CN212044705U - Movable walking mechanism for annular track and track - Google Patents
Movable walking mechanism for annular track and track Download PDFInfo
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- CN212044705U CN212044705U CN201922485994.1U CN201922485994U CN212044705U CN 212044705 U CN212044705 U CN 212044705U CN 201922485994 U CN201922485994 U CN 201922485994U CN 212044705 U CN212044705 U CN 212044705U
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Abstract
The utility model discloses a movable travelling mechanism for an annular track, which has low requirement on the radius of the annular track in the operation process and is convenient for turning in a small area; the key points of the technical scheme are as follows: the walking module comprises a walking module body, wherein a supporting module is arranged at the bottom of the walking module body, a first bearing is connected between the walking module body and the supporting module body, a second bearing is arranged on one side, deviating from the walking module body, of the supporting module body, and a clamping head is arranged on one side, deviating from the supporting module body, of the second bearing. The motor simultaneously drives the walking module, and the walking direction is ensured through the guide wheels; when the manipulator runs on a turning track, the bearings and the guide wheels enable the running mechanism to quickly turn, and because each group of running gear is connected with the structural part of the manipulator through the bearings, the turning of the front running gear and the turning of the rear running gear are not affected and are independent, and the turning and turning can be realized at a smaller radius.
Description
Technical Field
The utility model relates to a be used for orbital removal running gear and track of ring belongs to manipulator running gear technical field.
Background
In the annular full-automatic tunnel acid pickling phosphating line equipment for wire rods, a mechanical arm is important equipment, and a mechanical arm walking mechanism is a key device in the mechanical arm. The design of the walking mechanism relates to whether the manipulator can normally run, accurate positioning, timely braking, easy maintenance and influence on the whole structure of the equipment.
The existing common manipulator traveling mechanism in the industry is simple, and comprises a motor for providing a power source, wherein the motor is arranged at the front and the back, the motor respectively drives a pair of gears, the gears are arranged on a profile steel track, and a brake motor is arranged on the motor.
However, the above structure still has the following drawbacks: because the front and rear groups of travelling wheels are arranged, in the travelling process, if the walking wheels need to turn, the rigid fixed connection between the two groups of travelling wheels limits the rotating angle of the travelling wheels, when the walking wheels run on the profile steel track, the walking wheels can turn and travel on the track, and mainly, gaps exist between the travelling wheels and the track. The required turning radius of the track is completely determined by the space between the front wheel and the rear wheel and the clearance between the travelling wheels and the track; for the normal and safe operation of the manipulator, the radius of the track is about 6m generally; that is to say, the width of the whole device is at least more than 12m, and the length of the whole line is generally more than 60m, so that the occupied area is large, at least more than 720m2, and the requirement on the radius of the circular orbit is large.
SUMMERY OF THE UTILITY MODEL
The utility model provides a moving and traveling mechanism for an annular track, which has low requirement on the radius of the annular track in the operation process and is convenient for turning in a small area; the key points of the technical scheme are as follows: the walking module comprises a walking module body, wherein a supporting module is arranged at the bottom of the walking module body, a first bearing is connected between the walking module body and the supporting module body, a second bearing is arranged on one side, deviating from the walking module body, of the supporting module body, and a clamping head is arranged on one side, deviating from the supporting module body, of the second bearing.
The utility model discloses an among the implementation mode, including the walking module, walking module bottom is equipped with the support module, be connected with first bearing between walking module and the support module, one side that the support module deviates from the walking module is equipped with the second bearing, the second bearing deviates from support module one side and is equipped with the holding head, the walking module is provided with even group, is the mirror image setting along walking module direction of advance.
The utility model discloses an among the embodiment, including the walking module, walking module bottom is equipped with the support module, be connected with first bearing between walking module and the support module, one side that the support module deviates from the walking module is equipped with the second bearing, the second bearing deviates from support module one side and is equipped with the clamping head, and every group walking module is including the at least two pairs of wheel bodies that the symmetry set up, and every wheel body corresponds has mutually independent driving motor.
The utility model discloses an among the implementation, including the walking module, walking module bottom is equipped with the support module, be connected with first bearing between walking module and the support module, one side that the support module deviates from the walking module is equipped with the second bearing, the second bearing deviates from support module one side and is equipped with the holding head, and each group walking module all is equipped with down pterygoid lamina, the pterygoid lamina is located between wheel body, the driving motor down, the walking module is equipped with the support module towards ground one side, be equipped with first bearing between pterygoid lamina and the support module down.
The utility model discloses an among the implementation, including the walking module, walking module bottom is equipped with the support module, be connected with first bearing between walking module and the support module, one side that the support module deviates from the walking module is equipped with the second bearing, the second bearing deviates from support module one side and is equipped with the clamping head, and each group walking module all is equipped with down the pterygoid lamina, the pterygoid lamina is located between wheel body, the driving motor down, the walking module is equipped with the support module towards ground one side, be equipped with first bearing down between pterygoid lamina and the support module, one side that the support module deviates from down the pterygoid lamina is equipped with the second bearing, the second bearing deviates from support module one side and is equipped with the clamping head, and every group walking module corresponds a clamping head.
The utility model discloses an among the implementation, including the walking module, walking module bottom is equipped with the support module, be connected with first bearing between walking module and the support module, one side that the support module deviates from the walking module is equipped with the second bearing, the second bearing deviates from support module one side and is equipped with the holding head, and each group walking module all is equipped with down the pterygoid lamina, the pterygoid lamina is located between wheel body, the driving motor down, the walking module is equipped with the support module towards ground one side, be equipped with first bearing down between pterygoid lamina and the support module, one side that the support module deviates from down the pterygoid lamina is equipped with the second bearing, the second bearing deviates from support module one side and is equipped with the holding head, and every group walking module corresponds a holding head, the horizontal projection central point that the projection of holding head on the horizontal plane is fallen.
The utility model discloses an among the implementation mode, including the walking module, walking module bottom is equipped with the support module, be connected with first bearing between walking module and the support module, one side that the support module deviates from the walking module is equipped with the second bearing, the second bearing deviates from support module one side and is equipped with the holding head, and each group walking module all is equipped with down pterygoid lamina, the pterygoid lamina is located between wheel body, the driving motor down, the walking module is equipped with the support module towards ground one side, be equipped with first bearing between pterygoid lamina and the support module down, the pterygoid lamina face still is equipped with the leading wheel to one side of wheel body down, and each wheel body corresponds a leading wheel, two corresponding wheel bodies and leading wheel the central axis mutually perpendicular.
Another object of the utility model is to provide a running gear is with track, be applicable to above-mentioned arbitrary running gear, include with the inconsistent structure of holding head, with the inconsistent track of walking module.
The utility model discloses an implementation mode, including the structure that offsets with the clamping head, the track that offsets with the walking module, the track includes the shaped steel track, including the bottom plate that is located the horizontal plane, perpendicular to the bottom plate and the web that falls on the bottom plate central line, the excircle surface of leading wheel is contradicted in the bottom plate both sides; the square steel rails are provided with two square steel rails which respectively fall on the bottom plates on two sides of the web plate, and the wheel body falls on one surface of the square steel rail, which is deviated from the bottom plate.
The utility model has the advantages as follows:
when the walking mechanism runs, 4 motors simultaneously drive the walking module, and the walking direction is ensured through the guide wheels; when the manipulator runs on a turning track, the bearings and the guide wheels enable the running mechanism to quickly turn, and because each group of running gear is connected with the structural part of the manipulator through the bearings, the turning of the front running gear and the turning of the rear running gear are not affected and are independent, and the turning and turning can be realized at a smaller radius.
Two sets of running gear of independent rotatory swing joint for the radius of turning of endless track greatly reduces, and radius that can normal operating is 3m, only half of former equipment, to the user, the equipment of same productivity, area also just can be at 360m2The precious equipment floor area is saved;
in the utility model, the smooth surface walking module is used to replace the conventional gear, the abrasion to the track is greatly reduced, and the walking noise is low;
4 motors in each travelling mechanism are driven simultaneously, so that the travelling mechanism is not easy to slip, and when one motor fails, the driving capability is only reduced by one fourth, and the equipment can still run normally;
the utility model adopts mechanical brake to replace electromagnetic brake, the reliability is higher than that of electromagnetic brake, the static friction between the wheel body and the track is not easy to generate, the abrasion is small, and the service cycle is long;
the service life is long, and the maintenance is convenient; the mechanical arm which needs to be driven by the traveling mechanism is less in contact with the profile steel track, the profile steel track can run in the whole service life, and any replacement is not needed. As the smooth surface walking module is adopted, the service life of the square steel rail is also extremely long, and the maintenance notice of replacing the square steel rail is not received so far. Even if the square steel rail needs to be replaced, the square steel rail can be replaced quickly by loosening a plurality of screws, and the maintenance difficulty is far less than that of the replacement of the section steel rail of the original structure.
Drawings
Fig. 1 is a front view of the overall structure of the present invention;
fig. 2 is a left side view of the present invention.
In the figure, 1, a motor is driven; 2. a walking module; 21. a wheel body; 3. a lower wing plate; 4. a support module; 5. a first bearing; 6. a second bearing; 7. a clamping head; 8. a guide wheel; 9. a structural member; 10. a track; 101. a profiled steel track; 101-1, a web; 101-2, a bottom plate; 102. a square steel rail.
Detailed Description
To achieve the above objects, features and advantages and in accordance with the purpose of the invention, as embodied and broadly described herein, the present invention will be described in detail with reference to the accompanying drawings.
Example 1
The utility model provides a remove running gear for circular orbit, includes at least two sets of walking module 2, adopts two sets of walking module 2 in this embodiment. Each group of traveling modules 2 includes two groups of wheels 21, and each group of wheels 21 has two wheels 21 arranged coaxially and having opposite end surfaces. In this embodiment, the wheel body 21 has an outer circular surface that is a smooth circular arc surface. Each group of the traveling modules 2 has four wheel bodies 21, and each of the four wheel bodies 21 is provided with a driving motor 1, which is a conical motor in this embodiment. The motor brake is mechanical brake, when the running frequency of the motor is lower than 10z, the power supply of the motor is stopped, the motor is rapidly braked, and the motor and the smooth wheel body 21 reduce the loss caused by static friction. In order to stabilize the position of the wheel body 21, each wheel body 21 is provided with a vertically arranged lower wing plate 3, and the wheel body 21 and the driving motor 1 are respectively positioned at two sides of the lower wing plate 3. Two sets of walking modules 2 respectively have four wheel bodies 21, four driving motor 1, and two sets of walking modules 2 are end to end along the walking route to be the mirror image setting along walking module 2 advancing direction.
Can make relative rotation in walking module 2 walking orbit place face between two sets of adjacent walking modules 2, realize that relative pivoted concrete structure is: the support module 4 is arranged below the lower wing plate 3, and because the position for accommodating the wheel body 21 needs to be reserved between the lower wing plates 3 on the two sides, the bottoms of the lower wing plates 3 on the two sides are connected by the connecting piece which can be a bolt or a connecting plate, in this embodiment, the plate is fixed by the bolt, so that the lower wing plates 3 can enclose a U-shaped area, and the first bearing 5 is arranged below the lower wing plates 3, namely between the U-shaped area and the support module 4. The first bearing 5 enables relative rotation between the wheel 21 of the upper "U" shaped region and the support module 4 below.
A second bearing 6 is arranged on one side of the support module 4, which is far away from the lower wing plate 3, a clamping head 7 is arranged on one side of the second bearing 6, which is far away from the support module 4, and each group of walking modules 2 corresponds to one clamping head 7; the projection of the gripping head 7 on the horizontal plane falls in the horizontal projection center position of the support module 4. The clamping head 7 clamps the building element 9. Each wheel body 21 corresponds to one first bearing 5, and each two first bearings 5 correspond to one second bearing 6, that is, two second bearings 6 and four first bearings 5 are arranged in one traveling mechanism.
The lower wing plate 3 is further provided with guide wheels 8 on the side facing the wheel bodies 21, each wheel body 21 corresponds to one guide wheel 8, and the central axes of the two corresponding wheel bodies 21 and the guide wheels 8 are perpendicular to each other. Each wheel body 21 is provided with two guide wheels 8, and one travelling mechanism is provided with eight guide wheels 8. The wheel body 21 is located intermediate the two guide wheels 8 with which it is fitted.
Example 2
A rail for a traveling mechanism, which is applied to the traveling mechanism in embodiment 1, includes a rail 10 that abuts against a traveling module 2.
The rail 10 includes:
the profile steel track 101 comprises a bottom plate 101-2 positioned in a horizontal plane and a web plate 101-1 which is perpendicular to the bottom plate 101-2 and falls on the center line of the bottom plate 101-2, and the outer circle surface of the guide wheel 8 is abutted against the two sides of the bottom plate 101-2;
the two square steel rails 102 are arranged on the square steel rail 102, the cross section of the square steel rail 102 is the positive direction, the two square steel rails 102 are respectively arranged on the bottom plates 101-2 on the two sides of the web plate 101-1, and the wheel body 21 is arranged on one side, away from the bottom plate 101-2, of the square steel rail 102 in the walking process. The square steel is connected to a web plate 101-1 of the section steel rail 101 in a bolt perforation manner.
The protection scope of the present invention is not limited to the above embodiments, and any modifications, equivalent replacements, and improvements that can be made by a person skilled in the art within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The utility model provides a remove running gear for circular orbit, its characterized in that, includes walking module (2), walking module (2) bottom is equipped with support module (4), be connected with between walking module (2) and the support module (4) first bearing (5), one side that support module (4) deviates from walking module (2) is equipped with second bearing (6), second bearing (6) deviate from support module (4) one side and are equipped with clamping head (7).
2. A mobile walking mechanism for circular orbit according to claim 1, characterized in that the walking modules (2) are provided with even number groups, which are arranged in mirror image along the advancing direction of the walking modules (2).
3. A mobile running gear for an endless track according to claim 1, characterised in that each set of running modules (2) comprises at least two pairs of wheels (21) arranged symmetrically, each wheel (21) being associated with a drive motor (1) independent of each other.
4. A mobile walking mechanism for circular track according to claim 1, characterized in that each group of walking modules (2) is provided with a lower wing plate (3), the lower wing plate (3) is located between the wheel body (21) and the driving motor (1), the walking module (2) is provided with a supporting module (4) towards the ground, and a first bearing (5) is arranged between the lower wing plate (3) and the supporting module (4).
5. A mobile walking mechanism for circular tracks according to claim 4, characterized in that the side of the supporting module (4) away from the lower wing plate (3) is provided with a second bearing (6), the side of the second bearing (6) away from the supporting module (4) is provided with a clamping head (7), and each group of walking modules (2) corresponds to one clamping head (7).
6. A mobile running gear for endless tracks, according to claim 5, characterised in that the projection of the gripping head (7) on the horizontal plane falls in the centre of the horizontal projection of the support module (4).
7. A mobile running gear for an endless track according to claim 4, characterised in that the side of the lower wing plate (3) facing the wheel bodies (21) is further provided with guide wheels (8), each wheel body (21) corresponds to one guide wheel (8), and the central axes of the two corresponding wheel bodies (21) and guide wheels (8) are perpendicular to each other.
8. A running gear rail, characterized in that, suitable for use in a running gear according to any of claims 1-7, comprises a rail (10) which abuts against the running module (2).
9. A track for a running gear according to claim 8, characterised in that the track (10) comprises:
the profile steel track (101) comprises a bottom plate (101-2) positioned in a horizontal plane and a web plate (101-1) which is perpendicular to the bottom plate (101-2) and falls on the center line of the bottom plate (101-2), and the outer circle surface of the guide wheel (8) is abutted against the two sides of the bottom plate (101-2);
the wheel body (21) falls on one surface of the square steel rail (102) departing from the bottom plate (101-2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922485994.1U CN212044705U (en) | 2019-12-31 | 2019-12-31 | Movable walking mechanism for annular track and track |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922485994.1U CN212044705U (en) | 2019-12-31 | 2019-12-31 | Movable walking mechanism for annular track and track |
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| Publication Number | Publication Date |
|---|---|
| CN212044705U true CN212044705U (en) | 2020-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922485994.1U Active CN212044705U (en) | 2019-12-31 | 2019-12-31 | Movable walking mechanism for annular track and track |
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| CN (1) | CN212044705U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112747213A (en) * | 2021-01-05 | 2021-05-04 | 浙江大丰实业股份有限公司 | Annular moving and rotating LED screen system |
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2019
- 2019-12-31 CN CN201922485994.1U patent/CN212044705U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112747213A (en) * | 2021-01-05 | 2021-05-04 | 浙江大丰实业股份有限公司 | Annular moving and rotating LED screen system |
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