CN114147684A - Take curve guide rail guiding mechanism of pre-compaction and robot thereof - Google Patents
Take curve guide rail guiding mechanism of pre-compaction and robot thereof Download PDFInfo
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- CN114147684A CN114147684A CN202111350696.7A CN202111350696A CN114147684A CN 114147684 A CN114147684 A CN 114147684A CN 202111350696 A CN202111350696 A CN 202111350696A CN 114147684 A CN114147684 A CN 114147684A
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- guide mechanism
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- 230000007246 mechanism Effects 0.000 title claims abstract description 92
- 238000005056 compaction Methods 0.000 title claims description 5
- 239000000725 suspension Substances 0.000 claims abstract description 54
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 230000036316 preload Effects 0.000 claims 7
- 238000000034 method Methods 0.000 abstract description 11
- 230000008569 process Effects 0.000 abstract description 6
- 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 3
- 238000005299 abrasion Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 238000012986 modification 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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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 rail robots, in particular to a curve guide rail guide mechanism with prepressing function, which comprises a guide mechanism base, wherein suspension parts are respectively arranged on two sides of the guide mechanism base, and the suspension parts and the guide mechanism base form a suspension area capable of being suspended on a guide rail; the suspension part is provided with a traveling wheel set and an auxiliary wheel set which are in contact fit with the guide groove on the side part of the guide rail, one suspension part is provided with a fixed guide wheel set, the other suspension part is provided with a movable guide wheel set, and an elastic mechanism is arranged between the movable guide wheel set and the supporting part. The embodiment of the application effectively solves the technical problems that the stability is low in the walking process of the existing rail-hanging robot, the swing is easy to occur, and the bearing pressure is too large when the guide mechanism turns to and deflects, so that the parts are abraded and the service life is reduced.
Description
Technical Field
The application relates to the technical field of track robots, in particular to a curve guide rail guide mechanism with prepressing.
Background
The self weight of the common robot of the rail-hanging robot on the current market and the tiny clearance between the guide mechanism and the rail are used for keeping the stability of the robot walking on the rail, and the robot is easy to swing in the direction vertical to the guide rail. Meanwhile, when the guide mechanism deflects through the turning part of the guide rail, the guide mechanism often bears larger pressure, so that the abrasion of the guide wheel is increased, and the service life of parts is shortened.
Disclosure of Invention
The embodiment of the application provides a take curve guide rail guiding mechanism of pre-compaction and robot thereof to at least, solve the problem that the in-process poor stability of hanging the rail robot in the correlation technique, when the guide rail turning takes place to deflect, bearing pressure is too big, leads to the excessive wearing and tearing of leading wheel, reduction part life.
In order to achieve the purpose, the application provides a curve guide rail guide mechanism with prepressing, which comprises a guide mechanism base, wherein suspension parts are respectively arranged on two sides of the guide mechanism base, and the suspension parts and the guide mechanism base form a suspension area capable of being suspended on a guide rail; the suspension part is provided with a traveling wheel set and an auxiliary wheel set which are in contact fit with the guide groove on the side part of the guide rail, one suspension part is provided with a fixed guide wheel set, the other suspension part is provided with a movable guide wheel set, and an elastic mechanism is arranged between the movable guide wheel set and the supporting part.
In some of these embodiments, the movable guide wheel set includes a mount and a guide wheel.
In some of these embodiments, the auxiliary wheel set includes a mount and an auxiliary wheel.
In some of these embodiments, the hanging portion is provided with a mounting hole for cooperating with the mounting member.
In some of these embodiments, a resilient mechanism is provided between the mounting hole and the mounting member.
In some of these embodiments, the side of the mounting member inserted into the mounting hole is provided with an opening for receiving the resilient means.
In some embodiments, the mounting member is provided with a limiting lug and a first limiting groove, the mounting hole is provided with a second limiting groove, the second limiting groove is matched with the limiting lug to limit the displacement of the mounting member, and a limiting screw is arranged around the mounting hole and matched with the first limiting groove to limit the displacement of the mounting member.
In some of the embodiments, the walking wheel set is axially vertical to the suspension part and is in contact fit with the lower part of the guide groove; the auxiliary wheel set is axially vertical to the suspension part and is in contact fit with the upper part of the guide groove; the fixed guide wheel set is axially parallel to the suspension part and is in contact fit with the side part of the guide groove; the movable guide wheel set is axially parallel to the suspension part and is in contact fit with the side part of the guide groove.
In some embodiments, the walking wheel set and the auxiliary wheel set are arranged in a symmetrical structure on two sides of the suspension portion.
The embodiment also provides a robot provided with the curve guide rail guide mechanism with the prepressing function, which comprises a robot body and the curve guide rail guide mechanism with the prepressing function, wherein the curve guide rail guide mechanism with the prepressing function comprises a guide mechanism base, two sides of the guide mechanism base are respectively provided with a suspension part, and the suspension parts and the guide mechanism base form a suspension area capable of being suspended on a guide rail; the suspension portion is provided with a traveling wheel set and an auxiliary wheel set which are used for being in contact with the guide groove of the side portion of the guide rail, one suspension portion is provided with a fixed guide wheel set, the other suspension portion is provided with a movable guide wheel set, an elastic mechanism is arranged between the movable guide wheel set and the supporting portion, the curve guide rail guide mechanism base with prepressing is fixedly connected with the robot body, a guide shaft is arranged on the base, and the guide shaft can enable the curve guide rail guide mechanism with prepressing to deflect relative to the robot body.
According to the above, the beneficial effects of the present embodiment compared with the prior art are: the improved robot wheel set has the advantages that the prior art is improved, the elastic mechanism is arranged at the bottom of the wheel set, so that the wheel set can bear larger pressure through the elastic mechanism when the wheel set turns, the abrasion of parts is reduced, and the stability of the robot in the running process is improved.
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 curve guide rail guide mechanism with prepressing, which comprises a guide mechanism base, wherein suspension parts are respectively arranged on two sides of the guide mechanism base, and the suspension parts and the guide mechanism base form a suspension area capable of being suspended on a guide rail; the suspension part is provided with a traveling wheel set and an auxiliary wheel set which are in contact fit with the guide groove on the side part of the guide rail, one suspension part is provided with a fixed guide wheel set, the other suspension part is provided with a movable guide wheel set, and an elastic mechanism is arranged between the movable guide wheel set and the supporting part.
The application also provides a robot provided with the curve guide rail guide mechanism with the prepressing function, which comprises a robot body and the curve guide rail guide mechanism with the prepressing function, wherein the curve guide rail guide mechanism with the prepressing function comprises a guide mechanism base, two sides of the guide mechanism base are respectively provided with a hanging part, and the hanging parts and the guide mechanism base form a hanging area capable of being hung on a guide rail; the suspension portion is provided with a traveling wheel set and an auxiliary wheel set which are used for being in contact with the guide groove of the side portion of the guide rail, one suspension portion is provided with a fixed guide wheel set, the other suspension portion is provided with a movable guide wheel set, an elastic mechanism is arranged between the movable guide wheel set and the supporting portion, the curve guide rail guide mechanism base with prepressing is fixedly connected with the robot body, a guide shaft is arranged on the base, and the guide shaft can enable the curve guide rail guide mechanism with prepressing to deflect relative to the robot body.
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 take curve guide rail guiding mechanism of pre-compaction which characterized in that: the guide mechanism comprises a guide mechanism base, wherein suspension parts are respectively arranged on two sides of the guide mechanism base, and the suspension parts and the guide mechanism base form a suspension area capable of being suspended on a guide rail; the suspension part is provided with a traveling wheel set and an auxiliary wheel set which are in contact fit with the guide groove on the side part of the guide rail, one suspension part is provided with a fixed guide wheel set, the other suspension part is provided with a movable guide wheel set, and an elastic mechanism is arranged between the movable guide wheel set and the supporting part.
2. The curved rail guide mechanism with preload as claimed in claim 1, wherein: the movable guide wheel set comprises a mounting piece and a guide wheel.
3. The curved rail guide mechanism with preload as claimed in claim 1, wherein: the auxiliary wheel set includes a mount and an auxiliary wheel.
4. The curved guide rail guide mechanism with the prepressing function according to claims 1 to 3, characterized in that: the hanging part is provided with a mounting hole matched with the mounting piece.
5. The curved rail guide mechanism with preload as claimed in claim 4, wherein: and an elastic mechanism is arranged between the mounting hole and the mounting piece.
6. The curved rail guide mechanism with preload as claimed in claim 5, wherein: and one side of the mounting piece inserted into the mounting hole is provided with an opening for accommodating the elastic mechanism.
7. The curved rail guide mechanism with preload as claimed in claim 4, wherein: the mounting part is provided with a limiting lug and a first limiting groove, the mounting hole is provided with a second limiting groove, the second limiting groove is matched with the limiting lug to limit the displacement of the mounting part, limiting screws are arranged around the mounting hole, and the limiting screws are matched with the first limiting groove to limit the displacement of the mounting part.
8. The curved rail guide mechanism with preload as claimed in claim 1, wherein: the traveling wheel set is axially vertical to the suspension part and is in contact fit with the lower part of the guide groove; the auxiliary wheel set is axially vertical to the suspension part and is in contact fit with the upper part of the guide groove; the fixed guide wheel set is axially parallel to the suspension part and is in contact fit with the side part of the guide groove; the movable guide wheel set is axially parallel to the suspension part and is in contact fit with the side part of the guide groove.
9. The curved rail guide mechanism with preload as claimed in claim 1, wherein: the walking wheel set and the auxiliary wheel set are respectively arranged in a symmetrical structure at two sides of the hanging part.
10. A robot provided with a curve guide rail guide mechanism with prepressing comprises a robot body and a curve guide rail guide mechanism with prepressing, wherein the curve guide rail guide mechanism with prepressing comprises a guide mechanism base, two sides of the guide mechanism base are respectively provided with a suspension part, and the suspension parts and the guide mechanism base form a suspension area capable of being suspended on a guide rail; be equipped with on the linkage and be used for with the guide way contact complex walking wheelset and the supplementary wheelset of guide rail lateral part, one of them linkage is equipped with fixed direction wheelset, another is equipped with movable direction wheelset, be provided with elastic mechanism between movable direction wheelset and the supporting part, take the curve guide rail guiding mechanism base and the robot fixed connection of pre-compaction, its characterized in that: the base is provided with a guide shaft which can enable the curve guide rail guide mechanism with the prepressing to deflect relative to the robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111350696.7A CN114147684A (en) | 2021-11-15 | 2021-11-15 | Take curve guide rail guiding mechanism of pre-compaction and robot thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111350696.7A CN114147684A (en) | 2021-11-15 | 2021-11-15 | Take curve guide rail guiding mechanism of pre-compaction and robot thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114147684A true CN114147684A (en) | 2022-03-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111350696.7A Pending CN114147684A (en) | 2021-11-15 | 2021-11-15 | Take curve guide rail guiding mechanism of pre-compaction and robot thereof |
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| CN (1) | CN114147684A (en) |
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