CN206967470U - Suspension type robot track running gear - Google Patents
Suspension type robot track running gear Download PDFInfo
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- CN206967470U CN206967470U CN201720880602.XU CN201720880602U CN206967470U CN 206967470 U CN206967470 U CN 206967470U CN 201720880602 U CN201720880602 U CN 201720880602U CN 206967470 U CN206967470 U CN 206967470U
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- outer guide
- wheel carrier
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Abstract
The utility model discloses a kind of suspension type robot track running gear, including outstanding support, outer guide, interior guide rail, suspension bracket in parallel, travel driving unit and traverse displacement unit.Wherein, hang support to be used to outer guide and interior guide rail be fixedly mounted, can be movably walking using the four-degree-of-freedom parallel connection suspension bracket of 4UPR structures under the driving of travel driving unit along outer guide and interior guide rail, traverse displacement unit can move along the crossbeam of suspension bracket in parallel.The utility model is except can be with drive installation in addition to robot thereon walks along outer guide and interior guide rail, can also be according to the different operating needs of robot, realize transverse shifting, vertical lifting and in horizontal plane rotation totally four frees degree of two vertical axises line attitude regulation, it is and simple in construction, it is easy to operate, the defects of existing track travel device can be overcome, make up the deficiency of robot working space, expand the working space of robot mounted thereto, the operating efficiency of robot is improved, reduces production cost.
Description
Technical field
The utility model belongs to suspension type rail equipment technical field, more particularly to a kind of suspension type robot track walking
Device.
Background technology
Track travel device is used for delivering material, and applies in railway and mineral industry, workshop automatic assembly line more
On also there are some to use track travel device.At present, existing track travel device is mostly single-track running structure, i.e., track travel fills
Put and be placed only on a track, and only moved on a track, it is just necessary when track travel device is in running order
Want two people to protect track travel device together with hand slowly to move, otherwise track travel device is just easy to send out due to weightless
Life is tumbled；When track travel device is under the working condition not moved, it also can not smoothly be parked in orbit, it is necessary to be needed
People is otherwise as weightless and tumble hold.The moving operation of track travel device of the prior art is very numb
It is tired, and can not consolidate and park in orbit, it is not convenient to use.
As industrial robot is in the progressively application of the production fields such as casting, suspended-type movable robot will be answered
With, but lack practical, reliable suspension type robot track running gear.Numerous domestic technical staff is in rail mounted running gear
Aspect has carried out some and has explored and study.Wherein, it is representational such as：The Chinese patent of Application No. 201320227930.1 discloses
A kind of feeding robot suspension type rail running gear, including left supported plate, road wheel, right supported plate, the left supported plate and right supported plate
Inner side is symmetrical rollably to set two road wheels respectively, is orbited using DC speed-reducing driving friction pulley, main
Frictional force drives are relied on to walk, braking inconvenience；The Chinese patent of Application No. 201010614482.1 discloses a kind of double track
Road running gear, solve the problems, such as easily to tumble during single-track running arrangement works, can not stablize and park in orbit, it two
Between individual travel mechanism distance between the two can be adjusted with expansion link connection；The Chinese patent of Application No. 200680035755.9 is public
A kind of device for being used for hanging rail, especially overhead chain conveyor or crane running guide rail is opened, by walking mechanism or branch
Traction piece on bearing structure is fixed on guide rail by maintaining body by pin；The China of Application No. 201310224866.6 is specially
Profit discloses a kind of truss traveling guide rail for hoisting robot, there is provided and it is a kind of to allow the solution that robot walks in the air,
The working range of robot is extended, improves production efficiency；Application No. 200720093902.X Chinese patent discloses
A kind of Intelligent double-track suspension self-propelled conveyor, it is unstable, no to solve single track conveying using double track conveying and four-point suspension mode
The problem of being adapted to large-scale expanded letter workpiece conveying.Above-mentioned track travel device uses running on wheels more, by frictional force drives, and only
With the function that is movably walking, do not possess attitude regulation function.
The utility model is directed to the deficiency of existing track travel device technique, proposes a kind of suspension type robot track walking
Device, by the way of four-point suspension, unilateral double-strand wheel drive, it not only can reliably walk along track, also have over long distances
The translation in two other direction of space and two rotate the motion of totally four frees degree and attitude regulation function, can expand installation
The working space of robot on the utility model, save manufacture and production cost.
The content of the invention
The purpose of this utility model is in view of the shortcomings of the prior art, there is provided a kind of suspension type robot track walking dress
Put, can also basis in addition to it can be walked with robot of the drive installation on track running gear along outer guide and interior guide rail
The different operating of robot on track travel device needs, and realizes transverse shifting, vertical lifting and in horizontal plane
The attitude regulation for rotating totally four frees degree of two vertical axises line, and it is simple in construction, it is easy to operate, existing walking dress can be overcome
The defects of putting, the deficiency of robot working space is made up, expand robot manipulating task space mounted thereto, improve robot
Operating efficiency, reduce production cost.
Technical problem to be solved in the utility model is realized using following technical scheme.
A kind of suspension type robot track running gear, including outstanding support, outer guide, interior guide rail, suspension bracket in parallel, walking drive
Dynamic device and traverse displacement unit.Wherein, described outstanding support includes fixed mount and mounting bracket, and described fixed mount is located at mounting bracket
Top and it is connected with mounting bracket, fixed mount is used for the top that the utility model is fixedly mounted on to workshop, and mounting bracket is used to fix
Outer guide and interior guide rail are installed；Described outer guide is arranged in the both sides of mounting bracket in outstanding support with interior guide rail parallel, and leads outside
Rail is fixedly connected with the upper end of interior guide rail and medial surface by screw and mounting bracket；The upper end of described suspension bracket in parallel is arranged on outer
On guide rail and interior guide rail, described suspension bracket in parallel is used for the posture for adjusting the robot being arranged on the utility model, and expands
The working space of robot, using 4UPR, (U represents universal joint to the structure of described suspension bracket in parallel, and P represents prismatic pair, and R represents to turn
Dynamic pair) structure four-freedom parallel mechanism；Described travel driving unit is used to drive suspension bracket in parallel along outer guide and interior
Guide rail is walked, and the upper end that travel driving unit is located at suspension bracket in parallel is arranged on close to the side of outer guide, described traverse displacement unit
The bottom of suspension bracket in parallel, transverse shifting is realized for robot of the drive installation on the utility model.
The section of described outer guide is in I-shaped symmetrical structure, and provided with section is in isosceles in the crown center of outer guide
Trapezoidal projection；Be equipped with tapped blind hole in the top lower right sides of described outer guide and middle part upper right side, for
Mounting bracket is connected；Worn to extend the service life of outer guide and reduce, in the head rail face of outer guide and lower right side
Slant rail is equipped with wearing layer on face；The structure of described interior guide rail and outer guide, cross sectional shape are identical.It is described outer to lead
Wearing layer on rail head rail face is manufactured using laser cladding method.
Described suspension bracket in parallel includes outer wheel carrier, interior wheel carrier, side chain and crossbeam.Wherein, described outer wheel carrier, interior wheel carrier
Quantity is two, is connected between two interior wheel carriers by connecting plate, and pass through screw between described connecting plate and interior wheel carrier
It is connected, outer wheel carrier, interior wheel carrier can be moved respectively along outer guide, interior guide rail, and rectangle sprocket wheel is provided with described outer wheel carrier
Operation hole；Described side chain shares four, mutually solid with the bottom of two outer wheel carriers respectively positioned at the upper end of two side chains in outside
Even, be fixedly connected with positioned at bottom of the upper end respectively with two interior wheel carriers of two side chains of inner side, the lower ends of four side chains with horizontal stroke
Beam is fixedly connected with；Support wheel orbital plane is provided with the top both sides of crossbeam.Described suspension bracket in parallel is the four-degree-of-freedom of 4UPR structures
Parallel institution, is separately mounted to the silent flatform that outer guide, the outer wheel carrier on interior guide rail and interior wheel carrier are parallel institution, and crossbeam is
For the moving platform of parallel institution.
Suspension bracket in parallel along the hoofing part of outer guide and interior guide rail by the way of Chain conveyer driving, drive by described walking
Dynamic device includes drive motor, sprocket wheel and chain.Described drive motor is mounted by means of bolts at the top of suspension bracket in parallel
On the lateral surface of outer wheel carrier, for providing driving power for travel driving unit；Described sprocket wheel is arranged on the defeated of drive motor
On shaft, and it is connected with the output shaft of drive motor by flat key；Described chain is fixedly mounted on outer guide by screw
Lateral surface on, described sprocket wheel is meshed with chain.
Described drive motor uses hydraulic servo motor or air powered servo or servo deceleration motor.
Sprocket wheel in described travel driving unit uses double or three row chain wheels, the chain in described travel driving unit
Strip adoption is double or three row chain bars.
Described traverse displacement unit includes traversing case, support wheel, tensioning wheel, traversing motor, gear and rack.Wherein, in institute
The bottom for the traversing case stated is provided with four pilot holes, and for installing tensioning wheel, the bottom of described traversing case can mounting robot；
Described support wheel has two groups, and is symmetrically mounted on the top of traversing case, for supporting traversing case and on traversing case
Tensioning wheel, traversing motor, gear and robot, the axis keeping parallelism of two groups of support wheels, the cylindrical wheel of described support wheel
Face keeps contacting with the support wheel orbital plane on the top of crossbeam；Described tensioning wheel has two, and is symmetrically mounted on traversing case
Bottom, for realizing tensioning to crossbeam bottom；Described traversing motor is arranged on the bottom of traversing case, and position by bolt
Between two groups of support wheels, the transverse shifting for being traverse displacement unit on crossbeam provides power；Described gear is arranged on traversing electricity
On the output shaft of machine, and it is connected with the output shaft of traversing motor by flat key；Described rack is fixedly mounted on by screw
On the top surface of suspension bracket base cross members in parallel, described wheel and rack keeps engagement.Described traversing motor uses servo deceleration
Motor, its decelerator configured is turbine and worm decelerator, and the transverse shifting that can be traverse displacement unit on crossbeam provides parking
Self-locking and braking, the pinion and rack itself formed with making up wheel and rack do not have the defects of auto-lock function.
Described side chain includes universal joint, telescoping cylinder and hinge.Wherein, the upper end of described telescoping cylinder and universal joint are mutually solid
Even, the lower end of described telescoping cylinder and the upper end of hinge are fixedly connected with, and the lower end of described hinge is connected with crossbeam by screw；
Rack in traverse displacement unit is arranged on the top of crossbeam；Described telescoping cylinder is using servo hydraulic cylinder or servo cylinder or electronic pushes away
Bar.The diameter parallel of described hinge is parallel to each other in an axis of the cross axle of universal joint, the axis of four hinges, four
The axis of the cross axle of universal joint is held in same plane.
Described tensioning wheel includes tensioning wheel carrier, tensioning wheel body, the axis of guide, compression spring, spacing back-up ring.Wherein, it is described
Tensioning wheel carrier take the shape of the letter U structure, described tensioning wheel body is arranged on the top of tensioning wheel carrier；The described axis of guide has two, and
The parallel bottom for being fixed on tensioning wheel carrier, the lower end of the axis of guide are arranged in the pilot hole in traversing bottom portion, and can be along guiding
Hole slides, and the described axis of guide keeps gap to coordinate with pilot hole；Described compression spring is sleeved on the axis of guide, and positioned at horizontal stroke
Move between case and spacing back-up ring, for providing tensile force for tensioning wheel body；Described spacing back-up ring is fixed on by lock-screw
The lower end of the axis of guide, for preventing the axis of guide from departing from the pilot hole of traversing case.
I-shaped support directive wheel is equipped with the top of described outer wheel carrier and interior wheel carrier, on the right side of described outer wheel carrier
The lower left side of downside and interior wheel carrier is equipped with conical support directive wheel；I-shaped support directive wheel on outer wheel carrier with
Guide pass at the top of outer guide keeps fitting, the guide rail of the I-shaped support directive wheel on interior wheel carrier and interior rail crown
Face keeps fitting, and the conical support directive wheel on outer wheel carrier keeps contacting with the slant rail face of outer guide lower right side,
Conical support directive wheel on interior wheel carrier keeps contacting with the slant rail face of interior guide rail lower left side.Outer wheel carrier and lubrication groove
The I-shaped support directive wheel and conical support directive wheel installed on frame for outer wheel carrier, interior wheel carrier respectively along outer guide,
The walking of interior guide rail plays support and guide effect.
Before work, the robot needed according to use demand in the bottom installment work of traverse displacement unit is first had to, and according to
The work requirements for the robot installed determine the direction of motion, regulation posture and design parameter of the present utility model.When needing to drive
Mobile robot along outer guide and interior guide rail vertically moved when, start travel driving unit in drive motor, and then drive
Movable sprocket forward or reverse；When needing to drive robot to carry out transverse shifting along crossbeam, traversing motor only need to be started,
And then drive gear forward or reverse；Need to drive robot only synchronously telescoping cylinder need to be driven to enter along during vertical lifting
Row synchronously elongates or shortens；When needing to make the robot generation installed in traversing bottom portion to be rotated around transverse horizontal axis,
The one group of telescoping cylinder in front need to only reversely elongated or shortened with respect to one group of rear telescoping cylinder；When needs make to be arranged on traversing case
The robot of bottom produce around vertical equity axle rotates when, one group of left side telescoping cylinder need to be made reverse with respect to one group of the right telescoping cylinder
Elongate or shorten.
Suspension bracket in parallel of the present utility model has two translations, totally four freedoms of motion, traverse displacement unit can for two rotations
Transverse shifting is produced, suspension bracket in parallel along outer guide, interior guide rail can also move over long distances.Therefore, from the angle of theory of mechanisms
From the point of view of, the utility model is rotation totally five freedom of motion of the two vertical axises line with the translation of three, space and in horizontal plane
Degree, wherein transverse shifting still belong to redundancy movement, and the utility model constitutes a five degree of freedom hybrid mechanism.
The beneficial effects of the utility model are that compared with prior art, the utility model with drive installation except can be existed
Robot thereon is carried out outside being movably walking over long distances along outer guide and interior guide rail, can also be according to the different operating of robot
Need, realize transverse shifting, vertical lifting and the posture for rotating totally four frees degree of two vertical axises line is adjusted in horizontal plane
Section, it is and simple in construction, easy to operate, the defects of existing running gear can be overcome, the deficiency of robot working space is made up, is expanded
The working space of robot mounted thereto, the operating efficiency of robot is improved, reduce production cost.In addition, this practicality is new
The design of the special construction of I-shaped support directive wheel and conical support directive wheel and compound action in type so that I-shaped support
The contact area increase of directive wheel and conical support directive wheel and outer guide, interior guide rail, not only increases the utility model and exists
The stability hung on outer guide and interior guide rail, also help and reduce the support wheel installed on outer wheel carrier and interior wheel carrier and guiding
The quantity of wheel, make structure compacter, also reduce the manufacturing cost and maintenance cost of equipment.
Brief description of the drawings
Fig. 1 is general structure schematic diagram of the present utility model；
Fig. 2 is Fig. 1 A to orthographic projection view；
Fig. 3 is the structural representation of suspension bracket in parallel of the present utility model；
Fig. 4 is the structural representation of traverse displacement unit of the present utility model；
Fig. 5 is the structural representation of travel driving unit of the present utility model；
Fig. 6 is support wheel and assembly relation schematic diagram of the tensioning wheel in traversing case in traverse displacement unit of the present utility model；
Fig. 7 is the structural representation of tensioning wheel of the present utility model；
Fig. 8 is the cross section structure schematic diagram of outer guide.
Embodiment
In order that technological means, creation characteristic, reached purpose and effect that the utility model is realized are easy to understand,
With reference to specific embodiment and diagram, the utility model is expanded on further.
As depicted in figs. 1 and 2, a kind of suspension type robot track running gear, including outstanding support 1, outer guide 2, interior lead
Rail 3, suspension bracket in parallel 4, travel driving unit 5 and traverse displacement unit 6.Wherein, described outstanding support 1 includes fixed mount 11 and installation
Frame 12, described fixed mount 11 are located at the top of mounting bracket 12 and are fixedly connected with mounting bracket 12 by way of welding, fixed mount
11 top for the utility model to be fixedly mounted on to workshop, mounting bracket 12 are used to outer guide 2 and interior guide rail 3 be fixedly mounted；
Described outer guide 2 is arranged in parallel in the both sides of mounting bracket 12 in outstanding support 1, and outer guide 2 and interior guide rail 3 with interior guide rail 3
Upper end and medial surface are fixedly connected with by screw and mounting bracket 12；The upper end of described suspension bracket in parallel 4 be arranged on outer guide 2 with
On interior guide rail 3, described suspension bracket in parallel 4 is used for the posture for adjusting the robot being arranged on the utility model, and expands machine
The working space of people, using 4UPR, (U represents universal joint to the structure of described suspension bracket in parallel 4, and P represents prismatic pair, and R represents to rotate
It is secondary) four-freedom parallel mechanism of structure；Described travel driving unit 5 is used to drive suspension bracket 4 in parallel along outer guide 2 and interior
Guide rail 3 is walked, and the upper end that travel driving unit 5 is located at suspension bracket 4 in parallel is pacified close to the side of outer guide 2, described traverse displacement unit 6
Mounted in the bottom of suspension bracket 4 in parallel, transverse shifting is realized for robot of the drive installation on the utility model.
As shown in Figure 1, Figure 2, shown in Fig. 5 and Fig. 8, the section of described outer guide 2 is in I-shaped symmetrical structure, and in outer guide
Crown center be provided with section be in isosceles trapezoid projection 21；In the top lower right sides and middle part upper right of described outer guide 2
Tapped blind hole 22 is equipped with side, for being connected with mounting bracket 12；Ground to extend the service life of outer guide 2 and reduce
Damage, wearing layer is equipped with the head rail face 23 of outer guide 2 and lower right side slant rail face 24；Described interior guide rail 3 with it is outer
The structure of guide rail 2, cross sectional shape are identical.Wearing layer on the described head rail face of outer guide 2 uses laser melting coating side
Method manufactures.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4,4 framves are hung in described parallel connection includes outer wheel carrier 41, interior wheel carrier 42, the and of side chain 43
Crossbeam 44.Wherein, described outer wheel carrier 41, the quantity of interior wheel carrier 42 are two, pass through connecting plate 403 between two interior wheel carriers 42
It is connected, and is connected between described connecting plate 403 and interior wheel carrier 42 by screw, outer wheel carrier 41, interior wheel carrier 42 can be distinguished
Moved along outer guide 2, interior guide rail 3, rectangle sprocket wheel operation hole 411 is provided with described outer wheel carrier 41；Described side chain 43
Four are shared, is fixedly connected with positioned at bottom of the upper end respectively with two outer wheel carriers 41 of two side chains 43 in outside, positioned at inner side
Bottom of the upper end of two side chains 43 respectively with two interior wheel carriers 42 is fixedly connected with, and the lower end of four side chains 43 is consolidated with the phase of crossbeam 44
Even；Support wheel orbital plane 441 is provided with the top both sides of crossbeam 44.Described suspension bracket in parallel 4 is the four-degree-of-freedom of 4UPR structures
Parallel institution, the silent flatform that outer guide 2, the outer wheel carrier 41 on interior guide rail 3 and interior wheel carrier 42 are parallel institution is separately mounted to,
Crossbeam 44 is the moving platform of parallel institution.Suspension bracket 4 in parallel can produce to be moved and around X, the rotation of Y-axis along X, Z-direction.
As shown in Figure 1, Figure 2 with shown in Fig. 5, suspension bracket 4 in parallel uses Chain conveyer along the hoofing part of outer guide 2 and interior guide rail 3
The mode of driving, described travel driving unit 5 include drive motor 51, sprocket wheel 52 and chain 53.Described drive motor 51
It is mounted by means of bolts on the lateral surface of outer wheel carrier 41, for providing driving power for travel driving unit 5；Described chain
Wheel 52 is arranged on the output shaft of drive motor 51, and is connected with the output shaft of drive motor 51 by flat key；Described chain
Bar 53 is fixedly mounted on by screw on the lateral surface of outer guide 2, and described sprocket wheel 52 is meshed with chain 53.Described driving
Motor 51 uses hydraulic servo motor or air powered servo or servo deceleration motor.Chain in described travel driving unit 5
Wheel 52 uses duplex chain wheel, and the chain 53 in described travel driving unit 5 uses double strand chain.
As shown in Figure 1, Figure 2, shown in Fig. 4 and Fig. 6, described traverse displacement unit 6 includes traversing case 61, support wheel 62, tensioning wheel
63rd, traversing motor 64, gear 65 and rack 66.Wherein, four pilot holes are provided with the bottom of described traversing case 61, for pacifying
Tensioning wheel 63 is filled, the bottom of described traversing case 61 can mounting robot；Described support wheel 62 has two groups, and is symmetrically mounted on
The top of traversing case 61, for supporting traversing case 61 and tensioning wheel 63, traversing motor 64, gear on traversing case 61
65 and robot, the axis keeping parallelism of two groups of support wheels 62, the cylindrical wheel face of described support wheel 62 and the top of crossbeam 44
Support wheel orbital plane 441 in portion keeps contact；Described tensioning wheel 63 has two, and is symmetrically mounted on the bottom of traversing case 61
Portion, for realizing the tensioning to the bottom of crossbeam 44；Described traversing motor 64 is arranged on the bottom of traversing case 61 by bolt,
And between two groups of support wheels 62, power is provided for transverse shifting of the traverse displacement unit 6 on crossbeam 44；Described gear 65 is pacified
It is connected on the output shaft of traversing motor 64, and with the output shaft of traversing motor 64 by flat key；Described rack 66 is logical
Cross screw to be fixedly mounted on the top surface of the base cross members 44 of suspension bracket 4 in parallel, described gear 65 keeps engaging with rack 66.Institute
The traversing motor 64 stated uses servo deceleration motor, and its decelerator configured is turbine and worm decelerator, can be traverse displacement unit 6
Transverse shifting on crossbeam 44 provides parking self-locking and braking, to make up the pinion and rack that gear 65 and rack 66 are formed
Itself does not have the defects of auto-lock function.
As shown in Figure 1, Figure 2 and Figure 3, described side chain 43 includes universal joint 431, telescoping cylinder 432 and hinge 433.Wherein,
The upper end of described telescoping cylinder 432 is fixedly connected with universal joint 431 by screw, lower end and the hinge 433 of described telescoping cylinder 432
Upper end be fixedly connected with by screw, the lower end of described hinge 433 is connected with crossbeam 44 by screw；In traverse displacement unit 6
Rack 66 is arranged on the top of crossbeam 44；Described telescoping cylinder 432 uses servo hydraulic cylinder.The axis of described hinge 433 is put down
Row is parallel to each other in an axis of the cross axle of universal joint 431, the axis of four hinges 433, and the ten of four universal joints 431
The axis of word axle is held in same plane.
As shown in Figure 6 and Figure 7, described tensioning wheel 63 includes tensioning wheel carrier 631, tensioning wheel body 632, the axis of guide 633, pressure
Contracting spring 634, spacing back-up ring 635.Wherein, described tensioning wheel carrier 631 is taken the shape of the letter U structure, and described tensioning wheel body 632 is installed
At the top of tensioning wheel carrier 631；The described axis of guide 633 has two, and the parallel bottom for being fixed on tensioning wheel carrier 631, is oriented to
The lower end of axle 633 is arranged in the pilot hole of the traversing bottom of case 61, and can be slid along pilot hole, the described axis of guide 633 with
Pilot hole keeps gap to coordinate；Described compression spring 634 is sleeved on the axis of guide 633, and is located at traversing case 61 and limiting block
Between circle 635, for providing tensile force for tensioning wheel body 632；Described spacing back-up ring 635 is fixed on by lock-screw 636
The lower end of the axis of guide 633, for preventing the axis of guide 633 from departing from the pilot hole of traversing case 61.
As shown in Fig. 2, Fig. 5 and Fig. 8, it is equipped with I-shaped support at the top of described outer wheel carrier 41 and interior wheel carrier 42 and leads
To wheel 401, the lower left side in the lower right side of described outer wheel carrier 41 and interior wheel carrier 42 is equipped with conical support directive wheel 402；
I-shaped support directive wheel 401 on outer wheel carrier 41 keeps being bonded with the guide pass 23 at the top of outer guide 2, installed in interior
I-shaped support directive wheel 401 on wheel carrier 42 keeps being bonded with the guide pass at the interior top of guide rail 3, on outer wheel carrier 41
The slant rail face 24 of conical support directive wheel 402 and the lower right side of outer guide 2 keep contacting, the circle on interior wheel carrier 42
Taper support directive wheel 401 keeps contacting with the slant rail face of the interior lower left side of guide rail 42.Installed on outer wheel carrier 41 and interior wheel carrier 42
I-shaped support directive wheel 401 and conical support directive wheel 402 for outer wheel carrier 41, interior wheel carrier 42 respectively along outer guide
2nd, the walking of interior guide rail 3 plays support and guide effect.
Before work, the robot needed according to use demand in the bottom installment work of traverse displacement unit 6 is first had to, and according to
The work requirements for the robot installed determine the direction of motion, regulation posture and design parameter of the present utility model.When needing to drive
When mobile robot carries out Y-direction along outer guide 2 and interior guide rail 3 and moved, start the drive motor 51 in travel driving unit 5,
And then the forward or reverse of drive sprocket 52；When needing to drive robot to carry out X to when moving, only needing to start along crossbeam 44
Traversing motor 64, and then the forward or reverse of drive gear 65；Need drive robot along Z-direction lift when, only need synchronization
Driving telescoping cylinder 432, which synchronizes, to be elongated or shortened；When the robot for needing to make to be arranged on the traversing bottom of case 61 is produced around X
When axle rotates, one group of front telescoping cylinder 432 need to only reversely elongated or shortened with respect to one group of rear telescoping cylinder 432；When need
Make installed in the traversing bottom of case 61 robot produce around Y-axis rotates when, only need to make one group of left side telescoping cylinder 432 relatively the right
One group of telescoping cylinder 432 reversely elongates or shortens.
In description of the present utility model, it is to be understood that term " longitudinal direction ", " transverse direction ", " on ", " under ", " left side ",
The orientation or position relationship of the instruction such as " right side ", " vertical ", " level ", " top ", " bottom " " interior ", " outer " are based on side shown in the drawings
Position or position relationship, it is for only for ease of description the utility model and simplifies description, rather than instruction or the device for implying meaning
Or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to of the present utility model
Limitation.
General principle, principal character and advantage of the present utility model has been shown and described above.The technical staff of the industry
It should be appreciated that the utility model is not restricted to the described embodiments, the simply explanation described in above-described embodiment and specification is originally
The principle of utility model, on the premise of the spirit and scope of the utility model is not departed from, the utility model also has various change
And improvement, these changes and improvements are both fallen within claimed the scope of the utility model.The utility model requires protection scope
By appended claims and its equivalent thereof.
Claims (9)
1. a kind of suspension type robot track running gear, including outstanding support, outer guide, interior guide rail, suspension bracket in parallel, hoofing part
Device and traverse displacement unit, it is characterised in that：Described outstanding support includes fixed mount and mounting bracket, and described fixed mount is positioned at installation
The top of frame and it is connected with mounting bracket；Described outer guide is arranged in the both sides of mounting bracket in outstanding support with interior guide rail parallel, and
Outer guide is fixedly connected with the upper end of interior guide rail and medial surface by screw and mounting bracket；The upper end installation of described suspension bracket in parallel
On outer guide and interior guide rail, the structure of described suspension bracket in parallel uses the four-freedom parallel mechanism of 4UPR structures；Described
The upper end that travel driving unit is located at suspension bracket in parallel is arranged on suspension bracket in parallel close to the side of outer guide, described traverse displacement unit
Bottom；
The section of described outer guide is in I-shaped symmetrical structure, and provided with section is in isosceles trapezoid in the crown center of outer guide
Projection, tapped blind hole is equipped with the top lower right sides of described outer guide and middle part upper right side, in outer guide
Head rail face and lower right side slant rail face are provided with wearing layer；The structure of described interior guide rail and outer guide, cross sectional shape are complete
It is exactly the same；
Described travel driving unit includes drive motor, sprocket wheel and chain, and described drive motor is bolted installation
On the lateral surface at the top of suspension bracket in parallel；Described sprocket wheel is arranged on the output shaft of drive motor, and defeated with drive motor
Shaft is connected by flat key；Described chain is fixedly mounted on the lateral surface of outer guide；Described sprocket wheel is mutually nibbled with chain
Close；
Described traverse displacement unit includes traversing case, support wheel, tensioning wheel, traversing motor, gear and rack, and described support wheel has
Two groups, and it is symmetrically mounted on the top of traversing case；Described tensioning wheel has two, and is symmetrically mounted on the bottom of traversing case；Institute
The traversing motor stated is arranged on the bottom of traversing case by bolt, and between two groups of support wheels；Described gear is arranged on
On the output shaft of traversing motor, and it is connected with the output shaft of traversing motor by flat key；Described rack is fixed by screw
Installed in the bottom of suspension bracket in parallel, described wheel and rack keeps engagement.
A kind of 2. suspension type robot track running gear according to claim 1, it is characterised in that：Described parallel connection is hung
Frame includes outer wheel carrier, interior wheel carrier, side chain and crossbeam, and described outer wheel carrier, the quantity of interior wheel carrier are two, in described outer wheel carrier
Be provided with rectangle sprocket wheel operation hole, be connected between two interior wheel carriers by connecting plate, and described connecting plate and interior wheel carrier it
Between be connected by screw；Described side chain shares four, positioned at outside two side chains upper end respectively with two outer wheel carriers
Bottom be fixedly connected with, be fixedly connected with positioned at bottom of the upper end respectively with two interior wheel carriers of two side chains of inner side, four side chains
Lower end is fixedly connected with crossbeam；Support wheel orbital plane is provided with the top both sides of crossbeam；Described side chain includes universal joint, stretched
Cylinder and hinge, upper end and the universal joint of described telescoping cylinder are fixedly connected with, and the lower end of described telescoping cylinder is mutually solid with the upper end of hinge
Even, the lower end of described hinge is connected with crossbeam by screw；Rack in traverse displacement unit is arranged on the top of crossbeam.
A kind of 3. suspension type robot track running gear according to claim 2, it is characterised in that：In described foreign steamer
I-shaped support directive wheel is equipped with the top of frame and interior wheel carrier, in the lower right side of described outer wheel carrier and the lower left side of interior wheel carrier
It is equipped with conical support directive wheel；I-shaped support directive wheel on outer wheel carrier is protected with the guide pass at the top of outer guide
Fitting is held, the I-shaped support directive wheel on interior wheel carrier keeps being bonded with the guide pass of interior rail crown, installed in outer
Conical support directive wheel on wheel carrier keeps contacting with the slant rail face of outer guide lower right side, the circular cone on interior wheel carrier
Shape supporting guide wheel keeps contacting with the slant rail face of interior guide rail lower left side.
A kind of 4. suspension type robot track running gear according to claim 1, it is characterised in that：Described outer guide
Wearing layer on head rail face is manufactured using laser cladding method.
A kind of 5. suspension type robot track running gear according to claim 1, it is characterised in that：Described driving horse
Up to using hydraulic servo motor or air powered servo or servo deceleration motor.
A kind of 6. suspension type robot track running gear according to claim 1, it is characterised in that：Described walking is driven
Sprocket wheel in dynamic device uses double or three row chain wheels, and the chain strip adoption in described travel driving unit is double or three row chains
Bar.
A kind of 7. suspension type robot track running gear according to claim 1, it is characterised in that：Described traversing electricity
Machine uses servo deceleration motor, and the decelerator configured in described traversing motor is turbine and worm decelerator.
A kind of 8. suspension type robot track running gear according to claim 2, it is characterised in that：Described hinge
Diameter parallel is parallel to each other in an axis of the cross axle of universal joint, the axis of four hinges, the cross axle of four universal joints
Axis be held in same plane.
A kind of 9. suspension type robot track running gear according to claim 2, it is characterised in that：Described telescoping cylinder
Using servo hydraulic cylinder or servo cylinder or electric pushrod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720880602.XU CN206967470U (en) | 2017-07-19 | 2017-07-19 | Suspension type robot track running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720880602.XU CN206967470U (en) | 2017-07-19 | 2017-07-19 | Suspension type robot track running gear |
Publications (1)
| Publication Number | Publication Date |
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| CN206967470U true CN206967470U (en) | 2018-02-06 |
Family
ID=61401690
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720880602.XU Expired - Fee Related CN206967470U (en) | 2017-07-19 | 2017-07-19 | Suspension type robot track running gear |
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| Country | Link |
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| CN (1) | CN206967470U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108179665A (en) * | 2018-02-24 | 2018-06-19 | 北京林业大学 | One kind encircles drive-type woods gyrocar track |
| CN108858255A (en) * | 2018-06-28 | 2018-11-23 | 宁波米诺机床有限公司 | A kind of pneumatic gripping device |
| CN109226346A (en) * | 2018-09-06 | 2019-01-18 | 泰安华鲁锻压机床有限公司 | A kind of steel plate butt weld straightener |
| CN114526430A (en) * | 2022-02-18 | 2022-05-24 | 安徽理工大学 | Cage guide inspection trolley |
-
2017
- 2017-07-19 CN CN201720880602.XU patent/CN206967470U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108179665A (en) * | 2018-02-24 | 2018-06-19 | 北京林业大学 | One kind encircles drive-type woods gyrocar track |
| CN108858255A (en) * | 2018-06-28 | 2018-11-23 | 宁波米诺机床有限公司 | A kind of pneumatic gripping device |
| CN109226346A (en) * | 2018-09-06 | 2019-01-18 | 泰安华鲁锻压机床有限公司 | A kind of steel plate butt weld straightener |
| CN114526430A (en) * | 2022-02-18 | 2022-05-24 | 安徽理工大学 | Cage guide inspection trolley |
| CN114526430B (en) * | 2022-02-18 | 2023-10-20 | 安徽理工大学 | Cage guide inspection trolley |
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