CN114099253B - Rail changing control method for H-shaped rail - Google Patents
Rail changing control method for H-shaped rail Download PDFInfo
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- CN114099253B CN114099253B CN202111361277.3A CN202111361277A CN114099253B CN 114099253 B CN114099253 B CN 114099253B CN 202111361277 A CN202111361277 A CN 202111361277A CN 114099253 B CN114099253 B CN 114099253B
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 210000001503 joint Anatomy 0.000 claims abstract description 33
- 230000000903 blocking effect Effects 0.000 claims description 74
- 230000007246 mechanism Effects 0.000 claims description 42
- 230000001105 regulatory effect Effects 0.000 claims description 31
- 230000009471 action Effects 0.000 claims description 30
- 230000006698 induction Effects 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 12
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- 239000003638 chemical reducing agent Substances 0.000 claims description 8
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- 230000005389 magnetism Effects 0.000 claims description 3
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- 230000008569 process Effects 0.000 abstract description 2
- 238000003032 molecular docking Methods 0.000 description 8
- 238000012549 training Methods 0.000 description 6
- 238000006073 displacement reaction Methods 0.000 description 4
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
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- Health & Medical Sciences (AREA)
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- Life Sciences & Earth Sciences (AREA)
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- General Health & Medical Sciences (AREA)
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Abstract
The invention relates to the technical field of overhead rails, in particular to a rail changing control method of an H-shaped rail, which comprises the following steps: s1, abutting the movable rail with the fixed rail; s2, the controller controls the driving assembly to drive the push rod to move, the end part of the movable rail is opened, and meanwhile, the fixed rail and the movable rail are locked; s3, simultaneously opening the end part of the fixed rail and communicating with the movable rail; s4, the shifting machine head moves from the movable track to the fixed track; s5, the second sensor and the first sensor sense the shifting machine head sequentially, and when the first sensor senses the shifting machine head, the controller controls the driving assembly to drive reversely; s6, the push rod retreats, the fixed rail and the movable rail are unlocked, the end part of the movable rail is closed, and meanwhile, the end part of the fixed rail is closed. The invention can improve the position precision of the butt joint of the two sections of rails during the butt joint of the rails, lock the two sections of rails, avoid the two sections of rails from shifting, and ensure that the rail replacement process is more accurate and smooth.
Description
Technical Field
The invention relates to the technical field of overhead rails, in particular to a rail changing control method of an H-shaped rail.
Background
At present, the space rail rehabilitation training displacement system mainly aims at a patient who needs early rehabilitation training and cannot bear load to the ground, and gives the functions of weight reduction, load avoidance and protection in the training process, so that the patient can start rehabilitation training as early as possible in a safe state, the decline of body functions such as a movement system, a digestive system, a respiratory system and the like can be effectively avoided, complications are prevented from occurring, the quick rehabilitation of the original symptoms can be promoted, the targeted training can be effectively carried out on the damaged function, and the rehabilitation effect is improved.
In the track rehabilitation training displacement system, generally, an H-shaped track is needed, but in the existing structure, the defect that a displacement machine head is difficult to enter the H-shaped track and move out of the H-shaped track exists, and when the track butt joint is carried out, the defect that the accuracy of the position of the track butt joint is low and the two sections of the butt joint tracks are easy to deviate exists is also caused.
Disclosure of Invention
The invention aims to solve the technical problems that: in order to solve the technical problems that in the prior art, when the rails are butted, the position accuracy of the rail is low, and the two sections of butted rails are easy to deviate, the invention provides the rail changing control method for the H-shaped rail, which can improve the position accuracy of the two sections of rails when the rails are butted, lock the two sections of rails, avoid the two sections of rails from deviating, and enable the shifting machine head to better perform rail changing action.
The technical scheme adopted for solving the technical problems is as follows: the H-shaped rail comprises a fixed rail and a movable rail, wherein the fixed rail is fixedly arranged, the movable rail is movably arranged, the fixed rail and the movable rail are arranged in parallel, the H-shaped rail further comprises a rail locking mechanism and a rail abutting device, the rail locking mechanism is arranged at one end of the movable rail and locks one end of the movable rail so as to enable one end of the movable rail to be closed, and the rail abutting device is arranged at one end of the fixed rail close to the movable rail and is used for opening or closing one end of the fixed rail close to the movable rail;
the track locking mechanism comprises a pushing arm, a first blocking rod and a connecting rod, wherein the pushing arm is arranged on the upper side of the movable track, the first blocking rod is arranged on the lower side of the movable track, the pushing arm is connected with the first blocking rod through the connecting rod, the first blocking rod is arranged along the width direction of the movable track, the connecting rod is arranged along the thickness direction of the track, two ends of the connecting rod are fixedly connected with the pushing arm and the first blocking rod respectively, and the connecting rod is connected with the movable track in a rotating way;
the track butt joint device comprises a butt joint mechanism, wherein the butt joint mechanism is arranged on one side of a pushing arm and comprises a push rod, the push rod is arranged along the length direction of a fixed track, one end of the push rod is propped against the pushing arm and is in sliding connection with the fixed track, and one end of the push rod is provided with a driving assembly for driving the push rod to move along the length direction of a movable track;
the movable rail is provided with a guide seat, the guide seat is positioned on one side of the pushing arm, which is close to the fixed rail, the guide seat is provided with a guide hole penetrating through the guide seat, the guide hole is arranged along the length direction of the movable rail, and the pushing rod is inserted into the guide hole and is in sliding fit with the guide hole;
the track docking device further comprises an induction recognition system, the induction recognition system comprises a controller, a first inductor and a second inductor, the first inductor and the second inductor are electrically connected with the controller, the driving assembly is electrically connected with the controller, the first inductor and the second inductor are arranged along the length direction of the fixed track, the second inductor is positioned on one side, close to the movable track, of the first inductor, and a first magnet block for carrying out signal induction with the first inductor and the second inductor is arranged on the displacement machine head;
the rail change control method comprises the following steps:
s1, a movable rail moves to one side of a fixed rail, and the movable rail is in butt joint with the fixed rail;
s2, the controller controls the driving assembly to drive the push rod to move along the length direction of the movable track, the push arm rotates under the pushing action of the push rod, the first blocking rod rotates to a position along the length direction of the track, the end part of the movable track is opened, and meanwhile, the push rod is locked between the fixed track and the movable track after moving along the length direction of the movable track and being inserted into the guide hole of the guide seat;
s3, simultaneously opening the end part of the fixed rail, and communicating with the movable rail to enable the shifting machine head to move from the movable rail to the fixed rail;
s4, the shifting machine head moves from the movable track to the fixed track;
s5, when the mobile machine head moves on the fixed track, the second sensor and the first sensor sense the mobile machine head sequentially, and when the first sensor senses the mobile machine head, the controller controls the driving assembly to drive reversely;
s6, under the reverse driving action of the driving assembly, the push rod retreats, the push rod is pulled out of the guide hole, the fixed rail and the movable rail are unlocked, the first blocking rod rotates to a position along the width direction of the movable rail, the end part of the movable rail is closed, and meanwhile, the end part of the fixed rail is closed.
According to the H-shaped rail change control method, the movable rail is provided with the shifting machine head, the shifting machine head moves on the movable rail along the length direction of the movable rail, and the shifting machine head can move from the movable rail to the fixed rail. The track locking mechanism can enable two ends of the movable track to be closed, the shifting machine head is prevented from sliding out of two ends of the movable track and falling off from the H track, meanwhile, the track locking mechanism can be opened, the shifting machine head can smoothly move from the movable track to the fixed track, the track butt joint device is arranged at one end, close to the movable track, of the fixed track, and the track butt joint device can open or close one end, close to the movable track, of the fixed track, so that the shifting machine head can be allowed or prevented from passing through.
The guide holder plays a guiding role in the movement of the push rod along the length direction of the movable track, meanwhile, after the fixed track is in butt joint with the movable track, the push rod is inserted into the fixed seat, the fixed seat plays a limiting role on the push rod, so that the butt joint of the fixed track and the movable track plays a locking role, the movable track is prevented from moving along the width direction of the movable track to cause the poor butt joint precision of the track, the push rod not only plays a role in touching the push arm to rotate, but also plays a role in locking the fixed track and the movable track, and the guide holder is simple in structure, high in accuracy of butt joint of the track, and high in smoothness of track switching of a machine head.
The drive assembly drives the push rod to move along the length of the movable track and close to the movable track, so that the push rod has a jacking effect on the push arm, the push arm rotates along the central line axis of the connecting rod under the pushing effect of the push rod, meanwhile, the connecting rod also rotates along the central axis of the connecting rod, the first blocking rod also rotates, and when the first blocking rod rotates to a position parallel to the length direction of the movable track, the movable track is closed to one end of the fixed track and is opened, and the shifting machine head can pass through the end part of the movable track, which is close to the fixed track.
Further, the track locking mechanism further comprises a torsion spring, the torsion spring is sleeved on the connecting rod, one end of the torsion spring is fixedly connected with the movable track, and the other end of the torsion spring is fixedly connected with the pushing arm. When the pushing arm receives thrust to rotate along the central line axis of the connecting rod, the pushing arm generates torque to the torsion spring, meanwhile, the first blocking rod rotates to a position parallel to the length direction of the movable rail, the end part of the movable rail is opened, the shifting machine head can pass through the end part of the movable rail and move onto the fixed rail, when the pushing arm is not stressed any more, the pushing arm receives the torque brought by the spring under the action of the restoring force of the torsion spring, so that the pushing arm is twisted to an initial position, the first blocking rod is restored to a position along the width direction of the movable rail, the movable rail is locked and closed, and the shifting machine head cannot pass through the end part of the movable rail.
Further, the drive assembly includes the rack, the one end and the push rod fixed connection of rack, rack and push rod parallel arrangement, rack and fixed track sliding connection, the rack sets up along the activity of movable rail's length direction activity, one side of rack is provided with first gear, first gear meshes with the rack mutually, one side of first gear is provided with speed regulating mechanism, speed regulating mechanism and first gear drive are connected and are slowed down or adjust the rotational speed of first gear, last transmission of speed regulating mechanism is connected with the driving piece.
Further, the speed regulating mechanism comprises a speed regulating gear, the speed regulating gear is located on one side of the first gear and meshed with the first gear, a support is arranged on the fixed track, the speed regulating gear is rotationally connected with the support, a speed reducer is arranged at one end of a gear shaft of the speed regulating gear and is in transmission connection with the speed regulating gear, the driving piece is a driving motor, and the driving motor is in transmission connection with the speed reducer.
Through above-mentioned technical scheme, driving motor drives the worm and rotates, after the transmission and the speed governing of worm and worm wheel, speed governing gear rotates, thereby drive first gear and rotate, and then make the rack follow movable rail length direction motion, under the effect of rack, the push rod is close to movable rail's direction motion along movable rail's length direction, thereby make the push rod have the top to push away the arm and touch the effect, under the promotion effect of push rod, the push arm rotates along the central axis of connecting rod, the central axis of connecting rod also rotates simultaneously, thereby make first blocking lever also take place to rotate, rotate to the position parallel with movable rail length direction when first blocking lever, movable rail is close to fixed rail's one end and opens this moment, the shifting aircraft nose can be passed from movable rail is close to fixed rail's tip.
Further, docking mechanism still includes the second and blocks the pole, the second blocks the pole setting in fixed track's below, the second blocks the pole and sets up along fixed track's width direction, the second highly is higher than the height of shifting aircraft nose lower terminal surface that blocks the pole, the one end fixedly connected with pivot of second blocks the pole, the pivot sets up along fixed track's thickness direction, and the one end of pivot is provided with the second gear, the second gear meshes with first gear, the second gear sets up with the pivot is coaxial. When the first gear rotates, the second gear is driven by the first gear, and under the action of the second gear, the rotating shaft rotates, so that the second blocking rod rotates along the central line axis of the rotating shaft by taking one end of the second blocking rod as a central point, the second blocking rod can rotate to a position along the length direction of the fixed rail, the end part of the fixed rail, which is close to the movable rail, is opened, and the shifting machine head can smoothly move from the movable rail to the fixed rail.
Further, the induction recognition system further comprises a third inductor, the third inductor is arranged on the fixed track, the third inductor is located at one end, close to the movable track, of the fixed track, and a second magnet block for generating induction signals with the third inductor is arranged at one end of the first blocking rod.
Further, a third magnet is arranged at one end of the fixed rail, which is close to the movable rail, a fourth magnet is arranged at one end of the movable rail, which is close to the fixed rail, and when the fixed rail and the movable rail are positioned on the same straight line, a connecting line of the central points of the third magnet and the fourth magnet is parallel to a connecting line of the fixed rail and the movable rail, and the magnetism of the opposite surfaces of the third magnet and the fourth magnet are attracted to each other.
Further, be provided with first travel switch and second travel switch on the fixed track, first travel switch and second travel switch arrange along fixed track's length direction and set up, the second travel switch is located the one side that first travel switch is close to movable rail, first travel switch and second travel switch all are connected with the controller electricity, fixedly on the rack be provided with first travel switch and second travel switch trigger's briquetting.
The H-shaped rail change control method has the beneficial effects that the movable rail is provided with the shifting machine head, the shifting machine head moves on the movable rail along the length direction of the movable rail, and the shifting machine head can move from the movable rail to the fixed rail; the track locking mechanism can enable the two ends of the movable track to be closed, and prevent the shifting machine head from sliding out of the two ends of the movable track and falling off from the H track, so that the safety of the shifting machine head moving on the movable track is improved;
meanwhile, the track locking mechanism can be opened to enable the shifting machine head to smoothly move from the movable track to the fixed track, the track butt joint device is arranged at one end, close to the movable track, of the fixed track, and the track butt joint device can be used for opening or closing one end, close to the movable track, of the fixed track so as to allow or prevent the shifting machine head from being communicated, and can move the shifting machine head from the fixed track to the movable track and also move the shifting machine head from the movable track to the fixed track, so that butt joint of two sections of the fixed track and the movable track and rail replacement of the shifting machine head can be well realized.
Drawings
The invention will be further described with reference to the drawings and examples.
Fig. 1 is a schematic view of the structure of an H-shaped rail according to a preferred embodiment of the present invention.
Fig. 2 is an enlarged view at a in fig. 1.
Fig. 3 is a schematic view of the structure of the H-shaped rail of the present invention in a state where the movable rail end is closed.
Fig. 4 is an enlarged view at B in fig. 3.
Fig. 5 is a schematic bottom view of the H-shaped rail of the present invention with the ends of the movable rail open.
Fig. 6 is an enlarged view at C in fig. 5.
Fig. 7 is a schematic bottom view of the H-shaped rail of the present invention with the ends of the movable rail closed.
Fig. 8 is an enlarged view at D in fig. 7.
Fig. 9 is a plan view showing a state in which the movable rail end portion is closed in the H-shaped rail of the present invention.
Fig. 10 is a plan view showing an opened state of an end portion of a movable rail in an H-shaped rail according to the present invention.
Fig. 11 is a flow chart of the H-type rail change control method of the present invention.
In the figure: 1. a first track; 2. a second track; 3. a movable rail; 4. a fixed rail; 5. shifting the machine head; 6. a track locking mechanism; 61. a pushing arm; 62. a first blocking lever; 63. a connecting rod; 64. a torsion spring; 65. a guide seat; 651. a guide hole; 7. a track docking device; 71. an induction identification system; 711. a first inductor; 712. a second inductor; 713. a third inductor; 714. a second magnet block; 72. a docking mechanism; 721. a push rod; 722. a drive assembly; 7221. a rack; 7222. a first gear; 7223. a speed regulating mechanism; 72231. a speed regulating gear; 72232. a worm wheel; 72233. a worm; 7224. a driving motor; 723. a second blocking lever; 724. a rotating shaft; 725. a second gear; 726. a third magnet; 727. a fourth magnet; 8. a first travel switch; 9. and a second travel switch.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, features defining "first", "second" may include one or more such features, either explicitly or implicitly. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more. In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1 to 11, a method for controlling the change of H-shaped rail according to the preferred embodiment of the present invention is provided, wherein the H-shaped rail comprises two parallel first rails 1 and second rails 2, a movable rail 3 is disposed between the first rails 1 and the second rails 2, one end of the movable rail 3 is connected to the first rails 1, the other end of the movable rail 3 is connected to the second rails 2, the movable rail 3 moves between the first rails 1 and the second rails 2 along the length direction of the first rails 1 and the second rails 2, one side of the first rails 1 is provided with a fixed rail 4, the fixed rail 4 is disposed parallel to the movable rail 3, one end of the fixed rail 4 is connected to the first rails 1, the movable rail 3 can be positioned on the same straight line with the fixed rail 4 when the movable rail 3 moves between the first rails 1 and the second rails 2, a shifting head 5 is disposed on the movable rail 3, the shifting head 5 moves on the movable rail 3 along the length direction of the movable rail 3 onto the fixed rail 4, one end of the fixed rail 4 is abutted against one end of the movable rail 3, and the movable head 4 is abutted against one end of the movable rail 4.
The H-shaped rail further comprises a rail locking mechanism 6 and a rail abutting device 7, wherein the rail locking mechanism 6 is arranged at two ends of the movable rail 3 to lock two ends of the movable rail 3 so as to enable two ends of the movable rail 3 to be closed, the shifting machine head 5 is prevented from sliding out of two ends of the movable rail 3 and falling off from the H-shaped rail, meanwhile, the rail locking mechanism 6 can be opened so that the shifting machine head 5 can smoothly move from the movable rail 3 to the fixed rail 4, the rail abutting device 7 is arranged at one end, close to the movable rail 3, of the fixed rail 4, and the rail abutting device 7 can be used for opening or closing one end, close to the movable rail 3, of the fixed rail 4 so as to allow or prevent the shifting machine head 5 from passing through.
The track locking mechanism 6 comprises a pushing arm 61, a first blocking rod 62 and a connecting rod 63, wherein the pushing arm 61 is arranged on the upper side of the movable track 3, the first blocking rod 62 is arranged on the lower side of the movable track 3, the pushing arm 61 and the first blocking rod 62 are connected through the connecting rod 63, the first blocking rod 62 is arranged along the width direction of the movable track 3, the connecting rod 63 is arranged along the thickness direction of the track, two ends of the connecting rod 63 are fixedly connected with the pushing arm 61 and the first blocking rod 62 respectively, and the connecting rod 63 is rotationally connected with the movable track 3.
The track locking mechanism 6 further comprises a torsion spring 64, the torsion spring 64 is sleeved on the connecting rod 63, one end of the torsion spring 64 is fixedly connected with the movable track 3, the other end of the torsion spring 64 is fixedly connected with the pushing arm 61, when the pushing arm 61 is pushed to rotate along the central line axis of the connecting rod 63, the pushing arm 61 generates torque on the torsion spring 64, meanwhile, the first blocking rod 62 rotates to a position parallel to the length direction of the movable track 3, at the moment, the end part of the movable track 3 is opened, the shifting machine head 5 can pass through the end part of the movable track 3 and move onto the fixed track 4, when the pushing arm 61 is not stressed any more, the pushing arm 61 is subjected to torque brought by the spring under the action of restoring force of the torsion spring 64, so that the pushing arm 61 is twisted to an initial position, the first blocking rod 62 is restored to a position along the width direction of the movable track 3, the movable track 3 is locked and the shifting machine head 5 cannot pass through the end part of the movable track 3.
When the movable rail 3 moves on the first rail 1 and the second rail 2 along the length direction of the first rail 1 and the second rail 2, the shifting machine head 5 can simultaneously move on the movable rail 3 along the length direction of the movable rail 3, the locking mechanisms at two ends of the movable rail 3 can lock two ends of the movable rail 3, and when the shifting machine head 5 moves on the movable rail 3, the first blocking rod 62 can block the shifting machine head 5 to prevent the shifting machine head 5 from passing through the end part of the movable rail 3, so that the shifting machine head 5 is prevented from falling from the two ends of the movable rail 3, and the safety of the movement of the shifting machine head on the movable rail 3 is improved.
The track docking device 7 includes the sensing recognition system 71 and the docking mechanism 72, the docking mechanism 72 includes a push rod 721, the push rod 721 is disposed along the length direction of the fixed track 4, one end of the push rod 721 abuts against the push arm 61, the push rod 721 is slidably connected with the fixed track 4, and one end of the push rod 721 is provided with a driving assembly 722 for driving the push rod 721 to move along the length direction of the movable track 3.
The driving assembly 722 comprises a rack 7221, one end of the rack 7221 is fixedly connected with the push rod 721, the rack 7221 is arranged in parallel with the push rod 721, the rack 7221 is in sliding connection with the fixed rail 4, the rack 7221 is movably arranged along the length direction of the movable rail 3, a first gear 7222 is arranged on one side of the rack 7221, the first gear 7222 is meshed with the rack 7221, a speed regulating mechanism 7223 is arranged on one side of the first gear 7222, and the speed regulating mechanism 7223 is in transmission connection with the first gear 7222 to reduce or regulate the rotating speed of the first gear 7222.
The speed regulating mechanism 7223 comprises a speed regulating gear 72231, the speed regulating gear 72231 is positioned on one side of the first gear 7222, the speed regulating gear 72231 is meshed with the first gear 7222, a support is arranged on the fixed track 4, the speed regulating gear 72231 is rotationally connected with the support, a speed reducer is arranged at one end of a gear shaft of the speed regulating gear 72231 and is in transmission connection with the speed regulating gear 72231, a driving piece is a driving motor 7224, the driving motor 7224 is a direct-current brush motor, and the driving motor 7224 is in transmission connection with the speed reducer. Specifically, the speed reducer includes worm wheel 72232, worm wheel 72232 and speed adjusting gear 72231 coaxial arrangement, worm wheel 72232 and support rotate to be connected, and one side of worm wheel 72232 sets up worm 72233, and worm 72233 meshes with worm wheel 72232, and the one end of worm 72233 is connected with driving motor 7224 transmission.
The driving motor 7224 drives the worm 72233 to rotate, after the worm 72233 and the worm wheel 72232 are driven and speed-regulated, the speed-regulating gear 72231 rotates, so that the first gear 7222 is driven to rotate, further, the rack 7221 moves along the length direction of the movable track 3, under the action of the rack 7221, the push rod 721 moves along the direction that the length direction of the movable track 3 is close to the movable track 3, so that the push rod 721 has a contact action on the push arm 61, under the pushing action of the push rod 721, the push arm 61 rotates along the central line axis of the connecting rod 63, meanwhile, the connecting rod 63 also rotates along the central axis of the connecting rod 63, so that the first blocking rod 62 also rotates, when the first blocking rod 62 rotates to a position parallel to the length direction of the movable track 3, at the moment, one end of the movable track 3, which is close to the fixed track 4, is opened, and the shifting machine head 5 can pass through the end of the movable track 3, which is close to the fixed track 4.
The docking mechanism 72 further includes a second blocking lever 723, the second blocking lever 723 is disposed below the fixed rail 4, the second blocking lever 723 is disposed along the width direction of the fixed rail 4, the second blocking lever 723 is higher than the lower end face of the shifting head 5, one end of the second blocking lever 723 is fixedly connected with a rotating shaft 724, the rotating shaft 724 is disposed along the thickness direction of the fixed rail 4, one end of the rotating shaft 724 is provided with a second gear 725, the second gear 725 is meshed with the first gear 7222, the second gear 725 is coaxially disposed with the rotating shaft 724, when the first gear 7222 rotates, the second gear 725 is driven by the first gear 7222, the rotating shaft 724 rotates under the action of the second gear 725, so that the second blocking lever 723 rotates along the center line axis of the rotating shaft 724 with one end of the second blocking lever 723 as the center point, the second blocking lever 723 can rotate to a position along the length direction of the fixed rail 4, so that the end of the fixed rail 4 close to the movable rail 3 is opened, and the shifting head 5 can smoothly move from the movable rail 3 to the fixed rail 4.
The induction recognition system 71 includes a controller, a first inductor 711, a second inductor 712 and a third inductor 713, wherein the first inductor 711, the second inductor 712 and the third inductor 713 are all electrically connected with the controller, the driving motor 7224 is electrically connected with the controller, thereby the driving motor 7224 is controlled by the controller, the first inductor 711 and the second inductor 712 are all arranged on the fixed rail 4, the first inductor 711 and the second inductor 712 are arranged along the length direction of the fixed rail 4, the second inductor 712 is positioned on one side of the first inductor 711 close to the movable rail 3, the first inductor 711 and the second inductor 712 are Hall inductors, a first magnet block is arranged on the shifting head 5, the first magnet block is arranged at the upper end of the shifting head 5, when the shifting head 5 is close to the first inductor 711 and the second inductor 712, induction signals are generated after the first magnet block is induced, and then the induction signals are transmitted to the controller.
The third sensor 713 is arranged on the fixed rail 4, the third sensor is a hall sensor, the third sensor 713 is positioned at one end of the fixed rail 4 close to the movable rail 3, the second magnet block 714 is arranged at one end of the first blocking rod 62, and when the first blocking rod 62 rotates to a position along the width direction of the movable rail 3, the second magnet block and the third sensor 713 are on the same straight line and are close to each other, and the approach here means the position approach. When the first blocking lever 62 is rotated from a position along the length direction of the movable rail 3 to a position along the width direction of the movable rail 3, the second magnet block approaches the third sensor, and the third sensor generates a sensing signal and transmits the sensing signal to the controller.
The fixed track 4 is provided with the third magnet 726 near the one end of movable track 3, and the one end that movable track 3 is provided with the fourth magnet 727 near the fixed track 4, and when fixed track 4 and movable track 3 are located same straight line, the line of the central point of third magnet 726 and fourth magnet 727 is parallel with the line of fixed track 4 and movable track 3, and the magnetism of the relative face of third magnet 726 and fourth magnet 727 attracts each other.
The movable rail 3 is provided with a guide seat 65, the guide seat 65 is positioned on one side of the pushing arm 61 close to the fixed rail 4, the guide seat 65 is provided with a guide hole 651 penetrating through the guide seat 65, the guide hole 651 is arranged along the length direction of the movable rail 3, and the push rod 721 is inserted into the guide hole 651 and is in sliding fit with the guide hole 651. The guide holder 65 plays a guiding role in the movement of the push rod 721 along the length direction of the movable track 3, meanwhile, after the third magnet 726 and the fourth magnet 727 are mutually attracted, the fixed track 4 is in butt joint with the movable track 3, the push rod 721 is inserted into the fixed seat, the fixed seat plays a limiting role in the push rod 721, so that the butt joint of the fixed track 4 and the movable track 3 plays a locking role, the effect of preventing the movable track 3 from moving along the width direction thereof to cause poor track butt joint precision is achieved, and therefore the push rod 721 plays a role in touching the push arm 61 to rotate and locking the fixed track 4 and the movable track 3, and the guide holder has a simple structure, high track butt joint precision and high track switching smoothness of a machine head.
Be provided with first travel switch 8 and second travel switch 9 on the fixed track 4, first travel switch 8 and second travel switch 9 arrange along the length direction of fixed track 4 and set up, and second travel switch 9 is located the one side that first travel switch 8 is close to movable track 3, and first travel switch 8 and second travel switch 9 all are connected with the controller electricity, fixedly on the rack 7221 be provided with the briquetting that first travel switch 8 and second travel switch 9 triggered. When the rack 7221 moves close to the movable rail 3, the pressing block moves close to the second travel switch 9, when the pressing block triggers the second travel switch 9, the second travel switch 9 sends a signal to the controller, the controller controls the driving motor 7224 to stop driving, so that the push rod 721 does not move any more, when the push rod 721 retreats, the rack 7221 moves towards the direction away from the movable rail 3, the pressing block moves close to the first travel switch 8, when the pressing block triggers the first travel switch 8, the first travel switch 8 sends a signal to the controller, and the controller controls the driving motor 7224 to stop driving, and the push rod 721 and the rack 7221 stop moving.
The invention relates to a rail changing control method of an H-shaped rail, which comprises the following steps of:
s1, a movable rail 3 moves to one side of a fixed rail 4, and the movable rail 3 is in butt joint with the fixed rail 4;
s2, the controller controls the driving component 722 to drive the push rod 721 to move along the length direction of the movable track 3, the push arm 61 rotates under the pushing action of the push rod 721, the first blocking rod 62 rotates to a position along the length direction of the track, the end part of the movable track 3 is opened, the opening means that the end part of the movable track 3 is communicated with the end part of the fixed track 4 so that the shifting machine head 5 can pass through, and meanwhile, as the push rod 721 moves along the length direction of the movable track 3 and then is inserted into the guide hole 651 of the guide seat 65, the fixed track 4 and the movable track 3 are locked, and the locking means that the fixed track 4 and the movable track 3 cannot move relatively so that the shifting machine head 5 can pass through smoothly;
s3, simultaneously, the end part of the fixed rail 4 is opened and communicated with the movable rail 3, so that the shifting machine head 5 can move from the movable rail 3 to the fixed rail 4;
s4, the shifting machine head 5 moves from the movable track 3 to the fixed track 4;
s5, when the mobile machine head moves on the fixed track 4, the second sensor 712 and the first sensor 711 sense the mobile machine head 5 sequentially, and when the first sensor 711 senses the mobile machine head 5, the controller controls the driving assembly 722 to drive reversely;
s6, under the reverse driving action of the driving component 722, the push rod 721 is retracted, the push rod 721 is pulled out of the guide hole 651, the fixed rail 4 and the movable rail 3 are unlocked, the first blocking rod 62 rotates to a position along the width direction of the movable rail 3, the end of the movable rail 3 is closed, the end of the movable rail 3 is blocked by the first blocking rod 62, the shifting machine head 5 cannot slide out from the end of the movable rail 3, and meanwhile, the end of the fixed rail 4 is closed.
Specifically, in step S3, under the driving action of the driving component 722, the second gear 725 rotates, and under the action of the second gear 725, the second blocking rod 723 rotates to a position along the length of the fixed rail 4, at this time, the end of the fixed rail 4 is opened, where opening means that the end of the fixed rail 4 is communicated with the end of the movable rail 3, so that the displacing head 5 passes through.
Specifically, in step S6, the second gear 725 is reversely rotated by the reverse driving of the driving assembly 722, the second blocking lever 723 is rotated to a position along the width direction of the fixed rail 4 by the second gear 725, and the end of the fixed rail 4 is closed, which means that the end of the fixed rail 4 is blocked by the second blocking lever 723, and the shifter head 5 does not slip out from the end of the fixed rail 4.
Working principle: when the shifting head 5 needs to move from the fixed rail 4 to the movable rail 3, the shifting head 5 is close to the end of the fixed rail 4, the end of the fixed rail 4 is in a closed state, the shifting head 5 cannot pass, and after the movable rail 3 moves to be in the same line with the fixed rail 4, the third magnet 726 and the fourth magnet 727 attract each other to butt-lock the fixed rail 4 and the movable rail 3.
Meanwhile, the third sensor 713 senses the second magnet block and then generates a sensing signal, the third sensor 713 transmits the sensing signal to the controller, the controller controls the driving motor 7224 to start, under the action of the driving motor 7224, the worm 72233 rotates, the speed-adjusting gear 72231 rotates under the action of the worm 72233 and the worm wheel 72232, under the action of the speed-adjusting gear 72231, the first gear 7222 rotates, thereby driving the rack 7221 to move along the length direction of the fixed track 4 and the push rod 721 to move along the length direction of the fixed track 4 and the movable track 3, under the pushing action of the push rod 721, the push arm 61 rotates along the central line axis of the connecting rod 63 and the connecting rod 63 rotates along the central axis of the push rod, so that the first blocking rod 62 also rotates, when the first blocking rod 62 rotates to a position parallel to the length direction of the movable track 3, one end of the movable track 3, which is close to the fixed track 4, is opened.
Meanwhile, when the first gear 7222 rotates, the second gear 725 is driven by the first gear 7222, under the action of the second gear 725, the rotating shaft 724 rotates, so that the second blocking rod 723 rotates around one end of the second blocking rod 723 as a center point along the central line axis of the rotating shaft 724, the second blocking rod 723 rotates to a position along the length direction of the fixed rail 4, so that the end of the fixed rail 4 close to the movable rail 3 is opened, the shifting head 5 can smoothly move from the fixed rail 4 to the movable rail 3, when the shifting head 5 moves from the fixed rail 4 to the movable rail 3, the driving motor 7224 reverses, the push rod 721 moves towards a direction away from the movable rail 3, when the push rod 721 no longer has an abutting action on the push arm 61, the push arm 61 is subjected to torque brought by the spring under the action of the restoring force of the torsion spring 64, so as to twist to the initial position, the first blocking rod 62 is restored to a position along the width direction of the movable rail 3, and the movable rail 3 is locked and closed.
Meanwhile, due to the reverse rotation of the driving motor 7224, the first gear 7222 also reversely rotates, the second gear 725 reversely rotates under the action of the first gear 7222, and the rotating shaft 724 rotates under the action of the second gear 725, so that the second blocking rod 723 rotates along the central line axis of the rotating shaft 724 by taking one end of the second blocking rod 723 as a central point, and the second blocking rod 723 rotates to a position along the width direction of the fixed rail 4, so that the end of the fixed rail 4 close to the movable rail 3 is closed.
When the shifting head 5 needs to move from the movable rail 3 to the fixed rail 4, the movable rail 3 will be in butt joint with the fixed rail 4 first, and after the movable rail 3 moves to be in the same line with the fixed rail 4, the third magnet 726 and the fourth magnet 727 attract each other to butt-joint and lock the fixed rail 4 and the movable rail 3. Meanwhile, the third sensor 713 senses the second magnet block and then generates a sensing signal, the third sensor 713 transmits the sensing signal to the controller, the controller controls the driving motor 7224 to start, under the action of the driving motor 7224, the worm 72233 rotates, the speed-adjusting gear 72231 rotates under the action of the worm 72233 and the worm wheel 72232, under the action of the speed-adjusting gear 72231, the first gear 7222 rotates, thereby driving the rack 7221 to move along the length direction of the fixed track 4 and the push rod 721 to move along the length direction of the fixed track 4 and the movable track 3, under the pushing action of the push rod 721, the push arm 61 rotates along the central line axis of the connecting rod 63 and the connecting rod 63 rotates along the central axis of the push rod, so that the first blocking rod 62 also rotates, when the first blocking rod 62 rotates to a position parallel to the length direction of the movable track 3, one end of the movable track 3, which is close to the fixed track 4, is opened.
Meanwhile, since the second gear 725 is driven by the first gear 7222 when the first gear 7222 rotates, the rotating shaft 724 rotates under the action of the second gear 725, so that the second blocking rod 723 rotates along the central line axis of the rotating shaft 724 with one end of the second blocking rod 723 as a central point, the second blocking rod 723 rotates to a position along the length direction of the fixed rail 4, so that the end of the fixed rail 4 close to the movable rail 3 is opened, the shifting head 5 can smoothly move from the movable rail 3 to the fixed rail 4, after the shifting head 5 moves from the movable rail 3 to the fixed rail 4, the second inductor 712 senses the position of the shifting head 5 first and transmits a sensing signal to the controller, then the first inductor 711 also senses the position of the shifting head 5 and transmits the sensing signal to the controller, and after the shifting head 712 passes through the positions of the first inductor 711 and the second inductor, the controller controls the driving motor 7224 to rotate to a position along the width direction of the fixed rail 4, so that the end of the fixed rail 4 is closed, and simultaneously the first blocking rod 62 rotates to the width direction of the movable rail 3, thereby completing the closing of the end of the movable rail 4.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined as the scope of the claims.
Claims (3)
1. The utility model provides a change of track control method of H type rail, H type rail includes fixed track (4) and movable rail (3), fixed track (4) are fixed to be set up, movable rail (3) activity sets up, fixed track (4) and movable rail (3) parallel arrangement, its characterized in that: the H-shaped rail further comprises a rail locking mechanism (6) and a rail butting device (7), wherein the rail locking mechanism (6) is arranged at one end of the movable rail (3) to lock one end of the movable rail (3) so as to enable one end of the movable rail (3) to be closed, and the rail butting device (7) is arranged at one end of the fixed rail (4) close to the movable rail (3) so as to open or close one end of the fixed rail (4) close to the movable rail (3);
the track locking mechanism (6) comprises a pushing arm (61), a first blocking rod (62) and a connecting rod (63), wherein the pushing arm (61) is arranged on the upper side of the movable track (3), the first blocking rod (62) is arranged on the lower side of the movable track (3), the pushing arm (61) and the first blocking rod (62) are connected through the connecting rod (63), the first blocking rod (62) is arranged along the width direction of the movable track (3), the connecting rod (63) is arranged along the thickness direction of the track, two ends of the connecting rod (63) are fixedly connected with the pushing arm (61) and the first blocking rod (62) respectively, and the connecting rod (63) is rotationally connected with the movable track (3).
The track butt joint device (7) comprises a butt joint mechanism (72), the butt joint mechanism (72) is arranged on one side of a pushing arm (61), the butt joint mechanism (72) comprises a push rod (721), the push rod (721) is arranged along the length direction of a fixed track (4), one end of the push rod (721) is propped against the pushing arm (61), the push rod (721) is in sliding connection with the fixed track (4), and one end of the push rod (721) is provided with a driving assembly (722) for driving the push rod (721) to move along the length direction of a movable track (3);
the movable rail (3) is provided with a guide seat (65), the guide seat (65) is positioned on one side of the pushing arm (61) close to the fixed rail (4), the guide seat (65) is provided with a guide hole (651) penetrating through the guide seat (65), the guide hole (651) is arranged along the length direction of the movable rail (3), and the push rod (721) is inserted into the guide hole (651) and is in sliding fit with the guide hole (651);
the guide seat (65) plays a role in guiding the movement of the push rod (721) along the length direction of the movable track (3), meanwhile, after the fixed track (4) is in butt joint with the movable track (3), the push rod (721) is inserted into the guide seat (65), the guide seat (65) plays a role in limiting the push rod (721), and therefore the butt joint of the fixed track and the movable track is locked;
the track butt joint device (7) further comprises an induction recognition system (71), the induction recognition system (71) comprises a controller, a first inductor (711) and a second inductor (712), the first inductor (711) and the second inductor (712) are electrically connected with the controller, the driving assembly (722) is electrically connected with the controller, the first inductor (711) and the second inductor (712) are arranged along the length direction of the fixed track (4), the second inductor (712) is positioned on one side, close to the movable track (3), of the first inductor (711), and a first magnet block for carrying out signal induction with the first inductor (711) and the second inductor (712) is arranged on the shifting machine head (5);
the rail change control method comprises the following steps:
s1, a movable rail (3) moves to one side of a fixed rail (4), and the movable rail (3) is in butt joint with the fixed rail (4);
s2, a controller controls a driving assembly (722) to drive a push rod (721) to move along the length direction of a movable track (3), a push arm (61) rotates under the pushing action of the push rod (721), a first blocking rod (62) rotates to a position along the length direction of the track, the end part of the movable track (3) is opened, and meanwhile, the push rod (721) is locked with a guide hole (651) inserted into a guide seat (65) after moving along the length direction of the movable track (3);
s3, simultaneously, the end part of the fixed rail (4) is opened and communicated with the movable rail (3) so as to enable the shifting machine head (5) to move from the movable rail (3) to the fixed rail (4);
s4, the shifting machine head (5) moves from the movable track (3) to the fixed track (4);
s5, when the mobile machine head moves on the fixed track (4), the second sensor (712) and the first sensor (711) sense the mobile machine head (5) successively, and when the first sensor (711) senses the mobile machine head (5), the controller controls the driving component (722) to drive reversely;
s6, under the reverse driving action of the driving assembly (722), the push rod (721) retreats, the push rod (721) is pulled out of the guide hole (651), the fixed rail (4) is unlocked from the movable rail (3), the first blocking rod (62) rotates to a position along the width direction of the movable rail (3), the end part of the movable rail (3) is closed, and meanwhile, the end part of the fixed rail (4) is closed;
the track locking mechanism (6) further comprises a torsion spring (64), the torsion spring (64) is sleeved on the connecting rod (63), one end of the torsion spring (64) is fixedly connected with the movable track (3), and the other end of the torsion spring (64) is fixedly connected with the pushing arm (61);
the driving assembly (722) comprises a rack (7221), one end of the rack (7221) is fixedly connected with the push rod (721), the rack (7221) is arranged in parallel with the push rod (721), the rack (7221) is slidably connected with the fixed rail (4), the rack (7221) is movably arranged along the length direction of the movable rail (3), a first gear (7222) is arranged on one side of the rack (7221), the first gear (7222) is meshed with the rack (7221), a speed regulating mechanism (7223) is arranged on one side of the first gear (7222), the speed regulating mechanism (7223) is in transmission connection with the first gear (7222) to reduce or regulate the rotating speed of the first gear (7222), and a driving piece is in transmission connection with the speed regulating mechanism (7223).
The speed regulating mechanism (7223) comprises a speed regulating gear (72231), the speed regulating gear (72231) is positioned on one side of the first gear (7222), the speed regulating gear (72231) is meshed with the first gear (7222), a support is arranged on the fixed track (4), the speed regulating gear (72231) is rotationally connected with the support, a speed reducer is arranged at one end of a gear shaft of the speed regulating gear (72231), the speed reducer is in transmission connection with the speed regulating gear (72231), the driving piece is a driving motor (7224), and the driving motor (7224) is in transmission connection with the speed reducer;
the butt joint mechanism (72) further comprises a second blocking rod (723), the second blocking rod (723) is arranged below the fixed rail (4), the second blocking rod (723) is arranged along the width direction of the fixed rail (4), the height of the second blocking rod (723) is higher than that of the lower end face of the shifting machine head (5), one end of the second blocking rod (723) is fixedly connected with a rotating shaft (724), the rotating shaft (724) is arranged along the thickness direction of the fixed rail (4), one end of the rotating shaft (724) is provided with a second gear (725), the second gear (725) is meshed with the first gear (7222), and the second gear (725) is coaxially arranged with the rotating shaft (724);
the utility model discloses a fixed track, fixed track (4) are provided with third magnet (726) near the one end of movable track (3), the one end that movable track (3) is close to fixed track (4) is provided with fourth magnet (727), when fixed track (4) and movable track (3) are located same straight line, the line of the central point of third magnet (726) and fourth magnet (727) is parallel with the line of fixed track (4) and movable track (3), the magnetism of the relative face of third magnet (726) and fourth magnet (727) is mutually attracted.
2. The H-rail change control method according to claim 1, wherein: the induction identification system (71) further comprises a third inductor (713), the third inductor (713) is arranged on the fixed track (4), the third inductor (713) is located at one end, close to the movable track (3), of the fixed track (4), and a second magnet block (714) which is used for generating induction signals with the third inductor (713) is arranged at one end of the first blocking rod (62).
3. The H-rail change control method according to claim 1, wherein: be provided with first travel switch (8) and second travel switch (9) on fixed track (4), first travel switch (8) and second travel switch (9) are arranged along the length direction of fixed track (4) and are set up, second travel switch (9) are located one side that first travel switch (8) is close to movable rail (3), first travel switch (8) and second travel switch (9) all are connected with the controller electricity, fixed briquetting that is provided with on rack (7221) and triggers with first travel switch (8) and second travel switch (9).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111361277.3A CN114099253B (en) | 2021-11-17 | 2021-11-17 | Rail changing control method for H-shaped rail |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111361277.3A CN114099253B (en) | 2021-11-17 | 2021-11-17 | Rail changing control method for H-shaped rail |
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| CN114099253B true CN114099253B (en) | 2023-12-26 |
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| CN106176147A (en) * | 2016-08-25 | 2016-12-07 | 陕西艾可瑞医疗器械有限公司 | Rail safety transducer |
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| CN209172780U (en) * | 2018-06-04 | 2019-07-30 | 昆山福宏康复科技有限公司 | A kind of day rail shifting machine |
| CN213282500U (en) * | 2020-07-30 | 2021-05-28 | 鹰米精密机械南通有限公司 | Positioning device of sky rail track lapping mechanism |
| CN213865089U (en) * | 2021-07-06 | 2021-08-03 | 河南钰源智能装备有限公司 | Pin type positioning rail passing mechanism for crane |
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2021
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106176147A (en) * | 2016-08-25 | 2016-12-07 | 陕西艾可瑞医疗器械有限公司 | Rail safety transducer |
| CN208808923U (en) * | 2018-04-04 | 2019-05-03 | 美德远健领动（北京）医疗器械有限公司 | Track connection device for patient's transfer system |
| CN209172780U (en) * | 2018-06-04 | 2019-07-30 | 昆山福宏康复科技有限公司 | A kind of day rail shifting machine |
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| CN114099253A (en) | 2022-03-01 |
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