CN114147682A - Using method of rail hanging robot - Google Patents
Using method of rail hanging robot Download PDFInfo
- Publication number
- CN114147682A CN114147682A CN202111348644.6A CN202111348644A CN114147682A CN 114147682 A CN114147682 A CN 114147682A CN 202111348644 A CN202111348644 A CN 202111348644A CN 114147682 A CN114147682 A CN 114147682A
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- Prior art keywords
- limiting
- rail
- guide
- outer sleeve
- wheel set
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Abstract
The application relates to the technical field of robots, in particular to an operation method of a rail hanging robot. The use method of the rail hanging robot comprises the following steps: the body is hung on the guide rail, so that the limiting wheel is in rolling contact with the bottom surface of the guide groove, the walking gear is meshed with the rack, the sliding contact line is in floating electrical contact with the electric brush head, and the walking wheel set, the guide wheel set and the auxiliary wheel set are in rolling contact with the upper surface and the lower surface of the guide groove correspondingly; the power is supplied to the driving motor through the sliding contact wire, the driving motor drives the traveling gear to rotate, and the rail-hanging robot travels on the guide rail; the rail hanging robot walks to the position of equipment to be operated, and the position of the functional module is adjusted to a proper position to be operated through the lifting module; and the control function module operates the part to be operated of the equipment. The technical problems that the traditional rail-mounted robot is not stable enough in the advancing process, low in operation precision and easy to shake in the machine body are effectively solved.
Description
Technical Field
The application relates to the technical field of robots, in particular to a using method of a rail hanging robot.
Background
In some special places, the conventional land walking robot is not suitable for use, so that the rail hanging robot is required to be used, the stability and the operation accuracy of the rail hanging robot in the walking process are higher in requirements, and the conventional rail hanging robot is poor in stability and low in operation accuracy in the walking process and is easy to shake in the using process.
Disclosure of Invention
The embodiment of the application provides a use method of a rail-mounted robot, and the technical problems that a traditional rail-mounted robot is not stable enough in a traveling process, low in operation precision and easy to shake a machine body are solved at least.
In order to achieve the above object, the present application provides a method for using a rail-mounted robot, the rail-mounted robot travels on a guide rail to a device to be operated, and the device to be operated is operated, the guide rail is provided with guide grooves on both sides, the guide groove on one side is provided with a rack, the guide groove on the other side is provided with a sliding contact line, the rail-mounted robot comprises a robot body, the body is provided with a base, the base is connected with a lifting module, the base is provided with two suspension parts which are oppositely arranged, the suspension parts are provided with a driving mechanism and a guide mechanism, the driving mechanism comprises a traveling gear arranged on the suspension part on one side and a brush head arranged on the suspension part on the other side, the suspension parts are correspondingly provided with limiting wheels for limiting the traveling gear and the brush head, the base is provided with a driving motor, and the brush head is electrically connected with the driving motor, the driving motor is in transmission connection with the walking gear;
the guide mechanism comprises a walking wheel set, a guide wheel set and an auxiliary wheel set which are arranged on the suspension part and are in contact fit with the guide groove;
the lower end of the lifting module is provided with a functional module;
the use method of the rail hanging robot comprises the following steps:
firstly, hanging the body on a guide rail, enabling the limiting wheel to form rolling contact with the bottom surface of the guide groove, enabling the walking gear to be meshed with the rack, enabling the sliding contact line to form floating electrical contact with the electric brush head, and enabling the walking wheel set, the guide wheel set and the auxiliary wheel set to correspondingly form rolling contact with the upper surface/lower surface of the guide groove;
secondly, supplying power to the driving motor through the sliding contact wire, wherein the driving motor drives the walking gear to rotate, and the rail hanging robot walks on the guide rail;
step three, the rail hanging robot walks to the position of equipment to be operated, and the position of the functional module is adjusted to a proper position to be operated through a lifting module;
and step four, controlling the functional module to operate the part to be operated of the equipment.
In some embodiments, the lifting module comprises a telescopic push rod body and a telescopic driving part, the telescopic push rod body comprises a screw rod and a telescopic arm joint group, the telescopic driving part comprises a transmission motor and a transmission gear, the screw rod is in transmission connection with the transmission motor through the transmission gear, and the telescopic arm joint group is sleeved outside the screw rod and is in transmission connection with the screw rod.
In some of these embodiments, the telescopic arm section comprises an inner sleeve and an outer sleeve connected by a stop assembly.
In some embodiments, the limiting assembly comprises a limiting inner sleeve, a limiting outer sleeve and a limiting ring, an annular flange is arranged on the outer wall of the limiting inner sleeve, a containing groove for containing the annular flange is arranged on the inner wall of the limiting outer sleeve, and the limiting ring is fixedly arranged on the limiting outer sleeve and limits the limiting inner sleeve, so that the limiting inner sleeve and the limiting outer sleeve can only rotate relatively in the circumferential direction.
In some embodiments, one end of the inner sleeve and one end of the outer sleeve are connected through a limiting assembly, the outer sleeve is fixedly connected to the outer side of the limiting outer sleeve, and the inner sleeve is fixedly connected to the outer side of the limiting inner sleeve, so that the inner sleeve and the outer sleeve can cooperatively move in the axial direction and relatively rotate in the circumferential direction.
In some embodiments, the limiting wheel comprises a first limiting wheel and a second limiting wheel, the first limiting wheel and the electric brush head are arranged on the same side and are in rolling contact with the guide groove, and the axial direction of the first limiting wheel is perpendicular to the extending direction of the electric brush head to limit the contact distance between the electric brush head and the trolley line.
In some embodiments, the second limiting wheel is coaxially arranged with the walking gear and is in rolling contact with the guide groove, and the diameter of the second limiting wheel is larger than the root circle diameter of the walking gear and smaller than the top circle diameter of the walking gear.
In some of these embodiments, the drive mechanism is provided with one or more brush heads, each brush head having a separate resilient mechanism at its base.
In some embodiments, the guide wheel set and the auxiliary wheel set are provided with mounting members, the suspension portion is provided with mounting holes for inserting the mounting members, the mounting members are provided with blind holes, the opening direction is the direction of inserting the mounting holes, and the blind holes are internally provided with elastic mechanisms.
In some embodiments, the side surface of the mounting part is provided with a limiting lug, the guide wheel or the auxiliary wheel is arranged on the limiting lug, the mounting hole is provided with a second limiting groove matched with the limiting lug, the other side surface of the mounting part is provided with one or more first limiting grooves, and a limiting screw is correspondingly arranged around the mounting hole to be matched with the first limiting grooves.
According to the above, the beneficial effects of the present embodiment compared with the prior art are: the running gear and the rack are matched to provide driving, so that the operation positioning precision is greatly improved, the multiple sets of wheel sets with elastic mechanisms are arranged, the stability in the running process is greatly improved, and the limiting assembly is arranged in the telescopic arm section to prevent the machine body from shaking.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a block diagram of a conventional walking module implemented in the present application;
FIG. 2 is a schematic structural diagram of a driving mechanism according to an embodiment of the present application;
FIG. 3 is a partially disassembled schematic view of a drive mechanism according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a guiding mechanism according to an embodiment of the present application;
FIG. 5 is a partially disassembled schematic view of a guide mechanism according to an embodiment of the present application;
FIG. 6 is a partial cross-sectional view of a lift module according to an embodiment of the present application;
FIG. 7 is a schematic view of the stop assembly and the telescopic arm section according to the embodiment of the present disclosure;
FIG. 8 is a schematic cross-sectional view of a spacing assembly in accordance with an embodiment of the present application;
FIG. 9 is a schematic structural diagram of a position limiting assembly according to an embodiment of the present application;
FIG. 10 is a bottom plan view of a lift module according to an embodiment of the present application;
FIG. 11 is a cross-sectional view of a lift module according to an embodiment of the present application;
fig. 12 is a schematic overall structure diagram of the embodiment of the present application.
Description of reference numerals: 1, a walking module; 1.1 a base; 1.1.1 guide shaft; 1.1.2 slide rails; 2, lifting the module; 2.1 a telescopic driving part; 2.1.1 driving motor; 2.1.2 driving gear; 3 a hanging part; 3.1 installing holes; 3.1.1 second limit groove; 3.2 limiting screws; 4. a guide mechanism; 4.1 a guide wheel set; 4.1.1 movable guide wheel group; 4.1.2 fixing a guide wheel set; 4.2 a walking wheel set; 4.3 auxiliary wheel set; 4.3.1 mounting pieces; 4.3.1.1 a first limiting groove; 4.3.1.2 limit bump; 5 a drive mechanism; 5.1 a walking gear; 5.2 first limiting wheel; 5.3 a second limiting wheel; 5.4 electric brush head; 6, a telescopic push rod; 6.1 lead screw; 6.1.1 spring wire; 6.1.2 protective sleeves; 6.1.3 limiting ends; 6.1.3.1 limiting the port; 6.2 telescopic arm sections; 6.2.1 a first telescopic arm section; 6.2.1.1 a first outer sleeve; 6.2.1.2 first inner sleeve; 6.2.2 second telescopic arm section; 6.2.2.1 a second outer sleeve; 6.2.2.2 a second inner sleeve; 6.2.3 stabilizing sleeves; 6.2.4 guide grooves; 6.2.5 a guide bar; 7, a limiting component; 7.1 limiting outer sleeve; 7.2 limiting the inner sleeve; 7.2.1 annular flange; 7.3 a limit ring; 8 functional modules.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference herein to "a plurality" means greater than or equal to two. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.
The application provides a using method of a rail hanging robot, the rail hanging robot walks to equipment to be operated on a guide rail and operates the equipment to be operated, two sides of the guide rail are provided with guide grooves, the guide groove on one side is provided with a rack, the guide groove on the other side is provided with a sliding contact line, the rail hanging robot comprises a robot body, the robot body is provided with a base, the base is connected with a lifting module, the base is provided with two oppositely arranged hanging parts, the hanging parts are provided with a driving mechanism and a guide mechanism, the driving mechanism comprises a walking gear arranged on the hanging part at one side and an electric brush head arranged on the hanging part at the other side, the suspension part is correspondingly provided with a limiting wheel for limiting the walking gear and the electric brush head, the base is provided with a driving motor, the electric brush head is electrically connected with the driving motor, and the driving motor is in transmission connection with the walking gear;
the guide mechanism comprises a walking wheel set, a guide wheel set and an auxiliary wheel set which are arranged on the suspension part and are in contact fit with the guide groove;
the lower end of the lifting module is provided with a functional module;
the use method of the rail hanging robot comprises the following steps:
firstly, hanging the body on a guide rail, enabling the limiting wheel to form rolling contact with the bottom surface of the guide groove, enabling the walking gear to be meshed with the rack, enabling the sliding contact line to form floating electrical contact with the electric brush head, and enabling the walking wheel set, the guide wheel set and the auxiliary wheel set to correspondingly form rolling contact with the upper surface/lower surface of the guide groove;
secondly, supplying power to the driving motor through the sliding contact wire, wherein the driving motor drives the walking gear to rotate, and the rail hanging robot walks on the guide rail;
step three, the rail hanging robot walks to the position of equipment to be operated, and the position of the functional module is adjusted to a proper position to be operated through a lifting module;
and step four, controlling the functional module to operate the part to be operated of the equipment.
The embodiment is shown in figures 1-12, a rail hanging robot, which comprises a robot body, wherein a walking module 1 is arranged on the body, a base 1.1 is arranged at the lower end of the walking module 1, a lifting module 2 is connected to the lower end of the base 1.1, and a functional module 8 is arranged at the lower end of the lifting module 2.
Base 1.1 upper end both sides are provided with a set of or multiunit linkage portion 3 respectively, linkage portion 3 sets up to an organic whole or split type structure is connected with base 1.1 through rotatable guiding axle 1.1.1, linkage portion 3 still can be through slide rail 1.1.2 and base 1.1 sliding connection, linkage portion 3 sets up to split type structure this moment, linkage portion 3 of both sides passes through elastic mechanism and connects, provide pulling force or thrust to linkage portion 3 of both sides, also can keep a spacing unchangeable relatively when making linkage portion 3 of both sides receive external force.
The suspension part 3 and the base 1.1 form a suspension area capable of being suspended on the guide rail, the suspension area is used for accommodating the guide rail and the walking module 1, the walking module 1 comprises a driving mechanism 5 and a guiding mechanism 4, and the driving mechanism 5 and the guiding mechanism 4 are matched to complete the walking function of the robot.
Wherein actuating mechanism 5 is provided with running gear, gets electric mechanism and stop gear, gets electric mechanism and running gear electric connection, gets electric mechanism and acquires electric power supply and give running gear, and running gear provides power for the robot, and stop gear plays limiting displacement to running gear and getting electric mechanism, gets electric mechanism and stop gear and can set up in linkage 3 homonymy or offside. Running gear is provided with running gear 5.1 and driving motor, it is provided with brush head 5.4 to get the electric mechanism, stop gear is provided with spacing wheelset.
The suspension part 3 is provided with a guide mechanism 4 and a driving mechanism 5 which are in contact fit with a guide groove on the side part of the guide rail, wherein the traveling wheel set 4.2 is axially arranged perpendicular to the suspension part 3 and is in contact fit with the lower part of the guide groove; the auxiliary wheel set 4.3 is axially vertical to the suspension part 3 and is in contact fit with the upper part of the guide groove; the guide wheel set 4.1 is axially arranged in parallel with the suspension part 3 and is in contact fit with the side part of the guide groove. The guide way still is provided with wiping line and rack along guide rail extending direction, the wiping line gets the electricity with the cooperation of brush head 5.4 contact, rack and walking gear 5.1 meshing, wiping line and rack can set up respectively on guide way roof or diapire or lateral wall, and actuating mechanism 5 uses rack and walking gear 5.1's combination can accurate effectual control hang the rail robot in the drive in-process to the assurance of driving distance to and the phenomenon that the combination that uses walking gear 5.1 and rack can not appear skidding in the drive process.
The electric brush head 5.4 can be one or more electric brush heads 5.4, and the bottom of each electric brush head 5.4 is independently provided with an elastic part, such as a compression spring, so that the electric brush head 5.4 can be in floating contact or in electric contact with a sliding contact line and is electrically connected with a driving motor. The limiting wheel set comprises a first limiting wheel 5.2 and a second limiting wheel 5.3. First spacing round 5.2 sets up in electric brush head 5.4 place suspension portion 3 and with the guide way roll contact, its axial and electric brush head 5.4 direction of stretching out are perpendicular, the distance that first spacing round 5.2 stretches out from suspension portion 3 is less than the distance that electric brush head 5.4 stretches out to when guaranteeing electric brush head 5.4 and wiping line floating contact, electric brush head 5.4 bottom elastomeric element can not lead to the damage by too compression. The second limiting wheel 5.3 is coaxial with the traveling gear 5.1 and is in rolling contact with the guide groove, the diameter of the second limiting wheel 5.3 is larger than the diameter of the root circle of the traveling gear 5.1 and smaller than the diameter of the addendum circle of the traveling gear 5.1, the relative distance between the traveling gear 5.1 and the rack in meshing is restricted, and damage caused by overlarge pressure between the traveling gear 5.1 and the rack is prevented.
Still be provided with mounting hole 3.1 on the portion of hanging 3, activity direction wheelset 4.1.1 and auxiliary wheel group 4.3 all are provided with installed part 4.3.1 for with the mounting hole 3.1 cooperation, installed part 4.3.1 is provided with a blind hole, and the concrete appearance is provided with the opening for the one side of inserting mounting hole 3.1, and its inside is hollow structure, is provided with elastic mechanism in the installed part 4.3.1 blind hole, and the one side that installed part 4.3.1 inserted installation hole 3.1 is the bottom surface, and the one side of exposing from mounting hole 3.1 is the front, and the remaining face is the side, installed part 4.3.1 side is provided with spacing lug 4.3.1.2, and leading wheel or auxiliary wheel setting are on spacing lug 4.3.1.2, and the other sides of installed part 4.3.1 are provided with one or more first spacing recess 4.3.1.1. The mounting hole 3.1 is provided with a second limiting groove 3.1.1 matched with the limiting bump 4.3.1.2 to limit the movement amplitude of the mounting piece 4.3.1 to the mounting hole 3.1; and a limiting screw 3.2 matched with the first limiting groove 4.3.1.1 is arranged around the mounting hole 3.1 and used for limiting the movement amplitude of the mounting piece 4.3.1 to the outside of the mounting hole 3.1.
Lifting module 2 is a telescoping device, specifically can be a telescopic push rod, telescopic push rod includes flexible drive division 2.1 and telescopic push rod body 6, and telescopic push rod body 6 includes lead screw 6.1 and cup joints at the flexible arm festival group 6.2 in the lead screw 6.1 outside, and flexible drive division 2.1 includes driving motor 2.1.1 and drive gear 2.1.2, and driving motor 2.1.1 drives the lead screw 6.1 rotation through drive gear 2.1.2.
The telescopic arm section group 6.2 is at least two groups of telescopic arm sections which at least comprise a first telescopic arm section 6.2.1 and a second telescopic arm section 6.2.2. The first telescopic arm section 6.2.1 comprises a first inner sleeve 6.2.1.2 and a first outer sleeve 6.2.1.1, the second telescopic arm section 6.2.2 comprises a second inner sleeve 6.2.2.2 and a second outer sleeve 6.2.2.1, the inner sleeves are mutually sleeved, the outer sleeves are mutually sleeved, and the outer sleeves are sleeved outside the inner sleeves. An accommodating space for accommodating the second telescopic arm section 6.2.2 is formed in the first telescopic arm section 6.2.1 consisting of the first inner sleeve 6.2.1.2 and the first outer sleeve 6.2.1.1, and the like.
Specifically, the first inner sleeve 6.2.1.2 is sleeved outside the second inner sleeve 6.2.2.2, the second inner sleeve 6.2.2.2 is sleeved outside the third inner sleeve, and so on; or the first inner sleeve 6.2.1.2 is sleeved on the inner side of the second inner sleeve 6.2.2.2, the second inner sleeve 6.2.2.2 is sleeved on the inner side of the third inner sleeve, and the like; the first outer sleeve 6.2.1.1 is sleeved outside the second outer sleeve 6.2.2.1, the second outer sleeve 6.2.2.1 is sleeved outside the third outer sleeve, and the rest is done in the same way; or the first outer sleeve 6.2.1.1 is sleeved at the inner side of the second outer sleeve 6.2.2.1, the second outer sleeve 6.2.2.1 is sleeved at the outer side of the third inner sleeve, and the like.
The telescopic arm section 6.2 is also internally provided with a limiting assembly 7, the limiting assembly 7 comprises a limiting inner sleeve 7.2, a limiting outer sleeve 7.1 and a limiting ring 7.3, the outer wall of the limiting inner sleeve 7.2 is provided with an annular flange 7.2.1, the inner wall of the limiting outer sleeve 7.1 is provided with a containing groove for containing the annular flange, the limiting outer sleeve 7.1 is at least provided with an opening of which one end can contain the annular flange, the limiting inner sleeve 7.2 is sleeved inside the limiting outer sleeve 7.1 through the opening, the annular flange 7.2.1 is limited by the containing groove, so that the limiting inner sleeve 7.2 cannot continuously enter the limiting outer sleeve 7.1, the limiting ring 7.3 is fixedly arranged on the opening of one end, entering the limiting outer sleeve 7.1, of the limiting inner sleeve 7.2, the inner diameter of the limiting ring 7.3 is smaller than the outer diameter of the annular flange 7.2.1, and the limiting ring 7.3 and the containing groove of the limiting outer sleeve 7.1 are matched to limit the annular flange 7.2.1 to limit the limiting ring 7.1. The combined limiting assembly 7 is integrally similar to a bearing structure, and the limiting inner sleeve 7.2 and the limiting outer sleeve 7.1 can rotate circumferentially relative to each other but cannot move axially relative to each other and can only move axially in a coordinated manner.
The inner sleeve and the outer sleeve are connected through a limiting assembly 7, specifically, the outer sleeve is fixedly connected to the outer side of the limiting outer sleeve 7.1, meanwhile, a guide groove 6.2.4 matched with a guide strip 6.2.5 arranged on the inner wall of the outer sleeve is also formed in the outer side of the limiting outer sleeve 7.1, and the part below the annular flange 7.2.1 of the limiting inner sleeve is fixedly connected inside the inner sleeve, so that one end of the limiting inner sleeve 7.2 is fixedly connected with the inner sleeve and is arranged between the outer side of the limiting inner sleeve 7.2 and the inner side of the limiting outer sleeve 7.1, therefore, the inner sleeve and the outer sleeve are relatively positioned in the axial direction and relatively rotate in the circumferential direction, specifically, the inner sleeve and the outer sleeve cooperatively perform telescopic motion, and the inner sleeve performs rotary motion relative to the outer sleeve.
One or more guide grooves 6.2.4 are axially arranged on the outer wall of the outer sleeve, guide strips 6.2.5 are correspondingly arranged on the inner wall of the outer sleeve and at the positions of the guide grooves 6.2.4, and when the outer sleeves are mutually sleeved, the limiting is realized through the matching of the guide grooves 6.2.4 and the guide strips 6.2.5, so that the circumferential movement of the mutually sleeved outer sleeves is relatively fixed. Specifically, a first guide groove is axially arranged at the outer side of the first outer sleeve 6.2.1.1, and a first guide strip is arranged at the inner side of the first outer sleeve 6.2.1.1 corresponding to the first guide groove; a second guide groove is axially formed in the outer side of the second outer sleeve 6.2.2.1, and a second guide strip is arranged on the inner side of the second outer sleeve 6.2.2.1 corresponding to the second guide groove; the first guide strips are accommodated in the second guide grooves and are in sliding fit with each other, so that the circumferential movement between the first outer sleeve 6.2.1.1 and the second outer sleeve 6.2.2.1 is limited, and the first outer sleeve and the second outer sleeve can only move axially, and so on.
The inner sleeve is sleeved outside the screw rod 6.1, an external thread is arranged on the screw rod 6.1, an internal thread is arranged on the inner wall of the inner sleeve, an external thread is arranged on the outer wall of the inner sleeve, the screw rod 6.1 is in threaded connection with the inner sleeve, and the first inner sleeve 6.2.1.2 is in threaded connection with the second inner sleeve 6.2.2.2. Specifically, the outer wall of the first inner sleeve 6.2.1.2 is provided with a first external thread, the inner wall of the first inner sleeve 6.2.1.2 is provided with a first internal thread, the outer wall of the second inner sleeve 6.2.2.2 is provided with a second external thread, the inner wall of the second inner sleeve 6.2.2.2 is provided with a second internal thread, the first external thread is connected with the second internal thread in a matched mode, and the like. When the transmission motor 2.1.1 drives the screw rod 6.1 to rotate through the transmission gear 2.1.2, correspondingly, the screw rod 6.1 can rotate relative to the first inner sleeve 6.2.1.2, the first inner sleeve 6.2.1.2 can move up and down according to different rotation directions due to the arrangement of the threads, when the first inner sleeve 6.2.1.2 moves to reach the limit, the first inner sleeve 6.2.1.2 can be fixed relative to the screw rod 6.1, the screw rod 6.1 drives the first inner sleeve 6.2.1.2 to rotate in a coordinated manner, so that the second inner sleeve 6.2.2.2 sleeved with the first inner sleeve 6.2.1.2 can move, and the rest can be done in the same manner.
Lead screw 6.1 sets up to hollow structure, and inside is provided with spring wire 6.1.1, has cup jointed protective case 6.1.2 in the spring wire 6.1.1 outside and lead screw 6.1 is inboard, and protective case 6.1.2 can protect spring wire 6.1.1, and protective case 6.1.2 can effectively prevent spring wire 6.1.1 to tie a knot when spring wire 6.1.1 is flexible. The lower end of the protective sleeve 6.1.2 is fixedly connected with a limiting end 6.1.3, the limiting end 6.1.3 is provided with a limiting port 6.1.3.1, the diameter of the limiting port 6.1.3.1 is larger than the wire diameter of the spring wire 6.1.1 and smaller than the outer diameter of the spring wire 6.1.1, so that the spring wire 6.1.1 is led out from the limiting port 6.1.3.1, and the spring wire 6.1.1 is prevented from falling out from the limiting end 6.1.3 integrally. The limiting end 6.1.3 is fixedly connected to the bottom of the second outer sleeve 6.2.2.1, specifically, the limiting end 6.1.3 is fixedly connected to the bottom of the outer sleeve of the tail-end telescopic arm section, and the limiting end 6.1.3 moves along with the connected outer sleeve in a coordinated manner and drives the protective sleeve to move together.
In order to ensure that the whole stability of the telescopic device is better and the shaking is not easy to occur in the telescopic process, the bottom parts of each section of outer sleeve and inner sleeve are respectively provided with a stabilizing sleeve 6.2.3, so that the distance between the sleeves which are mutually sleeved is reduced.
The protective sleeve and the sleeve can be made of plastics, and preferably, the protective sleeve and the sleeve can also be made of carbon fiber materials.
2 lower extremes of lifting module can be provided with functional module 8, like response camera, intelligent cloud platform, terminal instrument etc. hang the rail robot accessible and carry on different functional module and accomplish different functions.
It should be understood by those skilled in the art that various features of the above-described embodiments can be combined in any combination, and for the sake of brevity, all possible combinations of features in the above-described embodiments are not described in detail, but rather, all combinations of features which are not inconsistent with each other should be construed as being within the scope of the present disclosure.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The utility model provides a use method of rail-mounted robot, rail-mounted robot is through walking to treating operating equipment on a guide rail, and the department treats operating equipment and operates, the guide rail both sides are equipped with the guide way, and the guide way of one side is equipped with the rack, and the guide way of opposite side is equipped with wiping line, its characterized in that: the rail-mounted robot comprises a robot body, wherein the body is provided with a base, the base is connected with a lifting module, the base is provided with two oppositely arranged suspension parts, the suspension parts are provided with a driving mechanism and a guide mechanism, the driving mechanism comprises a traveling gear arranged on the suspension part at one side and an electric brush head arranged on the suspension part at the other side, the suspension parts are correspondingly provided with limiting wheels for limiting the traveling gear and the electric brush head, the base is provided with a driving motor, the electric brush head is electrically connected with the driving motor, and the driving motor is in transmission connection with the traveling gear;
the guide mechanism comprises a walking wheel set, a guide wheel set and an auxiliary wheel set which are arranged on the suspension part and are in contact fit with the guide groove;
the lower end of the lifting module is provided with a functional module;
the use method of the rail hanging robot comprises the following steps:
firstly, hanging the body on a guide rail, enabling the limiting wheel to form rolling contact with the bottom surface of the guide groove, enabling the walking gear to be meshed with the rack, enabling the sliding contact line to form floating electrical contact with the electric brush head, and enabling the walking wheel set, the guide wheel set and the auxiliary wheel set to correspondingly form rolling contact with the upper surface/lower surface of the guide groove;
secondly, supplying power to the driving motor through the sliding contact wire, wherein the driving motor drives the walking gear to rotate, and the rail hanging robot walks on the guide rail;
step three, the rail hanging robot walks to the position of equipment to be operated, and the position of the functional module is adjusted to a proper position to be operated through a lifting module;
and step four, controlling the functional module to operate the part to be operated of the equipment.
2. Use of a rail-mounted robot according to claim 1, characterized in that: the lifting module comprises a telescopic push rod body and a telescopic driving portion, the telescopic push rod body comprises a screw rod and a telescopic arm joint group, the telescopic driving portion comprises a transmission motor and a transmission gear, the screw rod is in transmission connection with the transmission motor through the transmission gear, and the telescopic arm joint group is sleeved outside the screw rod and is in transmission connection with the screw rod.
3. Use of a rail-mounted robot according to claim 2, characterized in that: the telescopic arm section comprises an inner sleeve and an outer sleeve, and the inner sleeve and the outer sleeve are connected through a limiting assembly.
4. Use of a rail-mounted robot according to claim 3, characterized in that: the limiting assembly comprises a limiting inner sleeve, a limiting outer sleeve and a limiting ring, an annular flange is arranged on the outer wall of the limiting inner sleeve, a containing groove for containing the annular flange is formed in the inner wall of the limiting outer sleeve, and the limiting ring is fixedly arranged on the limiting outer sleeve to limit the limiting inner sleeve, so that the limiting inner sleeve and the limiting outer sleeve can only relatively rotate in the circumferential direction.
5. Use of a rail-mounted robot according to claim 4, characterized in that: the one end of inner skleeve and outer sleeve is passed through spacing subassembly and is connected, outer sleeve fixed connection be in the spacing outer tube outside, inner skleeve fixed connection is in the spacing inner skleeve outside, makes inner skleeve and outer sleeve in the axial concerted movement, rotates in the circumference relatively.
6. Use of a rail-mounted robot according to claim 1, characterized in that: the limiting wheel comprises a first limiting wheel and a second limiting wheel, the first limiting wheel and the electric brush head are arranged on the same side and are in rolling contact with the guide groove, and the axial direction of the first limiting wheel is perpendicular to the extending direction of the electric brush head to limit the contact distance between the electric brush head and the sliding contact line.
7. Use of a rail-mounted robot according to claim 6, characterized in that: the second limiting wheel is coaxial with the traveling gear and is in rolling contact with the guide groove, and the diameter of the second limiting wheel is larger than the diameter of the root circle of the traveling gear and smaller than the diameter of the top circle of the traveling gear.
8. Use of a rail-mounted robot according to claim 1, characterized in that: the driving mechanism is provided with one or more electric brush heads, and the bottom of each electric brush head is provided with an independent elastic mechanism.
9. Use of a rail-mounted robot according to claim 1, characterized in that: the guide wheel set and the auxiliary wheel set are provided with installation pieces, the hanging portion is provided with an installation hole for inserting the installation pieces, the installation pieces are provided with blind holes, the opening direction is the direction for inserting the installation openings, and elastic mechanisms are arranged in the blind holes.
10. Use of a rail-mounted robot according to claim 9, characterized in that: the side of the mounting part is provided with a limiting convex block, the guide wheel or the auxiliary wheel is arranged on the limiting convex block, the mounting hole is provided with a second limiting groove matched with the limiting convex block, the rest sides of the mounting part are provided with one or more first limiting grooves, and limiting screws are correspondingly arranged around the mounting hole and matched with the first limiting grooves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111348644.6A CN114147682A (en) | 2021-11-15 | 2021-11-15 | Using method of rail hanging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111348644.6A CN114147682A (en) | 2021-11-15 | 2021-11-15 | Using method of rail hanging robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114147682A true CN114147682A (en) | 2022-03-08 |
Family
ID=80459932
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111348644.6A Pending CN114147682A (en) | 2021-11-15 | 2021-11-15 | Using method of rail hanging robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114147682A (en) |
Citations (5)
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|---|---|---|---|---|
| CN106512266A (en) * | 2016-10-27 | 2017-03-22 | 中国矿业大学 | Hanging rail type fire controlling and routing inspection robot |
| CN206802027U (en) * | 2017-06-14 | 2017-12-26 | 亿嘉和科技股份有限公司 | A kind of spring wire stabilizing mechanism |
| CN107959254A (en) * | 2018-01-04 | 2018-04-24 | 杭州申昊科技股份有限公司 | One kind hangs rail intelligent inspection robot |
| CN208100361U (en) * | 2018-03-27 | 2018-11-16 | 湖南阳光电力科技有限公司 | Track intelligent robot walking mechanism and mating track |
| CN111571564A (en) * | 2020-06-16 | 2020-08-25 | 福建省海峡智汇科技有限公司 | A hang rail robot for patrolling and examining |
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2021
- 2021-11-15 CN CN202111348644.6A patent/CN114147682A/en active Pending
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| CN106512266A (en) * | 2016-10-27 | 2017-03-22 | 中国矿业大学 | Hanging rail type fire controlling and routing inspection robot |
| CN206802027U (en) * | 2017-06-14 | 2017-12-26 | 亿嘉和科技股份有限公司 | A kind of spring wire stabilizing mechanism |
| CN107959254A (en) * | 2018-01-04 | 2018-04-24 | 杭州申昊科技股份有限公司 | One kind hangs rail intelligent inspection robot |
| CN208100361U (en) * | 2018-03-27 | 2018-11-16 | 湖南阳光电力科技有限公司 | Track intelligent robot walking mechanism and mating track |
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