CN211306294U - Robot comprising vertical moving part - Google Patents

Abstract

The utility model belongs to the technical field of the robot and specifically relates to a robot including vertical removal portion, this robot includes backup pad, crane, the crane upper end sets up in the backup pad, and lower tip sets up on the mounting panel of detection portion, the below of backup pad is provided with vertical drive assembly and stay cord, the one end of stay cord is fixed on the mounting panel of detection portion, and the other end realizes receiving and releasing of stay cord through vertical drive assembly, and when the stay cord receive and releases, the crane zooms. The utility model has the advantages that: the utility model discloses well vertical drive assembly realizes that the stay cord receive and releases to make the crane zoom, the setting of crane makes the detection portion mounting panel more stable.

Description

Robot comprising vertical moving part

The present application claims priority of "a robot including a vertical moving part" having application number 201920614620.2 applied on 29/4/2019, and the former acceptance agency is china.

Technical Field

The utility model belongs to the technical field of the robot and specifically relates to a robot including vertical removal portion.

Background

In real life, for example to patrolling and examining of production line, to patrolling and examining relatively dangerous environment all need corresponding staff to go to waiting to detect the environment in, for example to patrolling and examining of production line, just so need a professional to walk about on whole production line and inspect, great waste the manpower. Corresponding to relatively dangerous or severe working environment, such as road condition inspection in mountainous areas in winter, etc., the inspection needs corresponding professional personnel. Such an operation is of low safety.

Since the detecting device may need to be adjusted in up-and-down position during the detection process, a robot for moving the detecting device up and down is needed.

SUMMERY OF THE UTILITY MODEL

In order to overcome the deficiencies of the prior art, the utility model provides a robot comprising a vertical moving part.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a robot including vertical removal portion, includes backup pad, crane, the crane upper end sets up in the backup pad, and lower tip sets up on the installation board of detection portion, the below of backup pad is provided with vertical drive assembly and stay cord, the one end of stay cord is fixed on the installation board of detection portion, and the other end realizes receiving and releasing of stay cord through vertical drive assembly, and when the stay cord received and released, the crane zoomed.

Preferably, the upper end part of the lifting frame comprises a first lifting sliding end and a first lifting fixed end which are connected with the supporting plate, the supporting plate is provided with a lifting fixed block, a lifting guide rail and a lifting slide block which horizontally moves back and forth on the lifting guide rail on the same side surface, the first lifting sliding end is fixed on the lifting slide block, and the first lifting fixed end is fixed on the lifting fixed block; the lower end part of the lifting frame comprises a second lifting sliding end and a second lifting fixed end, the second lifting sliding end moves back and forth in a second strip groove formed in the detection part mounting plate, and the second lifting fixed end is fixed on the upper surface of the detection part mounting plate; the extension line of the second rectangular groove coincides with the fixed point of the second lifting fixed end on the detection part mounting plate, and the lifting fixed block is located on the extension line of the lifting guide rail.

Preferably, the two end parts of the lifting guide rail are provided with a first limiting block and a second limiting block.

The robot comprises a shell with a supporting plate as an upper panel, a vertical driving assembly is mounted on a lower panel in the shell and comprises a winding and unwinding motor, a winding and unwinding shaft, a transmission gear set and a second supporting frame, the winding and unwinding shaft is driven to rotate by the winding and unwinding motor through the transmission gear set, a plurality of rope winding areas are arranged on the winding and unwinding shaft, corresponding pull ropes are fixed on the winding and unwinding shaft in the corresponding rope winding areas, and the winding and unwinding shaft is driven to rotate positively and reversely by the winding and unwinding motor.

Preferably, a guide structure is arranged on the lower panel at the parallel position of each rope winding area, and a corresponding rope pulling hole through which a pulling rope passes is formed in the lower panel below the guide structure.

Optimized, vertical drive assembly still includes the encoder module, the encoder module includes encoder, encoder transition gear, encoder gear, and encoder transition gear is coaxial to be fixed on receiving and releasing the axle, and encoder gear and encoder transition gear meshing, encoder and encoder gear connection.

Preferably, the transmission gear set comprises a winding and unwinding motor gear directly driven by a winding and unwinding motor, a transition gear meshed with the winding and unwinding motor gear, and a winding and unwinding shaft gear meshed with the transition gear and driving a winding and unwinding shaft to rotate, wherein the winding and unwinding motor is horizontally arranged.

Preferably, the stay cord is two, and every wire winding district comprises two coaxial cover epaxial baffles of receiving and releasing, and is provided with the fixed orifices of fixed stay cord one end on the receiving and releasing axle between two baffles in every wire winding district.

Preferably, the retraction motor is a direct current motor.

Preferably, the crane is a folding telescopic frame, the robot comprises a shell with a supporting plate as an upper panel, the shell is sleeved in the crane, the robot is sequentially fixed on the crane in the length direction of a conducting wire for conducting electricity and transmitting signals, and the conducting wire is always in a loose state in the winding and unwinding processes of the crane.

The utility model has the advantages that:

(1) the utility model discloses well vertical drive assembly realizes that the stay cord receive and releases to make the crane zoom, the setting of crane makes the detection portion mounting panel more stable.

(2) The arrangement of the lifting guide rail and the sliding block can improve the contraction height difference.

(3) The first limiting block and the second limiting block can prevent the lifting slide block from falling off from the lifting guide rail.

(4) The lifting guide rail is arranged on the upper panel of the shell, so that the height of the whole robot when the lifting frame contracts is reduced, and the application area of the robot is improved to a greater extent.

(5) The setting of guide structure can make the stay cord direction to stay cord hole department, prevents the stay cord and lower panel friction.

(6) The setting of fixed orifices can prevent that the stay cord from skidding and the stay cord can not wind on the receipts axle when receiving and releasing the axle and rotate, and the setting of baffle can make the stay cord in a scope of receiving and releasing the axle around moving.

(7) The winding and unwinding motor is a direct-current motor, the cost of the whole robot can be reduced, and the number of winding turns of the pull rope can be determined by the arrangement of the encoder module.

(8) The transition gear can be arranged to pull the distance between the retraction motor and the retraction shaft.

(9) The lead is installed in a manner that prevents the lead from being knotted without the need for additional components.

(10) The guide rail is set to be a straight rail or a bent rail, two ends of the bent rail are respectively provided with one section of the straight rail, the guide rails are conveniently spliced to form a rail, conductive strips are arranged on the rail, and the robot can take electricity or communicate with each other by utilizing the conductive strips on the rail, so that the robot is safe and efficient.

(11) The upper surface of the stiff end of guide rail is provided with two necking down grooves that extend along guide rail length direction, matches in order to splice through two adapting unit and these two necking down grooves between two adjacent guide rails, makes the concatenation of guide rail more firm. And the upper surface of the connecting part is provided with a screw positioning groove, and the rail formed after the guide rails are spliced can be connected with the suspension rod or other suspension parts through the screw positioning groove, so that the rail formed after the guide rails are spliced is suspended.

(12) The limiting groove of the guide rail is a necking groove. Can wrap the both sides of spacing gyro wheel, effectually block spacing gyro wheel in the spacing groove, be difficult for droing and drop.

(13) The guide rail is hollowed in the center, and the upper through hole and the lower through hole are hollowed in the center, so that the stability of the structure of the guide rail can be guaranteed, and the guide rail can be lightened to a certain weight.

(14) Notches are formed above the second flange plates on the two sides of the guide rail. The conductive belt mounting surface and the synchronous belt mounting surface are respectively positioned between the notches and the fixed ends on the two sides of the second guide rail. The bottom of the notch is propped against the lower end faces of the conductive belt and the synchronous belt, so that the positions of the conductive belt and the synchronous belt can be prevented from shifting.

(15) The upper end of the conductive belt is provided with a through hole, and the upper end of the conductive belt mounting surface of the second guide rail is provided with a screw positioning groove corresponding to the through hole at the upper end of the conductive belt; the conductive band is fixed on the conductive band mounting surface through the screw and the clamping groove, so that the back surface of the conductive band is tightly attached to the conductive band mounting surface.

(16) The positive guide way of conductive band sets up in the necking down groove, and the copper strips inserts the guide way from the side of conductive band promptly to the conductive core, and the necking down setting of guide way can wrap the both sides of copper strips, need not with the help of glue, screw or other fixed mode, alright fix the conductive core promptly the copper strips on the conductive band, and can not drop.

(17) Be equipped with three electrically conductive cores on the conduction band, provide three phase electricity to the robot, it is safe more high-efficient.

(18) The soft insulating plastic body of the conductive belt body is convenient for winding the conductive belt.

Drawings

Fig. 1 is a perspective view of the robot crane at its longest.

Fig. 2 is a front view of the robot with the crane and the detection part mounting plate removed.

Fig. 3 is a cross-sectional view of the second rail.

Fig. 4 is a perspective view of the robot when the crane is retracted.

Fig. 5 is an enlarged view of a portion a in fig. 4.

Fig. 6 is a block diagram of a pulley subassembly.

Fig. 7 is a cross-sectional view of the pulley subassembly of fig. 6.

Fig. 8 is a partial configuration view of the inside of the case body being turned upside down.

Figure 9 is a block diagram of a first version of the vertical drive assembly.

Fig. 10 is a block diagram of a second version of the vertical drive assembly.

FIG. 11 is a cross-sectional view of a conductive ribbon.

Fig. 12 is a cross-sectional view of a second rail mounted with a conductive strip.

Fig. 13 is an isometric view of a second rail with a conductive strip installed.

The notations in the figures have the following meanings:

101-pulley fixed block 1010-first long groove 1011-limiting installation groove

102-anti-deviation wheel fixing block 1021-third spring 1022-stop piece 1023-screw

103-anti-deflection wheel 104-bearing wheel 105-rotating plate 1051-plane bearing

106-motor transition wheel 107-synchronous connecting wheel 108-synchronous wheel 109-horizontal motor

1100-limit roller 1101-limit supporting rod 1102-limit base 1103-limit switch

121-carbon brush 122-first support frame

131-first guide rail 132-first slider 133-second spring

14-support plate 141-lifting guide rail 142-lifting slide block 143-lifting fixed block

144-first stopper 145-second stopper

201-crane 2010-second lifting sliding end 2011-second lifting fixing end

202-control circuit part

210-retraction shaft gear 211-retraction motor gear 212-retraction motor 213-retraction shaft

214-transition gear

221-pull rope guide shaft 222-guide shaft bracket

231-second support frame 232-encoder 233-encoder transition gear

234-encoder gear 235-pull rope retainer ring 236-fixing hole 237-pull rope hole

240-detecting part mounting plate 2401-second elongated groove

250-vertical driving motor 251-pull rope rotating shaft 252-pull rope baffle 253-scroll supporting frame

254-Worm 255-turbine

3-second guide rail 301-first flange plate 302-second flange plate 303-limiting groove

304-conductive band mounting surface 305-synchronous belt mounting surface 306-notch

307-fixed end

4-conductive band 41-conductive core

Detailed Description

As shown in fig. 1 to 10, a robot includes a second guide rail 3, a detection portion hung below the moving portion, and a moving portion driving the detection portion to move on the second guide rail 3. The moving part includes a housing, and a control circuit part 202 for controlling the detecting part to move up and down and move back and forth on the second guide rail 3 is provided in the housing.

Wherein the moving part comprises a horizontal moving part and a vertical moving part. The vertical movement portion and the detection portion that the horizontal migration portion drove the below move back and forth along the 3 length direction on the second guide rail that match, and the detection portion is fixed in the below that sets up the removal portion, realizes that the detection portion reciprocates on vertical height.

The components are described in detail below.

Second guide rail 3

As shown in fig. 3, the second guide rail 3, i.e., the robot track, has a cross section perpendicular to the longitudinal direction that is symmetrical left and right, the upper end of the second guide rail 3 is a fixed end 307, and the lower end surface is provided with a limit groove 303. The two sides of the second guide rail 3 are provided with a first flange plate 301 and a second flange plate 302, and the first flange plate 301 and the second flange plate 302 are both inclined. Specifically, the first flange plate 301 and the second flange plate 302 form a wide angle shape, and the distance therebetween gradually increases from a direction close to the median vertical plane of the second rail to a direction away from the median vertical plane of the second rail. The second guide rail 3 is also provided with a conductive belt mounting surface 304 and a timing belt mounting surface 305 on both sides thereof, respectively. The conductive tape mounting face 304 and the timing belt mounting face 305 are located between the second flange plate 302 and the fixed end 307. A notch 306 is formed above the second flange plate 302, and the bottom of the notch 306 is against the lower end face of the conductive belt 4 and the synchronous belt, so as to prevent the positions of the conductive belt and the synchronous belt from shifting.

1. Horizontal moving part

As shown in fig. 1 and 2-8, the horizontal moving part includes a housing, a pulley assembly fixed on the housing, a horizontal driving assembly, and a limiting assembly.

The above components are described in detail as follows:

1.1 Pulley component

As shown in fig. 6, the pulley assembly includes a plurality of pulley subassemblies arranged along the length direction of the second guide rail, and the plurality of pulley subassemblies are fixed on the upper panel of the housing, which serves as the support plate 14. Each pulley subassembly is a mirror image structure symmetrical about a vertical plane in the second guide rail 3, and one side of the pulley subassembly includes a load-bearing wheel 104 rolling on the first flange plate 301, an anti-deflection wheel 103 rolling on the second flange plate 302, and a pulley fixing block 101 supporting the load-bearing wheel 104 and the anti-deflection wheel 103. The deviation prevention wheel 103 and a deviation prevention wheel fixing block 102 supporting the deviation prevention wheel 103 form a deviation prevention wheel unit, and the deviation prevention wheel 103 is connected with the pulley fixing block 101 through the deviation prevention wheel fixing block 102. The bearing wheel 104 and a bearing rotating shaft supporting the bearing wheel 104 form a bearing wheel unit, one end of the bearing rotating shaft is vertically fixed on the pulley fixing block 101, and the bearing wheel 104 is fixed at the other end of the bearing rotating shaft through a bearing. The anti-deviation wheel 103 and the bearing wheel 104 form an acute angle and an obtuse angle with the horizontal plane respectively. The pulley fixing blocks 101 at both sides of the pulley sub-assembly are fixed at the corresponding both sides of the rotating plate 105, the middle part of the rotating plate 105 is fixed in the plane bearing 1051 on the supporting plate 14 through the rotating shaft, and the rotating plate 105 horizontally rotates with respect to the supporting plate 14, so that the pulley assembly can be adaptively rotated when the robot turns.

Specifically, as shown in fig. 7, the anti-deviation wheel fixing block 102 is provided with a cavity with a side edge communicated, a third spring 1021 is arranged in the cavity, and the anti-deviation wheel fixing block 102 penetrates through a groove in the thickness direction of the pulley fixing block 101 and moves back and forth on the pulley fixing block 101. One end of the third spring 1021 is fixed on the anti-deviation wheel fixing block 102, the other end is fixedly connected with the blocking piece 1022, the lower side of the blocking piece 1022 is provided with a screw 1023 which penetrates through the inner cavity of the anti-deviation wheel fixing block 102 and is fixed on the pulley fixing block 101, the inner cavity of the anti-deviation wheel fixing block 102 is long, and the length direction of the inner cavity is the same as the moving direction of the anti-deviation wheel fixing block 102 in the pulley fixing block 101. The third spring 1021 is always in a compressed state. When the second guide rail 3 bends, the anti-deflection wheel 103 on one side of the pulley assembly is extruded, and under the action of the third spring 1021, the anti-deflection wheel 103 slides downwards along the groove of the pulley fixing block 101 along with the anti-deflection wheel fixing block 102; the other side is under the action of the third spring 1021 in a compressed state, and the deflection preventing wheel 103 slides obliquely upward along the groove of the pulley fixing block 101 along with the deflection preventing wheel fixing block 102. Thereby ensuring that the anti-deviation wheels 103 on two sides of the second guide rail 3 are always in contact with the second guide rail when the robot turns.

Since the first flange plate 301 and the second flange plate 302 form a wide angle shape, when the load-bearing wheel 104 on one side is tilted inward, the load-bearing wheel 104 has a rectification function under the action of the third spring 1021. Preferably, the first and second flanges 301 and 302 are perpendicular to each other in this embodiment.

1.2 horizontal drive Assembly

As shown in fig. 1 and 2-8, the horizontal driving assembly includes a synchronous wheel 108 engaged with the synchronous belt, a synchronous connecting wheel 107 coaxially disposed with the synchronous wheel 108, a motor transition wheel 106 engaged with the synchronous connecting wheel 107, and a horizontal motor 109, wherein the horizontal motor 109 is connected with the motor transition wheel 106 to drive the synchronous connecting wheel to rotate, a shaft body of the synchronous wheel 108 connected with the synchronous connecting wheel 107 is connected with the first sliding block 132 through a bearing, and the horizontal motor 109 is fixed below the first sliding block 132 through a connecting plate passing through a first elongated slot 1010 on the pulley fixing block 101. The first slider 132 passes through the first guide rail 131 fixed to the pulley fixing block 101 in the thickness direction, and the first slider 132 slides back and forth on the first guide rail 131. The first guide rail 131 is provided with a second spring 133, one end of the second spring 133 is fixed on the first slider 132, and the synchronizing wheel above the first slider is always pushed towards the direction of the synchronous belt, so that the synchronizing wheel 108 is always engaged with the synchronous belt. The first slider 132 supports the carbon brush 121 through the first support bracket 122, and the carbon brush 121 is always in contact with the conductive tape. In this embodiment, the carbon brush 121 is a JBC-C type double-rod double-head integrator, and a first spring (not shown) is disposed on the carbon brush 121, and the first spring is always in a compressed state, so as to ensure that the carbon brush 121 is always in contact with the conductive strip.

1.3, limiting component

As shown in fig. 4-5, in order to prevent the robot from falling from two ends of the second guide rail 3, a limit groove 303 is provided on the lower end surface of the second guide rail 3, and a slope limit protrusion is provided in the limit groove 303 at two ends of the second guide rail 3, both the front and rear ends of the housing right below the limit groove 303 are provided with limit components matching with the grooves, when the limit component closest to the limit protrusion on the robot moves to the lower side of the limit protrusion, the limit protrusion changes the state of the limit switch 1103 in the control circuit part 202 in the robot housing, and the limit switch 1103 serves as a stop switch in the robot to control the robot to stop moving or change the moving direction.

Specifically, the casing is including setting up the equal vertically curb plate in second guide rail length direction's both sides of backup pad 14 is provided with the spacing mounting groove 1011 that sets up spacing subassembly on, and spacing subassembly includes spacing gyro wheel 1100, supports spacing bracing piece 1101 of spacing gyro wheel 1100, and the other end of spacing bracing piece 1101 passes through the articulated elements and connects on spacing base 1102, spacing base 1102 is fixed on the casing on spacing mounting groove 1011. A limit switch 1103 that controls the robot to stop horizontal movement is provided below the limit roller 1100. The hinged part of the limiting support rod 1101 and the limiting base 1102 is provided with a spring which enables the limiting roller 1100 to be always in upward contact with the second guide rail 3, when the robot moves to the end part of the second guide rail 3, the limiting protrusion in the limiting groove 303 presses the limiting roller 1100 downwards until the limiting switch 1103 changes the state.

2. Vertical moving part

As shown in fig. 1-5 and 8-9, the vertical moving part comprises a retracting assembly and a vertical driving assembly. The retraction assembly and the vertical driving assembly are described in detail below.

2.1.1, vertical receive and releases subassembly

As shown in fig. 1 to 5, the vertical retraction assembly includes a lifting frame 201, an upper end of the lifting frame 201 is disposed on an outer side surface of the casing, and a lower end of the lifting frame 201 is disposed on the detection portion mounting plate 240. In order to reduce the vertical height of the robot after it is completely retracted, the upper end of the crane 201 is disposed on the thickness surface of the support plate 14.

The vertical retraction assembly specifically comprises a lifting guide rail 141, a lifting slider 142 horizontally moving back and forth on the lifting guide rail 141, and a lifting fixed block 143. The crane 201 upper end portion includes two link ends, is first lift slip end and first lift stiff end respectively. The first lifting sliding end and the first lifting fixing end are respectively and correspondingly fixed on the lifting slide block 142 and the lifting fixing block 143. In order to prevent the lifting slider 142 from sliding off the lifting rail 141, a first stopper 144 and a second stopper 145 are provided at both ends of the lifting rail 141, respectively. When the lifting slider 142 moves back and forth on the lifting guide rail 141, the distance between the first lifting sliding end and the first lifting fixing end is adjustable, the height of the lifting frame 201 is increased when the distance between the first lifting sliding end and the first lifting fixing end is reduced, and conversely, the height of the lifting frame 201 is reduced when the distance between two end points is increased. Correspondingly, the lower end of the lifting frame 201 also includes a second lifting sliding end 2010 and a second lifting fixing end 2011, the second lifting sliding end 2010 moves back and forth in a second long groove 2410 formed on the detection part mounting plate 240, and the second lifting fixing end 2011 is fixed on the upper surface of the detection part mounting plate 240. An extension line of the second long groove 2410 coincides with a fixed point of the second elevation fixed end 2011 on the detection part mounting plate 240, and the elevation fixed block 143 is located on an extension line of the elevation guide rail 141.

The crane 201 is a folding telescopic frame, wherein the robot is used for conducting and the wire of signal transmission to be fixed on the crane 201, and when the crane is the stretching state, the wire is the state of relaxing to guarantee that the wire is not in the tensioning state when the crane is stretched.

2.2.1 first version of vertical drive Assembly

As shown in fig. 9, in order to control the height of the crane 201, a vertical driving assembly is further provided in the housing, and the vertical driving assembly is mounted on a lower panel in the housing. Specifically, the vertical driving assembly comprises a retraction motor 212, a retraction shaft 213, a retraction shaft gear 210, a retraction motor gear 211, a transition gear 214 and a plurality of second support frames 231. The retraction shaft gear 210, the retraction motor gear 211 and the transition gear 214 form a transmission gear set. In this embodiment, the retraction motor 212 is a dc motor. The number of the second support frames 231 is 3, which are respectively a left support frame, a middle support frame and a right support frame, and the left support frame and the right support frame are respectively arranged at two end portions of the folding and unfolding shaft 213. The three second support frames 231 are all fixed on the inner side surface of the housing. The retracting motor 212 is fixed on the right support frame, the execution end of the retracting motor passes through the right support frame to be coaxially connected with the retracting motor gear 211, and the right support frame is connected with the retracting shaft 213 through a bearing. The right end of the retracting shaft 213 penetrates through the right support frame to be coaxially connected with the retracting shaft gear 210, the transition gear 214 and the retracting motor gear 211 are in meshing transmission, and the transition gear 214 can be arranged to pull the retracting motor 212 and the retracting shaft 213 apart. The take-up and pay-off shaft 213 is provided with a plurality of groups of pull rope retainer rings 235, each group of pull rope retainer rings 235 comprises 2 baffle plates fixed on the take-up and pay-off shaft 213, and the two baffle plates are used for forming a rope winding area of a corresponding pull rope. In this embodiment the pull-cord retainer rings 235 are in 2 groups. The retraction shaft 213 between the two baffles of each set of rope retainer rings 235 is provided with a fixing hole 236 for fixing one end of the rope.

A rope hole 237 through which the rope passes is further provided below the housing, and a rope guide structure is further provided at a position opposite to each rope retainer 235 in the housing in order to guide the rope on the rope retainer 235 to the rope hole 237. The rope guide structure includes a rope guide shaft 221 and a guide shaft bracket 222, and the rope guide shaft 221 rotates on the guide shaft bracket 222. The projection of the 2 drawstring holes 237 on the sensing part mounting plate 240 is symmetrical about the center line of the sensing part mounting plate 240, thus preventing the sensing part mounting plate 240 from being inclined.

In this embodiment, one end of the rope is fixed on the winding and unwinding shaft 213, and the other end is fixed on the detection part mounting plate 240, and when the winding and unwinding motor 212 drives the rope to wind on the winding and unwinding shaft 213, the detection part mounting plate 240 moves upward, the lifting frame 201 contracts, the lifting slider 142 moves along the lifting guide rail 141 to the outside of the housing, and the distance from the lifting fixing block 143 increases.

As shown in fig. 9, the vertically moving part further includes an encoder block in the housing so that the controller can obtain the winding of the rope around the winding/unwinding shaft 213. The encoder module includes encoder 232, encoder transition gear 233, encoder gear 234, and encoder transition gear 233 is coaxial to be fixed on receiving and releasing axle 213, and encoder gear 234 and encoder transition gear 233 meshing, encoder 232 pass the middle part support frame and are connected with encoder gear 234, and the middle part support frame is fixed on the casing medial surface.

2.2.2 second version of the vertical moving part

As shown in fig. 10, in order to control the horizontal height of the detection part mounting plate 240, a vertical driving assembly is further disposed on the lower panel inside the housing, and specifically, the vertical driving assembly includes a vertical driving motor 250, a pull rope rotating shaft 251, a pull rope baffle 252, a reel supporting bracket 253, a worm 254, and a worm wheel 255. The two ends of the pull rope rotating shaft 251 are erected in the casing through a reel supporting frame 253. The worm gear 255 is coaxially disposed on the pull rope rotating shaft 251, and the pull rope rotating shaft 251 rotates with the rotation of the worm gear 255. The driving end of the vertical driving motor 250 is connected with a worm 254, and the worm 254 and a worm wheel 255 form a worm-and-gear structure. The vertical driving motor 250 is supported by a support frame (not shown), and the other end of the worm 254 passes through the housing and is connected with the housing through a bearing, so as to ensure the balance of the worm 254 during rotation. The two sides of the pull rope rotating shaft 251, which are located on the turbine 255, are also provided with two pull rope baffles 252, the middle of the two pull rope baffles 252 on the same side is a rope winding area of the pull rope, a pull-up reel 251 in the area is provided with a through hole for fixing one end of the pull rope and is located below the pull rope, the shell is also provided with a pull rope hole 237 through which the pull rope passes, and the other end of the pull rope passes through the pull rope hole 237 and is fixed on the detection mounting plate 240. As the turbine 255 drives the pull rope rotating shaft 251 to rotate forward and backward, the pull rope rotates forward and backward, and the corresponding detection portion mounting plate 240 moves up and down. In order to ensure the worm wheel and the worm are stressed in a balanced manner, the distance from the through holes for fixing the pull rope on the two sides to the central plane when the worm wheel 255 rotates is equal.

In this embodiment, the vertical driving motor 250 is a stepping motor, so that the step distance can be controlled with a pulse, and thus an encoder module is not required.

Wherein the horizontal moving part and the vertical moving part can be used alone or in combination with other existing structures. Or a combination of both may be used.

3. Robot track

The robot track includes: a second guide rail 3, a conductive belt 4 and a synchronous belt;

the second guide rail 3 is formed by splicing guide rail subsections 30; one side of the guide rail subsection 30 is provided with a conductive belt mounting surface 304; the other side of the guide rail subsection 30 is provided with a synchronous belt mounting surface 305;

the conductive strip 4 is arranged on the conductive strip mounting surface 304 of the guide rail subsection; the conductive core 41 is arranged on the conductive belt, and the robot takes electricity and communicates on the second guide rail 3 through the conductive belt 4;

the synchronous belt is arranged on a synchronous belt mounting surface of the guide rail subsegment; on the second guide rail 3, the gear of the robot is in meshing transmission with the synchronous belt, so that the robot can walk on the second guide rail 3.

3.1 guide rail subsection 30

As shown in the figures 3 and 12 of the drawings,

the guide rail subsection 30 is bilaterally symmetrical in cross section perpendicular to the length direction, the upper end part of the guide rail subsection 30 is a fixed end 307, two necking grooves extending along the length direction of the guide rail subsection 30, namely a necking groove A1 and a necking groove A2, are arranged on the upper surface of the fixed end 307, and the necking grooves A1 and A2 are bilaterally symmetrical along the length direction of the guide rail subsection 30.

The guide rail subsection 30 both sides limit all is provided with first flange plate 301 and the second flange plate 302 with correspond gyro wheel looks adaptation on the robot respectively, and first flange plate 301 and second flange plate 302 are the slope form, and just first flange plate 301 and second flange plate 302 constitute wide horn shape, and the distance between the two is crescent in the direction of the perpendicular plane in being close to the guide rail to keeping away from the perpendicular plane in the second guide rail. For example, the first flange plate 301 is adapted to the load-bearing wheel 104 of the robot, and the second flange plate 302 is adapted to the guide wheel of the robot, so as to realize the bearing and guiding of the robot.

Notches 306 are arranged above the second flange plates 302 on the two side edges of the guide rail subsection 30, wherein the notches 306 above the second flange plates 302 on the left side edge of the guide rail subsection 30 are first notches, the notches 306 above the second flange plates 302 on the right side edge of the guide rail subsection 30 are second notches, and the first notches and the second notches are symmetrically arranged and face towards the fixed end 207.

The lower end face of the guide rail subsegment 30 is provided with a limiting groove 303 extending along the length direction of the guide rail subsegment 30, the limiting groove 303 is also arranged as a necking groove, the necking of the limiting groove 303 can wrap the two sides of the limiting roller 1100, the limiting roller 1100 can be effectively clamped in the limiting groove 303, and the limiting roller is not easy to fall off.

The guide rail subsections 30 are arranged on the cross section perpendicular to the length extension direction, the guide rail subsections 30 are hollow in the center, and an upper through hole and a lower through hole are hollowed in the center, so that the stability of the structure of the guide rail subsections 30 can be guaranteed, and the guide rail subsections 30 can lighten certain self weight.

The guide rail subsections 30 are arranged to be straight rails or curved rails, and two ends of each curved rail are provided with a section of straight rail, so that the guide rail subsections 30 can be spliced conveniently; after the rail subsections 30 are spliced, a straight-line-shaped or U-shaped or S-shaped second rail 3 and a second rail 3 with branches can be formed.

The adjacent first guide rail subsection 30 and the second guide rail subsection 30 are spliced through a connecting part B1 and a connecting part B2 to form a second guide rail 3; wherein the connector member B1 is inserted at one end into the neck groove a1 on the first rail section 30 and at the other end into the neck groove a1 on the second rail section rail 30; the connector part B2 is inserted at one end into the neck groove a2 on the first rail section 30 and at the other end into the neck groove a2 on the second rail section rail 30.

The upper surfaces of the connecting part B1 and the connecting part B2 are provided with screw positioning holes, and the second guide rail 3 formed by splicing the guide rail subsections 30 can be connected with a suspension rod or other suspension parts through the screw positioning holes, so that the second guide rail 3 formed by splicing the guide rail subsections 30 is suspended.

In this embodiment, the connecting member B1 and the connecting member B2 are both linear bars.

One side of the guide rail subsection 30 is provided with a conductive belt mounting surface 304; the other side of the guide rail subsection 30 is provided with a timing belt mounting surface 305. Wherein,

as shown in fig. 12 and 13, the conductive strip mounting face 304 is located between the first notch and the fixed end 307 of the rail subsection 30; the conductive strip 4 continuously extends along the length direction of the second guide rail 3, the bottom of the conductive strip 4 is abutted against the first notch at the lower end of the conductive strip mounting surface 304, and the conductive strip 4 is prevented from deviating on the conductive strip mounting surface 304; the upper end of the conductive belt 4 is provided with a through hole, and the upper end of the conductive belt mounting surface 304 is provided with a first screw positioning groove corresponding to the through hole at the upper end of the conductive belt; the conductive strip 4 is fixed on the conductive strip mounting surface 304 through the first screw positioning groove and the first notch, so that the back surface of the conductive strip 4 is tightly attached to the conductive strip mounting surface 304.

The synchronous belt mounting surface 305 is located between the second notch and the fixed end 307 of the guide rail subsection 30; the timing belt extends continuously along the length direction of the second guide rail 3; the bottom of the synchronous belt abuts against a second notch at the lower end of the synchronous belt mounting surface 305, so that the position deviation of the synchronous belt on the synchronous belt mounting surface 305 is prevented; a through hole is formed in the upper end of the synchronous belt, and a second screw positioning groove corresponding to the through hole in the upper end of the synchronous belt is formed in the upper end of the synchronous belt mounting surface 305; the synchronous belt is fixed on the synchronous belt mounting surface 305 through a second screw positioning groove and a second notch, so that the back surface of the synchronous belt is tightly attached to the synchronous belt mounting surface 305.

The first screw positioning groove and the second screw positioning groove are through holes and are arranged oppositely;

correspond between the first screw constant head tank and the second screw constant head tank that set up, be about to conduction band and hold-in range through a screw and fix respectively on conduction band stationary plane and hold-in range stationary plane, the installation is fixed convenient, save material.

3.2 conducting strip 4

As shown in fig. 11, the front surface of the conductive strip 4 is provided with three parallel rows of guide grooves extending along the length direction of the conductive strip 4. The guide grooves are necking grooves, and a conductive core 41 is arranged in each guide groove, namely, the conductive belt 4 comprises three parallel conductive cores 41 extending along the length direction of the conductive belt 4.

The conductive core 41 is a copper strip matched with the guide groove. The conductive core 41, namely the copper strip, is inserted into the guide groove from the side surface of the conductive strip, the guide groove is arranged to be a necking groove, the two sides of the copper strip can be wrapped, the conductive core 41 can be fixed on the conductive strip 4 without glue, screws or other fixing modes, and the conductive core can not fall off.

The body of the conductive belt 4 is a soft insulating plastic body, so that the conductive belt 4 can be wound conveniently.

The conductive strip 4 continuously extends along the length direction of the second guide rail 3, and the bottom of the conductive strip 4 is abutted against the first notch 3061 at the lower end of the conductive strip mounting surface 304, so that the conductive strip 4 is prevented from deviating on the conductive strip mounting surface 304.

The upper end of the conductive belt 4 is provided with a through hole, and the upper end of the conductive belt mounting surface 304 is provided with a first screw positioning groove corresponding to the through hole at the upper end of the conductive belt; the conductive strip 4 is fixed on the conductive strip mounting surface 304 through the first screw positioning groove and the first notch 3061, so that the back surface of the conductive strip 4 is tightly attached to the conductive strip mounting surface 304.

The back of the conductive band 4 is also provided with four protrusions, the back of the conductive band 4 is tightly attached to the conductive band mounting surface 304, the robot gets electricity or communicates on the conductive band through the current collector, the current collector and the conductive band are always kept in a butting state, and the back of the conductive band 4 is provided with four protrusions, so that a certain elastic space exists when the current collector and the conductive band are tightly butted.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the invention, and all modifications, equivalents, improvements and the like that are made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (10)

1. The utility model provides a robot including vertical removal portion, its characterized in that, includes backup pad (14), crane (201) upper end sets up in backup pad (14), and lower tip sets up on detection portion mounting panel (240), the below of backup pad (14) is provided with vertical drive assembly and stay cord, the one end of stay cord is fixed on detection portion mounting panel (240), and the other end realizes receiving and releasing of stay cord through vertical drive assembly, and when the stay cord received and released, crane (201) zoomed.

2. The robot comprising the vertical moving part according to claim 1, wherein the upper end of the lifting frame (201) comprises a first lifting sliding end and a first lifting fixing end which are connected with the supporting plate (14), the supporting plate (14) comprises a lifting fixing block (143) arranged on the same side, a lifting guide rail (141), and a lifting slider (142) horizontally moving back and forth on the lifting guide rail (141), the first lifting sliding end is fixed on the lifting slider (142), and the first lifting fixing end is fixed on the lifting fixing block (143); the lower end part of the lifting frame (201) comprises a second lifting sliding end (2010) and a second lifting fixed end (2011), the second lifting sliding end (2010) moves back and forth in a second long groove (2401) formed in the detection part mounting plate (240), and the second lifting fixed end (2011) is fixed on the upper surface of the detection part mounting plate (240); the extension line of the second long groove (2401) coincides with the fixed point of the second lifting fixed end (2011) on the detection part mounting plate (240), and the lifting fixed block (143) is located on the extension line of the lifting guide rail (141).

3. The robot including the vertical moving part according to claim 2, wherein both end parts of the lifting rail (141) are provided with a first stopper (144) and a second stopper (145).

4. The robot comprising the vertical moving part according to claim 2, wherein the robot comprises a housing with a support plate (14) as an upper panel, the vertical driving assembly is mounted on a lower panel in the housing, the vertical driving assembly comprises a retracting motor (212), a retracting shaft (213), a transmission gear set and a second support frame, the retracting motor (212) drives the retracting shaft (213) to rotate through the transmission gear set, the retracting shaft (213) is provided with a plurality of rope winding areas, corresponding pull ropes are fixed on the retracting shafts (213) of the corresponding rope winding areas, and the retracting motor (212) drives the retracting shaft (213) to rotate positively and negatively.

5. A robot comprising a vertically moving part according to claim 4, characterized in that a guide structure is provided on the lower panel at a position parallel to each rope winding area, and the lower panel below the guide structure is provided with a rope drawing hole (237) through which the corresponding rope drawing passes.

6. The robot comprising the vertical moving part of claim 4, wherein the vertical driving assembly further comprises an encoder (232) module, the encoder (232) module comprises an encoder (232), an encoder transition gear (233) and an encoder gear (234), the encoder transition gear (233) is coaxially fixed on the retracting shaft (213), the encoder gear (234) is meshed with the encoder transition gear (233), and the encoder (232) is connected with the encoder gear (234).

7. The robot comprising the vertical moving part according to claim 6, wherein the transmission gear set comprises a retraction motor gear (211) directly driven by a retraction motor (212), a transition gear (214) engaged with the retraction motor gear (211), and a retraction shaft gear (210) engaged with the transition gear (214) and driving a retraction shaft (213) to rotate, and the retraction motor (212) is horizontally arranged.

8. The robot comprising the vertical moving part according to claim 6, wherein the number of the pulling ropes is two, each winding area is composed of two baffles coaxially sleeved on the winding shaft (213), and a fixing hole (236) for fixing one end of the pulling rope is arranged on the winding shaft (213) between the two baffles of each winding area.

9. A robot comprising a vertically moving part according to claim 6, characterized in that the retraction motor (212) is a DC motor.

10. The robot comprising the vertical moving part of claim 1, wherein the lifting frame (201) is a folding telescopic frame, the robot comprises a shell with a support plate (14) as an upper panel, the shell is sleeved in the lifting frame (201), the robot is sequentially fixed on the lifting frame (201) in the length direction of a conducting wire for conducting electricity and transmitting signals, and the conducting wire is always in a loose state in the retracting and releasing process of the lifting frame (201).

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