CN219946212U - Global shuttle robot stable structure - Google Patents

Abstract

The utility model relates to a global shuttle robot stabilizing structure, which comprises a rail and a robot, wherein the rail is an I-shaped rail, the robot is hung on the rail through travelling wheels, a plurality of groups of balance rails are arranged on the rail, each group of balance rails is arranged on two sides of the rail, and a smooth balance surface is arranged on the bottom surface of each balance rail; balance arms matched with the balance rails are arranged on two sides of the top of the robot, and the top surfaces of the balance arms can be in sliding contact with the balance surfaces. The balance rail is arranged in a key area, and after the robot runs to the area, balance arms on two sides of the balance rail can be in sliding contact with the balance surface, so that the robot is prevented from shaking when running in the area, and further the robot can keep stable running at the position, so that the robot is suitable for high-precision inspection, material transportation and other works, and the application range is improved.

Description

Global shuttle robot stable structure

Technical Field

The present utility model relates to the field of robots, and more particularly, to a global shuttle robot stabilization structure.

Background

With the gradual transition from automated production to intelligent manufacturing and the continuous development of digital twin technology, the labor in intelligent factories is reduced, and most of production processing, inspection tour and the like are replaced by robots.

The whole-domain shuttle robot adopts the hanging type track, and can be operated to any position without being influenced by ground equipment, so that the whole-domain shuttle robot has huge application advantages in the aspects of inspection tour, small-sized material transfer and the like. However, the whole-domain shuttle robot is small in track width, and the robot is hung on the track by adopting the travelling wheels, so that the robot is easy to shake in the operation process or the stop-to-station process, is difficult to use in a station where important monitoring areas are needed or materials are accurately put in, and limits the application range of the whole-domain shuttle robot.

Therefore, a stabilizing mechanism for a global shuttle robot is needed, which can maintain the stability of the robot on the track and improve the application range.

Disclosure of Invention

The utility model aims to solve the problems that the existing global shuttle robot is easy to shake in the use process and is difficult to keep stable in key areas so as not to be used.

According to one aspect of the utility model, a global shuttle robot stabilizing structure is provided, and the global shuttle robot stabilizing structure comprises a track and a robot, wherein the track is an I-shaped track, the robot is hung on the track through travelling wheels, a plurality of groups of balance rails are arranged on the track, each group of balance rails is arranged on two sides of the track separately, and a smooth balance surface is arranged on the bottom surface of each balance rail; balance arms matched with the balance rails are arranged on two sides of the top of the robot, and the top surfaces of the balance arms can be in sliding contact with the balance surfaces.

Through this scheme, set up the balance rail in key region, after the robot moves to this region, the balance arm of its both sides can with balancing surface sliding contact to avoid the robot to rock when moving in this region, and then make the robot can keep steady operation in this department, work such as being fit for high accuracy's inspection, material transportation improve application scope.

Preferably, the top surface of the balance arm is provided with a sliding roller matched with the balance surface.

Through this scheme, the smooth roll is connected with the balancing surface roll, can reduce frictional force, avoids frictional force too big and causes the robot to block the condition.

Preferably, the balance arm is rotatably connected to the top of the robot, and a driving mechanism is arranged on the balance rail to enable the balance arm to be in a balance position or a storage position.

Through this scheme, make the balance arm can accomodate in order to reduce the width of robot, only expand again in balance rail department, be fit for using in narrow and small environment.

Preferably, a fixing rod is fixed at the bottom of the balance arm through a connecting rod, the connecting rod is elastically connected with the robot through a torsion spring, the torsion spring always applies the elasticity towards the balance position to the balance arm, the fixing rod is located in a positioning cavity at the top of the robot, and a positioning pin for positioning the fixing rod to a storage position is arranged in the positioning cavity.

According to the scheme, the balance arm is fixed by the fixing rod arranged in the robot positioning cavity, so that the height of the structure can be reduced, and the whole volume of the robot is reduced; when the driving mechanism pulls out the locating pin, the torsion spring can drive the balance arm to reach the balance position.

Preferably, the driving mechanism includes a magnetic plate fixed to a front end bottom of the balance rail and capable of attracting the positioning pin to move upward; the locating pin is elastically connected with the robot through a tensioning spring.

According to the scheme, the positioning pin is attracted by the magnetic force of the magnetic plate, so that the positioning pin moves upwards to release the balance arm; the tensioning spring can enable the positioning pin to move downwards to reset after being separated from the magnetic plate, and the balance arm is continuously fixed.

Preferably, the driving mechanism includes a blocking plate fixed to a rear end bottom of the balance rail and capable of blocking the balance arm from rotating, the bottom of the positioning pin is provided with a guide surface, and the balance arm is capable of pressing the guide surface to the storage position.

Through this scheme, when the robot drove the balance arm and moved forward, thereby the barrier plate can block the balance arm and make its backward rotation, and the dead lever is rotatory to arrive locating pin department along with it, makes the locating pin upwards remove through extrusion guide surface, and then makes the dead lever arrive the locating pin rear, and the locating pin locks the dead lever downwards under the effect of tensioning spring, keeps the balance arm to be located the storage position, accomplishes the accomodating of balance arm.

Preferably, the front end of the balance rail is provided with a slope.

Through this scheme, avoid the balance arm to expand with it take place to interfere, improve the ride comfort when expanding of balance arm.

Preferably, the balance rail is fixed to the top of the rail by an extension rod.

Through this scheme, the distance between the balanced rail can be widened to the extension rod to increase the arm of force, make the robot more stable.

Preferably, at least two groups of balance arms are arranged at the top of the robot, and each group of balance arms is respectively arranged at two sides of the robot.

Through this scheme, not only can keep the robot from side to side steady, can also keep its front and back steady, avoid the front and back rocking in the brake or the acceleration process.

The utility model has the technical effects that the adoption of the global shuttle robot stabilizing structure can improve the stability of the robot in a key area under the condition of keeping the volume of the robot small, avoid the problem of poor position precision caused by front-back or left-right shaking of the robot, and improve the application range of the global shuttle robot.

Other features of the present utility model and its advantages will become apparent from the following detailed description of exemplary embodiments of the utility model, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description, serve to explain the principles of the utility model.

FIG. 1 is a schematic top view of a global shuttle robot stabilization structure according to an embodiment of the present utility model.

FIG. 2 is a schematic cross-sectional view of the structure in the direction A-A in FIG. 1.

Fig. 3 is a schematic top view of the robot of fig. 2 with the balance arm in the storage position.

Fig. 4 is a schematic structural view of the balance arm in fig. 3.

Fig. 5 is a schematic view of the balance rail of fig. 2.

Fig. 6 is a schematic view of the position structure at the positioning pin in fig. 3.

Detailed Description

Various exemplary embodiments of the present utility model will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present utility model unless it is specifically stated otherwise.

The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the utility model, its application, or uses.

Techniques and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate.

In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

As shown in fig. 1 to 6, the global shuttle robot stabilizing structure in an embodiment of the present utility model includes a track 100 and a robot 200, wherein the track 100 is an i-shaped track 100, the robot 200 is suspended to the track 100 by travelling wheels, a plurality of groups of balance rails 110 are arranged on the track 100, each group of balance rails 110 is separately arranged on two sides of the track 100, and a smooth balance surface is arranged on the bottom surface of the balance rail 110; balance arms 210 matched with the balance rail 110 are arranged on two sides of the top of the robot 200, and the top surfaces of the balance arms 210 can be in sliding contact with the balance surface.

Through this scheme of this embodiment, set up balanced rail 110 in key region, after robot 200 moves to this region, the balanced arm 210 of its both sides can with balanced face sliding contact to avoid robot 200 to rock when moving in this region, and then make robot 200 can keep steady operation in this place, be fit for work such as high accuracy inspection, material transportation, improve application scope.

The top of the robot 200 in this embodiment is provided with a track groove, and the travelling wheels are arranged on two side walls of the track groove, and can be clamped on the horizontal plane of the i-shaped track 100, and the track 100 is fixed to a factory or an office area in a hanging manner. The traveling wheels of the robot 200 are rotated by a built-in motor and a battery, so that the robot 200 travels on the rail 100.

The balance rail 110 in this embodiment is made of aluminum alloy or nylon, which has a smooth surface, a certain rigidity, and a light material, and is suitable for being mounted on the hanging rail 100.

In one embodiment of the present utility model, the top surface of the balance arm 210 is provided with a slide roller 211 matching the balance surface. The sliding roller 211 is in rolling connection with the balance surface, so that friction force can be reduced, and the problem that the robot 200 is blocked due to overlarge friction force is avoided.

The balance arm 210 is provided with a square through hole, the sliding roller 211 is rotatably connected into the through hole, and the length of the sliding roller 211 is not less than the width of the balance rail 110, so that the sliding roller 211 can be in rolling contact with the balance surface.

In an embodiment of the present utility model, the balance arm 210 is rotatably connected to the top of the robot 200, and the balance rail 110 is provided with a driving mechanism to place the balance arm 210 in a balance position or a storage position. The balance arm 210 can be stored so as to reduce the width of the robot 200, and is unfolded only at the balance rail 110, thus being suitable for being used in a narrow environment.

In an embodiment of the present utility model, a fixing rod 213 is fixed at the bottom of the balance arm 210 through a connecting rod 212, the connecting rod 212 is elastically connected with the robot 200 through a torsion spring (not shown in the figure), the torsion spring always applies an elastic force to the balance arm 210 toward the balance position, the fixing rod 213 is located in a positioning cavity 220 at the top of the robot 200, and a positioning pin 221 for positioning the fixing rod 213 to the storage position is disposed in the positioning cavity 220. The balance arm 210 is fixed by the fixing rod 213 arranged in the positioning cavity 220 of the robot 200, so that the height of the structure can be reduced, and the whole volume of the robot 200 is reduced; when the driving mechanism pulls out the positioning pin 221, the torsion spring can drive the balance arm 210 to reach the balance position.

The positioning cavity 220 in this embodiment can be used as a limit, when the torsion spring drives the balance arm 210 to rotate, the fixing rod 213 abuts against the inner wall of the positioning cavity 220 to stop rotating, and the balance arm 210 is located at a balance position; the balance arm 210 may be disposed perpendicular to the balance rail 110 when in the balance position, or may be disposed at an acute angle to the balance rail 110, i.e., at an obtuse angle to the traveling direction of the robot 200.

The balance arms 210 of the fixing rods 213 are arranged at a certain angle, so that the balance arms 210 can be prevented from shielding the upper parts of the positioning pins 221 to influence the upward movement of the positioning pins 221.

In an embodiment of the present utility model, the driving mechanism includes a magnetic plate 120, and the magnetic plate 120 is fixed to the bottom of the front end of the balance rail 110 and can attract the positioning pin 221 to move upwards; the positioning pin 221 is elastically coupled to the robot 200 by a tension spring 222. The positioning pin 221 is attracted by the magnetic force of the magnetic plate 120 to move upward to release the balance arm 210; the tension spring 222 can enable the positioning pin 221 to move downwards to reset after being separated from the magnetic plate 120, and the balance arm 210 is further fixed.

The top of the positioning pin 221 may be provided with a permanent magnet that attracts the magnetic plate 120 to each other, so that the reliability of driving the positioning pin 221 can be improved. And the magnetic plate 120 is not required to be closely attached to the top of the robot 200, so that the possibility of collision is reduced, and the safety in use is improved.

In an embodiment of the present utility model, the driving mechanism includes a blocking plate 130, the blocking plate 130 is fixed to the bottom of the rear end of the balance rail 110 and can block the balance arm 210 to rotate, the bottom of the positioning pin 221 is provided with a guide surface, and the balance arm 210 can press the guide surface to reach the storage position. When the robot 200 drives the balance arm 210 to move forward, the blocking plate 130 can block the balance arm 210 to rotate backward, the fixing rod 213 rotates to reach the positioning pin 221, the positioning pin 221 moves upward by extruding the guiding surface, the fixing rod 213 reaches the rear of the positioning pin 221, the positioning pin 221 locks the fixing rod 213 downward under the action of the tensioning spring 222, and the balance arm 210 is kept in the storage position, so that the balance arm 210 is stored.

In one embodiment of the present utility model, the front end of the balance rail 110 is provided with a ramp 112. Avoiding interference with the balance arm 210 when the balance arm 210 is unfolded and improving smoothness of the balance arm 210 when the balance arm is unfolded.

In one embodiment of the present utility model, the balance rail 110 is fixed to the top of the track 100 by an extension rod 111. The extension rod 111 can widen the distance between the balance rails 110, thereby increasing the moment arm and making the robot 200 more stable. The extension rod 111 is fixed to the top of the rail 100 by welding or rivet connection, prevents the bolt from loosening due to long-time vibration, and reduces the stabilizing effect.

In an embodiment of the present utility model, at least two sets of balance arms 210 are disposed on the top of the robot 200, and each set of balance arms 210 is disposed on two sides of the robot 200. Not only can keep the left and right stable of the robot 200, but also can keep the front and back stable of the robot, and avoid front and back shaking in the braking or accelerating process.

The technical effect of this embodiment lies in that, adopt this global shuttle robot stable structure, can improve its stability in key region under the circumstances that keeps the robot small in size, avoid its front and back or control problem that the position accuracy who rocks and cause is poor, improve global shuttle robot's application scope.

While certain specific embodiments of the utility model have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the utility model. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the utility model. The scope of the utility model is defined by the appended claims.

Claims (9)

1. The utility model provides a global shuttle robot stable structure, includes track and robot, the track is the I-shaped track, the robot is hung to on the track through the walking wheel, its characterized in that is provided with a plurality of groups of balanced rail on the track, every group balanced rail divides and establishes the both sides arrangement of track, the bottom surface of balanced rail is provided with smooth balancing surface; balance arms matched with the balance rails are arranged on two sides of the top of the robot, and the top surfaces of the balance arms can be in sliding contact with the balance surfaces.

2. The global shuttle robot stabilizing structure according to claim 1, wherein the top surface of the balancing arm is provided with a slide roller matching the balancing surface.

3. The global shuttle robot stabilizing structure of claim 2, wherein the balance arm is rotatably connected to the robot top, and a driving mechanism is provided on the balance rail to place the balance arm in a balance position or a storage position.

4. A global shuttle robot stabilizing structure according to claim 3, wherein a fixing rod is fixed at the bottom of the balance arm through a connecting rod, the connecting rod is elastically connected with the robot through a torsion spring, the torsion spring always applies an elastic force to the balance arm towards the balance position, the fixing rod is located in a positioning cavity at the top of the robot, and a positioning pin for positioning the fixing rod to the storage position is arranged in the positioning cavity.

5. The global shuttle robot stabilization structure of claim 4, wherein the drive mechanism comprises a magnetic plate fixed to a front bottom of the balance rail and capable of attracting the dowel pins to move upward; the locating pin is elastically connected with the robot through a tensioning spring.

6. A global shuttle robot stabilizing structure according to claim 5, wherein the driving mechanism comprises a blocking plate fixed to a rear end bottom of the balance rail and capable of blocking the balance arm to rotate, the bottom of the positioning pin being provided with a guide surface, the balance arm being capable of pressing the guide surface to the storage position.

7. The global shuttle robot stabilizing structure according to claim 5, wherein the front end of the balance rail is provided with a slope.

8. The global shuttle robot stabilizing structure of claim 1, wherein the counter rail is secured to the top of the rail by an extension rod.

9. Global shuttle robot stabilizing structure according to any of claims 1-8, wherein the top of the robot is provided with at least two sets of said balancing arms, each set of said balancing arms being separate on both sides of the robot.