CN209904753U - Quick-assembly and quick-disassembly ultra-thin type hoisting track robot and walking device thereof - Google Patents
Quick-assembly and quick-disassembly ultra-thin type hoisting track robot and walking device thereof Download PDFInfo
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- CN209904753U CN209904753U CN201920675175.0U CN201920675175U CN209904753U CN 209904753 U CN209904753 U CN 209904753U CN 201920675175 U CN201920675175 U CN 201920675175U CN 209904753 U CN209904753 U CN 209904753U
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Abstract
The utility model discloses a fast-assembling and fast-disassembling ultra-thin type hoisting track robot and a walking device thereof, which comprises a chassis, a bearing guide mechanism and a driving tensioning mechanism; two groups of corner paired wheel sets of the bearing guide mechanism can be quickly assembled and disassembled, the driving tensioning mechanism is positioned between the four groups of corner paired wheel sets and comprises a driving wheel and a tensioning wheel, and the tensioning wheel is positioned between the two groups of corner paired wheel sets which can be quickly assembled and disassembled and can elastically displace relative to the driving wheel along the horizontal direction. The structure of the utility model is convenient for installation and disassembly, thereby facilitating the installation and maintenance operation of the robot; in addition, because the guide wheels are closer to the driving wheels than the bearing wheels, a smaller turning radius can be obtained, and the track path adaptability and capacity are improved. Moreover, the structure layout is compact, so that the occupied height of the inspection robot is greatly reduced, the shell can be designed towards the ultrathin and flat directions, and the inspection robot is small in overall occupied space, compact in structure and convenient to maintain.
Description
Technical Field
The utility model belongs to the field of patrol and examine the robot, especially, relate to an use orbital walking device who patrols and examines robot and the fast-assembling quick-release formula that adopts thereof of hoist and mount.
Background
The existing inspection robot has a complex structure, so that the cost is high; and because the walking device usually occupies a higher space, even if the whole height of the inspection robot is higher, the inspection robot is very thick, and the adopted track usually needs to be specially manufactured to accommodate the walking device, so that the cost of the whole inspection system is further increased.
The running gear usually needs to realize functions of driving, guiding, bearing and the like, and also usually comprises a driving mechanism and a guiding mechanism, so how to perform ultra-thin design on the running gear is mainly to perform corresponding ultra-thin improvement on the mechanisms.
In addition, for convenient maintenance, a quick-mounting and quick-dismounting structural design capable of quickly mounting and dismounting the robot from a hoisting track, particularly an I-shaped track, is also needed.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model discloses a can realize hoist and mount track robot and running gear of fast-assembling quick-release. The method comprises the following specific steps:
the quick-mounting and quick-dismounting type ultra-thin hoisting track robot walking device is suitable for an I-shaped hoisting track and comprises a chassis, a bearing guide mechanism and a driving tensioning mechanism; the bearing guide mechanism includes:
a bracket fixed on the chassis;
each bearing wheel is matched with one guide wheel to form a group of corner pair wheel sets, two groups of corner pair wheel sets are positioned at the same side of the rail vertical beam, a bearing wheel axle seat and a guide wheel axle seat of each group of corner pair wheel sets are respectively fixed on one quick-mounting plate, and two mounting parts corresponding to the bracket are respectively provided with a quick-mounting through hole through which the corner pair wheel sets can pass; the quick-mounting plate is fixedly connected with the mounting part provided with the quick-mounting through hole through a bolt, so that the corner pair wheel set on the quick-mounting plate is fixed on the mounting part provided with the quick-mounting through hole of the bracket;
two groups of corner wheel sets on the other side are directly and fixedly arranged on the other two mounting parts through bolts respectively;
the driving tensioning mechanism is positioned between the four corner wheel sets and comprises a driving wheel, and the position of the driving tensioning mechanism is fixed relative to the chassis; the axle center of the wheel axle of the driving wheel is vertically arranged, namely the wheel body of the driving wheel is horizontally arranged above the bracket;
the tension unit is arranged between the tension wheel and the chassis, the tension wheel is rotatably arranged on the tension unit, and the tension wheel can be driven by the tension unit to elastically move towards or away from the driving wheel in the horizontal direction; the axle center of the wheel shaft of the tension wheel is also vertically arranged, and the wheel body of the tension wheel is horizontally arranged above the bracket.
Further, the guide wheels are closer to the driving tensioning mechanism than the bearing wheels of the same group.
Furthermore, the contact point of the guide wheel and the hoisting track and the contact point of the driving wheel and the hoisting track are positioned on the same horizontal plane.
Furthermore, the fast-assembling plate extends a fast-assembling installation part with a plurality of installation holes around the bottom end surface of the wheel set at the corner, and installation screw holes corresponding to the installation holes are arranged on the installation parts above and below the fast-assembling through hole of the bracket installation part.
Furthermore, the fast-assembling installation part extends out of the upper part and the lower part of the bottom end surface of the bearing wheel axle seat respectively, and the number of installation holes is two; each quick-mounting through hole comprises a guide wheel through hole part corresponding to the guide wheel and the guide wheel shaft seat thereof and a bearing wheel through hole part corresponding to the bearing wheel and the bearing wheel shaft seat thereof, and the mounting screw holes are arranged on corresponding positions of the upper mounting part and the lower mounting part of the bearing wheel through hole part.
Further, the chassis is square, circular, oval, triangular or polygonal.
Further, the tensioning unit comprises a tensioning arm, a guide rod and a tensioning spring;
the tensioning arm comprises a rotating shaft part and a guide part which are arranged at two ends, the rotating shaft part is provided with a rotating shaft through hole, and a pin shaft is vertically arranged on the chassis through the rotating shaft through hole; the guide part is provided with a guide through hole which is vertical to the pin shaft, the guide rod horizontally penetrates through the guide through hole, the right end of the guide rod is provided with threads and is fixedly connected with a vertical plate thread of an L-shaped plate, and a transverse plate of the L-shaped plate is fixed on the chassis; the left end of the guide rod is provided with a butting part, the tensioning spring is sleeved outside the guide rod, two ends of the tensioning spring respectively butt against the butting part and the guide part, and the tensioning spring provides tensioning force; the tensioning arm is also provided with a wheel seat part, the wheel seat part is positioned between the rotating shaft part and the guide part, and the tensioning wheel is rotatably arranged on the wheel seat part.
Furthermore, the guide rod is a screw rod with a head, the head of the guide rod is additionally provided with a gasket to serve as an abutting part, and one end of the tension spring abuts against the gasket.
Furthermore, the driving wheel is driven by a motor, the motor is fixedly arranged below the chassis, a motor shaft is parallel to a rotating shaft of the driving wheel, and power is transmitted between the motor shaft and the rotating shaft through a reduction gear set.
The utility model also provides a hoist and mount track robot, including foretell fast-assembling quick-release ultra-thin type hoist and mount track robot running gear.
The utility model discloses a fast-assembling and fast-disassembling ultra-thin type hoisting track robot and a walking device thereof, which have the key characteristics that the robot is convenient to install and disassemble, thereby facilitating the installation and maintenance operation of the robot; in addition, because the guide wheels are closer to the driving wheels than the bearing wheels, a smaller turning radius can be obtained, and the track path adaptability and capacity are improved. Moreover, the structure layout is compact, so that the occupied height of the inspection robot is greatly reduced, the shell can be designed towards the ultrathin and flat directions, and the inspection robot is small in overall occupied space, compact in structure and convenient to maintain.
Drawings
The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:
FIG. 1 is a perspective view of a fast-assembling and fast-disassembling ultra-thin type hoisting track robot walking device;
FIG. 2 is a perspective view of the quick-mounting and quick-dismounting type bearing guide mechanism;
FIG. 3 is an exploded view of the components of the quick-assembly and quick-disassembly type bearing guide mechanism;
fig. 4 is a schematic structural diagram of the tensioning unit;
fig. 5 is a perspective view of the tensioning arm.
Detailed Description
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it should be understood that "front-back direction" and "longitudinal direction" are the traveling direction of the robot, i.e. the extending direction of the track, "left-right direction" is perpendicular to the traveling direction of the robot, "left-right direction" is also the "transverse direction" of the robot, and "up-down direction" is the up-down direction of the conventional concept; additionally, the utility model discloses a hoist and mount track that hoist and mount track robot used is "I shape" track, is called I track for short, erects the roof beam including the track of track upper and lower crossbeam and connection two crossbeams, "inboard" indicates the direction that is close to the track and erects the roof beam, "outside" indicates the direction of keeping away from the track and erecting the roof beam.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
As shown in the figures, the fast-assembling and fast-disassembling ultra-thin type hoisting track robot walking device provided by the utility model comprises a chassis 100, a bearing guide mechanism and a driving tensioning mechanism;
as shown in fig. 2 and 3, the weight bearing guide mechanism includes: the wheel assembly comprises a support 1 and four bearing wheels (21, 22, 23 and 24), wherein each bearing wheel is matched with a guide wheel (31, 32, 33 and 34) to form a group of corner-to-wheel sets, specifically, as shown in fig. 2, mounting parts (11, 12, 13 and 14) extending vertically and upwards are arranged at four corners of the support 1, a bearing wheel axle seat (211, 221, 231 and 241) and a guide wheel axle seat (311, 321, 331 and 341) are respectively mounted at the inner side of each mounting part, a bearing wheel is correspondingly and rotatably mounted on each bearing wheel axle seat (211, 221, 231 and 241), the four bearing wheels are respectively positioned at four corners of a square shape, and the axle centers of the four bearing wheels are all in the horizontal direction and positioned on the same horizontal plane; the bearing wheels are respectively contacted with two sides of a vertical rail beam of a lower rail cross beam of the I-shaped rail to bear the weight of the whole robot;
as shown in the figure, a guide wheel (31, 32, 33, 34) is rotatably arranged on each guide wheel axle seat (311, 321, 331, 341), and the axle center of each guide wheel is vertically arranged;
the two groups of corner paired wheel sets positioned on the same side of the rail vertical beam are provided with a space and a gap for arranging the driving tensioning mechanism, the two guide wheels (such as 31 and 33) positioned on the same side of the rail vertical beam are positioned between the two bearing wheels (such as 21 and 23), namely, the guide wheels are closer to the driving tensioning mechanism than the bearing wheels in the same group, the driving tensioning mechanism mainly drives the robot to advance by means of friction between the driving wheels and the hoisting rail, and the guide wheels are close to the driving tensioning mechanism, so that the robot can obtain a smaller turning radius, and the adaptability of the rail path is improved.
And, the leading wheel is used for contradicting the orbital orbit of I-shaped and erects the roof beam, the bearing wheel is contradicted lower track crossbeam, as shown in the figure, the mounted position of leading wheel is higher than the mounted position of bearing wheel, the conflict point of leading wheel and orbital is higher than the conflict point of bearing wheel and orbital, preferably, the conflict point of leading wheel and the conflict point of drive wheel and orbital are located same horizontal plane, more do benefit to keep the posture balance of robot when turning to, as shown in figure 3, of course, the drive wheel need be the same with the leading wheel is horizontal arrangement, the shaft center of the wheel shaft of drive wheel sets up for vertically.
Two groups of corner wheel-aligned sets which are positioned on the same side (the same side for short) of the rail vertical beam are taken as an example shown in fig. 3, two groups of corner wheel-aligned sets which are positioned on the left side are fixed on a quick mounting plate (42, 44) respectively through a fastening piece, and a quick mounting through hole which can allow the corner wheel-aligned sets to pass through is formed in a mounting part (12, 14) corresponding to the bracket respectively, as shown in fig. 2, each quick mounting through hole comprises a guide wheel through hole part 141 corresponding to a guide wheel and a guide wheel axle seat thereof and a bearing wheel through hole part 142 corresponding to a bearing wheel and a bearing wheel axle seat thereof; a quick-mounting plate (taking 44 as an example in the drawing) extends from the periphery of the bottom end surface of the wheel set at a corner to form a quick-mounting part with a plurality of mounting holes, in fig. 2, quick-mounting parts (441, 442) with two mounting holes respectively extend from the upper part and the lower part of the bottom end surface of a bearing wheel axle seat 241 in the wheel set at the corner, and two mounting screw holes are correspondingly arranged on the quick-mounting through holes (specifically, on a bearing wheel through hole part 142) of the mounting part corresponding to the bracket;
as shown in fig. 1, 4 and 5, the present application provides a specific form of the driving tension mechanism matching the load-bearing guide mechanism, and the driving tension mechanism is only required to enable at least one wheel to be used as a tension wheel to realize horizontal elastic displacement as described above;
as shown in fig. 1, the bottom plate of the bracket 1 is fixed on the chassis 100 by bolts, and in this embodiment, the chassis 100 is square, and may be circular or other shapes.
As shown in fig. 1, a driving wheel 4 is rotatably mounted between the front and rear guide wheels (in this embodiment, the right side, 31 and 33) on one side through a bearing, and the axle center of the driving wheel 4 is vertically disposed and is fixed in position in the horizontal direction relative to the supporting platform, so that the wheel body of the driving wheel 4 is horizontally disposed above the chassis 100;
a tension wheel 5 is rotatably mounted between the front guide wheel and the rear guide wheel (the left side, 32 and 34 in the embodiment) on the other side, and the axle center of the wheel shaft of the tension wheel 5 is vertical, so that the wheel body of the tension wheel 5 is horizontally arranged above the chassis 100;
in addition, a tension unit is further disposed between the tension wheel 5 and the chassis 100, the tension wheel 5 is rotatably mounted on the tension unit, and a horizontal tension force (i.e., an elastic force) toward the driving wheel is applied to the tension unit, so that the tension wheel 5 is driven to apply a horizontal tension force toward the driving wheel 4, and the tension wheel 5 can perform an elastic displacement toward or away from the driving wheel 4 in a horizontal direction.
The four bearing wheels are respectively abutted against the upper surface of the lower rail beam of the I-shaped hoisting rail to bear the load of the whole inspection robot; the driving wheel 4 and the tension wheel 5 are respectively abutted against the left side and the right side of the vertical rail beam, and under the driving of the tension force of the tension unit, the driving wheel 4 and the tension wheel 5 clamp the vertical rail beam 301, so that the driving wheel 4 obtains enough driving friction force, and the inspection robot is driven to move along the rail;
in a better mode, for better matching to realize quick assembly and disassembly, the tension wheel 5 is arranged between two groups of corner paired wheel sets capable of realizing quick assembly and disassembly, namely between two installation parts (12 and 14) with quick assembly through holes.
In this embodiment, the tensioning unit includes a tensioning arm 6, a guide rod 7 and a tensioning spring 8, as shown in fig. 4 and 5, the tensioning arm 6 includes a rotating shaft portion 601 and a guide portion 603 which are arranged at two ends of the row, the rotating shaft portion is provided with a rotating shaft through hole 6011, and the pin shaft is vertically installed on the chassis 100 through the rotating shaft through hole; the guide part is provided with a guide through hole 6031 which is vertical to the through hole of the rotating shaft, the guide rod 7 horizontally passes through the guide through hole, the right end of the guide rod 7 is fixedly connected with a vertical plate of an L-shaped plate (not shown), and a transverse plate of the L-shaped plate is fixed on the chassis 100 through a bolt; the left end of the guide rod 7 is provided with a butting part, the tensioning spring 8 is sleeved outside the guide rod 7, the two ends of the tensioning spring respectively butt against the butting part and the guide part 603, and the tensioning spring 8 provides tensioning force; in this embodiment, as shown in fig. 4, the abutting portion is a simple specific form, the guide rod 7 is a screw rod with a head, a washer is added to the head to serve as the abutting portion, and one end of the tension spring 8 abuts against the washer; moreover, the guide rod 7 is connected with the vertical plate of the L-shaped plate through threads, and the tension force can be adjusted by rotating the adjusting guide rod;
the tensioning arm 6 is further provided with a wheel seat portion 602, a through hole 6021 is formed in the wheel seat portion 602 and used for accommodating a bearing seat for installing the tensioning wheel, the wheel seat portion is located between the rotating shaft portion and the guide portion, and the tensioning wheel 5 is rotatably installed on the wheel seat portion.
The driving wheel 4 is driven by a motor, the motor is fixedly arranged below the chassis 100, the space above the chassis 100 is not occupied, the motor shaft and the rotating shaft of the driving wheel 4 are parallel to each other, power can be transmitted between the motor shaft and the rotating shaft through a reduction gear set, and the mounting position of the motor 12 can be enabled to avoid a part of space for mounting other components.
Next, the specific operation mode of the quick-assembly and quick-disassembly function is described:
when the robot is installed on a hoisting track (I-shaped track), the quick installation plates (42 and 44) are not installed, so that the gap between the corner of the other side and the installation part (12 and 14) of the wheel set and the opposite side support is large enough, the driving wheel 4 for driving the tensioning mechanism is fixed in position (as indicated in figure 1), the tensioning wheel 5 can be driven to horizontally move far away from the driving wheel when the tensioning arm is pulled, enough space can be provided for the I-shaped track to be embedded into the support, the corresponding side of the lower track cross beam of the I-shaped track extends into the corner of the corresponding side to be clamped between the bearing wheels (21 and 23) of the wheel set and the lower transverse plate of the support, and then the tensioning arm is loosened, so that the tensioning wheel and the driving wheel clamp the vertical plate of the track together; then, the corner pair wheel sets installed on the quick installation plates (42 and 44) penetrate through the quick installation through holes of the bracket installation parts (12 and 14) until the quick installation parts (441 and 442) of the quick installation plates (42 and 44) abut against the installation parts of the bracket, the installation holes in the quick installation parts (441 and 442) are abutted with the corresponding installation screw holes in the installation parts, and fastening bolts are screwed; similarly, if the robot needs to be detached from the i-shaped track, the operation in the reverse step is performed, and the description is omitted here.
Owing to the platyzing structural design who adopts makes the utility model discloses an it is very little to patrol and examine shared space height of robot's running gear, so also very reduce hoisting orbital altitude requirement, just also can adopt ordinary I shape section bar steel can satisfy the requirement, and the track material need not special customization, has further reduced the cost of system of patrolling and examining.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The quick-mounting and quick-dismounting ultra-thin type hoisting track robot walking device is characterized by comprising a chassis, a bearing guide mechanism and a driving tensioning mechanism;
the bearing guide mechanism includes:
a bracket fixed on the chassis;
each bearing wheel is matched with one guide wheel to form a group of corner pair wheel sets, two groups of corner pair wheel sets are positioned at the same side of the rail vertical beam, a bearing wheel axle seat and a guide wheel axle seat of each group of corner pair wheel sets are respectively fixed on one quick-mounting plate, and two mounting parts corresponding to the bracket are respectively provided with a quick-mounting through hole through which the corner pair wheel sets can pass; the quick-mounting plate is fixedly connected with the mounting part provided with the quick-mounting through hole through a bolt, so that the corner pair wheel set on the quick-mounting plate is fixed on the mounting part provided with the quick-mounting through hole of the bracket;
two groups of corner wheel sets on the other side are directly and fixedly arranged on the other two mounting parts through bolts respectively;
the driving tensioning mechanism is positioned between the four corner wheel sets and comprises a driving wheel, and the position of the driving tensioning mechanism is fixed relative to the chassis; the axle center of the wheel axle of the driving wheel is vertically arranged, namely the wheel body of the driving wheel is horizontally arranged above the bracket;
the tension unit is arranged between the tension wheel and the chassis, the tension wheel is rotatably arranged on the tension unit, and the tension wheel can be driven by the tension unit to elastically move towards or away from the driving wheel in the horizontal direction; the axle center of the wheel shaft of the tension wheel is also vertically arranged, and the wheel body of the tension wheel is horizontally arranged above the bracket.
2. The fast-assembling and fast-disassembling ultra-thin type lifting rail robot walking device of claim 1, wherein the guide wheels are closer to the driving tensioning mechanism than the same set of bearing wheels.
3. The fast-assembling and fast-disassembling ultra-thin type hoisting track robot traveling device of claim 1 or 2, wherein an abutting point of the guide wheel and the hoisting track and an abutting point of the driving wheel and the hoisting track are located on the same horizontal plane.
4. The fast-assembling and fast-disassembling ultra-thin type lifting rail robot walking device as claimed in claim 1, wherein the fast-assembling plate extends a fast-assembling installation part with a plurality of installation holes around the bottom end surface of the pair of wheel sets at the corner, and installation screw holes corresponding to the installation holes are arranged on the installation parts above and below the fast-assembling through holes of the bracket installation part.
5. The fast-assembling and fast-disassembling ultra-thin type lifting rail robot walking device as claimed in claim 4, wherein the fast-assembling installation part extends from the upper part and the lower part of the bottom end surface of the bearing wheel axle seat respectively, and the number of installation holes of the fast-assembling and fast-disassembling ultra-thin type lifting rail robot walking device is two; each quick-mounting through hole comprises a guide wheel through hole part corresponding to the guide wheel and the guide wheel shaft seat thereof and a bearing wheel through hole part corresponding to the bearing wheel and the bearing wheel shaft seat thereof, and the mounting screw holes are arranged on corresponding positions of the upper mounting part and the lower mounting part of the bearing wheel through hole part.
6. The fast-assembling and fast-disassembling ultra-thin type lifting rail robot walking device of claim 1, wherein the chassis is square, circular, oval, triangular or polygonal.
7. The fast-assembling and fast-disassembling ultra-thin type lifting rail robot walking device as claimed in claim 1, wherein the tensioning unit comprises a tensioning arm, a guide rod and a tensioning spring;
the tensioning arm comprises a rotating shaft part and a guide part which are arranged at two ends, the rotating shaft part is provided with a rotating shaft through hole, and a pin shaft is vertically arranged on the chassis through the rotating shaft through hole; the guide part is provided with a guide through hole which is vertical to the pin shaft, the guide rod horizontally penetrates through the guide through hole, the right end of the guide rod is provided with threads and is fixedly connected with a vertical plate thread of an L-shaped plate, and a transverse plate of the L-shaped plate is fixed on the chassis; the left end of the guide rod is provided with a butting part, the tensioning spring is sleeved outside the guide rod, two ends of the tensioning spring respectively butt against the butting part and the guide part, and the tensioning spring provides tensioning force; the tensioning arm is also provided with a wheel seat part, the wheel seat part is positioned between the rotating shaft part and the guide part, and the tensioning wheel is rotatably arranged on the wheel seat part.
8. The quick-assembly and quick-disassembly ultra-thin hoisting track robot walking device as claimed in claim 7, wherein the guiding rod is a screw rod with a head, the head is added with a washer to serve as the abutting part, and one end of the tension spring abuts against the washer.
9. The fast-assembling and fast-disassembling ultra-thin type lifting rail robot walking device of claim 1, wherein the driving wheel is driven by a motor, the motor is fixedly installed below the chassis, and a motor shaft is parallel to a rotating shaft of the driving wheel and transmits power between the motor shaft and the rotating shaft through a reduction gear set.
10. A hoisting track robot, comprising the fast-assembling and fast-disassembling ultra-thin hoisting track robot running gear according to any one of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920675175.0U CN209904753U (en) | 2019-05-13 | 2019-05-13 | Quick-assembly and quick-disassembly ultra-thin type hoisting track robot and walking device thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920675175.0U CN209904753U (en) | 2019-05-13 | 2019-05-13 | Quick-assembly and quick-disassembly ultra-thin type hoisting track robot and walking device thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110001670A (en) * | 2019-05-13 | 2019-07-12 | 天津成科传动机电技术股份有限公司 | Express dispatch type ceiling mounted tracks robot and its running gear, handling method |
| CN111469113A (en) * | 2020-03-24 | 2020-07-31 | 北京邮电大学 | Universal clamping mechanism for rail-mounted robot |
| CN111924393A (en) * | 2020-08-03 | 2020-11-13 | 罗伯泰克自动化科技（苏州）有限公司 | Horizontal leading wheel device of change rail |
| CN113815655A (en) * | 2021-01-08 | 2021-12-21 | 京东科技信息技术有限公司 | Rail-mounted driving device and driving system, rail-mounted robot and robot system |
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2019
- 2019-05-13 CN CN201920675175.0U patent/CN209904753U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110001670A (en) * | 2019-05-13 | 2019-07-12 | 天津成科传动机电技术股份有限公司 | Express dispatch type ceiling mounted tracks robot and its running gear, handling method |
| CN110001670B (en) * | 2019-05-13 | 2024-02-20 | 天津博宜特科技有限公司 | Quick-assembly and quick-disassembly type hoisting track robot, running gear thereof and loading and unloading method |
| CN111469113A (en) * | 2020-03-24 | 2020-07-31 | 北京邮电大学 | Universal clamping mechanism for rail-mounted robot |
| CN111924393A (en) * | 2020-08-03 | 2020-11-13 | 罗伯泰克自动化科技（苏州）有限公司 | Horizontal leading wheel device of change rail |
| CN113815655A (en) * | 2021-01-08 | 2021-12-21 | 京东科技信息技术有限公司 | Rail-mounted driving device and driving system, rail-mounted robot and robot system |
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Effective date of registration: 20200803 Address after: Room 102, No. 6, Haitai development 1st Road, Huayuan Industrial Zone, hi tech Zone, Binhai New Area, Tianjin 300384 Patentee after: TIANJIN BOYT SCIENCE & TECHNOLOGY Co.,Ltd. Address before: 300384 Tianjin Binhai New Area New Industrial Park Huayuan Industrial Zone (Offshore) Haitai Development Road No. 6 Patentee before: TIANJIN CHENGKE MECHANICAL AND ELECTRICAL TRANSMISSION TECHNOLOGY Inc.,Ltd. |