CN209304607U - The steering mechanism of suspension type robot - Google Patents
The steering mechanism of suspension type robot Download PDFInfo
- Publication number
- CN209304607U CN209304607U CN201821925559.5U CN201821925559U CN209304607U CN 209304607 U CN209304607 U CN 209304607U CN 201821925559 U CN201821925559 U CN 201821925559U CN 209304607 U CN209304607 U CN 209304607U
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- type robot
- steering
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Abstract
The utility model discloses a kind of steering mechanism of suspension type robot, it include: suspension type robot body, it is provided with preceding driving assembly and rear driving assembly, and preceding driving assembly and rear driving assembly are each provided with: support plate is fixed with suspension type robot body rack；Rotating bracket is rotatably fixed through bearing with support plate；Speed reducer, output shaft are fixed with two roller wheel shafts, and reducer shell is fixed with rotating bracket, and idler wheel can travel on guide rail；Driving motor, shell fixes with reducer shell, the input shaft of shaft and speed reducer is fixed, and driving motor rotation can drive idler wheel to rotate；Deflecting plate, one end and rotating bracket are fixed, the other end is hanging and is fixed with arc-shaped rack；Steering motor, shell is fixed with support plate, its rotation axis is engaged through gear with arc-shaped rack, and steering motor rotation can drive roller steering.The utility model has the beneficial effect that structure is simple, at low cost, steering is flexible, light-weight.
Description
Technical field
The utility model relates to a kind of steering mechanism of suspension type robot.
Background technique
Cargo industry is sorted in robot, carrying out sorting on hanging guide rail using suspension type robot ambulation is to compare
New technical field, Chinese patent disclose a kind of suspension type robot system and sorting system and its discriminating direction method, Shen
It please number be CN201810417520.0, building, space utilization rate be high, robot ambulation speed without being transformed for the patent of invention
Fastly, unloading is convenient, and suspension type robot in the process of moving, needs to continuously adjust the position of suspension type robot idler wheel and guide rail
It sets, especially turns, to ensure suspension type robot traveling among guide rail, in the prior art, steering motor usually passes through and subtracts
Fast device is realized, since retarder volume is at high cost greatly, it is also necessary to increase limiting device, the utilization rate of retarder is very low, makes
It is bad with effect.
Utility model content
The utility model is according to the above deficiency, provide a kind of steering mechanism of suspension type robot.
The technical solution of the utility model is:
A kind of steering mechanism of suspension type robot, comprising:
Suspension type robot body is provided with preceding driving assembly and rear driving assembly, preceding driving assembly and rear driving group
Part is each provided with:
Support plate is fixed with suspension type robot body rack, and suspension type robot body rack includes by two pieces of branch
Connecting rod, sunpender of lifting unloading cargo unit that fagging is fixed together etc.；
Rotating bracket is rotatably fixed through bearing with support plate, and support plate can carry the master of suspension type robot body
Body structure；
Speed reducer, shell are fixed with rotating bracket；
Idler wheel, travels on guide rail, the output shaft of two idler wheels and speed reducer is fixed, alternatively, in two idler wheels by two
One and the output shaft of speed reducer is fixed, another is rotationally covered outside the output shaft of speed reducer；It should be noted that two
The output shaft of idler wheel and speed reducer is fixed, its disadvantages are that, when negotiation of bends, Nei Dao is different from outer course stroke, there is one
Non- rolling friction can be generated between idler wheel and guide rail；Another in two idler wheels rotationally covers the output shaft in speed reducer
Outside, there are the advantages of be that when negotiation of bends, although Nei Dao is different from outer course stroke, adjustable speed, differential is rolled,
To reduce the non-rolling friction of idler wheel and guide rail；
Driving motor, shell fixes with reducer shell, the input shaft of shaft and speed reducer is fixed, driving motor rotation
Idler wheel can be driven to rotate；
Deflecting plate, one end and rotating bracket are fixed, the other end is hanging and is fixed with arc-shaped rack；
Steering motor, shell is fixed with support plate, its rotation axis is engaged through gear with arc-shaped rack, and steering motor turns
Kinetic energy drives roller steering, to be able to achieve the turning of suspension type robot body.
The controller of steering motor and driving motor electrical connection suspension type robot body is executed various by controller control
Order, controller are powered by the battery in suspension type robot body.
Suspension type robot and System Control Center are wirelessly connected, and can send and receive information, and System Control Center can be with
As needed send instructions to suspension type robot complete advance, retreat, turning, charging, unloading etc. movement.
Suspension type robot architecture can be found in Chinese patent CN201810417520.0, suspension type robot system and sorting
System and its discriminating direction method.
Preferably, the both ends of the arc-shaped rack are provided with limited block, which can be to the angle of rotation of deflecting plate
Degree is limited.
Preferably, the arc-shaped rack and limited block are made into integration by plastics, and pass through screw and the steering
Plate is fixed, and deflecting plate is provided with the circular arc being adapted to arc-shaped rack, low noise when plastics are as rack gear.
Preferably, the support plate offers steering through-hole, the steering motor is fixed under the support plate
Side, the deflecting plate and arc-shaped rack are mounted on the top of support plate, and steering motor rotation axis passes through the steering through-hole through institute
Gear is stated to engage with the arc-shaped rack.
Preferably, the driving motor and steering motor are servo motor.
Preferably, the suspension type machine artificially sorts, delivery robot.
Part side view is T-shaped structure in the rotating bracket, lower part is cylinder, and cylinder is through the bearing and branch
Fagging is fixed.
Preferably, the deflecting plate offers elongated slot, which is inserted in the T-shaped structure of rotating bracket and through screw and T
Character form structure is fixed.
The utility model has the beneficial effect that structure is simple, at low cost, steering is flexible, light-weight.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model.
Fig. 2 is the top view of Fig. 1.
Specific embodiment
The utility model is further described now in conjunction with attached drawing:
As shown, a kind of steering mechanism of suspension type robot, comprising:
Suspension type robot body is provided with preceding driving assembly and rear driving assembly, preceding driving assembly and rear driving group
Part is each provided with:
Support plate 1 is fixed with suspension type robot body rack；
Rotating bracket 3, it is rotatably fixed through bearing and support plate 1；
Speed reducer 8, shell and rotating bracket 3 are fixed；
Idler wheel 2, travels on guide rail, the output shaft of two idler wheels 2 and speed reducer 8 is fixed, alternatively, two idler wheels 2 by two
In one and the output shaft of speed reducer 8 is fixed, another is rotationally covered outside the output shaft of speed reducer 8；
Driving motor 7, shell fixes with reducer shell, the input shaft of shaft and speed reducer 8 is fixed, driving motor 7
Rotation can drive idler wheel 2 to rotate；
Deflecting plate 4, one end and rotating bracket 3 are fixed, the other end is hanging and is fixed with arc-shaped rack 6；
Steering motor 5, shell is fixed with support plate 1, its rotation axis is engaged through gear 51 with arc-shaped rack 6, is turned to
The rotation of motor 5 can drive idler wheel 2 to turn to, to be able to achieve the turning of suspension type robot body.
The both ends of arc-shaped rack 6 are provided with limited block 61, which can limit the rotational angle of deflecting plate 4
Position.
Arc-shaped rack 6 and limited block 61 are made into integration by plastics, and fixed by screw and deflecting plate 4, and deflecting plate 4 is set
It is equipped with the circular arc being adapted to arc-shaped rack 6.
Support plate 1, which offers, turns to through-hole 11, and steering motor 5 is fixed on the lower section of support plate 1, deflecting plate 4 and arc-shaped
Rack gear 6 is mounted on the top of support plate 1, and 5 rotation axis of steering motor passes through the steering through-hole 11 through gear 51 and arc-shaped rack 6
Engagement.
Driving motor 7 and steering motor 5 are servo motor.
Suspension type machine artificially sorts, delivery robot.
Part side view is T-shaped structure in rotating bracket 3, lower part is cylinder, cylindrical solid through bearing and support plate 1
It is fixed.
Deflecting plate 4 offers elongated slot, which is inserted in rotating bracket 3T character form structure and consolidates through screw and T-shaped structure
It is fixed.
Claims (8)
1. a kind of steering mechanism of suspension type robot, comprising:
Suspension type robot body, is provided with preceding driving assembly and rear driving assembly, and preceding driving assembly and rear driving assembly are each
It is provided with
Support plate (1) is fixed with suspension type robot body rack；
Rotating bracket (3), it is rotatably fixed through bearing and support plate (1)；
Speed reducer (8), shell and rotating bracket (3) are fixed；
It is characterized in that
Idler wheel (2), travels on guide rail by two, and two idler wheels (2) and the output shaft of speed reducer (8) are fixed, alternatively, two rollings
It takes turns one in (2) and the output shaft of speed reducer (8) is fixed, another is rotationally covered outside the output shaft of speed reducer (8)；
Driving motor (7), shell fixes with reducer shell, the input shaft of shaft and speed reducer (8) is fixed, driving motor
(7) rotation can drive idler wheel (2) to rotate；
Deflecting plate (4), one end and rotating bracket (3) are fixed, the other end is hanging and is fixed with arc-shaped rack (6)；
Steering motor (5), shell is fixed with support plate (1), its rotation axis is engaged through gear (51) with arc-shaped rack (6),
Steering motor (5) rotation can drive idler wheel (2) to turn to, to be able to achieve the turning of suspension type robot body.
2. a kind of steering mechanism of suspension type robot as described in claim 1, characterized in that the arc-shaped rack (6)
Both ends be provided with limited block (61), which can limit the rotational angle of deflecting plate (4).
3. a kind of steering mechanism of suspension type robot as claimed in claim 2, characterized in that the arc-shaped rack (6)
Be made into integration with limited block (61) by plastics, and fixed by screw and the deflecting plate (4), deflecting plate (4) be provided with
The circular arc of arc-shaped rack (6) adaptation.
4. a kind of steering mechanism of suspension type robot as described in any one of claims 1-3, characterized in that the support plate
(1) it offers and turns to through-hole (11), the steering motor (5) is fixed on the lower section of the support plate (1), the deflecting plate
(4) and arc-shaped rack (6) is mounted on the top of support plate (1), and steering motor (5) rotation axis is passed through across the steering through-hole (11)
The gear (51) is engaged with the arc-shaped rack (6).
5. a kind of steering mechanism of suspension type robot as claimed in claim 4, characterized in that the driving motor (7) and
Steering motor (5) is servo motor.
6. a kind of steering mechanism of suspension type robot as described in claim 1, characterized in that the suspension type machine is artificial
Sorting, delivery robot.
7. a kind of steering mechanism of suspension type robot as described in claim 1, characterized in that on the rotating bracket (3)
Part side view is T-shaped structure, lower part is cylinder, cylindrical fixed through the bearing and support plate (1).
8. a kind of steering mechanism of suspension type robot as claimed in claim 7, characterized in that the deflecting plate (4) opens up
There is elongated slot, which is inserted in the T-shaped structure of rotating bracket (3) and fixes through screw and T-shaped structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821925559.5U CN209304607U (en) | 2018-11-21 | 2018-11-21 | The steering mechanism of suspension type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821925559.5U CN209304607U (en) | 2018-11-21 | 2018-11-21 | The steering mechanism of suspension type robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209304607U true CN209304607U (en) | 2019-08-27 |
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ID=67673850
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821925559.5U Active CN209304607U (en) | 2018-11-21 | 2018-11-21 | The steering mechanism of suspension type robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209304607U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113182997A (en) * | 2021-03-30 | 2021-07-30 | 武汉数字化设计与制造创新中心有限公司 | Wall-climbing robot for polishing |
-
2018
- 2018-11-21 CN CN201821925559.5U patent/CN209304607U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113182997A (en) * | 2021-03-30 | 2021-07-30 | 武汉数字化设计与制造创新中心有限公司 | Wall-climbing robot for polishing |
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