mechanism 34 may be an air cylinder, which includes a cylinder body and a push rod matched with the cylinder body, the cylinder body is disposed on the lower mounting plate 31, and a driving end of the push rod is fixedly connected to the upper mounting plate 32. In other embodiments, the driving mechanism 34 may also be an electric cylinder, which includes a cylinder and an electric push rod matching with the cylinder, the cylinder is disposed on the lower mounting plate 31, and a driving end of the electric push rod is fixedly connected with the upper mounting plate 32.
The working process of the rail-hanging robot 2 system of the embodiment is as follows:
1) The rail-mounted robot 2 runs on the track 1, when the electric quantity of a rechargeable battery 25 of the rail-mounted robot 2 is lower than a set value, the rail-mounted robot 2 reaches a charging position (below the energy conversion mechanism), an electric cylinder 391 is actuated to drive a stop positioning plate 392 to move downwards, a first positioning pin hole in the stop positioning plate 392 is matched with a positioning pin on the upper end face of the rail-mounted robot 2, and the rail-mounted robot 2 is accurately positioned;
2) Starting the driving mechanism 34, wherein the driving mechanism 34 drives the upper mounting plate 32 to move downwards along the guide shaft 33 in the vertical direction, and the energy conversion mechanisms on the upper mounting plate 32 synchronously move downwards until the rotating shaft sleeves of the output shafts of the two energy conversion motors 351 are respectively clamped into the rotating shafts of the travelling wheels 242;
3) The driving motor 371 drives the screw rod 372 to rotate, so that the two nuts 373 move back to back along the axis of the screw rod 372, the energy conversion motor 351 is fixedly connected with the nut 373, the second fastener 352 on the output shaft of the energy conversion motor 351 is clamped with the first fasteners 2421 on the two traveling wheels 242, and then the two energy butt-joint units 35 drive the two traveling wheels 242 to move back to back, so as to push the traveling motor 243 to move outwards around the rotating shaft 2411, and meanwhile, the elastic piece 2414 is compressed, so that the traveling motor 243 moves outwards, so that the traveling wheels 242 on the traveling motor 243 are separated from the side wall 12 of the track 1;
4) External power source drive energy conversion motor 351 rotates, it is rotatory to realize the rotatory axle sleeve of energy conversion motor 351 output shaft, and then drive the synchronous rotation of walking wheel 242, walking wheel 242 drives walking motor 243 reverse rotation, transmit energy conversion motor 351's kinetic energy to the walking motor 243 of hanging rail robot 2, walking motor 243 reverse rotation electricity generation produces the electric current, the electric current of production passes through circuit storage to rechargeable battery 25 in the sealed equipment storehouse 21, thereby realize 2 end electric motor of hanging rail robot and can be to the conversion of electric energy, accomplish the charging of hanging rail robot.
After charging, the driving motor 371 drives the screw 372 to rotate reversely, so that the two nuts 373 move oppositely along the axis of the screw 372, and further drive the two traveling wheels 242 to move oppositely, due to the restoring force of the elastic piece 2414, the traveling motor 243 resets, the traveling wheels 242 on the traveling motor 243 are in contact with the side wall 12 of the track 1, and the traveling wheels 242 can travel on the track 1.
According to the invention, an external safety power source (external power source: a motor, an oil cylinder, compressed air, hydraulic pressure, manual work and the like) is converted into kinetic energy through rotation of the energy conversion motor 351, then the kinetic energy is mutually clamped with a rotating shaft on the traveling wheel 242 through a rotating shaft sleeve below the energy conversion motor 351, the kinetic energy is transmitted to the traveling motor 243, the traveling motor 243 reversely rotates to generate electricity, so that the kinetic energy is converted into electric energy which is stored in the rechargeable battery 25, and the safe charging of the rail-mounted robot 2 in an explosive environment is realized.
EXAMPLE III
The difference from the first embodiment is that: as shown in fig. 10, the energy conversion mechanism further includes a walking wheel pushing-away mechanism, and the energy docking unit 35 is disposed on the upper mounting plate 32 through the walking wheel pushing-away mechanism;
the walking wheel pushing mechanism has the same structure as the second embodiment, and comprises a driving motor 371, a screw 372 and two nuts 373; the driving motor 371 is provided on the upper mounting plate 32; the screw rod 372 is supported below the upper mounting plate 32 and is connected with the output of the driving motor 371; the two nuts 373 are arranged on the screw 372 and can be driven by the screw 372 to move in opposite directions or back to back along the axis of the screw 372; the energy conversion motors 351 of the two energy docking units 35 are respectively and fixedly connected with two nuts 373.
The walking wheels 242 can be separated from the track side wall 12 through an energy conversion mechanism, when the rail hanging robot 2 needs to be charged, the rail hanging robot 2 moves to the position below the energy butt-joint units 35, the driving mechanism 34 drives the upper mounting plate 32 to move downwards, and then the two energy butt-joint units 35 are driven to move downwards, so that the second buckling pieces 352 on the output shafts of the two energy conversion motors 351 respectively penetrate through the notches 311 on the lower mounting plate 31 to be buckled with the first buckling pieces 2421 on the two walking wheels 242 of the rail hanging robot 2; the driving motor 371 drives the screw rod 372 to rotate, so that the two nuts 373 move along the axis of the screw rod 372 in a back-to-back manner, because the energy conversion motor 351 is fixedly connected with the nut 373, the second fastener 352 on the output shaft of the energy conversion motor 351 is clamped with the first fastener 2421 on each traveling wheel 242, the two energy butt-joint units 35 drive the two traveling wheels 242 to move in a back-to-back manner, the traveling motor 243 is pushed to move outwards around the rotating shaft 2411, meanwhile, the elastic piece 2414 is compressed, the traveling motor 243 moves outwards, so that the traveling wheels 242 on the traveling motor 243 are separated from the contact with the side wall 12 of the track 1, then under the driving of the energy conversion motor 351, the synchronous rotation of the output shaft of the energy conversion motor 351 and the traveling wheels 242 is realized, the electric energy generated in the rotating process of the traveling wheels 242 is stored in the charging battery 25 after passing through the traveling motor 243 and the conversion circuit board in the sealing equipment bin 21, and the charging of the rail-hanging robot 2 is realized.
Example four
The difference from the first to the third embodiments is that: as shown in fig. 11a and 11b, the first locking part 2421 of the present embodiment is a rotating shaft, and the radial cross section thereof is polygonal, and correspondingly, the second locking part 352 is a rotating shaft sleeve, and the inner surface thereof is matched with the outer surface of the rotating shaft.
EXAMPLE five
The difference from the first to the third embodiments is that: as shown in fig. 12a and 12b, the first locking element 2421 may be a first rotary locking disc, the upper end surface of which is radially provided with a plurality of first locking teeth 2422 arranged circumferentially, and the second locking element 352 is a second rotary locking disc, the lower end surface of which is provided with a plurality of second locking teeth 3521 matched with the first locking teeth 2422.
EXAMPLE six
The difference from the first to the third embodiments is that: as shown in fig. 13a and 13b, the first locking part 2421 can be a conical rotating shaft, the outer conical surface of which is provided with a first tooth-shaped structure, the second locking part 352 is a conical rotating sleeve, the inner conical surface of which is provided with a second tooth-shaped structure matched with the first tooth-shaped structure, and the inner conical surface of the conical rotating sleeve is matched with the outer conical surface of the conical rotating shaft.
The above description is only for the preferred embodiment of the present invention and does not limit the technical solution of the present invention, and any modifications made by those skilled in the art based on the main technical idea of the present invention belong to the technical scope of the present invention.
Claims (2)
1. The utility model provides a hang rail robot system for inflammable and explosive region charges, includes hanging rail robot (2) that can walk on track (1), its characterized in that: the energy conversion mechanism is also included;
the rail hanging robot (2) comprises a sealing equipment bin (21), an actuating mechanism (22) or a walking wheel pushing mechanism, a rechargeable battery (25) arranged in the sealing equipment bin (21) and two walking units (24) respectively arranged on the side wall (12) of the track (1);
each walking unit (24) comprises a movable support platform (241), a walking wheel (242) and a walking motor (243) which is arranged below the walking wheel (242) and drives the walking wheel (242) to rotate; the walking motor (243) is connected with the rechargeable battery (25); the movable supporting platform (241) is used for pressing the traveling wheels (242) onto the side wall (12) of the track (1), the movable supporting platform (241) comprises a rotating shaft (2411), a supporting plate (2412), an adjusting guide shaft (2413) and an elastic piece (2414), the rotating shaft (2411) is arranged on the sealing equipment bin (21) in parallel to an output shaft of the traveling motor (243), the supporting plate (2412) is fixedly connected with the traveling motor (243), one end of the supporting plate (2412) is movably connected onto the rotating shaft (2411), and the end part of the other end of the supporting plate is provided with a through hole (24121); the inner end part of the adjusting guide shaft (2413) penetrates through the through hole (24121) and then is fixedly connected with the sealing equipment bin (21), and the elastic piece (2414) is sleeved on the adjusting guide shaft (2413) and is positioned between the supporting plate (2412) and the outer end part of the adjusting guide shaft (2413) and used for pressing the travelling wheel (242) on the side wall (12) of the track (1);
a first buckling part (2421) is arranged at the upper end of the rotating shaft of the travelling wheel (242);
the actuating mechanism (22) or the travelling wheel pushing-away mechanism is used for driving the travelling wheel (242) to be separated from contact with the track side wall (12); the actuating mechanism (22) comprises a linear deflector rod (221) arranged between the two traveling motors (243) and a steering engine (222) for driving the linear deflector rod (221) to rotate for 90 degrees, and two ends of the linear deflector rod (221) push the two traveling motors (243) to overcome the pressure of the elastic piece (2414) so that the traveling wheels (242) are separated from contact with the side wall (12) of the track;
the energy conversion mechanism is used for clamping a traveling wheel (242) of the rail hanging robot (2) and driving the traveling wheel (242) to rotate; the energy conversion mechanism comprises a lower mounting plate (31) fixed on the track (1), an upper mounting plate (32) arranged above the lower mounting plate (31) in parallel, a plurality of guide posts (33) connecting the lower mounting plate (31) and the upper mounting plate (32), a driving mechanism (34) arranged on the lower mounting plate (31) and used for driving the upper mounting plate (32) to move along the guide posts (33), and two energy butt joint units (35) arranged on the upper mounting plate (32) and respectively used for being matched with the two travelling wheels (242);
each energy butt joint unit (35) comprises a driving shaft (353), a spring (354) and a retainer ring (355), an energy conversion motor (351) arranged on the upper mounting plate (32) and a second buckling piece (352) which is positioned below the energy conversion motor (351) and connected with an output shaft of the energy conversion motor (351), wherein the second buckling piece (352) is used for being clamped with the first buckling piece (2421) so that the travelling wheels (242) can synchronously rotate along with the output shaft of the energy conversion motor (351); the energy butt joint unit (35) is arranged on the upper mounting plate (32) through a walking wheel pushing-away mechanism;
the first buckling part (2421) is a rotating shaft, a plurality of bumps are uniformly distributed on the outer side wall of the rotating shaft along the axial direction, the second buckling part (352) is a rotating shaft sleeve, and a plurality of grooves matched with the bumps are formed in the inner wall of the rotating shaft sleeve;
or the first buckling piece (2421) is a rotating shaft, the radial section of the first buckling piece is polygonal, the second buckling piece (352) is a rotating shaft sleeve, and the inner surface of the second buckling piece is matched with the outer surface of the rotating shaft;
or, the first buckle part (2421) is a first rotary buckle disc, the upper end surface of the first buckle part is provided with a plurality of first buckle teeth (2422) which are circumferentially arranged along the radial direction, the second buckle part (352) is a second rotary buckle disc, and the lower end surface of the second buckle part is provided with a plurality of second buckle teeth (3521) which are matched with the first buckle teeth (2422);
or the first buckling part (2421) is a conical rotating shaft, the outer conical surface of the first buckling part is provided with a first tooth-shaped structure, the second buckling part (352) is a conical rotating sleeve, and the inner conical surface of the second buckling part is provided with a second tooth-shaped structure matched with the first tooth-shaped structure;
the upper end of the driving shaft (353) is coaxially and fixedly connected with an output shaft of the energy conversion motor (351), a first annular limiting boss (3531) is arranged at the upper outer end of the driving shaft (353), and a second annular boss (3532) is arranged at the lower outer end of the driving shaft (353);
the spring (354) and the check ring (355) are sleeved in the middle of the driving shaft (353), two ends of the spring (354) are limited by the lower end face of the first annular limiting boss (3531) and the upper end face of the check ring (355) respectively, and the lower end face of the check ring (355) is limited by the upper end face of the second annular boss (3532);
the upper part of the second buckle piece (352) is sleeved on the lower part of the driving shaft (353) in a spline connection mode and is fixedly connected with the retainer ring (355);
the upper mounting plate (32) is provided with a linear bearing (38) matched with the guide post (33);
the upper part of the driving shaft (353) is provided with a blind hole (3533) for installing an output shaft of the energy conversion motor (351);
the energy conversion mechanism further comprises a positioning mechanism which is arranged on the upper mounting plate (32) and positioned above the track and used for positioning and blocking the rail hanging robot (2);
the walking wheel pushing mechanism comprises a driving motor (371), a screw rod (372) and two nuts (373); the driving motor (371) is arranged on the upper mounting plate (32); the screw rod (372) is supported below the upper mounting plate (32) and is connected with the output of the driving motor (371); the two nuts (373) are arranged on the screw rod (372) and can be driven by the screw rod (372) to move in the opposite direction or move back to back along the axis of the screw rod (372);
energy conversion motors (351) of the two energy butt joint units (35) are fixedly connected with two nuts (373) respectively.
2. A charging method of a rail-mounted robot system for charging flammable and explosive areas, which adopts the rail-mounted robot system for charging flammable and explosive areas as claimed in claim 1, and is characterized by comprising the following steps:
1) The rail hanging robot (2) runs to the position below the energy conversion mechanism on the rail (1), and the rail hanging robot (2) stops after the rail hanging robot is in place;
2) A steering engine (222) of the actuating mechanism (22) drives a linear driving lever (221) to rotate for 90 degrees, and two ends of the linear driving lever (221) push two traveling motors (243) to overcome the pressure of an elastic piece (2414) and separate traveling wheels (242) of the rail-hanging robot (2) from contact with the side wall (12) of the track;
a driving mechanism (34) of the energy conversion mechanism drives the upper mounting plate (32) to move downwards, so that a second buckling piece (352) on the energy butt joint unit (35) is buckled with a first buckling piece (2421) at the upper end of a rotating shaft of the travelling wheel (242);
3) The energy conversion mechanism drives the traveling wheels (242) to rotate, so that the traveling motor (243) rotates to generate electricity, and the electricity is stored in the rechargeable battery (25) of the rail-mounted robot (2), and the rail-mounted robot (2) is charged.
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| CN202110871213.1A CN113691076B (en) | 2021-07-30 | 2021-07-30 | Rail-mounted robot system for charging flammable and explosive areas and charging method thereof |
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| CN101867071A (en) * | 2009-04-16 | 2010-10-20 | 深圳富泰宏精密工业有限公司 | Charging device |
| CN107358270A (en) * | 2017-08-08 | 2017-11-17 | 浙江国自机器人技术有限公司 | A kind of infiltration detection method and device of tunnel wall |
| CN108519533A (en) * | 2018-05-25 | 2018-09-11 | 北京方智科技股份有限公司 | A kind of charging pile inspection dedicated track robot |
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