CN114147683A - Telescopic rail hanging robot - Google Patents
Telescopic rail hanging robot Download PDFInfo
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- CN114147683A CN114147683A CN202111350692.9A CN202111350692A CN114147683A CN 114147683 A CN114147683 A CN 114147683A CN 202111350692 A CN202111350692 A CN 202111350692A CN 114147683 A CN114147683 A CN 114147683A
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- sleeve
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- outer sleeve
- limiting
- inner sleeve
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- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- 230000000087 stabilizing effect Effects 0.000 claims description 6
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- 239000011435 rock Substances 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 9
- 239000000725 suspension Substances 0.000 description 9
- 230000001681 protective effect Effects 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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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
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application relates to the technical field of robots, in particular to a telescopic rail hanging robot, which comprises a robot body, wherein a walking module, a base and a lifting module are arranged on the robot body, and the walking module is arranged on the base and comprises a driving mechanism and a guide mechanism; the driving mechanism comprises an electric brush head, a driving motor and a walking gear, and the guide mechanism comprises a walking wheel set, a guide wheel set and an auxiliary wheel set; the lifting module comprises a telescopic driving part and a telescopic push rod body, the telescopic push rod body comprises a screw rod and at least two groups of telescopic arm joints, the telescopic arm joints wrap an inner sleeve and an outer sleeve and are connected through a limiting assembly, the telescopic driving part comprises a transmission motor and a transmission gear, the transmission motor drives the screw rod to rotate through the transmission gear, and the inner sleeve is sleeved on the screw rod in a threaded manner and moves relative to the screw rod; the lower end of the lifting module is provided with a functional module. The application has effectively solved current telescopic machanism and has not been firm when using, and the sleeve takes place to rotate and the technical problem who rocks.
Description
Technical Field
The application relates to the technical field of robots, in particular to a telescopic rail hanging robot.
Background
Traditional string rail robot that has telescopic machanism is in the use, and telescopic machanism is not firm, takes place to rock often, and at flexible in-process, telescopic machanism's outer sleeve can take place to rotate, influences the stability of robot, and the result of use is not good.
Disclosure of Invention
The embodiment of the application provides a telescopic hangs rail robot in order to solve at least among the correlation technique rotation and the use that the outer sleeve produced when robot telescopic machanism stretches out or retracts, flexible arm festival is unstable, the problem of rocking appears.
In order to achieve the purpose, the telescopic rail hanging robot comprises a robot body, wherein a walking module is arranged on the robot body, the lower end of the walking module is connected with a lifting module through a base, the walking module comprises a driving mechanism and a guiding mechanism, and the driving mechanism and the guiding mechanism are arranged on hanging parts on two sides of the base; the driving mechanism comprises an electric brush head, a driving motor electrically connected with the electric brush head and a walking gear in transmission connection with the driving motor, and the guide mechanism comprises a walking wheel set, a guide wheel set and an auxiliary wheel set; the lifting module comprises a telescopic driving part and a telescopic push rod body, the telescopic push rod body comprises a screw rod and a telescopic arm joint group, the telescopic arm joint group comprises at least two groups of telescopic arm joints which are mutually sleeved, the telescopic arm joints comprise an inner sleeve and an outer sleeve, the inner sleeve and the outer sleeve are connected through a limiting assembly, so that the inner sleeve and the outer sleeve move in a coordinated manner in the axial direction and rotate relatively in the circumferential direction, the telescopic driving part comprises a transmission motor and a transmission gear, the transmission motor drives the screw rod to rotate through the transmission gear, and the inner sleeve is sleeved on the screw rod in a threaded manner and moves relatively with the screw rod; the lower end of the lifting module is provided with a functional module.
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.
In some of these embodiments, the inner sleeve is sleeved between a position-limiting inner sleeve and a position-limiting outer sleeve, the inner sleeve having a diameter smaller than the diameter of the annular flange.
In some embodiments, one or more guide grooves are axially formed in the outer side of the side wall of the outer sleeve, and guide strips corresponding to the positions of the guide grooves are axially formed in the inner side of the side wall of the outer sleeve.
In some embodiments, the telescopic arm section group comprises a first telescopic arm section and a second telescopic arm section, the first telescopic arm section comprises a first outer sleeve and a first inner sleeve, the second telescopic arm section comprises a second outer sleeve and a second inner sleeve, the first inner sleeve and the second inner sleeve are in threaded connection, and the first outer sleeve and the second outer sleeve are sleeved.
In some embodiments, a first guide groove is axially formed in the outer side of the side wall of the first outer sleeve, a first guide strip corresponding to the position of the guide groove is axially arranged in the inner side of the side wall of the first outer sleeve, a second guide groove matched with the first guide strip is axially formed in the outer side of the side wall of the second outer sleeve, and a second guide strip matched with the third guide groove is axially arranged in the inner side of the side wall of the second outer sleeve.
In some embodiments, the first inner sleeve is provided with an internal thread inside, the first inner sleeve is provided with an external thread outside, the second inner sleeve is provided with an internal thread inside, the second inner sleeve is provided with an external thread outside, the screw rod is provided with an external thread, the first inner sleeve is sleeved outside the screw rod and connected through a thread, and the second inner sleeve is sleeved outside the first inner sleeve and connected through a thread.
In some of the embodiments, the bottom of the inner sleeve and the outer sleeve are provided with a stabilizing sleeve.
In some of these embodiments, the inner sleeve, outer sleeve and stabilizing sleeve are made of carbon fiber material.
According to the above, the beneficial effects of the present embodiment compared with the prior art are: improve prior art, set up spacing subassembly in the telescopic boom section of the telescopic machanism of rail hanging robot, set up the guide way on the outer sleeve lateral wall, play spacing and guide effect, make flexible push rod can not take place to rotate and rock when flexible, still set up firm cover simultaneously, reduce the gap between the telescopic boom section, make the telescopic boom section more stable when using.
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 telescopic rail hanging robot which comprises a robot body, wherein a walking module is arranged on the body, the lower end of the walking module is connected with a lifting module through a base, the walking module comprises a driving mechanism and a guiding mechanism, and the driving mechanism and the guiding mechanism are arranged on hanging parts on two sides of the base; the driving mechanism comprises an electric brush head, a driving motor electrically connected with the electric brush head and a walking gear in transmission connection with the driving motor, and the guide mechanism comprises a walking wheel set, a guide wheel set and an auxiliary wheel set; the lifting module comprises a telescopic driving part and a telescopic push rod body, the telescopic push rod body comprises a screw rod and a telescopic arm joint group, the telescopic arm joint group comprises at least two groups of telescopic arm joints which are mutually sleeved, the telescopic arm joints comprise an inner sleeve and an outer sleeve, the inner sleeve and the outer sleeve are connected through a limiting assembly, so that the inner sleeve and the outer sleeve move in a coordinated manner in the axial direction and rotate relatively in the circumferential direction, the telescopic driving part comprises a transmission motor and a transmission gear, the transmission motor drives the screw rod to rotate through the transmission gear, and the inner sleeve is sleeved on the screw rod in a threaded manner and moves relatively with the screw rod; the lower end of the lifting module is provided with a functional module.
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 rail robot is hung to telescopic, includes the robot body, its characterized in that: the body is provided with a walking module, the lower end of the walking module is connected with a lifting module through a base, the walking module comprises a driving mechanism and a guiding mechanism, and the driving mechanism and the guiding mechanism are arranged on hanging parts on two sides of the base;
the driving mechanism comprises an electric brush head, a driving motor electrically connected with the electric brush head and a walking gear in transmission connection with the driving motor, and the guide mechanism comprises a walking wheel set, a guide wheel set and an auxiliary wheel set;
the lifting module comprises a telescopic driving part and a telescopic push rod body, the telescopic push rod body comprises a screw rod and a telescopic arm joint group, the telescopic arm joint group comprises at least two groups of telescopic arm joints which are mutually sleeved, the telescopic arm joints comprise an inner sleeve and an outer sleeve, the inner sleeve and the outer sleeve are connected through a limiting assembly, so that the inner sleeve and the outer sleeve move in a coordinated manner in the axial direction and rotate relatively in the circumferential direction, the telescopic driving part comprises a transmission motor and a transmission gear, the transmission motor drives the screw rod to rotate through the transmission gear, and the inner sleeve is sleeved on the screw rod in a threaded manner and moves relatively with the screw rod;
the lower end of the lifting module is provided with a functional module.
2. The telescopic rail-hanging robot of claim 1, wherein: 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.
3. The telescopic rail-hanging robot of claim 2, wherein: the one end of inner skleeve and outer sleeve is passed through spacing subassembly and is connected, the outer sleeve fixed connection be in the spacing outer tube outside, inner skleeve fixed connection is in the spacing inner skleeve outside.
4. The telescopic rail-hanging robot of claim 3, wherein: the inner sleeve is sleeved between the limiting inner sleeve and the limiting outer sleeve, and the diameter of the inner sleeve is smaller than that of the annular flange.
5. The telescopic rail-hanging robot of claim 1, wherein: one or more guide grooves are axially formed in the outer side of the side wall of the outer sleeve, and guide strips corresponding to the guide grooves are axially arranged on the inner side of the side wall of the outer sleeve.
6. The telescopic rail-hanging robot of claim 1, wherein: the flexible arm festival group includes the flexible arm festival of first flexible arm festival and second, and first flexible arm festival includes first outer sleeve and first inner skleeve, and the flexible arm festival of second includes second outer sleeve and second inner skleeve, first inner skleeve and second inner skleeve threaded connection, first outer sleeve and second outer sleeve cup joint.
7. A telescopic rail hanging robot as claimed in claims 5-6, wherein: the outer side of the side wall of the first outer sleeve is provided with a first guide groove along the axial direction, the inner side of the side wall of the first outer sleeve is provided with a first guide strip corresponding to the position of the guide groove along the axial direction, the outer side of the side wall of the second outer sleeve is provided with a second guide groove matched with the first guide strip along the axial direction, and the inner side of the side wall of the second outer sleeve is provided with a second guide strip matched with the third guide groove along the axial direction.
8. The telescopic rail-hanging robot of claim 6, wherein: the inner side of the first inner sleeve is provided with an internal thread, the outer side of the first inner sleeve is provided with an external thread, the inner side of the second inner sleeve is provided with an internal thread, the outer side of the second inner sleeve is provided with an external thread, the screw rod is provided with an external thread, the first inner sleeve is sleeved on the outer side of the screw rod, and through threaded connection, the second inner sleeve is sleeved on the outer side of the first inner sleeve through threaded connection.
9. The telescopic rail-hanging robot of claim 1, wherein: and the bottom parts of the inner sleeve and the outer sleeve are provided with stabilizing sleeves.
10. The telescopic rail-hanging robot of claim 9, wherein: the inner sleeve, the outer sleeve and the stabilizing sleeve are made of carbon fiber materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111350692.9A CN114147683A (en) | 2021-11-15 | 2021-11-15 | Telescopic rail hanging robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111350692.9A CN114147683A (en) | 2021-11-15 | 2021-11-15 | Telescopic rail hanging robot |
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| CN114147683A true CN114147683A (en) | 2022-03-08 |
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