CN212825369U - Rotary lane changing butt joint structure and inspection robot lane changing device - Google Patents
Rotary lane changing butt joint structure and inspection robot lane changing device Download PDFInfo
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- CN212825369U CN212825369U CN202021739604.5U CN202021739604U CN212825369U CN 212825369 U CN212825369 U CN 212825369U CN 202021739604 U CN202021739604 U CN 202021739604U CN 212825369 U CN212825369 U CN 212825369U
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Abstract
The utility model provides a rotatory lane change butt-joint structural and inspection robot lane change device, rotatory lane change butt-joint structural includes: the lane changing driver, the rotating seat, the rotating track and the fixed track; the output end of the lane changing driver is connected with the rotating seat and is used for driving the rotating seat to rotate; the rotating seat is connected with a rotating track; one end of each of the fixed rails is distributed in the rotating range of the corresponding rotating rail respectively, so that after the rotating rails rotate, the rotating rails are communicated with at least two fixed rails in the rotating range, and the fixed rails in different positions are communicated and connected through the rotating rails. Patrol and examine robot lane change device includes: the robot and the rotary lane-changing butt joint structure; the robot is provided with a moving part; and a moving part clamped and moved to the rotating rail and the fixed rail. This rotatory lane change butt-joint structural for the device that has the removal function changes the way, so that the device can realize the angle transfer smoothly under this structure, has the switching-over convenient smooth and easy, but fixed mounting mode is diversified, but advantage that the suitability is strong.
Description
Technical Field
The utility model relates to a robot track technical field especially relates to a rotatory lane change butt-joint structural and patrol and examine robot lane change device.
Background
The existing aerial track adopts an independent turning mode to connect and change tracks, and has the advantages of high cost, large occupied space, long and staggered path, complex mode structure and single style. However, in a narrow space, due to the limited space, the robot often has insufficient turning space for lane-changing connection. The conventional common method for solving the problem of crossing is as follows: a small section of movable track is adopted to be mutually converted at the turnout junction, and the small section of movable track is fixedly connected with the fixed track through a steel rail clamping plate through bolts. When the rail is changed, the rail clamp plates are firstly removed, then a small section of movable steel rail is lifted up and placed in front of the fixed rail needing to be turned, the movable steel rail is butted with the specified rail, and the fixed rail clamp plates are installed. The turnout steering method is time-consuming, labor-consuming, extremely low in working efficiency and incapable of keeping up with increasingly developed automatic machinery.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a rotatory lane change butt joint structure, it connects in the trapped orbit of different positions through orbital rotation of rotation to make the robot realize rotatory lane change.
The utility model discloses still provide a patrol and examine robot lane change device, it includes: the robot and the rotary lane-changing butt joint structure; the moving part of the robot clamps and moves on the rotating track and the fixed track.
To achieve the purpose, the utility model adopts the following technical proposal:
a rotary lane change docking structure, comprising: the lane changing driver, the rotating seat, the rotating track and the fixed track;
the output end of the lane changing driver is connected with the rotating seat and is used for driving the rotating seat to rotate; the rotating seat is connected with the rotating track;
one ends of the fixed rails are respectively distributed in the rotating range of the rotating rails, so that after the rotating rails rotate, the rotating rails are communicated with at least two fixed rails in the rotating range, and the fixed rails at different positions are communicated and connected through the rotating rails.
Preferably, both the rotating rail and the fixed rail are provided with a bottom plate.
The bottom plate is used for accommodating a moving part with a moving function, and the moving part is made to move between the rotating track and the fixed track.
Preferably, the method further comprises the following steps: the robot drives the rack;
the robot driving rack is arranged on the bottom plate of the rotating track and/or the bottom plate of the fixed track.
Preferably, the method further comprises the following steps: a track fixing component; the track fixing assembly comprises: a track connector and a hanger;
the fixed track is provided with a track connecting groove;
the rail connecting piece is provided with a first clamping end and a second clamping end; the first clamping end is limited in the track connecting groove; the track connecting piece passes through the notch of the track connecting groove and the hanging bracket and is limited by the second clamping end.
Preferably, the rail connecting piece is provided with a third clamping end and a fourth clamping end;
the third clamping end and the first clamping end are pressed on the notch of the track connecting groove in an adjustable and elastic manner;
the fourth clamping end and the second clamping end can be pressed on the upper position and the lower position of the hanging bracket in an adjustable and elastic mode.
Preferably, the rail connector includes: a track connecting bolt and a track connecting nut;
at least one of the rail coupling nuts is fitted to the rail coupling bolt;
one of the first clamping end and the second clamping end is a screw head of the rail connecting bolt, and the other one is the rail connecting nut;
the third clamping end and the fourth clamping end are the track connecting nut.
Preferably, the orbital member comprises: a hanger screw; the hanger is provided with a screw fixing hole; the hanger screw is mounted in the screw fixing hole and used for fixing the position of the hanger.
Preferably, the rotating track and/or the fixed track are respectively combined by a plurality of circular arc section tracks and/or horizontally extending horizontal section tracks.
Preferably, the lane-change driver includes: a rotating shaft and a driving motor;
the rotating shaft is synchronously and rotatably arranged on the rotating seat;
and the output end of the driving motor is used for driving the rotating shaft to rotate.
A patrol and examine robot lane change device includes: the robot and the rotary lane-changing butt joint structure;
the rotary lane-changing butt joint structure is the rotary lane-changing butt joint structure;
the robot is provided with a moving part; the moving part clamps and moves to the rotating rail and the fixed rail.
The utility model has the advantages that:
this rotatory lane change butt-joint structural for the device that has the removal function changes the way, so that the device can realize the angle transfer smoothly under this structure, has the switching-over convenient smooth and easy, but fixed mounting mode is diversified, but advantage that the suitability is strong.
Drawings
FIG. 1 is a schematic structural diagram of a rotary lane-changing docking structure;
FIG. 2 is a schematic view of a rotary rail in a rotary lane-changing docking structure;
FIG. 3 is a schematic view of the fixed track and the fixed track assembly when they are connected;
FIG. 4 is a schematic diagram of the robot moving in a rotary lane-change docking configuration;
FIG. 5 is a schematic diagram of a lane-change drive;
FIG. 6 is a schematic view of the structure of an I-shaped workpiece;
fig. 7 is a schematic structural view of the robot moving on a rotating track or a fixed track.
Wherein:
the lane changing driver comprises a lane changing driver 1, a rotating seat 2, a rotating track 3 and a fixed track 4; a fixed track assembly 5; the robot drives the rack 6;
a rotating shaft 11 and a driving motor 12; a drive gear 13, a driven gear 14;
a rotation range of 10;
a bottom plate 31; a rail connecting groove 32;
a rail connector 51, a hanger 52; hanger screws 53;
a first clamping terminal 511, a second clamping terminal 512, a third clamping terminal 513 and a fourth clamping terminal 514;
a rail connection bolt 515, a rail connection nut 516;
Detailed Description
The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.
A rotary lane change docking structure, comprising: the lane changing driver 1, the rotating seat 2, the rotating track 3 and the fixed track 4;
the output end of the lane changing driver 1 is connected with the rotating seat 2 and is used for driving the rotating seat 2 to rotate; the rotating seat 2 is connected with the rotating track 3;
one end of each of the fixed rails 4 is distributed in the rotation range 10 of the corresponding rotation rail 3, so that after the rotation rails 3 rotate, the rotation rails 3 are communicated with at least two of the fixed rails 4 in the rotation range 10, and the fixed rails 4 at different positions are communicated and connected through the rotation rails 3.
This rotatory lane change butt-joint structural for the device that has the removal function changes the way, so that the device can realize the angle transfer smoothly under this structure, has the switching-over convenient smooth and easy, but fixed mounting mode is diversified, but advantage that the suitability is strong.
Specifically, the lane-changing driver 1 has a driving function, and the output end thereof can rotate 360 degrees to drive the rotating seat 2 to rotate. As shown in fig. 1, one end of each of the plurality of fixed rails 4 is located in the rotation range 10 of the rotation rail 3, and after the rotation rail 3 rotates, one of the fixed rails 4 can be connected with the other fixed rail 4 in a communicating manner, and the rotation rail 3 and the fixed rails 4 can keep the extending property structurally, so that the robot enters any one of the fixed rails 4 located in the rotation range 10 under the angle adjustment of the rotation rail 3, the route of the robot is richer, and the angle transfer is smoother.
As shown in fig. 4 or fig. 7, the robot can move between the rotating rail 3 and the fixed rail 4 by clamping the rotating rail 3 and the fixed rail 4 and by the moving part 011 thereof; the robot will clamp the track and move on the rotating track 3 and the fixed track 4 instead by known techniques. When this rotatory lane change butt joint structure realizes the angle transfer to the robot, include following two kinds of condition at least: a, the robot does not move to a rotating track 3, at the moment, a lane changing driver 1 is started to drive a rotating seat 2 to rotate, the rotating track is driven to carry out angle adjustment, and the angle transfer of the robot is connected with a required fixed track 4 through the rotating track 3 in advance; and b, after the robot reaches the fixed track 4 and enters the rotating track 3, starting the rotating track 3 at the moment to drive the robot on the rotating track 3 to synchronously rotate, so that the angle deviation is realized, and after the rotating track 3 is in butt joint with the other fixed track 4, the robot is separated from the rotating track 3 and enters the new fixed track 4.
This patent realizes the direction conversion of rotation track 3 and fixed orbit 4 through mechanical control, provides a reasonable in design, simple structure's mechanical control type guide rail switching-over method, can effectually break away from geographical space's restriction, reduces the cost. The equipment can be smoothly transferred from one guide rail to the other guide rail through 360-degree mechanical rotation of the rotating seat 2, and the whole rail transformation process is simple to operate and more convenient to use.
Preferably, both the turning rail 3 and the fixed rail 4 are provided with a bottom plate 31.
The bottom plate 31 is configured to accommodate a moving portion 011 having a moving function, and move the moving portion 011 to the rotating rail 3 and the fixed rail 4.
The robot is provided with a moving part; the bottom plate 31 is used for providing a contact surface for the moving part, so that the moving part can move on the rotating track 3 and the fixed track 4, and the movement of the robot 01 on the rotary lane-changing butt joint structure is realized; preferably, the bottom plate 31 is located the both sides of rotation track 3 with fixed track 4, and the manipulator of robot is equipped with a removal portion, through removing the part respectively the joint in the bottom that is located both sides to realize that the robot presss from both sides tightly in rotation track 3 and fixed track 4, under this kind of structure, when rotation track 3 and fixed track 4 are unsettled state, the robot also can unsettled the setting owing to press from both sides tightly under the effect.
Preferably, the method further comprises the following steps: the robot drives the rack 6;
the robot driving rack 6 is mounted on the bottom plate 31 of the rotating track 3 and/or the bottom plate 31 of the fixed track 4.
The robot driving guide rail is used for providing a driving function for the robot; the moving part of the robot may include: a robot motor and a robot moving wheel; the moving wheel of the robot is meshed with the driving rack 6 of the robot; the output end of the robot motor is connected with the robot moving wheel and is used for driving the robot moving wheel to rotate; in the rotary lane-changing butt-joint structure, when the robot needs to move on the bottom plate 31, only the robot motor needs to be started to drive the robot moving wheel to rotate, so that the robot moving wheel and the robot driving rack 6 are relatively displaced, and the robot can move on the rotary lane-changing butt-joint structure. Since the moving part holds the bottom plate 31, the robot is not separated from the rotary lane-change docking structure.
Preferably, the method further comprises the following steps: a fixed track assembly 5; the track fixing assembly 5 includes: rail connectors 51 and hangers 52;
the fixed rail 4 is provided with a rail connecting groove 32;
the rail connecting piece 51 is provided with a first clamping end 511 and a second clamping end 512; the first position-retaining end 511 is limited in the track connecting groove 32; the rail connector 51 is retained by the second retaining end 512 after passing through the slot of the rail connecting slot 32 and the hanger 52.
In order to fix the position of the fixed rail 4, the fixed rail assembly 5 is preferably provided in the present embodiment to provide a fixing function for the fixed rail 4 so as to prevent the fixed rail 4 from loosening.
Specifically, the fixed rail 4 is fixed to a suspended state; the first clamping end 511 of the track connecting piece 51 is clamped in the track connecting groove 32, the other end of the track connecting piece is positioned on the upper surface of the hanger 52, and the track connecting piece 51 sequentially passes through the notch of the track connecting groove 32 and the hanger 52; the first clamping end 511 and the second clamping end 512 respectively limit the fixed rail 4 and the hanger 52 on the rail connecting member 51; therefore, the hanging fixation of the fixed rail 4 can be realized only by arranging the hanger 52 on the carrier; the carrier is a ground, a wall, a ceiling and the like. Referring to fig. 6, the rail connector 51 is equivalent to an I-shaped workpiece, and when in use, the hanger 52 and the fixed rail 4 are only limited at two ends of the I-shaped workpiece, and limited by the first clamping end 511 and the second clamping end 512 of the I-shaped workpiece, so that the I-shaped workpiece is not limited to the state after the screw and the nut are engaged.
Preferably, the rail connector 51 is provided with a third clamping end 513 and a fourth clamping end 514;
the third clamping end 513 and the first clamping end 511 are adjustably and tightly pressed against the notch of the track connecting groove 32;
the fourth position-retaining end 514 and the second position-retaining end 512 are elastically pressed against the upper and lower positions of the hanger 52.
Preferably, in order to further improve the fixing force of the fixing rail 4, the rail connector 51 may be further provided with a third catching end 513 and a fourth catching end 514; as shown in fig. 4, the first clamping end 511 is located inside the rail connecting groove 32, the third clamping end 513 is located outside the rail connecting groove 32, and the rail connecting groove 32 is fixed by the clamping ends inside and outside the groove to clamp the rail connecting groove 32; the second clamping end 512 is located above the hanger 52, the fourth clamping end 514 is located below the hanger 52, and the clamping force is adjustable due to the fact that the tightness between the clamping ends is adjustable, so that the hanger 52 and the fixed rail 4 are further limited on the rail connecting piece 51, and the phenomenon that the fixed rail 4 loosens or shakes in the use process of the rail connecting piece 51 is avoided.
Preferably, the rail connector 51 includes: a rail connection bolt 515 and a rail connection nut 516;
at least one of the rail coupling nuts 516 is fitted to the rail coupling bolts 515;
both the first and second capture ends 511, 512, one of which is the screw head of the rail attachment bolt 515 and the other of which is the rail attachment nut 516;
the third clamping end 513 and the fourth clamping end 514 are the rail coupling nuts 516.
The I-shaped workpiece can be formed by matching a track connecting bolt 515 and a track connecting nut 516; the rail coupling nut 516 can be engaged with the rail coupling bolt 515 and can be screwed to adjust the tightness. The screw heads of rail attachment bolts 515 may be located within rail attachment slots 32, or may be located at hanger 52; when the screw head of the rail connecting bolt 515 is positioned in the rail connecting groove 32, the hanger 52 is limited by the rail connecting nut 516; when the screw head of the rail coupling bolt 515 is located at the hanger 52, the fixed rail 4 is restrained by providing the rail coupling nut 516 in the rail coupling groove 32. The third clamping end 513 and the fourth clamping end 514 are rail coupling nuts 516, and clamping of the fixed rail 4 and the hanger 52 is achieved through respective threaded engagement.
Preferably, said tracking assembly 5 comprises: hanger screws 53;
the hanger 52 is provided with a screw fixing hole 521; the hanger screw 53 is mounted in the screw fixing hole, and is used for fixing the position of the hanger 52.
The hanger 52 may be fixed by a hanger screw 53 to fix the hanger 52 to the carrier, so that the position of the fixing rail 4 is fixed, and the fixing rail 4 may be fixed to the ground, a wall, a ceiling, and the like. Hanger screws 53 are generic concepts that may include, but are not limited to: through screw, machine screw, self tapping screw and expansion screw. Preferably, the expansion screw is selected to improve the fixing force of the hanger 52, and the fixing effect is optimal.
Preferably, the rotating track 3 and/or the fixed track 4 are respectively combined by a plurality of arc-shaped circular arc section tracks 71 and/or horizontally extending horizontal section tracks 72.
The rotating track 3 and the fixed track 4 can enable the angle deviation of the robot to be smoother through the combination of the multi-section circular arc section track and the horizontal section track.
Preferably, the lane-change drive 1 includes: a rotating shaft 11 and a driving motor 12;
the rotating shaft 11 is synchronously and rotatably arranged on the rotating seat 2;
the output end of the driving motor 12 is used for driving the rotating shaft 11 to rotate.
The output end of the driving motor 12 rotates to directly or indirectly drive the rotating shaft 11 to rotate; when the driving motor 12 is directly driven, only the output end of the driving motor 12 needs to be coaxially connected with the rotating shaft 11, and the rotating shaft 11 is directly driven to rotate through the driving motor 12; when the driving motor 12 is driven indirectly, the lane-changing driver 1 may further include: a drive gear 13 and a driven gear 14; the output end of the driving motor 12 is coaxially connected with the driving gear 13 and is used for driving the driving gear 13 to rotate; the driven gear 14 is coaxially fixed to the rotating shaft 11 and engaged with the driving gear 13. Here, the driving motor 12 may be fixed to the carrier to keep the height of the rotation rail 3 and the fixed rail 4 the same, so that the movement of the robot is smoother.
A patrol and examine robot lane change device includes: the robot 01 and the rotary lane-changing butt joint structure 02;
the rotary lane-changing butt joint structure 02 is the rotary lane-changing butt joint structure of any of the above embodiments;
the robot 01 is provided with a moving part 011; the moving portion 011 is clamped and moved to the rotating rail 3 and the fixed rail 4.
This robot lane changing device, it removes in rotatory lane changing butt-joint structural through the robot, changes the way on rotatory lane changing butt-joint structural through the robot, can change single track advancing direction through switching the track, has got rid of the orbital space restriction of straight line track or bend, has realized the free switching-over of rotation, and its structural domain is simple compact, can 360 wide-angle rotations, and the switching-over is convenient smooth and easy, and fixed mounting mode can be diversified, but the suitability is strong.
In the description of the present invention, it is to be understood that the terms "front", "back", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "side", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
The technical principle of the present invention is described above with reference to specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without any inventive effort, which would fall within the scope of the present invention.
Claims (10)
1. A rotary lane-changing butt joint structure is characterized by comprising: the lane changing driver, the rotating seat, the rotating track and the fixed track;
the output end of the lane changing driver is connected with the rotating seat and is used for driving the rotating seat to rotate; the rotating seat is connected with the rotating track;
one ends of the fixed rails are respectively distributed in the rotating range of the rotating rails, so that after the rotating rails rotate, the rotating rails are communicated with at least two fixed rails in the rotating range, and the fixed rails at different positions are communicated and connected through the rotating rails.
2. The rotary lane change butting structure according to claim 1, wherein both the rotating rail and the fixed rail are provided with a bottom plate;
the bottom plate is used for accommodating a moving part with a moving function, and the moving part is made to move between the rotating track and the fixed track.
3. The rotary lane change butting structure according to claim 2, further comprising: the robot drives the rack;
the robot driving rack is arranged on the bottom plate of the rotating track and/or the bottom plate of the fixed track.
4. The rotary lane change butting structure according to claim 1, further comprising: a track fixing component;
the track fixing assembly comprises: a track connector and a hanger;
the fixed track is provided with a track connecting groove;
the rail connecting piece is provided with a first clamping end and a second clamping end; the first clamping end is limited in the track connecting groove; the track connecting piece passes through the notch of the track connecting groove and the hanging bracket and is limited by the second clamping end.
5. The rotary lane change docking structure according to claim 4, wherein the rail connector is provided with a third detent end and a fourth detent end;
the third clamping end and the first clamping end are pressed on the notch of the track connecting groove in an adjustable and elastic manner;
the fourth clamping end and the second clamping end can be pressed on the upper position and the lower position of the hanging bracket in an adjustable and elastic mode.
6. The rotary lane change docking structure of claim 5, wherein the rail connector comprises: a track connecting bolt and a track connecting nut;
at least one of the rail coupling nuts is fitted to the rail coupling bolt;
one of the first clamping end and the second clamping end is a screw head of the rail connecting bolt, and the other one is the rail connecting nut;
the third clamping end and the fourth clamping end are the track connecting nut.
7. The rotary lane change docking structure according to claim 4, wherein the orbital member comprises: a hanger screw;
the hanger is provided with a screw fixing hole; the hanger screw is mounted in the screw fixing hole and used for fixing the position of the hanger.
8. The rotary lane change butt joint structure according to claim 1, wherein the rotary rail and/or the fixed rail are respectively combined by a plurality of circular arc section rails and/or horizontally extending horizontal section rails.
9. The rotary lane change interfacing structure of any one of claims 1 to 8, wherein the lane change driver comprises: a rotating shaft and a driving motor;
the rotating shaft is synchronously and rotatably arranged on the rotating seat;
and the output end of the driving motor is used for driving the rotating shaft to rotate.
10. The utility model provides a patrol and examine robot lane change device which characterized in that includes: the robot and the rotary lane-changing butt joint structure;
the rotary lane-changing butt joint structure is the rotary lane-changing butt joint structure of any one of claims 1 to 9;
the robot is provided with a moving part; the moving part clamps and moves to the rotating rail and the fixed rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021739604.5U CN212825369U (en) | 2020-08-19 | 2020-08-19 | Rotary lane changing butt joint structure and inspection robot lane changing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021739604.5U CN212825369U (en) | 2020-08-19 | 2020-08-19 | Rotary lane changing butt joint structure and inspection robot lane changing device |
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| Publication Number | Publication Date |
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| CN212825369U true CN212825369U (en) | 2021-03-30 |
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| CN202021739604.5U Active CN212825369U (en) | 2020-08-19 | 2020-08-19 | Rotary lane changing butt joint structure and inspection robot lane changing device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113829320A (en) * | 2021-09-27 | 2021-12-24 | 诠航科技有限公司 | Guide rail conversion method and device of hanging rail type inspection robot and storage medium |
| CN116177175A (en) * | 2023-01-31 | 2023-05-30 | 上海果栗自动化科技有限公司 | Connecting device and conveying line body |
-
2020
- 2020-08-19 CN CN202021739604.5U patent/CN212825369U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113829320A (en) * | 2021-09-27 | 2021-12-24 | 诠航科技有限公司 | Guide rail conversion method and device of hanging rail type inspection robot and storage medium |
| CN113829320B (en) * | 2021-09-27 | 2024-04-12 | 诠航科技有限公司 | Guide rail conversion method, device and storage medium of lifting rail type inspection robot |
| CN116177175A (en) * | 2023-01-31 | 2023-05-30 | 上海果栗自动化科技有限公司 | Connecting device and conveying line body |
| CN116177175B (en) * | 2023-01-31 | 2024-01-30 | 果栗智造(上海)技术股份有限公司 | Connecting device and conveying line body |
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